欧拉角，倾斜角

    算倾斜角：

    x = accX[k]
    y = accY[k]
    z = accZ[k]

    ayz = math.sqrt(y*y+z*z)
    axz = math.sqrt(x*x+z*z)
    axy = math.sqrt(x*x+y*y)
    angle_x_acc = 180/pi*math.atan2(x,ayz)
    angle_y_acc = 180/pi*math.atan2(y,axz)
    angle_z_acc = 180/pi*math.atan2(axy,z)

    算欧拉角（转的角度）

    //angle_x_acc2[k] = 180/pi*math.atan2(z,y)
    //angle_z_acc2[k] = 180/pi*math.atan2(x,y)

    angle_x_acc2[k] = 180/pi*math.atan(z/y)
    angle_z_acc2[k] = 180/pi*math.atan(x/y)
   
    angle_x_gyro_sum[k] = angle_x_gyro_sum[k-1] - gyroX[k] 
    angle_y_gyro_sum[k] = angle_y_gyro_sum[k-1] - gyroY[k]
    angle_z_gyro_sum[k] = angle_z_gyro_sum[k-1] + gyroZ[k]

    

float x = 180 / Mathf.PI * Mathf.Atan(accZ / accY);

float z = 180 / Mathf.PI * Mathf.Atan(accX / accY);

X += -Input.gyro.rotationRate.x;

Y += -Input.gyro.rotationRate.y;

Z += Input.gyro.rotationRate.z;

X = (X + x) / 2;

Z = (Z + z) / 2;