从先验概率中采样，计算权重，有循环检测，周期性检测，粒子图像分割及匹配均为自行编制的子例程，模式识别中的bayes判别分析算法，多姿态，多角度，有不同光照,供做算法研究人员参考，包括广义互相关函数GCC时延估计，通过虚拟阵元进行DOA估计。- Sampling　a priori probability, calculate the weight, There are cycle detection, periodic testing, Particle image segmentation and matching subroutines themselves are prepared, Pattern Recognition bayes discriminant analysis algorithm, Much posture, multi-angle, have different light, Algorithm for researchers to do reference, Including the generalized cross-correlation function GCC time delay estimation, Conducted through virtual array DOA estimation.