基于互功率谱的时延估计，匹配追踪和正交匹配追踪，虚拟力的无线传感网络覆盖，使用大量的有限元法求解偏微分方程，GPS和INS组合导航程序，最终的权值矩阵就是滤波器的系数，IMC-PID是利用内模控制原理来对PID参数进行计算，供做算法研究人员参考。- Based on the time delay estimation of power spectrum, Matching Pursuit and orthogonal matching pursuit, Virtual power wireless sensor network coverage, Using a large number of finite element method to solve partial differential equations, GPS and INS navigation program, The final weight matrix is ??the filter coefficient, The IMC- PID is using the internal model control principle for PID parameters is calculated, Algorithm for researchers to do reference.