这个程序可以用来学习EKF卡尔曼滤波，是初学者可以借鉴的-This program can be used to learn EKF Calman filter, beginners can learn from

这个程序可以用来学习惯导与GPS的组合导航来用，还有卡尔曼滤波，是初学者可以借鉴的-This program can be used to study the combination of navigation and GPS navigation to use, and Calman filter, beginners can learn from