基于互功率谱的时延估计，GPS和INS组合导航程序，在matlab环境中自动识别连通区域的大小,IMC-PID是利用内模控制原理来对PID参数进行计算，滤波求和方式实现宽带波束形成，借鉴了主成分分析算法（PCA）。- Based on the time delay estimation of power spectrum, GPS and INS navigation program, Automatic identification in the matlab environment the size of the connected area, The IMC- PID is using the internal model control principle for PID parameters is calculated, Filtering summation way broadband beamforming, It draws on principal component analysis algorithm (PCA).