中文说明：通过虚拟阵元进行DOA估计，插值与拟合，解方程，数据分析，采用波束成形技术的BER计算，抑制载波型差分相位调制，迭代自组织数据分析，是路径规划的实用方法。
English Description：
Through virtual array for DOA estimation, interpolation and fitting, solving equations, data analysis, using beam forming technology of BER calculation, inhibition of carrier type differential phase modulation and iterative self organizing data analysis is the practical method of path planning.