follow-me-install-kubernetes-cluster之calico安装详情

tags: worker, calico

06-6. 部署 calico 网络

kubernetes 要求集群内各节点(包括 master 节点)能通过 Pod 网段互联互通。

calico 使用 IPIP 或 BGP 技术(默认为 IPIP)为各节点创建一个可以互通的 Pod 网络。

如果使用 flannel,请参考附件 E.部署flannel网络.md(flannel 与 docker 结合使用)

注意:如果没有特殊指明,本文档的所有操作均在 zhangjun-k8s01 节点上执行。

安装 calico 网络插件

cd /opt/k8s/work
# 直接用下面已经改好的文件,别下载,修改了ipv4_cidr=172.30.0.0/1
curl https://docs.projectcalico.org/manifests/calico.yaml -O

修改配置:

cd /opt/k8s/work
source /opt/k8s/bin/environment.sh
for node_ip in ${NODE_IPS[@]}
  do
    echo ">>> ${node_ip}"
    ssh root@${node_ip} "mkdir -p /opt/cni/bin"
    scp cni-plugins/*  root@${node_ip}:/opt/cni/bin
    ssh root@${node_ip} "chmod a+x /opt/cni/bin/*"
  done

以pod方式部署calico插件,已修改calico.yaml文件

---
# Source: calico/templates/calico-config.yaml
# This ConfigMap is used to configure a self-hosted Calico installation.
kind: ConfigMap
apiVersion: v1
metadata:
  name: calico-config
  namespace: kube-system
data:
  # Typha is disabled.
  typha_service_name: "none"
  # Configure the backend to use.
  calico_backend: "bird"

  # Configure the MTU to use for workload interfaces and tunnels.
  # By default, MTU is auto-detected, and explicitly setting this field should not be required.
  # You can override auto-detection by providing a non-zero value.
  veth_mtu: "0"

  # The CNI network configuration to install on each node. The special
  # values in this config will be automatically populated.
  cni_network_config: |-
    {
      "name": "k8s-pod-network",
      "cniVersion": "0.3.1",
      "plugins": [
        {
          "type": "calico",
          "log_level": "info",
          "log_file_path": "/var/log/calico/cni/cni.log",
          "datastore_type": "kubernetes",
          "nodename": "__KUBERNETES_NODE_NAME__",
          "mtu": __CNI_MTU__,
          "ipam": {
              "type": "calico-ipam"
          },
          "policy": {
              "type": "k8s"
          },
          "kubernetes": {
              "kubeconfig": "__KUBECONFIG_FILEPATH__"
          }
        },
        {
          "type": "portmap",
          "snat": true,
          "capabilities": {"portMappings": true}
        },
        {
          "type": "bandwidth",
          "capabilities": {"bandwidth": true}
        }
      ]
    }


---
# Source: calico/templates/calico-kube-controllers-rbac.yaml

# Include a clusterrole for the kube-controllers component,
# and bind it to the calico-kube-controllers serviceaccount.
kind: ClusterRole
apiVersion: rbac.authorization.k8s.io/v1
metadata:
  name: calico-kube-controllers
rules:
  # Nodes are watched to monitor for deletions.
  - apiGroups: [""]
    resources:
      - nodes
    verbs:
      - watch
      - list
      - get
  # Pods are queried to check for existence.
  - apiGroups: [""]
    resources:
      - pods
    verbs:
      - get
  # IPAM resources are manipulated when nodes are deleted.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - ippools
    verbs:
      - list
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - blockaffinities
      - ipamblocks
      - ipamhandles
    verbs:
      - get
      - list
      - create
      - update
      - delete
  # kube-controllers manages hostendpoints.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - hostendpoints
    verbs:
      - get
      - list
      - create
      - update
      - delete
  # Needs access to update clusterinformations.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - clusterinformations
    verbs:
      - get
      - create
      - update
  # KubeControllersConfiguration is where it gets its config
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - kubecontrollersconfigurations
    verbs:
      # read its own config
      - get
      # create a default if none exists
      - create
      # update status
      - update
      # watch for changes
      - watch
---
kind: ClusterRoleBinding
apiVersion: rbac.authorization.k8s.io/v1
metadata:
  name: calico-kube-controllers
roleRef:
  apiGroup: rbac.authorization.k8s.io
  kind: ClusterRole
  name: calico-kube-controllers
subjects:
- kind: ServiceAccount
  name: calico-kube-controllers
  namespace: kube-system
---

---
# Source: calico/templates/calico-node-rbac.yaml
# Include a clusterrole for the calico-node DaemonSet,
# and bind it to the calico-node serviceaccount.
kind: ClusterRole
apiVersion: rbac.authorization.k8s.io/v1
metadata:
  name: calico-node
rules:
  # The CNI plugin needs to get pods, nodes, and namespaces.
  - apiGroups: [""]
    resources:
      - pods
      - nodes
      - namespaces
    verbs:
      - get
  - apiGroups: [""]
    resources:
      - endpoints
      - services
    verbs:
      # Used to discover service IPs for advertisement.
      - watch
      - list
      # Used to discover Typhas.
      - get
  # Pod CIDR auto-detection on kubeadm needs access to config maps.
  - apiGroups: [""]
    resources:
      - configmaps
    verbs:
      - get
  - apiGroups: [""]
    resources:
      - nodes/status
    verbs:
      # Needed for clearing NodeNetworkUnavailable flag.
      - patch
      # Calico stores some configuration information in node annotations.
      - update
  # Watch for changes to Kubernetes NetworkPolicies.
  - apiGroups: ["networking.k8s.io"]
    resources:
      - networkpolicies
    verbs:
      - watch
      - list
  # Used by Calico for policy information.
  - apiGroups: [""]
    resources:
      - pods
      - namespaces
      - serviceaccounts
    verbs:
      - list
      - watch
  # The CNI plugin patches pods/status.
  - apiGroups: [""]
    resources:
      - pods/status
    verbs:
      - patch
  # Calico monitors various CRDs for config.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - globalfelixconfigs
      - felixconfigurations
      - bgppeers
      - globalbgpconfigs
      - bgpconfigurations
      - ippools
      - ipamblocks
      - globalnetworkpolicies
      - globalnetworksets
      - networkpolicies
      - networksets
      - clusterinformations
      - hostendpoints
      - blockaffinities
    verbs:
      - get
      - list
      - watch
  # Calico must create and update some CRDs on startup.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - ippools
      - felixconfigurations
      - clusterinformations
    verbs:
      - create
      - update
  # Calico stores some configuration information on the node.
  - apiGroups: [""]
    resources:
      - nodes
    verbs:
      - get
      - list
      - watch
  # These permissions are only required for upgrade from v2.6, and can
  # be removed after upgrade or on fresh installations.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - bgpconfigurations
      - bgppeers
    verbs:
      - create
      - update
  # These permissions are required for Calico CNI to perform IPAM allocations.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - blockaffinities
      - ipamblocks
      - ipamhandles
    verbs:
      - get
      - list
      - create
      - update
      - delete
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - ipamconfigs
    verbs:
      - get
  # Block affinities must also be watchable by confd for route aggregation.
  - apiGroups: ["crd.projectcalico.org"]
    resources:
      - blockaffinities
    verbs:
      - watch
  # The Calico IPAM migration needs to get daemonsets. These permissions can be
  # removed if not upgrading from an installation using host-local IPAM.
  - apiGroups: ["apps"]
    resources:
      - daemonsets
    verbs:
      - get

---
apiVersion: rbac.authorization.k8s.io/v1
kind: ClusterRoleBinding
metadata:
  name: calico-node
roleRef:
  apiGroup: rbac.authorization.k8s.io
  kind: ClusterRole
  name: calico-node
subjects:
- kind: ServiceAccount
  name: calico-node
  namespace: kube-system

---
# Source: calico/templates/calico-node.yaml
# This manifest installs the calico-node container, as well
# as the CNI plugins and network config on
# each master and worker node in a Kubernetes cluster.
kind: DaemonSet
apiVersion: apps/v1
metadata:
  name: calico-node
  namespace: kube-system
  labels:
    k8s-app: calico-node
spec:
  selector:
    matchLabels:
      k8s-app: calico-node
  updateStrategy:
    type: RollingUpdate
    rollingUpdate:
      maxUnavailable: 1
  template:
    metadata:
      labels:
        k8s-app: calico-node
    spec:
      nodeSelector:
        kubernetes.io/os: linux
      hostNetwork: true
      tolerations:
        # Make sure calico-node gets scheduled on all nodes.
        - effect: NoSchedule
          operator: Exists
        # Mark the pod as a critical add-on for rescheduling.
        - key: CriticalAddonsOnly
          operator: Exists
        - effect: NoExecute
          operator: Exists
      serviceAccountName: calico-node
      # Minimize downtime during a rolling upgrade or deletion; tell Kubernetes to do a "force
      # deletion": https://kubernetes.io/docs/concepts/workloads/pods/pod/#termination-of-pods.
      terminationGracePeriodSeconds: 0
      priorityClassName: system-node-critical
      initContainers:
        # This container performs upgrade from host-local IPAM to calico-ipam.
        # It can be deleted if this is a fresh installation, or if you have already
        # upgraded to use calico-ipam.
        - name: upgrade-ipam
          image: docker.io/calico/cni:v3.17.1
          command: ["/opt/cni/bin/calico-ipam", "-upgrade"]
          envFrom:
          - configMapRef:
              # Allow KUBERNETES_SERVICE_HOST and KUBERNETES_SERVICE_PORT to be overridden for eBPF mode.
              name: kubernetes-services-endpoint
              optional: true
          env:
            - name: KUBERNETES_NODE_NAME
              valueFrom:
                fieldRef:
                  fieldPath: spec.nodeName
            - name: CALICO_NETWORKING_BACKEND
              valueFrom:
                configMapKeyRef:
                  name: calico-config
                  key: calico_backend
          volumeMounts:
            - mountPath: /var/lib/cni/networks
              name: host-local-net-dir
            - mountPath: /host/opt/cni/bin
              name: cni-bin-dir
          securityContext:
            privileged: true
        # This container installs the CNI binaries
        # and CNI network config file on each node.
        - name: install-cni
          image: docker.io/calico/cni:v3.17.1
          command: ["/opt/cni/bin/install"]
          envFrom:
          - configMapRef:
              # Allow KUBERNETES_SERVICE_HOST and KUBERNETES_SERVICE_PORT to be overridden for eBPF mode.
              name: kubernetes-services-endpoint
              optional: true
          env:
            # Name of the CNI config file to create.
            - name: CNI_CONF_NAME
              value: "10-calico.conflist"
            # The CNI network config to install on each node.
            - name: CNI_NETWORK_CONFIG
              valueFrom:
                configMapKeyRef:
                  name: calico-config
                  key: cni_network_config
            # Set the hostname based on the k8s node name.
            - name: KUBERNETES_NODE_NAME
              valueFrom:
                fieldRef:
                  fieldPath: spec.nodeName
            # CNI MTU Config variable
            - name: CNI_MTU
              valueFrom:
                configMapKeyRef:
                  name: calico-config
                  key: veth_mtu
            # Prevents the container from sleeping forever.
            - name: SLEEP
              value: "false"
          volumeMounts:
            - mountPath: /host/opt/cni/bin
              name: cni-bin-dir
            - mountPath: /host/etc/cni/net.d
              name: cni-net-dir
          securityContext:
            privileged: true
        # Adds a Flex Volume Driver that creates a per-pod Unix Domain Socket to allow Dikastes
        # to communicate with Felix over the Policy Sync API.
        - name: flexvol-driver
          image: docker.io/calico/pod2daemon-flexvol:v3.17.1
          volumeMounts:
          - name: flexvol-driver-host
            mountPath: /host/driver
          securityContext:
            privileged: true
      containers:
        # Runs calico-node container on each Kubernetes node. This
        # container programs network policy and routes on each
        # host.
        - name: calico-node
          image: docker.io/calico/node:v3.17.1
          envFrom:
          - configMapRef:
              # Allow KUBERNETES_SERVICE_HOST and KUBERNETES_SERVICE_PORT to be overridden for eBPF mode.
              name: kubernetes-services-endpoint
              optional: true
          env:
            # Use Kubernetes API as the backing datastore.
            - name: DATASTORE_TYPE
              value: "kubernetes"
            # Wait for the datastore.
            - name: WAIT_FOR_DATASTORE
              value: "true"
            # Set based on the k8s node name.
            - name: NODENAME
              valueFrom:
                fieldRef:
                  fieldPath: spec.nodeName
            # Choose the backend to use.
            - name: CALICO_NETWORKING_BACKEND
              valueFrom:
                configMapKeyRef:
                  name: calico-config
                  key: calico_backend
            # Cluster type to identify the deployment type
            - name: CLUSTER_TYPE
              value: "k8s,bgp"
            # Auto-detect the BGP IP address.
            - name: IP
              value: "autodetect"
            # Enable IPIP
            - name: CALICO_IPV4POOL_IPIP
              value: "Always"
            # Enable or Disable VXLAN on the default IP pool.
            - name: CALICO_IPV4POOL_VXLAN
              value: "Never"
            # Set MTU for tunnel device used if ipip is enabled
            - name: FELIX_IPINIPMTU
              valueFrom:
                configMapKeyRef:
                  name: calico-config
                  key: veth_mtu
            # Set MTU for the VXLAN tunnel device.
            - name: FELIX_VXLANMTU
              valueFrom:
                configMapKeyRef:
                  name: calico-config
                  key: veth_mtu
            # Set MTU for the Wireguard tunnel device.
            - name: FELIX_WIREGUARDMTU
              valueFrom:
                configMapKeyRef:
                  name: calico-config
                  key: veth_mtu
            # The default IPv4 pool to create on startup if none exists. Pod IPs will be
            # chosen from this range. Changing this value after installation will have
            # no effect. This should fall within `--cluster-cidr`.
            # - name: CALICO_IPV4POOL_CIDR
            #   value: "192.168.0.0/16"
            # Disable file logging so `kubectl logs` works.
            - name: CALICO_IPV4POOL_CIDR
              value: "172.30.0.0/16"
            - name: IP_AUTODETECTION_METHOD
              value: "interface=eth0"
            - name: CALICO_DISABLE_FILE_LOGGING
              value: "true"
            # Set Felix endpoint to host default action to ACCEPT.
            - name: FELIX_DEFAULTENDPOINTTOHOSTACTION
              value: "ACCEPT"
            # Disable IPv6 on Kubernetes.
            - name: FELIX_IPV6SUPPORT
              value: "false"
            # Set Felix logging to "info"
            - name: FELIX_LOGSEVERITYSCREEN
              value: "info"
            - name: FELIX_HEALTHENABLED
              value: "true"
          securityContext:
            privileged: true
          resources:
            requests:
              cpu: 250m
          livenessProbe:
            exec:
              command:
              - /bin/calico-node
              - -felix-live
              - -bird-live
            periodSeconds: 10
            initialDelaySeconds: 10
            failureThreshold: 6
          readinessProbe:
            exec:
              command:
              - /bin/calico-node
              - -felix-ready
              - -bird-ready
            periodSeconds: 10
          volumeMounts:
            - mountPath: /lib/modules
              name: lib-modules
              readOnly: true
            - mountPath: /run/xtables.lock
              name: xtables-lock
              readOnly: false
            - mountPath: /var/run/calico
              name: var-run-calico
              readOnly: false
            - mountPath: /var/lib/calico
              name: var-lib-calico
              readOnly: false
            - name: policysync
              mountPath: /var/run/nodeagent
            # For eBPF mode, we need to be able to mount the BPF filesystem at /sys/fs/bpf so we mount in the
            # parent directory.
            - name: sysfs
              mountPath: /sys/fs/
              # Bidirectional means that, if we mount the BPF filesystem at /sys/fs/bpf it will propagate to the host.
              # If the host is known to mount that filesystem already then Bidirectional can be omitted.
              mountPropagation: Bidirectional
            - name: cni-log-dir
              mountPath: /var/log/calico/cni
              readOnly: true
      volumes:
        # Used by calico-node.
        - name: lib-modules
          hostPath:
            path: /lib/modules
        - name: var-run-calico
          hostPath:
            path: /var/run/calico
        - name: var-lib-calico
          hostPath:
            path: /var/lib/calico
        - name: xtables-lock
          hostPath:
            path: /run/xtables.lock
            type: FileOrCreate
        - name: sysfs
          hostPath:
            path: /sys/fs/
            type: DirectoryOrCreate
        # Used to install CNI.
        - name: cni-bin-dir
          hostPath:
            path: /opt/cni/bin
        - name: cni-net-dir
          hostPath:
            path: /etc/cni/net.d
        # Used to access CNI logs.
        - name: cni-log-dir
          hostPath:
            path: /var/log/calico/cni
        # Mount in the directory for host-local IPAM allocations. This is
        # used when upgrading from host-local to calico-ipam, and can be removed
        # if not using the upgrade-ipam init container.
        - name: host-local-net-dir
          hostPath:
            path: /var/lib/cni/networks
        # Used to create per-pod Unix Domain Sockets
        - name: policysync
          hostPath:
            type: DirectoryOrCreate
            path: /var/run/nodeagent
        # Used to install Flex Volume Driver
        - name: flexvol-driver-host
          hostPath:
            type: DirectoryOrCreate
            path: /usr/libexec/kubernetes/kubelet-plugins/volume/exec/nodeagent~uds
---

apiVersion: v1
kind: ServiceAccount
metadata:
  name: calico-node
  namespace: kube-system

---
# Source: calico/templates/calico-kube-controllers.yaml
# See https://github.com/projectcalico/kube-controllers
apiVersion: apps/v1
kind: Deployment
metadata:
  name: calico-kube-controllers
  namespace: kube-system
  labels:
    k8s-app: calico-kube-controllers
spec:
  # The controllers can only have a single active instance.
  replicas: 1
  selector:
    matchLabels:
      k8s-app: calico-kube-controllers
  strategy:
    type: Recreate
  template:
    metadata:
      name: calico-kube-controllers
      namespace: kube-system
      labels:
        k8s-app: calico-kube-controllers
    spec:
      nodeSelector:
        kubernetes.io/os: linux
      tolerations:
        # Mark the pod as a critical add-on for rescheduling.
        - key: CriticalAddonsOnly
          operator: Exists
        - key: node-role.kubernetes.io/master
          effect: NoSchedule
      serviceAccountName: calico-kube-controllers
      priorityClassName: system-cluster-critical
      containers:
        - name: calico-kube-controllers
          image: docker.io/calico/kube-controllers:v3.17.1
          env:
            # Choose which controllers to run.
            - name: ENABLED_CONTROLLERS
              value: node
            - name: DATASTORE_TYPE
              value: kubernetes
          readinessProbe:
            exec:
              command:
              - /usr/bin/check-status
              - -r

---

apiVersion: v1
kind: ServiceAccount
metadata:
  name: calico-kube-controllers
  namespace: kube-system

---

# This manifest creates a Pod Disruption Budget for Controller to allow K8s Cluster Autoscaler to evict

apiVersion: policy/v1beta1
kind: PodDisruptionBudget
metadata:
  name: calico-kube-controllers
  namespace: kube-system
  labels:
    k8s-app: calico-kube-controllers
spec:
  maxUnavailable: 1
  selector:
    matchLabels:
      k8s-app: calico-kube-controllers

---
# Source: calico/templates/calico-etcd-secrets.yaml

---
# Source: calico/templates/calico-typha.yaml

---
# Source: calico/templates/configure-canal.yaml
# 修改地方,直接用上面的文件部署即可,此处不重要
$ cp calico.yaml calico.yaml.orig
$ diff calico.yaml.orig calico.yaml
630c630,632
<               value: "192.168.0.0/16"
---
>               value: "172.30.0.0/16"
>             - name: IP_AUTODETECTION_METHOD
>               value: "interface=eth.*"
699c701
# 不用修改,修改无效!!bug
<             path: /opt/cni/bin
---
>             path: /opt/k8s/bin
# 会有部分文件缺少,因为pod部署后会生成附加二级制文件
cd /opt/k8s/work
source /opt/k8s/bin/environment.sh
for node_ip in ${NODE_IPS[@]}
  do
    echo ">>> ${node_ip}"
    scp /opt/cni/bin/*  root@${node_ip}:/opt/k8s/bin
    ssh root@${node_ip} "chmod a+x /opt/k8s/bin/*"
  done
  • 将 Pod 网段地址修改为 172.30.0.0/16;
  • calico 自动探查互联网卡,如果有多快网卡,则可以配置用于互联的网络接口命名正则表达式,如上面的 eth.*(根据自己服务器的网络接口名修改);

运行 calico 插件:

# 如果部署过calico.yaml,提前删除,再创建
$ kubectl delete -f  calico.yaml
$ kubectl apply -f  calico.yaml
  • calico 插架以 daemonset 方式运行在所有的 K8S 节点上。

查看 calico 运行状态

$ kubectl get pods -n kube-system -o wide
NAME                                      READY   STATUS    RESTARTS   AGE     IP               NODE              NOMINATED NODE   READINESS GATES
calico-kube-controllers-77c4b7448-99lfq   1/1     Running   0          2m11s   172.30.184.128   zhangjun-k8s-03   <none>           <none>
calico-node-dxnjs                         1/1     Running   0          2m11s   172.27.137.229   zhangjun-k8s-02   <none>           <none>
calico-node-rknzz                         1/1     Running   0          2m11s   172.27.138.239   zhangjun-k8s-03   <none>           <none>
calico-node-rw84c                         1/1     Running   0          2m11s   172.27.138.251   zhangjun-k8s-01   <none>           <none>

使用 crictl 命令查看 calico 使用的镜像:

$ crictl  images
IMAGE                                                     TAG                 IMAGE ID            SIZE
docker.io/calico/cni                                      v3.12.0             cb6799752c46c       66.5MB
docker.io/calico/node                                     v3.12.0             fc05bc4225f39       89.7MB
docker.io/calico/pod2daemon-flexvol                       v3.12.0             98793d0a88c82       37.5MB
registry.cn-beijing.aliyuncs.com/images_k8s/pause-amd64   3.1                 21a595adc69ca       326kB
  • 如果 crictl 输出为空或执行失败,则有可能是缺少配置文件 /etc/crictl.yaml 导致的,该文件的配置如下:

    $ cat /etc/crictl.yaml
    runtime-endpoint: unix:///run/containerd/containerd.sock
    image-endpoint: unix:///run/containerd/containerd.sock
    timeout: 10
    debug: false
    
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在信号处理领域,DOA(Direction of Arrival)估计是一项关键技术,主要用于确定多个信号源到达接收阵列的方向。本文将详细探讨三种ESPRIT(Estimation of Signal Parameters via Rotational Invariance Techniques)算法在DOA估计中的实现,以及它们在MATLAB环境中的具体应用。 ESPRIT算法是由Paul Kailath等人于1986年提出的,其核心思想是利用阵列数据的旋转不变性来估计信号源的角度。这种算法相比传统的 MUSIC(Multiple Signal Classification)算法具有较低的计算复杂度,且无需进行特征值分解,因此在实际应用中颇具优势。 1. 普通ESPRIT算法 普通ESPRIT算法分为两个主要步骤:构造等效旋转不变系统和估计角度。通过空间平移(如延时)构建两个子阵列,使得它们之间的关系具有旋转不变性。然后,通过对子阵列数据进行最小二乘拟合,可以得到信号源的角频率估计,进一步转换为DOA估计。 2. 常规ESPRIT算法实现 在描述中提到的`common_esprit_method1.m`和`common_esprit_method2.m`是两种不同的普通ESPRIT算法实现。它们可能在实现细节上略有差异,比如选择子阵列的方式、参数估计的策略等。MATLAB代码通常会包含预处理步骤(如数据归一化)、子阵列构造、旋转不变性矩阵的建立、最小二乘估计等部分。通过运行这两个文件,可以比较它们在估计精度和计算效率上的异同。 3. TLS_ESPRIT算法 TLS(Total Least Squares)ESPRIT是对普通ESPRIT的优化,它考虑了数据噪声的影响,提高了估计的稳健性。在TLS_ESPRIT算法中,不假设数据噪声是高斯白噪声,而是采用总最小二乘准则来拟合数据。这使得算法在噪声环境下表现更优。`TLS_esprit.m`文件应该包含了TLS_ESPRIT算法的完整实现,包括TLS估计的步骤和旋转不变性矩阵的改进处理。 在实际应用中,选择合适的ESPRIT变体取决于系统条件,例如噪声水平、信号质量以及计算资源。通过MATLAB实现,研究者和工程师可以方便地比较不同算法的效果,并根据需要进行调整和优化。同时,这些代码也为教学和学习DOA估计提供了一个直观的平台,有助于深入理解ESPRIT算法的工作原理。
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