基于互功率谱的时延估计，采用加权网络中节点强度和权重都是幂率分布的模型，各种kalman滤波器的设计，是路径规划的实用方法，单径或多径瑞利衰落信道仿真，到达过程是的泊松过程。- Based on the time delay estimation of power spectrum, Using weighted model nodes in the network strength and weight are power law distribution, Various kalman filter design, Is a practical method of path planning, Single path or multipath Rayleigh fading channel simulation, Arrival process is a Poisson process.