To deal with the problem, a new method of focusing transformation based on differentiating covariance matrix is proposed to eliminate noise, and hence reduce the focusing error.

为了处理这个问题，提出了一个新的方法，聚焦变换的基础上鉴别协方差矩阵，以消除噪声，并因此减少聚焦误差。

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Then, based on the multipath model, this thesis analysed and researched the time delay algorithm based on the weigthed fractional lower order covariance and the weigthed non-linear transformation.

其次，在多径时延的模型基础上，本文分析研究了加权分数低阶协方差时延估计方法和基于加权非线性变换的时延估计方法。

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