粒子图像分割及匹配均为自行编制的子例程，实现了对10个数字音的识别程序光纤陀螺输出误差的allan方差分析，IMC-PID是利用内模控制原理来对PID参数进行计算，各种kalman滤波器的设计，仿真图是速度、距离、幅度三维图像。- Particle image segmentation and matching subroutines themselves are prepared, Realization of 10 digital audio recognition program allan FOG output error variance analysis, The IMC- PID is using the internal model control principle for PID parameters is calculated, Various kalman filter design, FIG simulation speed, distance, amplitude three-dimensional image.