包含CV、CA、Single、当前、恒转弯速率、转弯模型，IMC-PID是利用内模控制原理来对PID参数进行计算，采用波束成形技术的BER计算。- It contains CV, CA, Single, current, constant turn rate, turning model, The IMC- PID is using the internal model control principle for PID parameters is calculated, By applying the beam forming technology of BE.