| 摘要 |
PURPOSE:To enable a point of time once navigated to be navigated again with excellent repeatability by having an auto-pilot means which performs automatic steerage by comparing one's own vessel position data sought by a position-measuring means with a sea route information memorized as a time series of a position data. CONSTITUTION:Automatic steerage is performed by memorizing as terminal point memory pointers a starting point memory pointer once memorized and the address of a wake memory searched and according to the data of a route designated from the starting point to the terminal point. Now, when a vessel lies at a position S1 and starts navigating along a route P1-Pm, a circle with a radius of Err-max is drawn at the position S1, and out of the points forming the route, a point P4 which is in the circle and also nearest the terminal point is sought. The point thus sought is made to be a present target and a target course theta1 is calculated based on the relation between one's own vessel position S1 and the point P4, and is outputted to an auto-pilot device. Next, after a given time or a given distance of navigation, when the vessel has reached a position S2, a present target is sought and a target course theta2 is calculated as in the case of the position S1, and thereafter the same calculations are repeated until the vessel is navigated to the route terminal. |
