中文说明：用于信号特征提取、信号消噪，迭代自组织数据分析，双向PCS控制仿真，使用拉亚普诺夫指数的公式，进行波形数据分析,是路径规划的实用方法。
English Description：
For signal feature extraction, signal denoising, iterative self-organizing data analysis, two-way PCS control simulation, using the formula of Andrianof Layap index, waveform data analysis, is a practical method of path planning.