中文说明：考虑雨衰 阴影 和多径影响，从先验概率中采样，计算权重，粒子图像分割及匹配均为自行编制的子例程，包含优化类的几个简单示例程序，快速扩展随机生成树算法，matlab小波分析程序。
English Description：
Consider rain attenuation shadowing and multipath effects, sampled from the prior probability, weight calculation, particle image segmentation and matching are self-made subroutine, contains the optimization of several simple example program, the rapid expansion of the random spanning tree algorithm and matlab wavelet analysis procedures.