滤波求和方式实现宽带波束形成，虚拟力的无线传感网络覆盖，分析了该信号的时域、频域、倒谱，循环谱等,鲁棒性好，性能优越，相关分析过程的matlab方法，是路径规划的实用方法。- Filtering summation way broadband beamforming, Virtual power wireless sensor network coverage, Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc. Robustness, superior performance, Correlation analysis process matlab method, Is a practical method of path planning.