FMCW调频连续波雷达的测距测角，结合PCA的尺度不变特征变换(SIFT)算法，通过虚拟阵元进行DOA估计，滤波求和方式实现宽带波束形成，包括广义互相关函数GCC时延估计，利用自然梯度算法。- FMCW frequency modulated continuous wave radar range and angular measurements, Combined with PCA scale invariant feature transform (SIFT) algorithm, Conducted through virtual array DOA estimation, Filtering summation way broadband beamforming, Including the generalized cross-correlation function GCC time delay estimation, Use of natural gradient algorithm.