随机调制信号下的模拟ppm，基于互功率谱的时延估计，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- Random ppm modulated analog signal under Based on the time delay estimation of power spectrum, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle.