说明：  带时延的纯方位角单站跟踪算法,它有效地解决了用EKF算法进行纯纯方位角跟踪时可能出现的不稳定和滤波发散现象和声音信号的时延问题。
(Single station with the delay of pure azimuth tracking algorithm, which effectively solve the delay problem of the innocent azimuth tracking EKF algorithm that may occur when unstable and filtering divergence phenomenon and sound signals.)