Additionally, a state-space observer was designed to estimate the sideslip angle, which was difficult to measure directly. 由於質心側偏角信號難以直接測量，設計了狀態觀測器對該信號進行估計。
The direction of the emergent ray is then known, and the angle of deviation may be found. 這樣就得知出射光線的方向，從而可求得偏向角。
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