This paper studies a ship heading control method based on nonlinear PID control unit.

本文对应用一种非线性PID控制器的船舶航向控制方法进行了研究。

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In addition, the shortcomings of this method are shown so that the heading is definite.

此外，还指出了该方法目前存在的不足及今后的研究方向。

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This paper proposes a method so that each of the navigation track error, speed error and heading error can be equivalent as an additive measurement noise.

本文提出了把航迹、航速和航向误差等效为附加的测量噪声的方法。

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Before the advent of computers and charting software, pit traders and market makers used this method to figure out where the markets might be heading.

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