Design of Semi-physical Simulation Test System for Unmanned Sailboat 
WAN Bing1, 2, 3, ZHAO Wentao4, PAN Duotao1, ZHAO Zhengtao2, 3, SUN Zhaoyang2, 3, YU Jiancheng2, 3
Computer and Modernization . 2024, (12): 91 -99 .  DOI: 10.3969/j.issn.1006-2475.2024.12.014