包含位置式PID算法、积分分离式PID，已调制信号计算其普相关密度，均值便宜跟踪的示例，与理论分析结果相比，matlab程序运行时导入数据文件作为输入参数，IMC-PID是利用内模控制原理来对PID参数进行计算，GPS和INS组合导航程序。- It contains positional PID algorithm, integral separate PID, Modulated signals to calculate its density Pu-related, Example tracking mean cheap, Compared with the results of theoretical analysis, Import data files as input parameters matlab program is running, The IMC- PID is using the internal model control principle for PID parameters is calculated, GPS and INS navigation program.