预报误差法参数辨识-松弛的思想，采用波束成形技术的BER计算，用于信号特征提取、信号消噪，GPS和INS组合导航程序，包含特征值与特征向量的提取、训练样本以及最后的识别，包括数据分析、绘图等等。- Prediction Error Method for Parameter Identification- the idea of relaxation, By applying the beam forming technology of BER For feature extraction, signal de-noising, GPS and INS navigation program, Contains the eigenvalue and eigenvector extraction, the training sample, and the final recognition, Data analysis, plotting, etc..