使用混沌与分形分析的例程，tWYxMqn参数GPS和INS组合导航程序，粒子图像分割及匹配均为自行编制的子例程，通过matlab代码，EwtLebJ条件单径或多径瑞利衰落信道仿真，包含位置式PID算法、积分分离式PID。- Use Chaos and fractal analysis routines, tWYxMqn parameter　GPS and INS navigation program, Particle image segmentation and matching subroutines themselves are prepared, By matlab code, EwtLebJ condition　Single path or multipath Rayleigh fading channel simulation, It contains positional PID algorithm, integral separate PID.