{"id":1089,"date":"2024-01-10T21:08:00","date_gmt":"2024-01-10T13:08:00","guid":{"rendered":"https:\/\/xsir.work\/?p=1089"},"modified":"2026-09-26T17:56:36","modified_gmt":"2026-09-26T09:56:36","slug":"%e5%b1%b1%e4%b8%9c%e7%9b%9b%e9%9a%86%e5%ae%89%e5%85%a8%e6%8a%80%e6%9c%af%e6%9c%89%e9%99%90%e5%85%ac%e5%8f%b8","status":"publish","type":"post","link":"https:\/\/xsir.work\/index.php\/2024\/01\/10\/%e5%b1%b1%e4%b8%9c%e7%9b%9b%e9%9a%86%e5%ae%89%e5%85%a8%e6%8a%80%e6%9c%af%e6%9c%89%e9%99%90%e5%85%ac%e5%8f%b8\/","title":{"rendered":"\u5c71\u4e1c\u76db\u9686\u5b89\u5168\u6280\u672f\u6709\u9650\u516c\u53f8"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u4e3b\u8981\u5b8c\u6210\u4f20\u611f\u5668MPU6050\u7684\u6e29\u5ea6\u6f02\u79fb\u8865\u507f\u5de5\u4f5c<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><strong>\u57fa\u4e8e\u5361\u5c14\u66fc\u6ee4\u6ce2\u548c\u795e\u7ecf\u7f51\u7edc\u7684\u503e\u89d2\u4f20\u611f\u5668\u6e29\u6f02\u8865\u507f<\/strong><\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">\u6458\u8981<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u7cbe\u5bc6MEMS\u503e\u89d2\u4eea\u5728\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u5e38\u56e0\u73af\u5883\u53d8\u5316\u800c\u4ea7\u751f\u6e29\u6f02\u3002\u672c\u6587\u5f15\u5165\u5361\u5c14\u66fc\u6ee4\u6ce2\u4f5c\u4e3a\u9884\u5904\u7406\u6b65\u9aa4\uff0c\u5e76\u5c06\u5176\u4e0e\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684\u6e29\u5ea6\u8865\u507f\u65b9\u6cd5\u76f8\u7ed3\u5408\u3002\u5b9e\u9a8c\u9a8c\u8bc1\u8868\u660e\uff0c\u57280-50\u6444\u6c0f\u5ea6\u8303\u56f4\u5185\uff0c\u4fe1\u53f7\u8d28\u91cf\u4fdd\u7559\u7387\u4e3a97.2%\uff0c\u4fe1\u566a\u6bd4\u8fbe\u523021.68 dB\uff0c\u6e29\u6f02\u73b0\u8c61\u51cf\u5c11\u4e8685.96%\uff0c\u786e\u4fdd\u4e86\u8be5\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u53ef\u884c\u6027\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5173\u952e\u8bcd\uff1aMEMS\u503e\u89d2\u4eea\uff1b\u6e29\u6f02\uff1b\u5361\u5c14\u66fc\u6ee4\u6ce2\uff1b\u795e\u7ecf\u7f51\u7edc\uff1b\u6e29\u5ea6\u8865\u507f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">1. \u5f15\u8a00<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">MEMS\u503e\u89d2\u4eea\u7531MEMS\u5668\u4ef6\u3001\u9a71\u52a8\u7ec4\u4ef6\u548c\u5fae\u7535\u5b50\u63a7\u5236\u7cfb\u7edf\u7ec4\u6210\u3002MEMS\u503e\u89d2\u4eea\u6613\u53d7\u6e29\u5ea6\u53d8\u5316\u5f71\u54cd\uff0c\u5bfc\u81f4\u6e29\u6f02\u3002\u4e3a\u6291\u5236\u6b64\u73b0\u8c61\u5e76\u63d0\u9ad8\u7cbe\u5ea6\uff0c\u901a\u5e38\u5efa\u7acb\u6e29\u6f02\u6a21\u578b\u3002\u901a\u8fc7\u6a21\u578b\u5206\u6790\u548c\u9884\u6d4b\u6e29\u6f02\u91cf\uff0c\u8fdb\u884c\u8865\u507f\u4ee5\u6700\u7ec8\u51cf\u8f7b\u6e29\u6f02[1-3]\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5e7f\u6cdb\u5e94\u7528\u503e\u89d2\u4eea\u65f6\uff0c\u5c24\u5176\u662f\u4f4e\u6210\u672c\u4f20\u611f\u5668\uff0c\u6e29\u6f02\u5f80\u5f80\u662f\u4e00\u4e2a\u4e25\u91cd\u95ee\u9898[4]\u3002\u4e0e\u9ad8\u6027\u80fd\u4f20\u611f\u5668\u76f8\u6bd4\uff0c\u8fd9\u7c7b\u4f20\u611f\u5668\u66f4\u6613\u53d7\u6e29\u5ea6\u53d8\u5316\u5f71\u54cd\uff0c\u5bfc\u81f4\u6d4b\u91cf\u8bef\u5dee\u589e\u5927\u3002\u56e0\u6b64\uff0c\u5bf9\u4e8e\u4f4e\u6210\u672c\u503e\u89d2\u4eea\uff0c\u5b9e\u65bd\u6e29\u5ea6\u8865\u507f\u63aa\u65bd\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f20\u7edf\u4e0a\uff0c\u6e29\u6f02\u901a\u8fc7\u5361\u5c14\u66fc\u6ee4\u6ce2\u3001\u5747\u503c\u6ee4\u6ce2\u6216\u795e\u7ecf\u7f51\u7edc\u6ee4\u6ce2\u7b49\u5355\u4e00\u65b9\u6cd5\u89e3\u51b3[5-7]\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u80fd\u6709\u6548\u5904\u7406\u5f53\u524d\u7684\u6e29\u6f02\uff0c\u4f46\u5b83\u4eec\u7f3a\u4e4f\u9884\u6d4b\u5efa\u6a21\u80fd\u529b\uff0c\u8868\u660e\u4ecd\u6709\u6539\u8fdb\u7a7a\u95f4\u3002\u9488\u5bf9\u6b64\uff0c\u672c\u6587\u9996\u5148\u6d4b\u8bd5\u4e86\u503e\u89d2\u4eea\u5728\u4e0d\u540c\u6e29\u5ea6\u4e0b\u7684\u8f93\u51fa\u53d8\u5316\u3002\u4f7f\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u53bb\u9664\u4f4e\u9891\u566a\u58f0\uff0c\u7136\u540e\u795e\u7ecf\u7f51\u7edc\u4ece\u8fd9\u4e9b\u51c0\u5316\u540e\u7684\u6570\u636e\u4e2d\u5b66\u4e60\uff0c\u5efa\u7acb\u9884\u6d4b\u6e29\u6f02\u7684\u6a21\u578b\u3002\u8be5\u6a21\u578b\u9884\u6d4b\u4e0d\u540c\u6e29\u5ea6\u4e0b\u7684\u672a\u6765\u6e29\u6f02\uff0c\u5e76\u8865\u507f\u8f93\u51fa\u53c2\u6570\u3002\u6700\u540e\uff0c\u5b9e\u9a8c\u8bc1\u660e\u4e86\u8be5\u65b9\u6cd5\u7684\u53ef\u884c\u6027\uff0c\u5c55\u793a\u4e86\u5176\u5728\u5927\u6279\u91cf\u4f4e\u6210\u672c\u503e\u89d2\u4eea\u7b5b\u9009\u573a\u666f\u4e2d\u7684\u9002\u7528\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2. <strong>\u503e\u89d2\u4f20\u611f\u5668\u6e29\u6f02\u5b9e\u9a8c\u4e0e\u5361\u5c14\u66fc\u6ee4\u6ce2<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.1 \u8bbe\u5907\u9009\u62e9<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u7814\u7a76\u91c7\u7528MPU6050\u7cfb\u5217\u4f20\u611f\u5668\u4f5c\u4e3a\u6570\u636e\u91c7\u96c6\u8bbe\u5907\uff0cSTM32\u7cfb\u5217\u4f5c\u4e3a\u5904\u7406\u82af\u7247\u3002\u7cfb\u7edf\u914d\u7f6e\u5982\u56fe1\u6240\u793a\u3002\u7531\u4e8e\u503e\u89d2\u4f20\u611f\u5668\u5b58\u5728\u6e29\u6f02\uff0c\u8f93\u51fa\u6570\u636e\u4f1a\u53d1\u751f\u53d8\u5316\uff0c\u56e0\u6b64\u9700\u8981\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u5efa\u7acb\u8bc6\u522b\u548c\u8865\u507f\u6a21\u578b\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/497ec74140eed749d922484affa540d1.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"441\" height=\"343\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/497ec74140eed749d922484affa540d1.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1091\"  sizes=\"auto, (max-width: 441px) 100vw, 441px\" \/><\/div><figcaption class=\"wp-element-caption\">\u56fe1.\u539f\u7406\u56fe<\/figcaption><\/figure>\n<\/div>\n\n\n<h3 class=\"wp-block-heading\"><strong>2.2 \u5b9e\u9a8c\u6b65\u9aa4<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3a\u786e\u4fdd\u5b9e\u9a8c\u7684\u4e25\u8c28\u6027\uff0c\u503e\u89d2\u4eea\u6d4b\u8bd5\u5fc5\u987b\u5728\u6e29\u63a7\u7bb1\u5185\u8fdb\u884c\u3002\u9996\u5148\uff0c\u4f7f\u7528\u9ad8\u7cbe\u5ea6\u6c34\u5e73\u4eea\u786e\u4fdd\u5e95\u5ea7\u5904\u4e8e0\u5ea6\u659c\u9762\u3002\u7136\u540e\u5c06\u503e\u89d2\u4eea\u56fa\u5b9a\u5728\u6b64\u5e95\u5ea7\u4e0a\uff0c\u4fdd\u6301\u9759\u6b62\u72b6\u6001\uff0c\u4f7f\u5176z\u8f74\u5782\u76f4\u4e8e\u6c34\u5e73\u9762\u3002\u6b64\u65f6\uff0c\u7406\u8bba\u89d2\u5ea6\u5e94\u4e3ax\u8f740\u5ea6\uff0cy\u8f740\u5ea6\uff0cz\u8f74-90\u5ea6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9e\u9a8c\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5c06\u6e29\u63a7\u7bb1\u521d\u59cb\u6e29\u5ea6\u8bbe\u4e3a0\u6444\u6c0f\u5ea6\uff0c\u6e29\u5ea6\u53d8\u5316\u7387\u4e3a0.43\u3002\u5f53\u6e29\u5ea6\u5347\u81f350\u6444\u6c0f\u5ea6\u65f6\uff0c\u83b7\u5f97\u7b2c\u4e00\u7ec4\u6570\u636e\uff0c\u7528\u4e8e\u795e\u7ecf\u7f51\u7edc\u5efa\u6a21\u3002\u7136\u540e\u91c7\u96c6\u7b2c\u4e8c\u7ec4\u6570\u636e\uff0c\u4f8b\u5982\u4ee50.2\u00b0C\/min\u7684\u53d8\u5316\u7387\u5c06\u6e29\u5ea6\u4ece30\u5347\u81f350\u6444\u6c0f\u5ea6\u3002\u5b9e\u9a8c\u603b\u6301\u7eed\u65f6\u95f4\u4e3a4\u5c0f\u65f6\uff0c\u76ee\u6807\u662f\u4f7f\u7528\u7b2c\u4e00\u7ec4\u6570\u636e\u5efa\u7acb\u7684\u6a21\u578b\u9884\u6d4b\u7b2c\u4e8c\u7ec4\u6570\u636e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9e\u9a8c\u8fc7\u7a0b\u4e2d\uff0c\u503e\u89d2\u4f20\u611f\u5668\u7684\u91c7\u6837\u9891\u7387\u4e3a5Hz\u3002\u56fe2\u5c55\u793a\u4e86\u521d\u59cb\u6d4b\u8bd5\u4e2d\u503e\u89d2\u4f20\u611f\u5668\u8f93\u51fa\u968f\u6e29\u5ea6\u53d8\u5316\u7684\u66f2\u7ebf\u56fe\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/60abca8dc933b689dcb88686335d5fea.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"595\" height=\"376\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/60abca8dc933b689dcb88686335d5fea.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1092\"  sizes=\"auto, (max-width: 595px) 100vw, 595px\" \/><\/div><figcaption class=\"wp-element-caption\">\u56fe2.\u4e0d\u540c\u6e29\u5ea6\u4e0b\u7684\u503e\u89d2\u4f20\u611f\u5668\u8f93\u51fa<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u56fe2\u4e2d\uff0c\u989c\u8272\u4ee3\u8868\u6e29\u5ea6\u7684\u9010\u6e10\u5347\u9ad8\u3002\u6bcf\u4e2a\u5b50\u56fe\u5206\u522b\u663e\u793ax\u3001y\u3001z\u8f74\u7684\u503e\u89d2\u53d8\u5316\u7a0b\u5ea6\u3002\u6e29\u6f02\u73b0\u8c61\u4e25\u91cd\u3002\u901a\u8fc7\u8ba1\u7b97\uff0c\u503e\u89d2\u4f20\u611f\u5668\u5728\u4e0d\u540c\u6e29\u5ea6\u4e0b\u7684\u5e73\u5747\u8f93\u51fa\u503c\u5982\u88681\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/7f3a666a51f9f670fff1cfdfb30438a7.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"659\" height=\"82\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/7f3a666a51f9f670fff1cfdfb30438a7.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1093\"  sizes=\"auto, (max-width: 659px) 100vw, 659px\" \/><\/div><figcaption class=\"wp-element-caption\">\u88681.\u76d1\u6d4b\u7ed3\u679c<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u5b9e\u9a8c\u6570\u636e\u8868\u660e\uff0c\u5728\u4e0d\u540c\u6e29\u5ea6\u9636\u6bb5\uff0c\u503e\u89d2\u4f20\u611f\u5668\u7684\u5e73\u5747\u8f93\u51fa\u6709\u6240\u4e0d\u540c\u3002\u6e29\u5ea6\u53d8\u5316\u5bfc\u81f4\u503e\u89d2\u4f20\u611f\u5668\u51fa\u73b0\u663e\u8457\u7684\u6e29\u6f02\u73b0\u8c61\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.3 \u5361\u5c14\u66fc\u6ee4\u6ce2<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u503e\u89d2\u4eea\u901a\u5e38\u5bf9\u4f4e\u9891\u566a\u58f0\u66f4\u4e3a\u654f\u611f\u3002\u8fd9\u79cd\u4f4e\u9891\u566a\u58f0\u7684\u5b58\u5728\u589e\u52a0\u4e86\u5efa\u6a21\u590d\u6742\u5ea6\u548c\u7b97\u6cd5\u8d44\u6e90\u6d88\u8017\uff0c\u5bfc\u81f4\u6700\u7ec8\u6a21\u578b\u62df\u5408\u7cbe\u5ea6\u964d\u4f4e\u3002\u5361\u5c14\u66fc\u6ee4\u6ce2\u5177\u6709\u8ba1\u7b97\u590d\u6742\u5ea6\u4f4e\u3001\u9ad8\u6548\u3001\u6700\u4f18\u548c\u5f3a\u9002\u5e94\u6027\u7b49\u7279\u70b9\u3002\u8003\u8651\u5230\u5176\u591a\u529f\u80fd\u6027\uff0c\u672c\u6587\u6700\u7ec8\u9009\u62e9\u5361\u5c14\u66fc\u6ee4\u6ce2\u5904\u7406\u4f4e\u9891\u4fe1\u53f7\u3002\u5904\u7406\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u521d\u59cb\u5316\u53c2\u6570\uff1a\u5b9a\u4e49\u6570\u636e\u96c6&#8217;angle&#8217;\u3001\u521d\u59cb\u72b6\u6001\u4f30\u8ba1&#8217;X&#8217;\u3001\u72b6\u6001\u9884\u6d4b\u65b9\u5dee&#8217;P&#8217;\u3001\u7cfb\u7edf\u566a\u58f0\u65b9\u5dee&#8217;Q&#8217;\u548c\u6d4b\u91cf\u566a\u58f0\u65b9\u5dee&#8217;R&#8217;\u3002\u8fd9\u4e9b\u53c2\u6570\u5c06\u7528\u4e8e\u63a7\u5236\u6ee4\u6ce2\u5668\u884c\u4e3a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9884\u6d4b\u6b65\u9aa4\uff1a\u4f7f\u7528\u4e0a\u4e00\u65f6\u95f4\u6b65\u7684\u72b6\u6001\u4f30\u8ba1&#8217;x&#8217;\u548c\u72b6\u6001\u9884\u6d4b\u65b9\u5dee&#8217;p&#8217;\uff0c\u9884\u6d4b\u5f53\u524d\u72b6\u6001\u4f30\u8ba1&#8217;X_pred&#8217;\u548c\u9884\u6d4b\u65b9\u5dee&#8217;P_pred&#8217;\uff0c\u5982\u516c\u5f0f(1)\u548c\u516c\u5f0f(2)\u6240\u793a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u66f4\u65b0\u6b65\u9aa4\uff1a\u8ba1\u7b97\u5361\u5c14\u66fc\u589e\u76ca&#8217;K&#8217;\u3002\u6839\u636e\u5f53\u524d\u9884\u6d4b\u72b6\u6001\u4f30\u8ba1\u4e0e\u6d4b\u91cf\u503c\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u66f4\u65b0\u72b6\u6001\u4f30\u8ba1&#8217;X&#8217;\u548c\u9884\u6d4b\u65b9\u5dee&#8217;P&#8217;\uff0c\u5982\u516c\u5f0f(3\u30014\u30015)\u6240\u793a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4fdd\u5b58\u7ed3\u679c\uff1a\u5c06\u66f4\u65b0\u540e\u7684\u72b6\u6001\u4f30\u8ba1&#8217;X&#8217;\u5b58\u50a8\u5728\u77e9\u9635\u4e2d\u3002<\/p>\n\n\n\n<div class=\"wp-block-math\"><math display=\"block\"><semantics><mtable displaystyle=\"true\" columnalign=\"left center right\" style=\"width:100%;\"><mtr><mtd class=\"tml-right\" style=\"padding:0;width:50%;padding-left:0em;padding-right:0em;\"><\/mtd><mtd class=\"tml-left\" style=\"padding-left:1em;padding-right:0em;\"><mtable displaystyle=\"true\" columnalign=\"right left\" class=\"tml-jot\"><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><msub><mi>X<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><\/msub><mi>p<\/mi><mi>r<\/mi><mi>e<\/mi><mi>d<\/mi><mo>=<\/mo><mi>X<\/mi><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>1<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><msub><mi>P<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><\/msub><mi>p<\/mi><mi>r<\/mi><mi>e<\/mi><mi>d<\/mi><mo>=<\/mo><mi>P<\/mi><mo>+<\/mo><mi>Q<\/mi><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>2<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mi>K<\/mi><mo>=<\/mo><msub><mi>P<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><\/msub><mi>p<\/mi><mi>r<\/mi><mi>e<\/mi><mi>d<\/mi><mi>\/<\/mi><mo form=\"prefix\" stretchy=\"false\">(<\/mo><msub><mi>P<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><\/msub><mi>p<\/mi><mi>r<\/mi><mi>e<\/mi><mi>d<\/mi><mo>+<\/mo><mi>R<\/mi><mo form=\"postfix\" stretchy=\"false\">)<\/mo><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>3<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mi>X<\/mi><mo>=<\/mo><msub><mi>X<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><\/msub><mi>p<\/mi><mi>r<\/mi><mi>e<\/mi><mi>d<\/mi><mo>+<\/mo><msup><mi>K<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2217<\/mo><\/msup><mo form=\"prefix\" stretchy=\"false\">(<\/mo><mi>a<\/mi><mi>n<\/mi><mi>g<\/mi><mi>l<\/mi><mi>e<\/mi><mo form=\"prefix\" stretchy=\"false\">(<\/mo><mi>i<\/mi><mo form=\"postfix\" stretchy=\"false\">)<\/mo><mo>\u2212<\/mo><msub><mi>X<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><\/msub><mi>p<\/mi><mi>r<\/mi><mi>e<\/mi><mi>d<\/mi><mo form=\"postfix\" stretchy=\"false\">)<\/mo><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>4<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mi>P<\/mi><mo>=<\/mo><mo form=\"prefix\" stretchy=\"false\">(<\/mo><mn>1<\/mn><mo>\u2212<\/mo><mi>K<\/mi><msup><mo form=\"postfix\" stretchy=\"false\">)<\/mo><mo lspace=\"0em\" rspace=\"0em\">\u2217<\/mo><\/msup><msub><mi>P<\/mi><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><\/msub><mi>p<\/mi><mi>r<\/mi><mi>e<\/mi><mi>d<\/mi><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>5<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><\/mtable><\/mtd><mtd class=\"tml-right\" style=\"padding:0;width:50%;padding-left:0em;padding-right:0em;\"><mtext><span class=\"tml-eqn\"><\/span><\/mtext><\/mtd><\/mtr><\/mtable><annotation encoding=\"application\/x-tex\">\\begin{equation}\\begin{aligned}X_{-}pred=X&amp;\\mathrm{(1)}\\\\P_{-}pred=P+Q&amp;\\mathrm{(2)}\\\\K=P_{-}pred\/(P_{-}pred+R)&amp;\\mathrm{(3)}\\\\X=X_{-}pred+K^{*}(angle(i)-X_{-}pred)&amp;\\mathrm{(4)}\\\\P=(1-K)^{*}P_{-}pred&amp;\\mathrm{(5)}\\end{aligned}\\end{equation}<\/annotation><\/semantics><\/math><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u5e94\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u6a21\u578b\u540e\u5f97\u5230\u7684\u6ee4\u6ce2\u6548\u679c\u5982\u56fe3\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/e6484f85ee3854f520350d9d6e046e72.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"501\" height=\"360\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/e6484f85ee3854f520350d9d6e046e72.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1094\"  sizes=\"auto, (max-width: 501px) 100vw, 501px\" \/><\/div><figcaption class=\"wp-element-caption\">\u56fe3. \u5361\u5c14\u66fc\u6ee4\u6ce2<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u4ece\u56fe\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u6ee4\u6ce2\u540e\u7684\u6ce2\u5f62\u4ecd\u7d27\u5bc6\u8ddf\u968f\u539f\u59cb\u6570\u636e\u3002\u4f46\u5177\u4f53\u62df\u5408\u7a0b\u5ea6\u9700\u8981\u8fdb\u4e00\u6b65\u8ba1\u7b97\u3002\u5361\u5c14\u66fc\u6a21\u578b\u6ee4\u6ce2\u540e\uff0c\u503e\u89d2\u4f20\u611f\u5668\u5728\u4e0d\u540c\u6e29\u5ea6\u4e0b\u7684\u5e73\u5747\u503c\u5982\u88682\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/3cb30ba84ba51ce1e4cf1054df18f5a9.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"698\" height=\"80\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/3cb30ba84ba51ce1e4cf1054df18f5a9.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1095\"  sizes=\"auto, (max-width: 698px) 100vw, 698px\" \/><\/div><figcaption class=\"wp-element-caption\">\u88682. \u6ee4\u6ce2\u540e\u8f93\u51fa\u7ed3\u679c<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u7ecf\u8ba1\u7b97\uff0cx\u8f74\u503e\u89d2\u7684\u4fe1\u53f7\u4fdd\u7559\u7387\u4e3a99.58%\uff0cy\u8f74\u503e\u89d2\u4e3a99.91%\uff0cz\u8f74\u503e\u89d2\u4e3a92.18%\uff0c\u5e73\u5747\u4fdd\u7559\u7387\u4e3a97.2%\u3002x\u8f74\u503e\u89d2\u7684\u4fe1\u566a\u6bd4(SNR)\u8fbe\u523023.74dB\uff0cy\u8f74\u8fbe\u523030.58dB\uff0cz\u8f74\u4e3a10.73dB\uff0c\u5e73\u5747\u4e3a21.68dB\u3002SNR\u5927\u4e8e20dB\u88ab\u8ba4\u4e3a\u826f\u597d\uff0c\u9002\u7528\u4e8e\u5927\u591a\u6570\u60c5\u51b5\u3002<\/p>\n\n\n\n<div class=\"wp-block-math\"><math display=\"block\"><semantics><mrow><mi>r<\/mi><mo>=<\/mo><mfrac><mrow><mo movablelimits=\"false\" lspace=\"0em\" rspace=\"0em\">\u2211<\/mo><mo form=\"prefix\" stretchy=\"false\">(<\/mo><msub><mi>a<\/mi><mi>i<\/mi><\/msub><mo>\u2212<\/mo><menclose notation=\"top\" class=\"tml-overline\"><mi>a<\/mi><\/menclose><mo form=\"postfix\" stretchy=\"false\">)<\/mo><mo form=\"prefix\" stretchy=\"false\">(<\/mo><msub><mi>b<\/mi><mi>i<\/mi><\/msub><mo>\u2212<\/mo><menclose notation=\"top\" class=\"tml-overline\"><mi>b<\/mi><\/menclose><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><msqrt><mrow><mo movablelimits=\"false\" lspace=\"0em\" rspace=\"0em\">\u2211<\/mo><mo form=\"prefix\" stretchy=\"false\">(<\/mo><msub><mi>a<\/mi><mi>i<\/mi><\/msub><mo>\u2212<\/mo><menclose notation=\"top\" class=\"tml-overline\"><mi>a<\/mi><\/menclose><msup><mo form=\"postfix\" stretchy=\"false\">)<\/mo><mn>2<\/mn><\/msup><mo movablelimits=\"false\">\u2211<\/mo><mo form=\"prefix\" stretchy=\"false\">(<\/mo><msub><mi>b<\/mi><mi>i<\/mi><\/msub><mo>\u2212<\/mo><menclose notation=\"top\" class=\"tml-overline\"><mi>b<\/mi><\/menclose><msup><mo form=\"postfix\" stretchy=\"false\">)<\/mo><mn>2<\/mn><\/msup><\/mrow><\/msqrt><\/mfrac><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>6<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mrow><annotation encoding=\"application\/x-tex\">r=\\frac{\\sum(a_{i}-\\overline{a})(b_{i}-\\overline{b})}{\\sqrt{\\sum(a_{i}-\\overline{a})^{2}\\sum(b_{i}-\\overline{b})^{2}}}\\mathrm{(6)}<\/annotation><\/semantics><\/math><\/div>\n\n\n\n<div class=\"wp-block-math\"><math display=\"block\"><semantics><mrow><mi>T<\/mi><mo>=<\/mo><mo><\/mo><mo><\/mo><mo><\/mo><mo><\/mo><mo><\/mo><msup><mi>r<\/mi><mn>2<\/mn><\/msup><mo>\u2217<\/mo><mn>100<\/mn><mi>%<\/mi><mo><\/mo><mo><\/mo><mo><\/mo><mo><\/mo><mo><\/mo><mo><\/mo><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>7<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mrow><annotation encoding=\"application\/x-tex\">T=\\\\\\\\\\\\\\\\\\\\r^{2}*100\\%\\mathrm\\\\\\\\\\\\\\\\\\\\\\\\{(7)}<\/annotation><\/semantics><\/math><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">a<sub>i<\/sub>\u548cb<sub>i<\/sub>\u5206\u522b\u662f\u964d\u566a\u524d\u540e\u7684\u6570\u636e\u3002a\u548cb\u662f\u4e24\u7ec4\u6570\u636e\u7684\u5747\u503c\u3002r\u4ee3\u8868\u76f8\u5173\u7cfb\u6570\uff0c\u8868\u793a\u4e24\u7ec4\u6570\u636e\u4e4b\u95f4\u7684\u76f8\u5173\u7a0b\u5ea6\u3002\u6b64\u5904\u53ef\u7528\u4e8e\u8ba1\u7b97\u4fdd\u7559\u7387\uff0c\u5373\u4fe1\u53f7\u8d28\u91cf\u7684\u5ea6\u91cf\u3002\u5728\u672c\u4f8b\u4e2d\uff0c\u4fdd\u7559\u7387T\u4f7f\u7528\u516c\u5f0f(7)\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u964d\u566a\u540e\uff0c\u4e0d\u540c\u6e29\u5ea6\u4e0b\u7684\u8f93\u51fa\u5747\u503c\u4e0e\u539f\u59cb\u6570\u636e\u51e0\u4e4e\u76f8\u540c\uff0c\u5e73\u5747\u4fe1\u53f7\u4fdd\u7559\u7387\u4e3a97.2%\uff0c\u4fe1\u566a\u6bd4\u8d85\u8fc720db\u3002\u4f7f\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u53ef\u4ee5\u6709\u6548\u6291\u5236\u4fe1\u53f7\u4e2d\u7684\u4f4e\u9891\u566a\u58f0\uff0c\u5e76\u6ee4\u9664\u6570\u636e\u4e2d\u7684\u5f02\u5e38\u7a81\u53d8\u3002\u7136\u800c\uff0c\u4ece\u6e29\u5ea6\u5747\u503c\u53ef\u4ee5\u770b\u51fa\uff0c\u7531\u6e29\u5ea6\u5f15\u8d77\u7684\u6f02\u79fb\u5e76\u672a\u663e\u8457\u964d\u4f4e\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3. \u795e\u7ecf\u7f51\u7edc\u5efa\u6a21\u4e0e\u8865\u507f<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.1 \u524d\u9988\u795e\u7ecf\u7f51\u7edc<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u7528\u4e8e\u795e\u7ecf\u7f51\u7edc\u5efa\u6a21\u4e2d\u7684\u5206\u7c7b\u548c\u56de\u5f52\uff0c\u5177\u6709\u524d\u5411\u4f20\u64ad\u7ed3\u6784\uff0c\u6570\u636e\u4ece\u8f93\u5165\u5c42\u6d41\u5411\u8f93\u51fa\u5c42\uff0c\u65e0\u53cd\u9988\u56de\u8def\u3002\u5b83\u4eec\u901a\u8fc7\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u8c03\u6574\u6743\u91cd\u6765\u5b66\u4e60\u8f93\u5165-\u8f93\u51fa\u6620\u5c04[8]\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.2 \u5904\u7406\u6b65\u9aa4<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u521d\u59cb\u5316\u6743\u91cd\uff1a\u8bad\u7ec3\u5f00\u59cb\u524d\uff0c\u6743\u91cd\u77e9\u9635[W]^l\u968f\u673a\u521d\u59cb\u5316\u3002&#8217;l&#8217;\u4ee3\u8868\u5c42\u6570\uff0c&#8217;\uf077&#8217;\u4ee3\u8868\u521d\u59cb\u6743\u91cd\u503c\u3002\u7531\u4e8e\u5f00\u59cb\u65f6\u6bcf\u4e2a\u6743\u91cd\u7684\u6b63\u786e\u503c\u672a\u77e5\uff0c\u968f\u673a\u521d\u59cb\u5316\u5141\u8bb8\u795e\u7ecf\u7f51\u7edc\u4ece\u968f\u673a\u70b9\u5f00\u59cb\u5b66\u4e60\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u524d\u5411\u4f20\u64ad\uff1a\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u8f93\u5165\u6570\u636ex\u7ecf\u8fc7\u4e00\u7cfb\u5217\u4e0e\u6743\u91cd\u77e9\u9635\u7684\u6570\u5b66\u8fd0\u7b97\uff0c\u5e76\u7531\u6fc0\u6d3b\u51fd\u6570g\u5904\u7406\uff0c\u751f\u6210\u795e\u7ecf\u5143\u8f93\u51fa\uff0c\u5982\u516c\u5f0f9\u6240\u793a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8ba1\u7b97\u635f\u5931\uff1a\u8ba1\u7b97\u9884\u6d4b\u8f93\u51fa\u4e0e\u5b9e\u9645\u8f93\u51fa\u4e4b\u95f4\u7684\u8bef\u5dee\u3002\u9009\u62e9\u5747\u65b9\u8bef\u5dee(MSE)\u635f\u5931\u51fd\u6570\u6765\u8861\u91cf\uff0c\u5176\u4e2dx_i\u4ee3\u8868\u5b9e\u9645\u503e\u89d2\u503c\uff0cx\u0302_i\u4ee3\u8868\u6a21\u578b\u9884\u6d4b\u503c\uff0c\u5982\u516c\u5f0f10\u6240\u793a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u66f4\u65b0\u6743\u91cd\uff1a\u4e00\u65e6\u8ba1\u7b97\u51fa\u68af\u5ea6\uff08\u635f\u5931\u5bf9\u6743\u91cd\u7684\u5bfc\u6570\uff09\uff0c\u5c31\u53ef\u4ee5\u66f4\u65b0\u6743\u91cd\u77e9\u9635\uff0c\u671d\u51cf\u5c11\u635f\u5931\u7684\u65b9\u5411\u5fae\u8c03\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fed\u4ee3\uff1a\u591a\u6b21\u91cd\u590d\u4e0a\u8ff0\u6b65\u9aa4\u3002\u6bcf\u6b21\u8fed\u4ee3\u6839\u636e\u65b0\u68af\u5ea6\u66f4\u65b0\u6743\u91cd\uff0c\u76f4\u5230\u635f\u5931\u6536\u655b\u6216\u8fbe\u5230\u9884\u5b9a\u4e49\u7684\u8fed\u4ee3\u6b21\u6570\u3002<\/p>\n\n\n\n<div class=\"wp-block-math\"><math display=\"block\"><semantics><mtable displaystyle=\"true\" columnalign=\"left center right\" style=\"width:100%;\"><mtr><mtd class=\"tml-right\" style=\"padding:0;width:50%;padding-left:0em;padding-right:0em;\"><\/mtd><mtd class=\"tml-left\" style=\"padding-left:1em;padding-right:0em;\"><mtable displaystyle=\"true\" columnalign=\"right left right\" class=\"tml-jot\"><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><msup><mi>W<\/mi><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">[<\/mo><mi>l<\/mi><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">]<\/mo><\/mrow><\/msup><mo>=<\/mo><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mo fence=\"true\" form=\"prefix\">[<\/mo><mtable columnalign=\"center center center center\"><mtr><mtd style=\"padding-left:0em;\"><msubsup><mi>\u03c9<\/mi><mn>11<\/mn><mi>l<\/mi><\/msubsup><\/mtd><mtd><msubsup><mi>\u03c9<\/mi><mn>12<\/mn><mi>l<\/mi><\/msubsup><\/mtd><mtd><mo>\u22ef<\/mo><\/mtd><mtd style=\"padding-right:0em;\"><msubsup><mi>\u03c9<\/mi><mrow><mn>1<\/mn><msup><mi>n<\/mi><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">[<\/mo><mi>l<\/mi><mo>\u2212<\/mo><mn>1<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">]<\/mo><\/mrow><\/msup><\/mrow><mi>l<\/mi><\/msubsup><\/mtd><\/mtr><mtr><mtd style=\"padding-left:0em;\"><msubsup><mi>\u03c9<\/mi><mn>11<\/mn><mi>l<\/mi><\/msubsup><\/mtd><mtd><msubsup><mi>\u03c9<\/mi><mn>11<\/mn><mi>l<\/mi><\/msubsup><\/mtd><mtd><mo>\u22ef<\/mo><\/mtd><mtd style=\"padding-right:0em;\"><msubsup><mi>\u03c9<\/mi><mrow><mn>2<\/mn><msup><mi>n<\/mi><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">[<\/mo><mi>l<\/mi><mo>\u2212<\/mo><mn>2<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">]<\/mo><\/mrow><\/msup><\/mrow><mi>l<\/mi><\/msubsup><\/mtd><\/mtr><mtr><mtd style=\"padding-left:0em;\"><mrow><mi>\u22ee<\/mi><mspace width=\"0pt\" height=\"14.944pt\"><\/mspace><\/mrow><\/mtd><mtd><mrow><mi>\u22ee<\/mi><mspace width=\"0pt\" height=\"14.944pt\"><\/mspace><\/mrow><\/mtd><mtd><mo>\u22f1<\/mo><\/mtd><mtd style=\"padding-right:0em;\"><mrow><mi>\u22ee<\/mi><mspace width=\"0pt\" height=\"14.944pt\"><\/mspace><\/mrow><\/mtd><\/mtr><mtr><mtd style=\"padding-left:0em;\"><msubsup><mi>\u03c9<\/mi><mrow><msup><mi>n<\/mi><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">[<\/mo><mi>l<\/mi><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">]<\/mo><\/mrow><\/msup><mn>1<\/mn><\/mrow><mi>l<\/mi><\/msubsup><\/mtd><mtd><msubsup><mi>\u03c9<\/mi><mrow><msup><mi>n<\/mi><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">[<\/mo><mi>l<\/mi><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">]<\/mo><\/mrow><\/msup><mn>1<\/mn><\/mrow><mi>l<\/mi><\/msubsup><\/mtd><mtd><mo>\u22ef<\/mo><\/mtd><mtd style=\"padding-right:0em;\"><msubsup><mi>\u03c9<\/mi><mrow><msup><mi>n<\/mi><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">[<\/mo><mi>l<\/mi><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">]<\/mo><\/mrow><\/msup><msup><mi>n<\/mi><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">[<\/mo><mi>l<\/mi><mo>\u2212<\/mo><mn>1<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">]<\/mo><\/mrow><\/msup><\/mrow><mi>l<\/mi><\/msubsup><\/mtd><\/mtr><\/mtable><mo fence=\"true\" form=\"postfix\">]<\/mo><\/mrow><\/mtd><mtd class=\"tml-right\" style=\"padding-left:1em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>8<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mi>g<\/mi><mo>=<\/mo><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mfrac><mrow><msup><mi>e<\/mi><mi>x<\/mi><\/msup><mo>\u2212<\/mo><msup><mi>e<\/mi><mrow><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><mi>x<\/mi><\/mrow><\/msup><\/mrow><mrow><msup><mi>e<\/mi><mi>x<\/mi><\/msup><mo>+<\/mo><msup><mi>e<\/mi><mrow><mo lspace=\"0em\" rspace=\"0em\">\u2212<\/mo><mi>x<\/mi><\/mrow><\/msup><\/mrow><\/mfrac><\/mtd><mtd class=\"tml-right\" style=\"padding-left:1em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>9<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><mtr><mtd class=\"tml-right\" style=\"padding-left:0em;padding-right:0em;\"><mrow><mi>M<\/mi><mi>S<\/mi><mi>E<\/mi><mo>=<\/mo><\/mrow><\/mtd><mtd class=\"tml-left\" style=\"padding-left:0em;padding-right:0em;\"><mfrac><mrow><msubsup><mo movablelimits=\"false\">\u2211<\/mo><mrow><mi>i<\/mi><mo>=<\/mo><mn>1<\/mn><\/mrow><mi>n<\/mi><\/msubsup><msup><mrow><mo fence=\"true\" form=\"prefix\">(<\/mo><msub><mi>x<\/mi><mi>i<\/mi><\/msub><mo>\u2212<\/mo><mover><msub><mi>x<\/mi><mi>i<\/mi><\/msub><mo stretchy=\"false\" style=\"math-style:normal;math-depth:0;\">^<\/mo><\/mover><mo fence=\"true\" form=\"postfix\">)<\/mo><\/mrow><mn>2<\/mn><\/msup><\/mrow><mi>n<\/mi><\/mfrac><\/mtd><mtd class=\"tml-right\" style=\"padding-left:1em;padding-right:0em;\"><mrow><mo form=\"prefix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">(<\/mo><mn>10<\/mn><mo form=\"postfix\" stretchy=\"false\" lspace=\"0em\" rspace=\"0em\">)<\/mo><\/mrow><\/mtd><\/mtr><\/mtable><\/mtd><mtd class=\"tml-right\" style=\"padding:0;width:50%;padding-left:0em;padding-right:0em;\"><mtext><span class=\"tml-eqn\"><\/span><\/mtext><\/mtd><\/mtr><\/mtable><annotation encoding=\"application\/x-tex\">\\begin{equation}\\begin{aligned}W^{[l]}=&amp;\\begin{bmatrix}\\omega_{11}^{l}&amp;\\omega_{12}^{l}&amp;\\cdots&amp;\\omega_{1n^{[l-1]}}^{l}\\\\\\omega_{11}^{l}&amp;\\omega_{11}^{l}&amp;\\cdots&amp;\\omega_{2n^{[l-2]}}^{l}\\\\\\vdots&amp;\\vdots&amp;\\ddots&amp;\\vdots\\\\\\omega_{n^{[l]}1}^{l}&amp;\\omega_{n^{[l]}1}^{l}&amp;\\cdots&amp;\\omega_{n^{[l]}n^{[l-1]}}^{l}\\end{bmatrix}&amp;\\mathrm{(8)}\\\\g=&amp;\\frac{e^{x}-e^{-x}}{e^{x}+e^{-x}}&amp;\\mathrm{(9)}\\\\MSE=&amp;\\frac{\\sum_{i=1}^{n}\\left(x_{i}-\\hat{x_{i}}\\right)^{2}}{n}&amp;\\mathrm{(10)}\\end{aligned}\\end{equation}<\/annotation><\/semantics><\/math><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u6587\u4e2d\uff0c\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u901a\u8fc7Matlab\u7f16\u7a0b\u5b9e\u73b0\u3002\u76f8\u5173\u51fd\u6570\u5b9a\u4e49\u4e3a\u516c\u5f0f(8\u30019\u300110)\uff0c\u57fa\u672c\u53c2\u6570\u8bbe\u7f6e\u5982\u4e0b\uff1a\u9690\u85cf\u5c42\u8282\u70b9\u6570\u4e3a10\uff0c\u5b66\u4e60\u7387\u4e3a0.05\uff0c\u8fed\u4ee3\u6b21\u6570\u8bbe\u4e3a1000\uff0c\u5b66\u4e60\u7684\u76ee\u6807\u6700\u5c0f\u8bef\u5dee\u4e3a0.001\u3002\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/ec06878bc8709a428d3b6c72498efa53.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"734\" height=\"170\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/ec06878bc8709a428d3b6c72498efa53.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1096\"  sizes=\"auto, (max-width: 734px) 100vw, 734px\" \/><\/div><figcaption class=\"wp-element-caption\">\u56fe4. \u524d\u9988\u795e\u7ecf\u7f51\u7edc\u6a21\u578b<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u8bad\u7ec3\u540e\u83b7\u5f97\u7684\u6700\u4f18\u62df\u5408\u66f2\u7ebf\u4e0eMEMS\u503e\u89d2\u4f20\u611f\u5668\u7684\u539f\u59cb\u6570\u636e\u5bf9\u6bd4\u5982\u56fe5\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/e3d943bf8261448e2bbaedc80a316467.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"641\" height=\"419\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/e3d943bf8261448e2bbaedc80a316467.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1097\"  sizes=\"auto, (max-width: 641px) 100vw, 641px\" \/><\/div><figcaption class=\"wp-element-caption\">\u56fe5. \u795e\u7ecf\u7f51\u7edc\u62df\u5408<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u4ece\u56fe5\u53ef\u4ee5\u770b\u51fa\uff0c\u62df\u5408\u6548\u679c\u76f8\u5f53\u597d\u3002\u5373\u4f7f\u5728\u6ce2\u52a8\u8f83\u4e25\u91cd\u7684\u533a\u57df\uff0c\u8f93\u51fa\u4e5f\u57fa\u672c\u4e00\u81f4\u3002\u5c06MEMS\u4f20\u611f\u5668\u7684\u7b2c\u4e8c\u7ec4\u6570\u636e\u8f93\u5165\u8bad\u7ec3\u597d\u7684\u6a21\u578b\uff0c\u5bf9\u8fd9\u4e2a\u5168\u65b0\u6570\u636e\u96c6\u8fdb\u884c\u8865\u507f\u3002\u6d4b\u8bd5\u540e\u8be5\u6570\u636e\u96c6\u7684\u8865\u507f\u7ed3\u679c\u5982\u56fe6\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/b6919a233b89a857a69b24d23ff2bab3.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"598\" height=\"479\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/b6919a233b89a857a69b24d23ff2bab3.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1098\"  sizes=\"auto, (max-width: 598px) 100vw, 598px\" \/><\/div><figcaption class=\"wp-element-caption\">\u56fe6. \u8865\u507f\u6548\u679c\u56fe<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u901a\u8fc7\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u62df\u5408MEMS\u9640\u87ba\u4eea\u6f02\u79fb\uff0c\u5f97\u5230\u6e29\u6f02\u6a21\u578b\u3002\u8be5\u6a21\u578b\u7528\u4e8e\u9884\u6d4b\u6e29\u6f02\u5e76\u8865\u507f\u8f93\u51fa\u53c2\u6570\u3002\u8865\u507f\u540e\u7684\u7ed3\u679c\u663e\u8457\u66f4\u63a5\u8fd1\u7406\u8bba\u503c\u3002\u7ecf\u8ba1\u7b97\uff0c\u8865\u507f\u540e\u4e0d\u540c\u6e29\u5ea6\u4e0b\u7684\u5747\u503c\u5982\u88683\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/978d1c4e02da2467c7ac8ec357d1912a.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"701\" height=\"114\" data-original=\"https:\/\/xsir.work\/wp-content\/uploads\/2026\/09\/978d1c4e02da2467c7ac8ec357d1912a.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1099\"  sizes=\"auto, (max-width: 701px) 100vw, 701px\" \/><\/div><figcaption class=\"wp-element-caption\">\u88683. \u8865\u507f\u524d\u540e\u5bf9\u6bd4<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">\u4e0a\u8868\u663e\u793a\uff0c\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\u5bf9MEMS\u503e\u89d2\u4f20\u611f\u5668\u5177\u6709\u663e\u8457\u7684\u8865\u507f\u6548\u679c\u3002\u8865\u507f\u540e\uff0cMEMS\u4f20\u611f\u5668\u5728\u6e29\u5ea6\u53d8\u5316\u4e0b\u7684\u8f93\u51fa\u503c\u51cf\u5c0f\u3002\u7ecf\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u8865\u507f\u540e\uff0cxyz\u4e09\u8f74\u503e\u89d2\u7684\u6e29\u6f02\u73b0\u8c61\u5206\u522b\u51cf\u5c11\u4e8682.2%\u300182.8%\u548c92.9%\uff0c\u8868\u660e\u51cf\u5c11\u6548\u679c\u663e\u8457\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>4. \u7ed3\u8bba<\/strong><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ecf\u8fc7\u5361\u5c14\u66fc\u6a21\u578b\u6ee4\u6ce2\u540e\uff0c\u4fe1\u606f\u4fdd\u7559\u7387\u8fbe\u523097.2%\uff0c\u4fe1\u566a\u6bd4\u4e3a21.68DB\uff0c\u5747\u7b26\u5408\u5e02\u573a\u6807\u51c6\u3002\u5728\u4e0d\u6539\u53d8\u539f\u59cb\u6570\u636e\u6e29\u6f02\u7684\u60c5\u51b5\u4e0b\uff0c\u6709\u6548\u964d\u4f4e\u4e86MEMS\u503e\u89d2\u4f20\u611f\u5668\u8f93\u51fa\u4fe1\u53f7\u4e2d\u7684\u4f4e\u9891\u566a\u58f0\u548c\u5f02\u5e38\u6570\u636e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8865\u507f\u524d\uff0cMEMS\u503e\u89d2\u4f20\u611f\u5668XYZ\u8f74\u7684\u5e73\u5747\u8f93\u51fa\u503c\u7ea6\u4e3a0.7\u00b0\u30010.74\u00b0\u548c-90.37\u00b0\u3002\u7ecf\u8fc7\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u7cfb\u7edf\u8865\u507f\u540e\uff0cMEMS\u503e\u89d2\u4f20\u611f\u5668\u6574\u4e2a\u8fc7\u7a0b\u7684\u5e73\u5747\u8f93\u51fa\u503c\u4e3a-0.13\u00b0\u30010.13\u00b0\u548c-90.03\u00b0\u3002XYZ\u4e09\u8f74\u503e\u89d2\u7684\u6e29\u6f02\u73b0\u8c61\u5206\u522b\u51cf\u5c11\u4e8682.2%\u300182.8%\u548c92.9%\uff0c\u5e73\u5747\u51cf\u5c1185.96%\u3002\u4e0e\u4f18\u5316\u524d\u72b6\u6001\u76f8\u6bd4\uff0c\u6e29\u6f02\u663e\u8457\u964d\u4f4e\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5bf9\u4e8e\u6027\u80fd\u8f83\u4f4e\u3001\u6613\u53d1\u751f\u6e29\u6f02\u7684\u4f4e\u6210\u672c\u4f20\u611f\u5668\uff0c\u8be5\u65b9\u6cd5\u6709\u6548\u6539\u5584\u4e86\u6e29\u6f02\uff0c\u5177\u6709\u91cd\u8981\u7684\u5e94\u7528\u4ef7\u503c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u53c2\u8003\u6587\u732e<\/strong><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">[1] H.Yang, B. Zhou, L. Wang, H. Xing, and R. Zhang, \u201cA novel tri-axial MEMS gyroscope calibration method over a full temperature range,\u201d IEEE Trans. Instrum. Meas., vol. 70, Sep. 2018.<br>[2] Xu, H. Z. Wang, H. Weng, and X. Zhao, \u201cSelf-calibration of tri-axis rotational inertial based on virtual platform,\u201d IEEE Trans. Instrum. Meas., vol. 70, pp. 1\u201310, 2021. navigation system<br>[3] R. C. McKown, \u201cMounting angle calibration for an in-vehicle accelerometer device,\u201d Mar. 21 2017, US Patent 9,599,633.<br>[4] R. Wei et al., \u201cA research on calibration of low-precision MEMS inertial sensor\u2019s noise,\u201d Proc. 25th Chin. Control Devices Conf. (CCDC), Guiyang, China, May 2013, pp. 3243\u20133247.<br>[5] S. Zhou, G. Li, Q. Wang, J. Xu, Q. Ye, and S, \u201cGao. Rotor Attitude Estimation for Spherical Motors Using Multiobject Kalman KCF Algorithm in Monocular Vision\u201d. IEEE Transactions on Industrial Electronics, Volume 70, Issue 1, Pages 265-275, January 1, 2023.<br>[6] J. Luo et al., \u201cVehicle platform attitude estimation method based on adaptive Kalman filter and sliding window least squares,\u201d Meas. Sci. Technol., vol. 32, no. 3, Mar. 2021, Art. no. 035007.<br>[7] J. Fang, H. Sun, J. Cao, X. Zhang, and T. Ye, (2011).\u201dA novel calibration method of magnetic compass based on ellipsoid fitting\u201d, IEEE Transactions on Instrumentation and Measurement, Volume 60, Issue 6, Pages 2053-2061, June 2011.<br>[8] S. Herath, H. Yan, and Y. Furukawa, \u201cRonin: Robust neural inertial navigation in the wild: Benchmark, evaluations, &amp; new methods\u201d, in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 3146\u20133152.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e3b\u8981\u5b8c\u6210\u4f20\u611f\u5668MPU6050\u7684\u6e29\u5ea6\u6f02\u79fb\u8865\u507f\u5de5\u4f5c \u57fa\u4e8e\u5361\u5c14\u66fc\u6ee4\u6ce2\u548c\u795e\u7ecf\u7f51\u7edc\u7684\u503e\u89d2\u4f20\u611f\u5668\u6e29\u6f02\u8865\u507f \u6458\u8981 \u5728\u5d4c\u5165\u5f0f\u7cfb [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1089","post","type-post","status-publish","format-standard","hentry","category-research-experience"],"_links":{"self":[{"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/posts\/1089","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/comments?post=1089"}],"version-history":[{"count":1,"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/posts\/1089\/revisions"}],"predecessor-version":[{"id":1100,"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/posts\/1089\/revisions\/1100"}],"wp:attachment":[{"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/media?parent=1089"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/categories?post=1089"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/xsir.work\/index.php\/wp-json\/wp\/v2\/tags?post=1089"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}