这是我自己写的xsen的mti系统程序，从陀螺仪和加速度计中实时读取数据，并在地理坐标系中进行解算，最后积分得到速度和位置信息。可以用于手势识别或者精度要求不高的导航系统。如果要用于精确导航，则应该进一步进行修正。程序使用com4进行通信，波特率是115200，采样频率是50hz，这些参数都可以修改。-This is my own writing xsen the mti system program　the gyroscopes and accelerometers to read data in real time, and geographic coordinate system solver, the final points to get the speed and location information. Can be used for gesture recognition or less precision navigation system. If you want to for accurate navigation, it should be further amended. Program to communicate with com4, baud rate is 115200, the sampling frequency is 50hz, these parameters