DOA估计常用算法，包括：music算法， LscrTU 定位机制，卡尔曼滤波算法，自适应梯度算法，空间平滑算法，改进的空间平滑算法以及 kdLnwSv 定时估计.-DOA estimation algorithms commonly used, including: music algorithm, LscrTU　positioning mechanism, Kalman filter, adaptive gradient algorithm, spatial smoothing algorithm, the improved spatial smoothing algorithm and　kdLnwSv　timing estimation.