主要是基于mtlab的程序，考虑雨衰 阴影 和多径影响，Matlab实现界面友好，GPS和INS组合导航程序，直线阵采用切比学夫加权控制主旁瓣比，通过虚拟阵元进行DOA估计。- Mainly based on the mtlab procedures, Consider shadow rain attenuation and multipath effects Matlab to achieve user-friendly, GPS and INS navigation program, Linear array using cut than learning laid upon the right control of the main sidelobe ratio, Conducted through virtual array DOA estimation.