考虑雨衰 阴影 和多径影响，是路径规划的实用方法，基于chebyshev的水声信号分析，包括主成分分析、因子分析、贝叶斯分析，包括随机梯度算法，相对梯度算法，有较好的参考价值，线性调频脉冲压缩的Matlab程序,预报误差法参数辨识-松弛的思想。- Consider shadow rain attenuation and multipath effects Is a practical method of path planning, Based chebyshev underwater acoustic signal analysis, Including principal component analysis, factor analysis, Bayesian analysis, Including stochastic gradient algorithm, the relative gradient algorithm, There are good reference value, LFM pulse compression of the Matlab program, Prediction Error Method for Parameter Identification- the idea of relaxation.