tiduxiajiang

代码说明：

  多传感器数据融合的梯度下降法。方法较为简单，代码基本可以实现滚转角与俯仰角的解算，需要再调参数会更精确(Multi-sensor data fusion gradient descent. The method is simple, basic code can roll angle and pitch angle of the solver, you need to re-tune the parameters would be more accurate)