包含CV、CA、Single、当前、恒转弯速率、转弯模型，滤波求和方式实现宽带波束形成，实现用SDRAM运行nios，同时用SRAM保存摄像头数据。- It contains CV, CA, Single, current, constant turn rate, turning model, Filtering summation way broadband beamforming, Implemented with SDRAM run nios, while saving camera data SRAM.