采用了小波去噪的思想，IMC-PID是利用内模控制原理来对PID参数进行计算，单径或多径瑞利衰落信道仿真，计算加权加速度,matlab开发工具箱中的支持向量机，多姿态，多角度，有不同光照。- Using wavelet denoising thought, The IMC- PID is using the internal model control principle for PID parameters is calculated, Single path or multipath Rayleigh fading channel simulation, Weighted acceleration, matlab development toolbox support vector machine, Much posture, multi-angle, have different light.