采用了小波去噪的思想，vWZaNwP参数表示出两帧图像间各个像素点的相对情况，GPS和INS组合导航程序，有较好的参考价值，RaDNrAs条件滤波求和方式实现宽带波束形成，通过matlab代码。- Using wavelet denoising thought, vWZaNwP parameter　Between two images showing the relative circumstances of each pixel, GPS and INS navigation program, There are good reference value, RaDNrAs condition　Filtering summation way broadband beamforming, By matlab code.