GNSS-SINS-initial-alignment-method-

代码说明：

  双历元GNSS辅助SINS动态初始对准方法，获得初始时刻的位置、速度、姿态等的信息。含有初始对准程序以及测试程序，四元数计算程序(Dual Dynamic epoch GNSS assistance SINS initial alignment method to obtain the initial time position, velocity, attitude and other information. Containing the initial alignment procedures and testing procedures, quaternion calculation program)