Finally indirect track keeping system with fuzzy bow angle solver is designed to avoid changing steer frequently, and simulations are done in the tracking of straight line, comb line and trapezium path.

• 最后，设计间接航迹控制系统，采用模糊航向制导方法来实时解算期望艏向，避免了在期望航线附近过于频繁操舵，以直航、梳形和梯形航迹跟踪试验进行了验证分析。