对HARQ系统的吞吐量分析，是路径规划的实用方法，FMCW调频连续波雷达的测距测角，基于互功率谱的时延估计，ICA（主分量分析）算法和程序，有信道编码，调制，信道估计等，最大似然（ML）准则和最大后验概率（MAP）准则。- HARQ throughput analysis of the system, Is a practical method of path planning, FMCW frequency modulated continuous wave radar range and angular measurements, Based on the time delay estimation of power spectrum, ICA (Principal Component Analysis) algorithm and procedures, Channel coding, modulation, channel estimation, Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion.