随机调制信号下的模拟ppm，基于互功率谱的时延估计，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- Random ppm modulated analog signal under Based on the time delay estimation of power spectrum, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch