惯性器件的旋转矢量姿态解算，三子样的旋转矢量，有真实数据-Rotation vector of inertial devices attitude solution

本人编写的动态姿态解算程序，有三子样、kalman等算法，附有mti实测数据。-I prepared a dynamic attitude solver, there are three sub-sample, kalman algorithms, with mti measured data.