一个关于卫星导航方面的ekf滤波程序，请大家互相共享一下-a satellite navigation on the ekf filtering process, please share what each other

本程序是接连惯导系统下的导航算法程序，希望对需要的朋友提供帮助。- This program is under successive INS navigation algorithm program, I hope to help a friend in need.

这个程序可以用来学习惯导与GPS的组合导航来用，还有卡尔曼滤波，是初学者可以借鉴的-This program can be used to study the combination of navigation and GPS navigation to use, and Calman filter, beginners can learn from