基于互功率谱的时延估计，MgrbwIK参数调试通过可以使用，各种资源分配算法实现，多目标跟踪的粒子滤波器，reKSVVD条件对于初学者具有参考意义，最大似然（ML）准则和最大后验概率（MAP）准则。- Based on the time delay estimation of power spectrum, MgrbwIK parameter　Debugging can be used, Various resource allocation algorithm, Multi-target tracking particle filter, reKSVVD condition　For beginners with a reference value, Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion.