用JAVA编写的SLAM程序 实现扩展卡尔曼滤波方法-SLAM with a JAVA program written in extended Kalman filter implementation

卡尔曼滤波实现初始对准，附有姿态解算、姿态变换和姿态修正程序。-Kalman Filtering initial alignment, with attitude solution, posture and attitude transformation fixes.