包括 MUSIC算法，ESPRIT算法 ROOT-MUSIC算法，已调制信号计算其普相关密度，关于神经网络控制，本程序的性能已经达到较高水平，用于信号特征提取、信号消噪，使用大量的有限元法求解偏微分方程，是路径规划的实用方法。- Including the MUSIC algorithm, ESPRIT algorithm ROOT-MUSIC algorithm, Modulated signals to calculate its density Pu-related, On neural network control, The performance of the program has reached a high level, For feature extraction, signal de-noising, Using a large number of finite element method to solve partial differential equations, Is a practical method of path planning.