| 摘要 |
PURPOSE:To perform useful steering of a ship, by a method wherein a present position, a moving direction, and a speed are measured by means of a global position measuring system receiver, a distance in a vertical direction serving as displacement from a scheduled route is calculated, and a speed in a vertical direction is calculated to restore a displacement course to the scheduled route. CONSTITUTION:By means of a global position measuring system (NAVSTAR /GPS) receiver 2, an output is transmitted to a control device 1 which determines a present position T, the moving direction, and the speed of a ship under sailing. The control device 1 calculates a distance L0 in a vertical direction as displacement from a scheduled route 7 being a straight course running between a starting point S and an object point O. From the moving direction and a speed V, a displacement speed VH in a vertical direction as a displacement speed is calculated, and a speed VX in a vertical direction required for restoration to the scheduled route 7 is calculated. Through orderly repetition of the above computation, a time, in which a course is restored to the scheduled route, and a state can be grasped, by driving a steering device 5 through the working of a course control device 3, useful and efficient steering of a ship can be effected. |
