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.

1.666khz(600us),3轴加速度计,3轴陀螺仪数据-1.666khz (600us), 3 axis accelerometer, 3 axis gyro data