说明：  实现GPS/INS组合导航解算位置、速度、航向等参数。输入数据：东向位置、北向位置、航向角（度）、gps速度、陀螺仪角速度、里程计脉冲数
(Implement integrated GPS/INS navigation solution position, speed, course and other parameters. Input data: east position, north position, heading angle (degrees), gps speed, angular velocity gyroscope, odometer pulses)