Kalman
https://wenku.baidu.com/view/5b15e76b53ea551810a6f524ccbff121dd36c520.html?rec_flag=default
https://www.cnblogs.com/TIANHUAHUA/p/8473029.html
http://tags.eeworld.com.cn/tags/卡尔曼/tiezi/2
角度的Kalman 先转 sin cos 再 kalman 然后转回来
定位
https://www.cnblogs.com/rubbninja/p/6256072.html
https://www.cnblogs.com/zhoug2020/p/9254256.html
https://www.cnblogs.com/zsychanpin/p/7136015.html