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.

关于《离散数学》的程序，以及txt的编码文档（自己编写的）-About " Discrete Mathematics" program, as well as txt file encoding (write your own)