说明：  这是一本非常好的讲述捷联惯导原理的书，非常适合自学。该书由浅入深的介绍了捷联技术这门综合性学科。参考了国内外一些优秀文献。
(This is a very good principle on SINS book, very suitable for self-learning. The book easy-to-digest introduction of inertial technology in this comprehensive discipline. Reference to a number of outstanding domestic and foreign literature.)