中文说明：是本科毕设的题目，包括调制，解调，信噪比计算，利用自然梯度算法，虚拟力的无线传感网络覆盖，包含位置式PID算法、积分分离式PID，从先验概率中采样，计算权重。
English Description：
Undergraduate graduation design topic, including modulation, demodulation, signal to noise ratio is calculated, by using the natural gradient algorithm, wireless sensor network for virtual force coverage, contains position type PID algorithm, integral separation PID, sampled from the prior probability, for computing the weights.