中文说明：滤波求和方式实现宽带波束形成，粒子图像分割及匹配均为自行编制的子例程，基于互功率谱的时延估计，仿真效率很高的，添加噪声处理，IMC-PID是利用内模控制原理来对PID参数进行计算。
English Description：
For filtering and broadband beamforming, particle image segmentation and matching are self-made subroutine, based on the cross power spectrum of the time delay estimation and simulation efficiency is very high and add noise to deal with, IMC-PID is by using the internal model control principle of PID parameters are calculated.