DOA估计常用算法，包括：music算法， TQgfyP 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 hzQppKn 定时估计.-DOA estimation algorithms commonly used, including: music algorithm, TQgfyP　positioning mechanism, Kalman filter, adaptive gradient algorithm, spatial smoothing algorithm, the improved spatial smoothing algorithm and　hzQppKn　timing estimation.