中文说明： 进行逐步线性回归，微分方程组数值解方法，GPS和INS组合导航程序，一种噪声辅助数据分析方法,滤波求和方式实现宽带波束形成，ML法能够很好的估计信号的信噪比。
English Description：
Stepwise linear regression method of numerical solution of differential equations, GPS and INS navigation procedures, a method of secondary data analysis of noise, filter summation method to achieve broadband Beamforming and ML methods can be a good estimation of the signal to noise ratio.