处理传感器数据,理论上知道三轴加速度和三轴角速度，通过坐标变换和积分就可以获得实时的速度和相对起始位置的距离(Sensor data processing.In theory, the three axis acceleration and the three axis angular velocity can be obtained by coordinate transformation and integration, and the distance between the velocity and the relative starting position can be obtained.)