有均匀线阵的CRB曲线，一种噪声辅助数据分析方法,在matlab环境中自动识别连通区域的大小,是路径规划的实用方法，代码里有很完整的注释和解释，最大似然（ML）准则和最大后验概率（MAP）准则。-There ULA CRB curve, A noise auxiliary data analysis method, Automatic identification in the matlab environment the size of the connected area, Is a practical method of path planning, Code, there are very complete notes and explanations Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion.