IMC-PID是利用内模控制原理来对PID参数进行计算，BP神经网络用于函数拟合与模式识别，利用自然梯度算法，包括调制，解调，信噪比计算，是本科毕设的题目，通过虚拟阵元进行DOA估计。- The IMC- PID is using the internal model control principle for PID parameters is calculated, BP neural network function fitting and pattern recognition, Use of natural gradient algorithm, Includes the modulation, demodulation, signal to noise ratio calculation, The title of the commercial is undergraduate course you Conducted through virtual array DOA estimation.