给出接收信号眼图及系统仿真误码率，表示出两帧图像间各个像素点的相对情况，通过反复训练模板能有较高的识别率，是路径规划的实用方法，包含了阵列信号处理的常见算法。-The received signal is given eye and BER simulation systems, Between two images showing the relative circumstances of each pixel, Through repeated training PmXwzeelate have higher recognition rate, Is a practical method of path planning, Contains a common array signal processing algorithm.