很详细的推导:http://www.cnblogs.com/jerrylead/archive/2011/04/06/2006936.html https://blog.csdn.net/wolenski/article/details/7983764 易于理解的博文: https://www.baidu.com/link?url=Dm-LdPQCyWvj55JF0yiww-0xdo8GOr1c56G08bvphqg3CDMZCNmtiE5ZkV7IIKoFnmGtBiHLyjZwMKNHn2divHARpcDKDb1LoctpymOfhnO&wd=&eqid=90d839700000cddf000000055b4c52f1