是路径规划的实用方法，bJZTGFt参数滤波求和方式实现宽带波束形成，BP神经网络用于函数拟合与模式识别，具有丰富的参数选项,lAOwqHe条件相关分析过程的matlab方法，GPS和INS组合导航程序。- Is a practical method of path planning, bJZTGFt parameter　Filtering summation way broadband beamforming, BP neural network function fitting and pattern recognition, It has a wealth of parameter options, lAOwqHe condition　Correlation analysis process matlab method, GPS and INS navigation program.