本文件采用Matlab软件，通过粒子滤波实现地形辅助导航算法。-This document is the use of Matlab software, to achieve through the particle filter algorithm for terrain-aided navigation.

gps辅助惯导的导航解算程序，已经运行通过了，大家可以-Program GPS-aided inertial navigation navigation solution, has already run through ，we can try

自己写的改进的BP神经网络辅助组合导航卡尔曼滤波，运行成功，可供参考。-Write their own improved BP neural network aided integrated navigation kalman filter, run successfully, for reference.