将粒子滤波成功应用到GPS_INS组合导航中的例子，很详细。对于研究和学习组合导航以及滤波的人上手都很有帮助。,A paper in which the particle filtering is succefully derived, with many details as well. It is very useful to those who are at the beginning at researching or studying.

GPS_INS紧耦合组合导航系统研究,对学习组合导航系统有一定的参考价值-GPS_INS tightly coupled integrated navigation system, integrated navigation system for the study has some reference value