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代码说明：

  GPS和INS组合导航程序，其中包括轨迹发生器、KALMAN滤波、zWzvEZP模型建立、可以对程序进行任意修改，实验报告作为示例，是lbYrjTR参考例程(GPS and INS combination of navigation procedures, including the trajectory generator, KALMAN filter, zWzvEZP model to establish, you can arbitrarily modify the program, the experimental report as an example, is the lbYrjTR reference)