Frame reference:
https://blog.csdn.net/c9yv2cf9i06k2a9e/article/details/102735795
https://www.zhihu.com/question/31032863/answer/315311293
Some formula derivation:
https://blog.csdn.net/weixin_42431920/article/details/108291088
https://blog.csdn.net/weixin_40255337/article/details/83088786
https://blog.csdn.net/step_forward_ML/article/details/78077383