The invention provides an amphibious
air cushion shipway point
guidance control method, which comprises the following steps of (1) measuring current position information of an
air cushion ship, heading of the ship, rotating rate and rolling attitude information; (2) combining a current position and a target position of the
air cushion ship, and setting a way point;(3) calculating a guide point PLOS (xlos, ylos) of ship trajectory tracking through integrating a way point coordinate (xk, yk) and the current position (x(t), y(t)) of the air
cushion ship by an LOS
guidance system;(4) calculating an expected heading angle psi d according to the current position of the air
cushion ship and a guide point coordinate, comparing the expected heading angle psi d with a current heading angle psi of the air
cushion ship, and regarding a difference
delta psi being equal to subtract psi d from psi as input of a
PID controller; (5) controlling the air cushion ship to sail toward the guide point through the
PID controller; (6) switching. According to the amphibious air cushion ship way point
guidance control method provided by the invention, the ship
trajectory control of the amphibious air cushion ship is realized, the work intensity and the mental burden of a driver can be reduced, and the stability and the safety in sailing of the amphibious air cushion ship are improved.