Finally,I run the qemu command:
qemu-system-aarch64 \
-machine virt \
-cpu cortex-a53 \
-smp 4 \
-m 2G \
-kernel ./Image \
-drive file=imx-image-full-imx8mpevk.qcow2,if=none,id=drive0,format=qcow2 \
-device virtio-blk-pci,drive=drive0 \
-append "root=/dev/vda2 rootwait rw console=ttyAMA0,115200" \
-netdev user,id=eth0 \
-device virtio-net-device,netdev=eth0 \
-device virtio-gpu-pci \
-nographic
the virtual machine can setup successfully.