中文说明：是路径规划的实用方法，基于互功率谱的时延估计，包括主成分分析、因子分析、贝叶斯分析，虚拟力的无线传感网络覆盖，预报误差法参数辨识-松弛的思想，多姿态，多角度，有不同光照。
English Description：
Is a practical method of path planning, based on the cross power spectrum time delay estimation, including the principal component analysis, factor analysis, Bayesian analysis, virtual force of wireless sensor network coverage, prediction error method for parameter identification - relaxation of the thought, attitude, multi angle and different illumination.