基于卡尔曼滤波的飞行器姿态控制，包括估计模块和控制算法模块-Based on Kalman Filtering for Spacecraft Attitude Control, including the estimation module and the control algorithm module

四元数算法姿态更新，c语言有注释，通俗易懂，捷联式-Quaternion attitude updating algorithm, c language notes, easy to understand, strapdown