Bring forward design guide line to the swing floatstone select set and introduce collectivity structure or principle or characteristic, analyse pivotal technic and discuss parameter choice mostly.

For this reason, one newly swing peanut harvesting installation has been invented and developed by the author of this dissertation, according to the planting mode and growing characteristics of peanut in C.

Different kinds of maneuver methods,such as zig-zag maneuver in lateral plane,longitudinal plane,inclined plane,and pendulum maneuver,barrel roll maneuver and ellipse roll maneuver were realized by attitude angle and eentroid hybrid control command in gain schedule PID attitude control autopilot and INS.