Nautical automatic steering device, automatic steering method, and non-transitory computer-readable medium storing automatic steering program

Abstract

There is provided an automatic steering device with which a heading can be stably controlled even under powerful disturbance. The control computeroutputs an ordered rudder angle calculated based on the drift angle and the turning angular velocity. The angular velocity inversion timing acquisition componentacquires a timing at which the turning angular velocity changes from a direction in which a divergence of the drift angle from zero increases to a direction in which the divergence decreases. The steering stop command componentorders a steering stop based on the above-mentioned timing. The steering gear controllercontrols a steering gear such that it changes a rudder angle of the steering gear based on the ordered rudder angle, and such that it does not change the rudder angle while a command of the steering stop has been received.