中文说明：
该程序基于MATLAB平台编写，实现了GPS/INS基于位置松组合的卡拉曼滤波算法，分为两部分，GPS_INS.m为组合算法主文件，输入捷联惯导平台实测数据，设置各量测噪声参数，在调用卡尔曼滤波函数进行数据融合校正，最后实现绘图功能；kalman_GPS_INS.m 为卡拉曼滤波程序，输入量测误差以及各噪声参数可得位置和速度估计值。
English Description：
The program is based on MATLAB platform, and realizes the Karaman filtering algorithm of GPS / INS based on position loose combination, which is divided into two parts: GPS and ins_ Ins. M is the main file of the integrated algorithm, which inputs the measured data of the strapdown inertial navigation platform, sets the measurement noise parameters, calls the Kalman filter function for data fusion correction, and finally realizes the drawing function_ GPS_ Ins. M is a Karaman filtering program. Position and velocity estimation can be obtained by inputting measurement error and noise parameters.