该方案用平滑的波形来替换前后码元的不连续跳变，从而得到相位连续的时域波形，波形平滑、频谱主瓣窄、滚降速度快。
This scheme uses smooth wave instead of discontinuous wave, so the wave in time field is continuous phase and has good frequency spectrum characteristics.
map坐标是不连续的，这意味着在map坐标系中移动平台的姿态可以随时发生离散的跳变。
The map frame is not continuous, meaning the pose of a mobile platform in the map frame can change in discrete jumps at any time.
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