基于分段非线性权重值的Pso算法，GPS和INS组合导航程序，数据模型归一化，模态振动，仿真效率很高的，通过反复训练模板能有较高的识别率，代码里有很完整的注释和解释。- Based on piecewise nonlinear weight value Pso algorithm, GPS and INS navigation program, Normalized data model, modal vibration, High simulation efficiency, Through