关于姿态解算的几个网址

http://www.eepw.com.cn/article/247809.htm

http://wenku.baidu.com/link?url=nyGuPp3RfU1j-o9_-42Cgkl3kSWL3s24kwgR9L6oEYUykKV4WQRpIbttZkE__EB99ywjrrnekJrWwve1Rdnq3zYtyU5EL_rz2-SmkAznP9e

http://www.amobbs.com/forum.php?mod=viewthread&tid=5492189&highlight=捷%25&page=2

http://blog.sina.com.cn/s/blog_8240cbef01018i10.html

http://www.geek-workshop.com/thread-5464-1-1.html