中文说明：
GPS和INS组合导航程序，其中包括轨迹发生器、KALMAN滤波、模型建立、伪距伪距率组合方式进行仿真，可以对程序进行任意修改，有实验报告作为示例，可以作为导航专业的毕业设计参考例程使用。
English Description：
GPS and INS integrated navigation program, including trajectory generator, Kalman filter, model building, pseudo range and pseudo range rate combination mode for simulation, can modify the program at will, with the experimental report as an example, can be used as a reference routine for graduation design of navigation major.