包含位置式PID算法、积分分离式PID，采用波束成形技术的BER计算，有小波分析的盲信号处理，构成不同频率的调制信号，最小二乘回归分析算法。- It contains positional PID algorithm, integral separate PID, By applying the beam forming technology of BER There Wavelet Analysis Blind Signal Processing, Constituting the modulated signals of different frequencies, Least-squares regression analysis algorithm.