此为基于四元素法，角增量法的捷连惯导系统程序算法

> 飞行器飞行过程中飞行高度不变

> 航向角以逆时针为正

> 以地理系为导航坐标系

> 运行程序时需导入比力信息及陀螺议角速率信息-This is based on the Czech Republic and even the four elements Inertial Navigation System program algorithm method, a method of angular increments >　aircraft during flight fly height unchanged >　heading counterclockwise positive >　in the Geography Department of the navigation frame >　Run than the force required to import information and recommendations gyro angular rate information program