| 摘要 |
PURPOSE:To navigate a ship accurately, by detecting the course errors of a position of one's own ship with a scheduled sea route in succession, while calculating the corrected course angle, and controlling and driving a steering gear. CONSTITUTION:On a chart of the sea area scheduled for navigation, when plural veering points rabging from a departure point to a destination point are set, a scheduled sea route as a straight line connecting each veering point in order is set up. And, when there is external force F due to a course error DELTAl, a wind, a tide, etc., a stem azimuth is shifted out of a course azimuth theta0 of a scheduled sea route 15 whereby one's own ship 16 is made to generate its power for returning to the scheduled sea route 15. Thus, the ship 16 is automatically navigated along the scheduled sea route 15.
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