信号处理中的旋转不变子空间法，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，实现了图像的加水印，去噪，加噪声等功能。- Signal Processing ESPRIT method, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle, Realize image watermarking, de-noising, plus