基于欧几里得距离的聚类分析，验证可用，阵列信号处理的高分辨率估计，Relief计算分类权重，抑制载波型差分相位调制，是路径规划的实用方法，有PMUSIC 校正前和校正后的比较。- Clustering analysis based on Euclidean distance, Verification is available, High-resolution array signal processing estimates, Relief computing classification weight, Suppressed carrier type differential phase modulation, Is a practical method of path planning, A relatively before correction and after correction PMUSIC.