METHOD OF AUTOMATIC PILOTAGE OF SHIPS Russian patent published in 2006 - IPC B63H25/00 

FIELD: navigation; automatic control of ships in restricted waters.

SUBSTANCE: proposed method includes measurement of ship's motion parameters by means of heading-angle sensor and angular-rate sensor and rudder position sensor followed by comparison with programmed magnitudes of motion parameters and shaping of control signal to steering gear into functions of data on errors and ship's speed determined by navigational instrument, obtaining programmed parameters of motion determining the ship's position by processing the ship's position signals from navigational instrument, determination of programmed magnitudes of heading angle, angular rate and rudder position in accordance with motion model in function of turn radius, present speed and time. In measuring the ship's motion parameters by means of sensors, parameters of wind, thrust angles, eccentricity and propeller revolutions, thruster revolutions, under-keel clearance are additionally measured; besides that trajectories of CG motion of fore and aft extremities are determined; programmed magnitudes of heading angle, angular rate and rudder position are determined in accordance with ship's motion model in additional function of wind velocity and direction, thrust angles, eccentricity, propeller revolutions, thruster revolutions, under-keel clearance, trajectories of CG motion of fore and aft extremities, drift angles and ship's drift.

EFFECT: enhanced accuracy of ship handling; enhanced safety of navigation in restricted waters, river waters inclusive by determination and processing of redundant and reliable source information.

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