Its principal functions are to obtain undershoot error, count course angle and revise course error of inertia navigation system.

New method of measuring the difference of longitudinal courses;

The ship-rudder parameters recording and analyzing instrument is used to carry on real-time date capture and date record of the compass course,the log speed and GPS shipping direction in the navigation process.

To ensure the vessel voyage along the predetermined course, the rudder angle should be changed reasonably at the right moment according to the various leeway circumstances.

The system com- bines numerical simulation with physical simulation to solve the difficult problems of autopilot in closed-loop work on land and dynamic simulation of the course,rudder angle the track.

Method and Realization of Heading & Attitude Measurement and Positioning & Timing for Target Ship;

This paper summarizes the acuqisition method of axis angle,analyzes the principle of coding the synchro s axis angle,and introduces the method of appling Kalman filtering in the intelligent acquisition of compass heading.

This paper introduces the characteristic of digital compass HMR3000 and its application in military three dimensional oriented platform and analyzes parameters input and control of the heading, pitch and roll in the oriented flat.

The LPV models of ship steering and main engine speed were established depending on ship speed etc as the scheduling parameters.

For Norrbin ship mathematical model with nonlinear and uncertain characteristics,the ship steering robust controller was designed successfully based on backstepping algorithm and nonlinear damping algorithm.

A new approach to design a systematic switching linear parameter-varying controller to determine if it is practical to use for ship steering was presented,which aimed at nonlinear of ship steering.

Effects of heading on phase difference rate of change location;

To compensate the magnetic deviation produced by the soft iron and hard iron distortion in attitude and heading reference system(AHRS), a recursive least square (RLS) algorithm using continuous magnet field information was developed.

In order to overcome the error of heading increment with the time,which can influence the accuracy of the localization and pose of lu- nar rover,a theory used for the precise heading detection and error correcting based on star sensor and ephemeris data is presented.