过渡过程的幅值与计程仪加速度误差的积分值成正比。
The amplitude of overshoot is linear with the integral of log's acceleration error.
对于时间周期小于半秒，陀螺仪的积分将会占优，水平加速度的噪声将会被滤去。
For time periods shorter than half a second, the gyroscope integration takes precedence and the noisy horizontal accelerations are filtered out.
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