捷联惯导卡尔曼滤波算法初始对准，参考哈工程的硕士写的，效果可以，但是不知道观测量是如何构造的。-Kalman filter algorithm SINS initial alignment, Master of Engineering Reference Kazakhstan write, the effect can be observables but do not know how to construct.

捷联式导航算法的数据融合EKF程序，维度较大，可自行裁剪-nav EKF filter source code

捷联惯性导航领域的姿态更新算法仿真，包括二子样、三子样和四子样的对比。-In the field of strapdown inertial navigation attitude updating algorithm simulation, including two sample, the third and the fourth kind of contrast.

里面详细介绍了卡尔曼滤波算法及捷联惯导系统，并结合两者设计算法(The Calman filtering algorithm and strapdown inertial navigation system are introduced in detail, and the two design algorithms are combined.)