参考资料: https://gutsgwh1997.github.io/2020/05/01/IMU%E9%A2%84%E7%A7%AF%E5%88%86-%E4%B8%80/ https://www.cnblogs.com/weihao-ysgs/p/IMU-Pre-Integration.html https://blog.csdn.net/weixin_51547017/article/details/122136427