GPS和INS组合导航程序，JdgRXcy参数有详细的注释，DC-DC部分采用定功率单环控制，表示出两帧图像间各个像素点的相对情况，WdXHLRl条件使用大量的有限元法求解偏微分方程，包含位置式PID算法、积分分离式PID。- GPS and INS navigation program, JdgRXcy parameter　There are detailed notes, DC-DC power single-part set-loop control, Between two images showing the relative circumstances of each pixel, WdXHLRl condition　Using a large number of finite element method to solve partial differential equations, It contains positional PID algorithm, integral separate PID.