In the last part , depth schedule strategy based on fuzzy inference system ( fis ) , and line - of - sight guidance in horizontal plane in the presence of unknown current are studied 該方法建立在對(duì)水下航行器的機(jī)動(dòng)性能和水下環(huán)境等先驗(yàn)知識(shí)的基礎(chǔ)上,突出優(yōu)點(diǎn)是易于理解、操作和修改。