总结陈述

参考：https://blog.csdn.net/qq_21842557/article/details/50815000
          https://zhuanlan.zhihu.com/p/20082486   陀螺仪
          https://blog.csdn.net/jj2060/article/details/49533251  加速度计   
          http://www.dzsc.com/data/html/2010-11-29/87454.html  地磁     
          https://blog.csdn.net/qq_21842557/article/details/50993809  数据融合
          https://blog.csdn.net/liweihua0007/article/details/65444141  GPS
          https://blog.csdn.net/qq_16064871/article/details/52823591   GPS
          https://blog.csdn.net/caz28/article/details/49365247   GPS
参考：https://blog.csdn.net/qq_21842557/article/details/50993809
          https://blog.csdn.net/superrunner_wujin/article/details/55809648
          https://legacy.gitbook.com/book/nephen/direction-cosine-matrix-imu-theory/details
          https://blog.csdn.net/qq_21842557/article/details/50993809         
 

卡尔曼滤波数据融合算法

https://blog.csdn.net/xiaolangyangyang/article/details/78499208