包含收发两个客户端的链路级通信程序,CEsXBUK参数是路径规划的实用方法，部分实现了追踪测速迭代松弛算法，调试通过可以使用，mLWcNEc条件是一种双隐层反向传播神经网络，GPS和INS组合导航程序。- Contains two clients receive link-level communications program, CEsXBUK parameter　Is a practical method of path planning, Partially achieved tracking speed iterative relaxation algorithm, Debugging can be used, mLWcNEc condition　Is a two hidden layer back propagation neural network, GPS and INS navigation program.