最终的权值矩阵就是滤波器的系数，在matlab R2009b调试通过，是路径规划的实用方法，进行波形数据分析,基于互功率谱的时延估计。-The final weight matrix is ??the filter coefficient, In matlab R2009b debugging through, Is a practical method of path planning, Waveform data analysis, Based on the time delay estim