是路径规划的实用方法，通过虚拟阵元进行DOA估计，基于人工神经网络的常用数字信号调制，是国外的成品模型，插值与拟合，解方程，数据分析，可以得到很精确的幅值、频率、相位估计，粒子图像分割及匹配均为自行编制的子例程，各种kalman滤波器的设计。- Is a practical method of path planning, Conducted through virtual array DOA estimation, The commonly used digital signal modulation based on artificial neural network, Foreign model is finished, Interpolation and fitting, solution of equations, data analysis, You can get a very accurate amplitude, frequency, phase estimation, Particle image segmentation and matching subroutines themselves are prepared, Various kalman filter design.