a Raster Map &GPS solution. This is a raster map tool chain to view map sets stored as GeoTiff on a PC as well as on a portable device such as PPCs. QLandkarte GT是他的 PC tool, 目前是support Garmin device 及 PDA. 其目的主要觀看與上傳地圖檔案，以及將追蹤與定點資料到Garmin GPS接

该程序基于MATLAB平台编写，实现了GPS/INS基于位置松组合的卡拉曼滤波算法，分为两部分，GPS_INS.m为组合算法主文件，输入捷联惯导平台实测数据，设置各量测噪声参数，在调用卡尔曼滤波函数进行数据融合校正，最后实现绘图功能；kalman_GPS_INS.m 为卡拉曼滤波程序，输入量测误差以及各噪声参数可得位置和速度估计值。(The program is based on MATLAB platform, and realizes the Kalman filtering algori