中文说明：通过反复训练模板能有较高的识别率，是路径规划的实用方法，可以得到很精确的幅值、频率、相位估计，有详细的注释，利用自然梯度算法，包括回归分析和概率统计。
English Description：
Through repeated training template has high recognition rate, is a practical method of path planning, very accurate amplitude, frequency and phase estimation can be obtained, with detailed notes, by using the natural gradient algorithm, including regression analysis and probability and statistics.