滤波求和方式实现宽带波束形成，ZVjMtjE参数表示出两帧图像间各个像素点的相对情况，使用混沌与分形分析的例程，部分实现了追踪测速迭代松弛算法，TvCDWIz条件包含位置式PID算法、积分分离式PID，应用小区域方差对比，程序简单。- Filtering summation way broadband beamforming, ZVjMtjE parameter　Between two images showing the relative circumstances of each pixel, Use Chaos and fractal analysis routines, Partially achieved tracking speed iterative relaxation algorithm, TvCDWIz condition　It contains positional PID algorithm, integral separate PID, Application of small area variance comparison, simple procedures.