最小均方误差（MMSE）的算法，采用波束成形技术的BER计算，仿真图是速度、距离、幅度三维图像，GPS和INS组合导航程序，含噪脉冲信号进行相关检测,有循环检测，周期性检测。- Minimum mean square error (MMSE) algorithm, By applying the beam forming technology of BER FIG simulation speed, distance, amplitude three-dimensional image, GPS