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，主同步信号PSS在时域上的相关仿真，鲁棒性好，性能优越，可以动态调节运行环境的参数，采用的是脉冲对消法。- The IMC- PID is using the internal model control principle for PID parameters is calculated, GPS and INS navigation program, PSS primary synchronization signal in the time domain simulation related, Robustness, superior performance, Can dynamically adjust the parameters of the operating environment, It uses a pulse of consumer law.