IMC-PID是利用内模控制原理来对PID参数进行计算，利用matlab针对图像进行马氏距离计算 ,计算目标和海洋回波的功率谱密度。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Using matlab to calculate the Mahalanobis distance for the image, Calculating a target an