不会难道我还不能附上链接吗

Kalman Filter 通俗讲解 https://blog.csdn.net/u010665216/article/details/80556000
opencv的 Kalman Filter
https://blog.csdn.net/gdfsg/article/details/50904811

C++二进制读写http://c.biancheng.net/view/1538.html

select：https://blog.csdn.net/u014661120/article/details/53447398

Linux下串口通信详解（下）读写串口及关闭串口：https://blog.csdn.net/specialshoot/article/details/50709257