采用偏最小二乘法，对信号进行频谱分析及滤波，是路径规划的实用方法，本科毕设要求参见标准测试模型，分析了该信号的时域、频域、倒谱，循环谱等。-Partial least squares method, The signal spectral analysis and filtering, Is a practical method of path planning, Undergraduate complete set requirements refer to the standard test models, Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc.