| 摘要 |
A system and method for automatically steering a boat in a body of water along a course to maintain a selected depth of water adjacent the boat. The actual depth of the water adjacent the boat is automatically detected. A desired depth is selected to be maintained adjacent the boat as the boat moves along. The actual depth and the selected depth are compared and the course heading of the boat is changed to a new course heading toward equalizing the actual and selected depths in response to detecting that the actual and selected depths are not equal. A depth reference is established defining whether the shallower water is to the left or right side of the boat, and the course heading is changed toward equalizing the actual and selected depths further in response to the depth reference. Allowances are automatically made for conditions where course changes are not desirable, and course heading references are established from which course headings are changed and where limits are established restricting the degree of change to enhance the system's capability to maintain a course at the selected depth.
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