飞思卡尔传感器融合手册，详细的说明了九轴传感器之间的融合方法，以及六种针对不同场合的融合算法解析。-Freescale sensor fusion handbook，indicate a detailed descr iption of the 9-axis sensor fusion algorithm, as well as six different occasions for fusion algorithm analysis.

MPU6050+HMC5883九轴融合Arduino源代码，可实现姿态预估-MPU6050+HMC5883 9-axis integration Arduino source code, can achieve posture forecast

MU6250读取九轴数据，采用卡尔曼滤波算法实现姿态解算，输出欧拉角(attitude calculation based on Kalman filtering)