有循环检测，周期性检测，仿真图是速度、距离、幅度三维图像，有信道编码，调制，信道估计等，是路径规划的实用方法，仿真效果非常好，计算多重分形非趋势波动分析。- There are cycle detection, periodic testing, FIG simulation speed, distance, amplitude three-dimensional image, Channel coding, modulation, channel estimation, Is a practical method of path planning, Simulation of the effect is very good, Calculate the multifractal trend fluctuation analysis.