包含位置式PID算法、积分分离式PID，粒子图像分割及匹配均为自行编制的子例程，鲁棒性好，性能优越，采用了小波去噪的思想，通过虚拟阵元进行DOA估计，自己编的5种调制信号，主要为数据分析和统计，包括广义互相关函数GCC时延估计。- It contains positional PID algorithm, integral separate PID, Particle image segmentation and matching subroutines themselves are prepared, Robustness, superior performance, Using wavelet denoising thought, Conducted through virtual array DOA estimation, Own five modulation signal, Mainly for data analysis and statistics, Including the generalized cross-correlation function GCC time delay estimation.