采用的是脉冲对消法，LDPC码的完整的编译码，是路径规划的实用方法，IMC-PID是利用内模控制原理来对PID参数进行计算，构成不同频率的调制信号，MIMO OFDM matlab仿真,鲁棒性好，性能优越。- It uses a pulse of consumer law, Complete codec LDPC code, Is a practical method of path planning, The IMC- PID is using the internal model control principle for PID parameters is calculated, Constituting the modulated signals of different frequencies, MIMO OFDM matlab simulation, Robustness, superior performance.