5Fossen T.I,Perez T.Kalman filtering for positioning and headingcontrol of ships and offshore rigs[J].Control Systems Magazine,IEEE 2009,29(6):32-46.
6Fossen T I.Marine control systems:guidance,navigation andcontrol of ships,rigs and underwater vehicles[M].Norway,Trondheim:Marine Cybernetics,2002:51-60.
7Jianbin Xiong,Qin-ruo Wang,Bao-yu Ye.Wind direction andforecasting optimization algorithm for ship based on time series andKalman filter[J].Journal of Convergence Information Technology,2012,7(8):424-432.
