滤波求和方式实现宽带波束形成，是路径规划的实用方法，基于分段非线性权重值的Pso算法，使用混沌与分形分析的例程，matlab小波分析程序。-Filtering summation way broadband beamforming, Is a practical method of path planning, Based on piecewise nonlinear weight value Pso algorithm, Use Chaos and fractal analysis routi