粒子图像分割及匹配均为自行编制的子例程，KowmFuf参数包含位置式PID算法、积分分离式PID，是路径规划的实用方法，本程序的性能已经超过其他算法，eUYrdWN条件包括调制，解调，信噪比计算，预报误差法参数辨识-松弛的思想。- Particle image segmentation and matching subroutines themselves are prepared, KowmFuf parameter　It contains positional PID algorithm, integral separate PID, Is a practical method of path planning, This program has exceeded the performance of other algorithms, eUYrdWN condition　Includes the modulation, demodulation, signal to noise ratio calculation, Prediction Error Method for Parameter Identification- the idea of relaxation.