FIR 底通和带通滤波器和IIR 底通和带通滤波器，包含CV、CA、Single、当前、恒转弯速率、转弯模型，利用自然梯度算法。- Bottom-pass and band-pass FIR and IIR filter bottom pass and band-pass filter, It contains CV, CA, Single, current, constant turn rate, turning model, Use of natural gradient algorithm.