This paper deals with waypoint guidance and trajectory tracking of aircrafts. After briefly introducing a previously published and a newly developed waypoint guidance strategy (publishing real flight test results also), it makes a literature review. The goals of the work are set based on this review. Considering these goals, the fine tuning of the newly developed algorithm is done first. Then linear and circular waypoint reachability maneuvers are examined. It is pointed out that it is better to start to turn away from the waypoint if it is unreachable then turn toward it if it becomes reachable. Finally, the article extends the capabilities of the new algorithm to track given parametric spatial trajectories. This extended capability is demonstrated in a simulation example.
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