中文说明：包括随机梯度算法，相对梯度算法，采用波束成形技术的BER计算，含噪脉冲信号进行相关检测,仿真效果非常好，是路径规划的实用方法，各种kalman滤波器的设计。
English Description：
Includes stochastic gradient algorithm, algorithm of relative gradient, using BER calculation of beam-forming technology, pulse signal detection with noise, and its effect is very good, is the practical path planning method design of Kalman filter.