四轴飞行器的算法研究，MK用的比较巧妙，主要是通过实时融合和长期融合。-Algorithm axis aircraft, MK with the more subtle, mainly through the real-time integration and long-term integration.

基于非平稳时间序列的突变点的检验。使用MK检验-The time series of mutations point inspection. mk method