四轮转向两自由度模型，测质心侧偏角和横摆角速度-Four-wheel steering two degree of freedom model of center of mass of side-slip Angle and yawing angular velocity measurement

两自由度非线性比例前馈四轮转向模型，测汽车质心侧偏角和横摆角速度-Two degrees of freedom nonlinear feedforward four-wheel steering model, auto measuring centroid side-slip Angle and yawing angular velocity

实现GPS/INS组合导航解算位置、速度、航向等参数。输入数据：东向位置、北向位置、航向角（度）、gps速度、陀螺仪角速度、里程计脉冲数-Implement integrated GPS/INS navigation solution position, speed, course and other parameters. Input data: east position, north position, heading angle (degrees), gps speed, angular

分析汽车横摆角速度和质心侧偏角，课用于研究汽车ESP系统(Analysis of the angular velocity of the car's yaw and the side angle of the center of mass)