Based on the analysis and calculation of ship resistance , according to the main factors influencing the resistance , such as sailing speed , water depth and ship draft ratio , and coefficient of sectional form , the deepwater , shallow water and restricted channel are defined by the coefficient factor 摘要通过对船舶阻力的分析和计算，根据影响阻力的主要因素，航速、水深与船吃水比、断面系数，由换算系数来界定深水、浅水与限制性航道。
( 2 ) a method of regarding the target speed constraints as additional measures and addsing it to measure equation is presented , the constraints intensity is decided by noise variance . it can improve the location precision of the modified gain extended kalman filter 2给出一种把运动目标(敌舰艇)的航速约束当作增加的测量值加入到测量方程的方法，约束的强度由约束条件的噪声方差确定，可提高修正增益推广卡尔曼滤波定位算法的定位精度。
The research provides with the reference for the pilots and captains on safe control of the vessel maximum velocity with tugboat assistance . it brings forward a new research field in safety assessment of vessel operation , and a new idea to develop the ship - handling simulator 本文的研究结果为引航员和船长安全地控制拖轮助操工况下本船的航速提供了参考依据，为船舶操纵安全评估提出了新的研究方向，也为船舶操纵模型器的研制与开发提供了新思路。
Abstract : the actual sea trial result of h robust autopilot tested on yangchenghu oil tanker is presented , which certified the autopilot can resist the disturbance of sea states with good control performance and has good robustness to model uncertainty caused by the change of surge speed etc 文摘:给出了h鲁棒自动舵在阳澄湖号油轮上实际海试的结果，证明了该自动舵能够抑制海况干扰，具有良好的控制性能，对航速变化等产生的船舶模型摄动，具有良好的鲁棒性能
Abstract : if the shallow water effect exists in the trial of high speed ship , a modification should be made for the measured results of ship speed and shaft power to predict the rapidity of ship accurately . the present paper provides a modifying method , with which the predicted results are agreed well with the trial results 文摘:若高速船试航时，存在浅水影响，则应对航速和轴功率测量结果进行修正，以便准确预报实船的快速性；本文的修正结果与实测结果吻合良好。
