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通过建立包围盒树，采用基于包络树的碰撞检测算法实现碰撞检测。
Collision detection was implemented through constructing bounding volume tree and adapting collision detection algorithm based on enveloping tree.
SPGA算法利用估计得到的侧摆对距离徙动校正前的回波数据进行包络和相位补偿。
SPGA algorithm compensates the envelope and phase of the echo signal which has not be corrected range migration.
它克服了运动过程中所带进的干扰、减少了必须用于DFT算法计算所需的脉搏包络的数据长度和DFT所需的时间。
The method can overcome disturbances and decrease the length of the pulse packet that must be given to the DFT algorithm which reduces the calculation time.
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