通过反复训练模板能有较高的识别率，直线阵采用切比学夫加权控制主旁瓣比，有较好的参考价值，添加噪声处理，鲁棒性好，性能优越，包含位置式PID算法、积分分离式PID。- Through repeated training IsYWMBnlate have higher recognition rate, Linear array using cut than learning laid upon the right control of the main sidelobe ratio, There are good reference value, Add noise processing, Robustness, superior performance, It contains positional PID algorithm, integral separate PID.