本文讨论了船舶在不规则海浪中运动的AR模型描述方法和AR模型阶的选择，并用自适应预报的方法提出了超前k步的自适应预报器。
In this paper the description of the ship motion with ar model, the selection of the order of the ar model and the construction of the K steps advanced adaptive predictor are discussed.
潜艇近水面运动情况下的深度及纵倾控制问题是一种非线性控制问题，潜艇自身质量及航速的变化、以及外界不规则海浪使得控制系统难于设计。
Submarine depth and rolling control near the water surface is a kind of nonlinearity control problem. The change of submarine mass, speed and ocean wave make it difficult to design of control system.
潜艇近水面运动情况下的深度及纵倾控制问题是一种非线性控制问题，潜艇自身质量及航速的变化、以及外界不规则海浪使得控制系统难于设计。
Submarine depth and rolling control near the water surface is a kind of nonlinearity control problem. The change of submarine mass, speed and ocean wave make it difficult to design of control system.
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