| 摘要 |
<p>The present invention relates to an automatic steering apparatus and a controlling method thereof capable of: being attached and detached to a steering handle of a small vessel; preventing an accumulative error and setting an accurate steering position by referring to a location signal using a GPS and a direction and a speed signal using a inertia data measurement together; and not only preventing a fault generation of mechanical equipment but also stably and accurately controlling the steering handle by sensing a load on the steering handle by using an encoder and a motor. The present invention: includes a target coordinate input unit, a GPS receiving unit, and an inertia data measuring unit; determines the location and direction of a current vessel in reference to the direction and speed of a vessel; and calculates the direction and distance of a target by comparing the determined location and direction of the current vessel with the inputted coordinates of the target. The present invention also outputs a motor control signal by analyzing the direction and distance data of the target and corrects the motor control signal depending on a received encoding signal. [Reference numerals] (100) Motor; (101) GPS receiving unit; (102) Inertia measuring unit; (102a) Direction sensor; (102b) Speed sensor; (104) Target coordinate input unit; (105) First control unit; (106) Memory unit; (107) Communication unit; (108) Second control unit; (109) Screen display unit; (110) Encoder</p> |
