详细画出了时域和频域的相关图，这个有中文注释，看得明白，包括广义互相关函数GCC时延估计，利用matlab GUI实现的串口编程例子，加入重复控制。- Correlation diagram shown in detail the time domain and frequency domain, The Chinese have a comment, understand it, Including the generalized cross-correlation function GCC time delay estimation, Use serial programming examples matlab GUI implementation, Join repetitive control.