包含CV、CA、Single、当前、恒转弯速率、转弯模型，基于人工神经网络的常用数字信号调制，预报误差法参数辨识-松弛的思想。- It contains CV, CA, Single, current, constant turn rate, turning model, The commonly used digital signal modulation based on artificial neural network, Prediction Error Method for Parameter Identification- the idea of relaxation.