多姿态，多角度，有不同光照,阵列信号处理的高分辨率估计，pwm整流器的建模仿真，IMC-PID是利用内模控制原理来对PID参数进行计算，一个很有用的程序，D-S证据理论数据融合。-Much posture, multi-angle, have different light, High-resolution array signal processing estimates, Modeling and simulation pwm rectifier The IMC- PID is using the internal model control principle for PID parameters is calculated, A very useful program, D-S evidence theory data fusion.