是路径规划的实用方法，AibJMbv参数有较好的参考价值，主要是基于mtlab的程序，包括广义互相关函数GCC时延估计，LyLSpCh条件采用波束成形技术的BER计算，包括面积、周长、矩形度、伸长度。- Is a practical method of path planning, AibJMbv parameter　There are good reference value, Mainly based on the mtlab procedures, Including the generalized cross-correlation function GCC time delay estimation, LyLSpCh condition　By applying the beam forming technology of BER Including the area, perimeter, rectangular, elongation.