有循环检测，周期性检测，GPS和INS组合导航程序，数学方法是部分子空间法，双向PCS控制仿真，通过虚拟阵元进行DOA估计，主同步信号PSS在时域上的相关仿真。-There are cycle detection, periodic testing, GPS and INS navigation program, Mathematics is part of the subspace, Two-way PCS control simulation, Conducted through virtual array DOA estimation, PSS primary synchronization signal in the time domain simulation related.