比较了软阈值，硬阈值及当今各种阈值计算方法,滤波求和方式实现宽带波束形成，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- Comparison of soft threshold and hard threshold and today various threshold calculation method, Filtering summation way broadband beamforming, It comprises aircraft flight attitude