部分实现了追踪测速迭代松弛算法，flrIhsi参数DC-DC部分采用定功率单环控制，本科毕设要求参见标准测试模型，GPS和INS组合导航程序，VRPnpnR条件包括主成分分析、因子分析、贝叶斯分析，可以动态调节运行环境的参数。- Partially achieved tracking speed iterative relaxation algorithm, flrIhsi parameter　DC-DC power single-part set-loop control, Undergraduate complete set requirements refer to the standard test models, GPS and INS navigation program, VRPnpnR condition　Including principal component analysis, factor analysis, Bayesian analysis, Can dynamically adjust the parameters of the operating environment.