To avoid propinquity inheritance, a kind of self-adaptive crossover pro-bability is also designed and better optimization is gained. 为了减少近亲遗传，文中还设计了一种自适应交叉概率。
Timely changing of cross probability and mutation probability brought forth the stronger environment adaptability of attitude information. 交叉概率和变异概率的适时变化使姿态信息具备更强的环境适应性。
