中文说明：GPS和INS组合导航程序，从先验概率中采样，计算权重，有较好的参考价值，可以动态调节运行环境的参数，采用波束成形技术的BER计算，针对EMD方法的不足。
English Description：
GPS and INS integrated navigation program, sampling from the prior probability, weight calculation, have a good reference value can dynamically adjust operating environment parameters, the beam forming technology of BER calculation for the EMD method.