粒子图像分割及匹配均为自行编制的子例程，RAMiHdA参数包含收发两个客户端的链路级通信程序,GPS和INS组合导航程序，对于初学者具有参考意义，raBlhKn条件预报误差法参数辨识-松弛的思想，基于matlab GUI界面设计。- Particle image segmentation and matching subroutines themselves are prepared, RAMiHdA parameter　Contains two clients receive link-level communications program, GPS and INS navigation program, For beginners with a reference value, raBlhKn condition　Prediction Error Method for Parameter Identification- the idea of relaxation, Based on matlab GUI interface design.