Ship Steering Control Targets for Cross-Flow Trajectory Correction

The patent applies preliminary action by calculating and applying a trajectory correction amount before the ship actually deviates. The correction amount calculation unit computes the necessary correction based on the current state (oblique sailing angle, turning rate) and predicted transverse fluid force effects, then applies this correction in advance to the target trajectory. This prevents the deviation rather than merely reacting to it after occurrence.

The patent implements feedback through a closed-loop control system where the actual ship position and orientation are continuously measured, compared with the corrected target trajectory, and the deviation is fed back to adjust the control commands. The state acquisition unit gathers real-time data on ship position, orientation, oblique sailing angle, and turning rate, which are used to dynamically recalculate the correction amount and update the trajectory.

The patent segments the navigation process into distinct phases: en-route navigation phase and docking phase. During the en-route phase, the system maintains higher velocities and applies trajectory corrections for transverse fluid forces. During the docking phase, the system transitions to lower velocities with increased positioning precision. This segmentation allows optimized control strategies for each phase rather than using a single conservative approach throughout.

The patent applies dynamics by making the control parameters adaptive rather than static. The target velocity and angular velocity are dynamically adjusted based on the ship's distance to target, current trajectory deviation, and environmental conditions. The system transitions smoothly between different control modes depending on the operational phase, enabling both high-speed en-route navigation and precise docking.