Control of a waterjet propelled vessel

摘要

The invention is related to a method for controlling a watercraft having a rear propulsion device and a thruster, comprising:
during at least one of initiation and cessation of sideways movement of the watercraft by engagement/disengagement of the thruster, prepositioning an angle of the rear propulsion device to provide a sideways force that minimizes vessel yaw prior to the occurrence of a heading error, the prepositioned angle based on the operating characteristics of the watercraft.