包含CV、CA、Single、当前、恒转弯速率、转弯模型，该函数用来计算任意函数的一阶偏导数(数值方法),esprit算法对有干扰的信号频率进行估计。- It contains CV, CA, Single, current, constant turn rate, turning model, This function is used to calculate the arbitrary function of the first order partial derivative (numerical methods), esprit algorithm signal frequency interference can be assesse.