论文，关于GPSINS组合系统的稳健性研究，以及接收机的自适应波束形成。-Robust Navigation with GPS/INS and AdaptiveBeamforming

MATLAB代码，完整实现北斗B1C信号的从捕获、跟踪到定位的全部过程。代码鲁棒性好，有注释，适合学习，也可直接使用(MATLAB code, fully realize the whole process of Beidou B1C signal acquisition, tracking and positioning. Code is robust, annotated, suitable for learning, and can be used directly.)