中文说明： 有详细的注释，music高阶谱分析算法，基于chebyshev的水声信号分析，使用高阶累积量对MPSK信号进行调制识别，cordic算法的matlab仿真，是路径规划的实用方法。
English Description：
There are detailed notes, music high-order spectrum analysis algorithm, underwater acoustic signal analysis based on Chebyshev, modulation recognition of MPSK signal using high-order cumulant, matlab simulation of CORDIC algorithm, which are practical methods of path planning.