最小均方误差（MMSE）的算法，IMC-PID是利用内模控制原理来对PID参数进行计算，采用的是脉冲对消法，是国外的成品模型，光纤陀螺输出误差的allan方差分析，有均匀线阵的CRB曲线。-Minimum mean square error (MMSE) algorithm, The IMC- PID is using the internal model control principle for PID parameters is calculated, It uses a pulse of consumer law, Foreign model is finished, allan FOG output error variance analysis, There ULA CRB curve.