能量熵的计算，IMC-PID是利用内模控制原理来对PID参数进行计算，时间序列数据分析中的梅林变换工具，基于chebyshev的水声信号分析，包括 MUSIC算法，ESPRIT算法 ROOT-MUSIC算法，BP神经网络用于函数拟合与模式识别，脉冲响应的相关分析算法并检验，基于互功率谱的时延估计。- Energy entropy calculation, The IMC- PID is using the internal model control principle for PID parameters is calculated, Time series data analysis Mellin transform tool, Based chebyshev underwater acoustic signal analysis, Including the MUSIC algorithm, ESPRIT algorithm ROOT-MUSIC algorithm, BP neural network function fitting and pattern recognition, Related impulse response analysis algorithm and inspection, Based on the time delay estimation of power spectrum.