中文说明：该程序是包括惯导解算+卡尔曼滤波的完整程序，并附有详细的代码解释，对于想要学习组合导航的新手非常有用！
English Description：
The program includes inertial navigation system Kalman filtering solution + complete programs, along with code to explain in detail, very useful for novices who want learn navigation!