供做算法研究人员参考，从先验概率中采样，计算权重，预报误差法参数辨识-松弛的思想，本程序的性能已经超过其他算法，滤波求和方式实现宽带波束形成，各种kalman滤波器的设计。-Algorithm for researchers to do reference, Sampling　a priori probability, calculate the weight, Prediction Error Method for Parameter Identification- the idea of relaxation, This program has exceeded the performance of other algorithms, Filtering summation way broadband beamforming, Various kalman filter design.