从先验概率中采样，计算权重，matlab程序运行时导入数据文件作为输入参数，包括广义互相关函数GCC时延估计，包括脚本文件和函数文件形式，计算加权加速度,结合PCA的尺度不变特征变换(SIFT)算法，各种kalman滤波器的设计。- Sampling　a priori probability, calculate the weight, Import data files as input parameters matlab program is running, Including the generalized cross-correlation function GCC time delay estimation, Including scr ipt files and function files in the form, Weighted acceleration, Combined with PCA scale invariant feature transform (SIFT) algorithm, Various kalman filter design.