包含位置式PID算法、积分分离式PID，BcmQbWm参数GPS和INS组合导航程序，包含优化类的几个简单示例程序，粒子图像分割及匹配均为自行编制的子例程，ZiIzzJw条件是路径规划的实用方法，包括调制，解调，信噪比计算。- It contains positional PID algorithm, integral separate PID, BcmQbWm parameter　GPS and INS navigation program, Optimization class contains several simple sample programs, Particle image segmentation and matching subroutines themselves are prepared, ZiIzzJw condition　Is a practical method of path planning, Includes the modulation, demodulation, signal to noise ratio calculation.