考虑雨衰 阴影 和多径影响，计算加权加速度,各种kalman滤波器的设计，一个很有用的程序，粒子图像分割及匹配均为自行编制的子例程，有小波分析的盲信号处理。- Consider shadow rain attenuation and multipath effects Weighted acceleration, Various kalman filter design, A very useful program, Particle