在\begin{document}前加入以下内容
\usepackage{array}%需要用到该宏包
\usepackage{footnote}
\makesavenoteenv{tabular}
示例：
\begin{table}[!htbp]
\caption{Trajectory Via Points of Terrestrial Mode}
\label{table:1}
\begin{center}
\begin{tabular}{ >{\centering\arraybackslash}m{1.2cm}
>{\centering\arraybackslash}m{1.2cm}
>{\centering\arraybackslash}m{1.2cm}
>{\centering\arraybackslash}m{1.2cm}}
\hline
State &Time & $\phi_d$ (rad)& $\psi_d$(rad) \\
\hline
1 & 0 & 0 & 0\\
2 & $T_s/3$ & $\pi$ & $\pi /6$\\
3 & $2T_s/3$ & $3\pi$ & $\pi /2$\\
4 & $T_s$ & $6\pi$ & $\pi$\\
\hline
\end{tabular}
\end{center}
\end{table}
效果如下：
