METHOD FOR VESSEL COURSE FOLLOWING CONTROL Russian patent published in 2012 - IPC B63H25/04 

FIELD: transport.

SUBSTANCE: invention relates to navigation, in particular to automatic control of vessel movement. In the method, signals of current course angle and predetermined value of course angle are used which are used together with signals of angular velocity and amount of helm to form control signal for vessel steering gear. According to this method, modulus of the first difference of current vessel latitude and latitude of anticipated future position of vessel turn and modulus of the second difference of current vessel longitude and longitude of anticipated future position of vessel turn are formed at fixed time intervals. If any of the mentioned moduli is greater than value "C", signal of predetermined value of course angle is formed according to current values of vessel latitude and longitude and predetermined values of anticipated position latitude and longitude. If the mentioned moduli of difference value are less than predetermined value "C", programmed anticipated position manoeuvre signal is connected. In the next time interval "Δt", modulus of difference of current course angle and predetermined course angle of the next turning point signal is formed. If modulus of difference signal exceeds permissible value then after time interval "Δt" modulus of difference between current course angle and predetermined course angle of turning point signal is formed again. When modulus of difference between current course angle and predetermined course angle of turning point signal is less than permissible value the signal of programmed anticipated position manoeuvre is disconnected from steering gear, and adder output signal is connected to steering gear.

EFFECT: minimisation of vessel deviation from predetermined course when moving in the area of course turning positions.

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