中文说明：利用自然梯度算法，D-S证据理论数据融合，外文资料里面的源代码，有循环检测，周期性检测，一个很有用的程序，包括广义互相关函数GCC时延估计。
English Description：
Using the natural gradient algorithm, D-S evidence theory data fusion, the source code inside the foreign language information, there are loop detection, periodic testing, a very useful procedure, including the generalized cross correlation function GCC time delay estimation.