各种kalman滤波器的设计，验证可用，计算多重分形非趋势波动分析，滤波求和方式实现宽带波束形成，GPS和INS组合导航程序，解耦，恢复原信号，与理论分析结果相比，包含CV、CA、Single、当前、恒转弯速率、转弯模型。- Various kalman filter design, Verification is available, Calculate the multifractal trend fluctuation analysis, Filtering summation way broadband beamforming, GPS and INS navigation program, Decoupling, restore the original signal, Compared with the results of theoretical analysis, It contains CV, CA, Single, current, constant turn rate, turning model.