是路径规划的实用方法，仿真图是速度、距离、幅度三维图像，可实现对二维数据的聚类，独立成分分析算法降低原始数据噪声，FIR 底通和带通滤波器和IIR 底通和带通滤波器，有PMUSIC 校正前和校正后的比较。- Is a practical method of path planning, FIG simulation speed, distance, amplitude three-dimensional image, Can realize the two-dimensional data clustering, Independent component analysis algorithm reduces the raw data noise, Bottom-pass and band-pass FIR and IIR filter bottom pass and band-pass filter, A relatively before correction and after correction PMUSIC.