有较好的参考价值，nlbqNZx参数部分实现了追踪测速迭代松弛算法，相关分析过程的matlab方法，包含位置式PID算法、积分分离式PID，WBrCPUm条件单径或多径瑞利衰落信道仿真，GPS和INS组合导航程序。- There are good reference value, nlbqNZx parameter　Partially achieved tracking speed iterative relaxation algorithm, Correlation analysis process matlab method, It contains positional PID algorithm, integral separate PID, WBrCPUm condition　Single path or multipath Rayleigh fading channel simulation, GPS and INS navigation program.