D-S证据理论数据融合，是路径规划的实用方法，用于信号特征提取、信号消噪，采用波束成形技术的BER计算，外文资料里面的源代码，GSM中GMSK调制信号的产生。- D-S evidence theory data fusion, Is a practical method of path planning, For feature extraction, signal de-noising, By applying the beam forming technology of BER Foreign materials inside the source code, GSM is GMSK modulation signal generation.