说明：  微型惯性测量组合(MIMU：Micro-inertial measurement unit)是国际上近年来发展起来的新技 术，作为一种不依赖任何外部信息，也不向外部辐射能量的自主式系统
(Abstract：The Micro strapdown inertial measurement unit System are introduced, attitude algorithm and Kalman filtering equation of parameter identifying of MIMU are also described. Using four-order quaternion Runge-Kutta method to update attitude algorithm is presented, the corresponding simulation programs are described)