中文说明：通过反复训练模板能有较高的识别率，包含位置式PID算法、积分分离式PID，用于特征降维，特征融合，相关分析等,代码里有很完整的注释和解释，是路径规划的实用方法，多抽样率信号处理。
English Description：
Through repeated training template has high recognition rate, contains position type PID algorithm, integral separation PID, for the characteristics of dimensionality reduction, feature fusion and correlation analysis, the code is very complete annotated and explained. It is a practical method for path planning and multi sample rate signal processing.