Provided are an automatic guidance method for a ship, an automatic guidance program for a ship, an automatic guidance system for a ship, and a ship with which it is possible to control the deviation from a planned route to a certain level or less even if there is external disturbance without requiring a large amount of calculation. A method for automatically guiding a ship, which uses an automatic ship steering device that at least automatically steers a sailing ship, comprises: a planned route generation process (S1) for acquiring a planned route or calculating the planned route; ship information acquisition processing (S3): acquiring the position and prow orientation of the ship; a pure tracking calculation process (S4) for calculating a target point that satisfies a prescribed condition on a planned route in the direction of travel of the ship or calculating the orientation of the target point on the basis of the position and the prow orientation; an automatic steering calculation process (S5) for calculating the steering angle of the ship on the basis of the target point or orientation and the position or prow orientation; and a control process (S6) for controlling the automatic ship steering device on the basis of the calculated steering angle.

    本发明提供无需大量计算、即使存在外部干扰也能够将距计划路径的偏差控制为一定程度以下的船舶的自动导向方法、船舶的自动导向程序、船舶的自动导向系统及船舶。在使用了对航行的船舶至少自动地进行操舵的自动操船装置的船舶的自动导向方法中,具有:计划路径生成处理(S1),进行计划路径的获取或计划路径的计算;船舶信息获取处理(S3),获取船舶的位置及船首方位;纯追踪计算处理(S4),基于位置及船首方位,计算在船舶的行进方向的计划路径上满足规定条件的目标点或计算目标点的方位;自动操船计算处理(S5),基于目标点或方位、以及位置或船首方位计算船舶的操舵角;控制处理(S6),基于计算出的操舵角控制自动操船装置。


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    Title :

    Automatic guidance method for ship, automatic guidance program for ship, automatic guidance system for ship, and ship


    Additional title:

    船舶的自动导向方法、船舶的自动导向程序、船舶的自动导向系统及船舶


    Contributors:

    Publication date :

    2022-12-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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