对上交代码进行修改，主要将能量机关去掉，添加了同济的PnP位姿解算，但是同济有个四元数，获取IMU部分没有启用，可能导致精度不够。当前还存在反陀螺功能，修改为逻辑和弹道预测相结合，主要在时间关系上进行调整。

others/include/serial.h

@@ -0,0 +1,61 @@
+#ifndef _SERIAL_H_
+#define _SERIAL_H_
+
+#ifdef Windows
+
+#include <Windows.h>
+
+class Serial
+{
+public:
+	Serial(UINT  baud = CBR_115200, char  parity = 'N', UINT  databits = 8, UINT  stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
+	~Serial();
+
+	bool InitPort(UINT  portNo = 1, UINT  baud = CBR_9600, char  parity = 'N', UINT  databits = 8, UINT  stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
+	UINT GetBytesInCOM() const ;
+	bool WriteData(const unsigned char* pData, unsigned int length);
+	bool ReadData(unsigned char* buffer, unsigned int length);
+private:
+	bool openPort(UINT  portNo);
+	void ClosePort();
+	void ErrorHandler();
+private:
+	HANDLE hComm;
+	UINT portNo;
+	UINT baud;
+	char parity;
+	UINT databits;
+	UINT stopsbits;
+	DWORD dwCommEvents;
+};
+
+#elif defined(Linux) || defined(Darwin)
+
+#include <errno.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+
+class Serial {
+private:
+    int fd;
+    int nSpeed;
+    char nEvent;
+    int nBits;
+    int nStop;
+
+    int set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop);
+
+public:
+    Serial(int nSpeed = 115200, char nEvent = 'N', int nBits = 8, int nStop = 1);
+    ~Serial();
+
+    bool InitPort(int nSpeed = 115200, char  nEvent = 'N', int nBits = 8, int nStop = 1);
+//    int GetBytesInCOM() const ;
+    bool WriteData(const unsigned char* pData, unsigned int length);
+    bool ReadData(unsigned char* buffer, unsigned int length);
+};
+
+#endif
+
+#endif /* _SERIAL_H_ */