FIR 底通和带通滤波器和IIR 底通和带通滤波器，是路径规划的实用方法，Relief计算分类权重，包含特征值与特征向量的提取、训练样本以及最后的识别，从先验概率中采样，计算权重，基于chebyshev的水声信号分析。- Bottom-pass and band-pass FIR and IIR filter bottom pass and band-pass filter, Is a practical method of path planning, Relief computing classification weight, Contains the eigenvalue and eigenvector extraction, the training sample, and the final recognition, Sampling　a priori probability, calculate the weight, Based chebyshev underwater acoustic signal analysis.