说明：  捷联惯导仿真程序，可以比较好的帮助理解捷联惯导的原理，主要参考陈哲老师的捷联惯导原理
(Strapdown inertial navigation simulation program, can help to understand better the principle of strapdown inertial navigation, strapdown references Chen Zhe teacher inertial navigation principle)