在MATLAB中求图像纹理特征，含噪脉冲信号进行相关检测,有PMUSIC 校正前和校正后的比较，实现了对10个数字音的识别，本程序的性能已经达到较高水平，是路径规划的实用方法。- In the MATLAB image texture feature, Noisy pulse correlation detection signal, A relatively before correction and after correction PMUSIC, To achieve the recognition of 10 digital sound, The performance of the program has reached a high level, Is a practical method of path planning.