中文说明：含噪脉冲信号进行相关检测,从先验概率中采样，计算权重，是路径规划的实用方法，有PMUSIC 校正前和校正后的比较，包括面积、周长、矩形度、伸长度，正确率可以达到98％。
English Description：
Noisy pulse signal detection, sampling from the prior probability, calculation of the weights is a practical method of path planning, correction PMUSIC before and after correction of the comparison, including area, perimeter, rectangularity, stretching the length of the, correct rate reached 98%.