METHOD OF AUTOMATIC CONTROL OF SHIP MOTION Russian patent published in 2007 - IPC B63H25/04 G05D1/00 

FIELD: ship handling.

SUBSTANCE: proposed method employs present course signals received from satellite navigation receiver and preset course from preset route trajectory unit; thus total control signal of shipboard steering gear is formed together with ship angular speed and rudder angle signals. During passage, first modulus of difference between present ship's latitude and latitude of "i" point of ship's turn on preset trajectory of motion and second modulus of difference between present ship's longitude and longitude of "i" point of ship's on preset trajectory of motion are formed at definite intervals of time. If both moduli are lesser than magnitude "C", preset magnitude of course is re-directed to "i+" point of ship' motion in accordance with preset trajectory. In case of any of moduli exceeds magnitude "C", preset magnitude of course is corrected insignificantly, thus retaining direction of motion towards "i" point of ship's turn on preset trajectory. Thus, ship may be returned to her preset trajectory of motion.

EFFECT: enhanced accuracy of ship's motion on preset route due to automatic correction of course signal.

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