包括脚本文件和函数文件形式，是路径规划的实用方法，滤波求和方式实现宽带波束形成，包含位置式PID算法、积分分离式PID，利用贝叶斯原理估计混合logit模型的参数，通过虚拟阵元进行DOA估计，MIMO OFDM matlab仿真,有CDF三角函数曲线/三维曲线图。- Including scr ipt files and function files in the form, Is a practical method of path planning, Filtering summation way broadband beamforming, It contains positional PID algorithm, integral separate PID, Bayesian parameter estimation principle mixed logit model, Conducted through virtual array DOA estimation, MIMO OFDM matlab simulation, There CDF trigonometric curve/3D graphs.