采用的是脉冲对消法，是一种双隐层反向传播神经网络，可以得到很精确的幅值、频率、相位估计，可以实现模式识别领域的数据的分类及回归，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。- It uses a pulse of consumer law, Is a two hidden layer back propagation neural network, You can get a very accurate amplitude, frequency, phase estimation, You can achieve data classification and regression pattern recognition, allan FOG output error variance analysis, The IMC- PID is using the internal model control principle for PID parameters is calculated.