After performing DP separately in multi speed-direction regions, noise trajectory energy accumulation and target trajectory divarication decrease.As a result, target enhancements are achieved.

• 通过在动态规划能量累加过程中引入方向限制，减小了噪声轨迹能量积累和目标轨迹能量扩散，提高了算法的目标检测能力。