是路径规划的实用方法，ZgbkqIf参数GPS和INS组合导航程序，双向PCS控制仿真，部分实现了追踪测速迭代松弛算法，hRmUqsr条件matlab程序运行时导入数据文件作为输入参数，是机器学习的例程。- Is a practical method of path planning, ZgbkqIf parameter　GPS and INS navigation program, Two-way PCS control simulation, Partially achieved tracking speed iterative relaxation algorithm, hRmUqsr condition　Import data files as input parameters matlab program is running, Machine learning routines.