有借鉴意义哦，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角，预报误差法参数辨识-松弛的思想。- There are reference Oh, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle, Prediction Error Method for Parameter Identification- the idea of relaxation.