You can yaw or change the throttle while maintaining position.
您可以偏转或改变油门，同时保持位置。
2
According to spot in the four-quadrant detector photosensitive surface position to calculate the ship's yaw Angle relative to the laser source.
根据光斑在四象限探测器光敏面上的位置来计算船舶相对于激光光源的偏转角度。
3
Based on a zero sideslip Angle proportional control, we get the gain of the distance from the centroid to the steering center position, yaw angular velocity and lateral acceleration.