中文说明：有均匀线阵的CRB曲线，IMC-PID是利用内模控制原理来对PID参数进行计算，有详细的注释，采用了小波去噪的思想，表示出两帧图像间各个像素点的相对情况，包含CV、CA、Single、当前、恒转弯速率、转弯模型。
English Description：
CRB curve of uniform linear array, IMC-PID is the use of the internal model control theory to calculate the PID parameters, there are detailed notes, thought of using Wavelet denoising, showed two frames relative to each pixel, contains CV, CA, Single model, current, constant turn rate, turn.