代码1用于将位置经纬高信息转换为地心地固坐标系下xyz信息；代码2是捷联惯导算法代码，用于将加速度计和陀螺仪输出的信息进行解算得到位置、速度和姿态信息。(Code 1 is used to convert the location of warp and weft information into XYZ information in a geocentric coordinate system; code 2 is a strapdown inertial navigation algorithm code, which is used to compute the information of accelerometers and gyroscopes to get position, speed and attitude information.)