计算晶粒的生长，入门级别程序,光纤陀螺输出误差的allan方差分析，IMC-PID是利用内模控制原理来对PID参数进行计算。- Calculation of growth, entry-level program grains allan FOG output error variance analysis, The IMC- PID is using the internal model control principle for PID parameters is calculated.