是机器学习的例程，D-S证据理论数据融合，数据模型归一化，模态振动，包括调制，解调，信噪比计算，isodata 迭代自组织的数据分析，是路径规划的实用方法。-Machine learning routines, D-S evidence theory data fusion, Normalized data model, modal vibration, Includes the modulation, demodulation, signal to noise ratio calculation, Isodata iterative self-organizing data analysis, Is a practical method of path planning.