中文说明： 代码里有很完整的注释和解释，基于小波变换的数字水印算法matlab代码，wolf 方法计算李雅普诺夫指数,GPS和INS组合导航程序，实现了图像的灰度化并进一步用于视频监视控，加入重复控制。
English Description：
Very complete the comment in the code and explained, digital watermarking algorithm based on wavelet transform Matlab code, Wolf method to calculate the Lyapunov exponent, GPS and INS navigation procedures, realization of image gray-level and further used for video surveillance and control, joined the repeat control.