本文所研究的船舶运动仿真平台可以完成对航迹控制算法、航迹自动舵的测试、检验等工作，因此本平台还可称作自动舵多功能仿真测试台。-This study ship motion simulation platform for testing, inspection and other work can be done on the track control algorithm tracks the autopilot, this platform also known as multi-functi

kaiman滤波程序，船舶控制运动模型，有助于仿真。-kalman filtering procedures, ship control motion model simulation helps.