Note 1: Calculation method for speed increment
(1) The 5ms velocity increment value output by the accelerometer at time tk is yk (unit: m/s);
(2) Define the initial value of speed increment accumulation SumVelInt=0;
(3) Define Yk=int [yk * 1e5+δ Yk-1], where int [*] represents rounding operation, and δ Yk-1 represents the remainder after rounding the velocity increment in the previous step;
(4) The remainder after rounding Yk: δ Yk=yk * 1e5+δ Yk-1-Yk;
(5)SumVelInt = SumVelInt + Yk;
(6) Integer range limitation for SumVelInt:
If SumVelInt ≥ 1e7, SumVelInt=SumVelInt -1e7;
If SumVelInt<0, SumVelInt=SumVelInt+1e7;
After integer processing, limit the range of SumVelInt values to [0,1e7);
(7) Send the last 3 bytes of SumVelInt after integer processing.

Note 2: Calculation method for angle increment
(1) The 5ms angular increment value of the gyroscope output at time tk is xk (unit: rad);
(2) Define the initial value SumAngInt for angle increment accumulation as 0;
(3) Define Xk=int [xk * 1e7+δ Xk-1], where int [*] represents the rounding operation, and δ Xk-1 represents the remainder after rounding the previous angular increment;
(4) The remainder after rounding Xk: δ Xk=xk * 1e7+δ Xk-1-Xk;
(5)SumAngInt = SumAngInt + Xk;
(6) The integer range limitation of SumAngInt:
If SumAngInt ≥ 1e7, SumAngInt=SumAngInt -1e7;
If SumAngInt<0, SumAngInt=SumAngInt+1e7;
After integer processing, limit the range of SumAngInt values to [0,1e7);
(7) Send the last 3 bytes of SumAngInt after integer processing.