Abstract: The invention provides a method for operating a marine vessel (1) comprising a plurality of propulsion units (106, 107, 108, 206, 207, 208), each being arranged to deliver thrust to water in which the vessel (1) is floating, the thrust delivery levels of the propulsion units (106, 7, 108, 206, 207, 208) being individually controllable, the method comprising controlling (S2) a first (106, 207) of the propulsion units so as to deliver a thrust in a direction (T106, T207) which has a component in a first direction (F) of the vessel, simultaneously controlling (S2) a second (107, 208) of the propulsion units so as to deliver less thrust than the first propulsion unit (106, 207), and subsequently increasing (S4) the thrust delivered by the 10 second propulsion unit (107, 208) in a direction (T107, T208) which has a component in the first direction (F), the method further comprising simultaneously with increasing the thrust delivered by the second propulsion unit (107, 208) decreasing (S5) the thrust delivered by t

Abstract: A boat basically includes a hull, at least one propulsion unit, a heading sensor, a position sensor and a controller. The at least one propulsion unit is movably mounted to the hull, and has a propulsion axis. The heading sensor is configured to detect a heading of the boat. The position sensor is configured to detect a position of the boat. The controller is programmed to turn the at least one propulsion unit relative to the hull such that the propulsion axis moves away from a center point of the boat to correct the heading of the boat upon determining that the boat is drifting in a drift direction based on detection results of the heading sensor and the position sensor.

Abstract: A boat maneuvering control method for a boat provided with a propulsion device includes acquiring a target orientation, acquiring an actual orientation of the boat, setting a target yaw rate value based on orientation information of at least one of the target orientation and the actual orientation, detecting an actual yaw rate value of the boat, and controlling a direction of a thrust force of the propulsion device based on the target yaw rate value and the actual yaw rate value.

Abstract: In a first step of a watercraft control method, a command signal to activate an automatic cruise function is received. In a second step, a target vessel velocity of a watercraft is set. In a third step, an actual vessel velocity of the watercraft is obtained. In a fourth step, a command signal is generated that is a signal to perform an automatic cruise control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values. In a fifth step, it is determined whether or not a predetermined interruption condition has been established. In a sixth step, a command signal is generated that is a signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established.

Abstract: The invention provides a method for operating a marine vessel (1) comprising a plurality of propulsion units (106, 107, 108, 206, 207, 208), each being arranged to deliver thrust to water in which the vessel (1) is floating, the thrust delivery levels of the propulsion units (106, 7, 108, 206, 207, 208) being individually controllable, the method comprising controlling (S2) a first (106, 207) of the propulsion units so as to deliver a thrust in a direction (T106, T207) which has a component in a first direction (F) of the vessel, simultaneously controlling (S2) a second (107, 208) of the propulsion units so as to deliver less thrust than the first propulsion unit (106, 207), and subsequently increasing (S4) the thrust delivered by the 10 second propulsion unit (107, 208) in a direction (T107, T208) which has a component in the first direction (F), the method further comprising simultaneously with increasing the thrust delivered by the second propulsion unit (107, 208) decreasing (S5) the thrust delivered by t

Abstract: A boat maneuvering control method for a boat provided with a propulsion device includes acquiring a target orientation, acquiring an actual orientation of the boat, setting a target yaw rate value based on orientation information of at least one of the target orientation and the actual orientation, detecting an actual yaw rate value of the boat, and controlling a direction of a thrust force of the propulsion device based on the target yaw rate value and the actual yaw rate value.

Abstract: A boat maneuvering control method for a boat provided with a propulsion device includes acquiring a target orientation, acquiring an actual orientation of the boat, setting a target yaw rate value based on orientation information of at least one of the target orientation and the actual orientation, detecting an actual yaw rate value of the boat, and controlling a direction of a thrust force of the propulsion device based on the target yaw rate value and the actual yaw rate value.

Abstract: In a first step of a watercraft control method, a command signal to activate an automatic cruise function is received. In a second step, a target vessel velocity of a watercraft is set. In a third step, an actual vessel velocity of the watercraft is obtained. In a fourth step, a command signal is generated that is a signal to perform an automatic cruise control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values. In a fifth step, it is determined whether or not a predetermined interruption condition has been established. In a sixth step, a command signal is generated that is a signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established.

Abstract: In a first step of a watercraft control method, a command signal to activate an automatic cruise function is received. In a second step, a target vessel velocity of a watercraft is set. In a third step, an actual vessel velocity of the watercraft is obtained. In a fourth step, a command signal is generated that is a signal to perform an automatic cruise control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values. In a fifth step, it is determined whether or not a predetermined interruption condition has been established. In a sixth step, a command signal is generated that is a signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established.

Abstract: A boat basically includes a hull, at least one propulsion unit, a heading sensor, a position sensor and a controller. The at least one propulsion unit is movably mounted to the hull, and has a propulsion axis. The heading sensor is configured to detect a heading of the boat. The position sensor is configured to detect a position of the boat. The controller is programmed to turn the at least one propulsion unit relative to the hull such that the propulsion axis moves away from a center point of the boat to correct the heading of the boat upon determining that the boat is drifting in a drift direction based on detection results of the heading sensor and the position sensor.

Abstract: In a first step of a watercraft control method, a command signal to activate an automatic cruise function is received. In a second step, a target vessel velocity of a watercraft is set. In a third step, an actual vessel velocity of the watercraft is obtained. In a fourth step, a command signal is generated that is a signal to perform an automatic cruise control to control a thrust of the watercraft such that a difference between the target vessel velocity and the actual vessel velocity falls in a predetermined range of values. In a fifth step, it is determined whether or not a predetermined interruption condition has been established. In a sixth step, a command signal is generated that is a signal to perform the automatic cruise control with the thrust having a different magnitude from the thrust to be generated under normal circumstances without establishment of the interruption condition when the interruption condition has been established.

Abstract: A boat maneuvering control method for a boat provided with a propulsion device includes acquiring a target orientation, acquiring an actual orientation of the boat, setting a target yaw rate value based on orientation information of at least one of the target orientation and the actual orientation, detecting an actual yaw rate value of the boat, and controlling a direction of a thrust force of the propulsion device based on the target yaw rate value and the actual yaw rate value.