中文说明： 多目标跟踪的粒子滤波器，虚拟力的无线传感网络覆盖，连续相位调制信号(CPM)产生，采用的是脉冲对消法，部分实现了追踪测速迭代松弛算法，音频信号通过LM386放大。
English Description：
Multi target tracking particle filter, virtual force of wireless sensor network coverage, continuous phase modulation (CPM), the is pulse cancellation method, part of the implementation of the tracking velocimetry iterative relaxation algorithm, the audio signal by LM386 amplification.