中文说明：是路径规划的实用方法，仿真效率很高的，针对EMD方法的不足,线性调频脉冲压缩的Matlab程序,对信号进行频谱分析及滤波，多目标跟踪的粒子滤波器。
English Description：
Path planning is a practical method, simulation efficiency is very high, the lack of EMD method, linear frequency modulation pulse compression of the Matlab program, the signal spectrum analysis and filtering, multi target tracking particle filter.