相控阵天线的方向图（切比雪夫加权），实现用SDRAM运行nios，同时用SRAM保存摄像头数据，实现六自由度运动学逆解算法。- Phased array antenna pattern (Chebyshev weights), Implemented with SDRAM run nios, while saving camera data SRAM, Six degrees of freedom to achieve inverse kinematics algorithm.