matlab中各种程序语言的意思,求助，因不会MATLAB程序语言，现在需要知道里面算法是什么意思...

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程序如下，主要想知道T ，S ，b是怎么算出来的

%% SCRIPT FOR 3-AXIS ACCELEROMETER CALIBRATION

% Calibration procedure:

% 1) DATA PREPROCESSING: 3-axis accelerometer output is measured and averaged in different static orientations (ACC_meas)

% 2) OPTIMIZATION: fminunc is used for Sensor Error Model (SEM) parameter estimation

% 3) EVALUATION: ACC_meas are corrected by the estimated SEM, root mean squared error (RMSE) is computed

clc; close all; clear all; warning off;

fprintf('Triaxial accelerometer calibration based on FMINUNC function \n');

[Type Sheet Format]=xlsfinfo('ADXL355.xlsx');

for i = 1:length(Sheet)

A = xlsread('ADXL355.xlsx',Sheet{i});

ACC_meas(:,i) = mean(A)/256000;

end

% ACC_meas=load ('imu1.txt'); % Data for calibration - each vector ACC_meas(1:3,i) is a mean of 1000 static samples @ 100 Hz (g)

% ACC_meas=ACC_meas';

% ACC_meas=load ('acc_gova.txt'); % Data for calibration - each vector ACC_meas(1:3,i) is a mean of 1000 static samples @ 100 Hz (g)

% ACC_meas=ACC_meas'/257256;

G = 1; % Magnitude of the gravity field vector (~9.81 m/s^2)

n = length(ACC_meas); % Number of samples in ACC_meas

x0 = [0, 0, 0, 0, 0, 0 ,1, 1, 1, 0, 0, 0]; % Initial values of nine-state vector using FMINUNC

% Structure of vector: x0 = [ALFAxy, ALFAzx, ALFAzy, Sx, Sy, Sz, bx, by, bz];

[x, fval, exitflag, output, grad] = fminunc(@(x)acc_minimization(x, n, ACC_meas, G), x0); % Minimization using fminunc function

fprintf('Sensor Error Model: \n');

% Sensor Error Model

T = [1, x(1), x(2); x(3), 1, x(4); x(5), x(6), 1] % Sensor Error Model - orthogonalization matrix

S = [x(7),0,0;0,x(8),0;0,0,x(9)] % SEM - Scale Factor Matrix

b = [x(10);x(11);x(12)] % SEM - Offsets

K=S*T;

B=b;

save('imu_calib','K','B')

[ACC_corr] = acc_correction(ACC_meas, n, T, S, b); % Correction of accelerations using SEM estimated using fminunc function

% (measured_data, number of samples, T, S, b)

[RMSE(1), delta(1,:)] = acc_rmse(ACC_meas, n, G); % Computation of RMSE before calibration

[RMSE(2), delta(2,:)] = acc_rmse(ACC_corr, n, G); % Computation of RMSE after calibration

fprintf('RMSE before calibration: %.6f g \n', RMSE(1));

fprintf('RMSE after calibration: %.6f g \n', RMSE(2));

figure; hold on; grid on;

plot(delta(1,:), 'b--');

plot(delta(2,:), 'r');

title('Deviations \Delta before and after correction using SEM in measured orienations');

xlabel('measured orientation (-)');

ylabel('\Delta = sqrt(acc_x^2+acc_x^2+acc_z^2) - G (g)');

legend('before correction','after correction');