| 摘要 |
FIELD: transport.SUBSTANCE: invention relates to navigation. Proposed method comprises measurement of ship motion parameters and angular velocity, their comparison with programmed magnitudes and generation of control signal for rudder drive as data on mismatches and ship speed. In measurement of ship motion parameters, transducers additionally measure wind parameters, thrust angles, propulsors eccentricity and rpm, lateral thrusting propulsor rpm, keel clearance. Besides, fore and aft gravity center paths are defined. Program values of bearing and rudder angular velocity are defined in compliance with the ship motion model in extra function of wind speed and direction, thrust angles and propulsors rpm, lateral thrusting propulsor rpm, keel clearance, fore and aft gravity center paths, draft angle and ship drift angle. Control signal is transmitted via software of hardware to autopilot from four segmental receivers. Note here that instructions to autopilot are supplemented by maneuver instruction signal feed.EFFECT: higher accuracy and safety.1 dwg |
