实现六自由度运动学逆解算法，分析了该信号的时域、频域、倒谱，循环谱等,给出接收信号眼图及系统仿真误码率。- Six degrees of freedom to achieve inverse kinematics algorithm, Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc. The received signal is given eye and BER simul