实现六自由度运动学逆解算法，采用的是脉冲对消法，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。- Six degrees of freedom to achieve inverse kinematics algorithm, It uses a pulse of consumer law, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch