Controlling movement of at least one steering device on a watercraft

Abstract

This disclosure relates generally to controlling movement of at least one steering device on a watercraft.

1 . A method of controlling movement, relative to a watercraft, of at least one steering device on the watercraft, the method comprising:
 causing the at least one steering device to move relative to the watercraft in response to, at least:
 a steering-input position of a steering input relative to the watercraft; and 
 an estimated non-steering influence on movement of the watercraft. 
   
     
     
         2 . An apparatus for controlling movement, relative to a watercraft, of at least one steering device on the watercraft, the apparatus comprising:
 at least one controller configured to, at least, cause the at least one steering device to move relative to the watercraft in response to, at least:
 a steering-input position of a steering input relative to the watercraft; and 
 an estimated non-steering influence on movement of the watercraft. 
   
     
     
         3 . The apparatus of  claim 2 , wherein the estimated non-steering influence on movement of the watercraft comprises an estimated non-steering influence on a direction of movement of the watercraft. 
     
     
         4 . The apparatus of  claim 2 , wherein the estimated non-steering influence on movement of the watercraft comprises an estimated non-steering influence on a rate of change over time of a direction of movement of the watercraft. 
     
     
         5 . The apparatus of  claim 2 , wherein the at least one controller is further configured to, at least, estimate the estimated non-steering influence on movement of the watercraft. 
     
     
         6 . The apparatus of  claim 5 , wherein the at least one controller is configured to estimate the estimated non-steering influence on movement of the watercraft in response to at least an estimation of a mass of the watercraft. 
     
     
         7 . The apparatus of  claim 5 , wherein the at least one controller is configured to estimate the estimated non-steering influence on movement of the watercraft in response to at least an estimation of a fluid resistance of the watercraft. 
     
     
         8 . The apparatus of  claim 5 , wherein the at least one controller is configured to estimate the estimated non-steering influence on movement of the watercraft in response to at least an estimation of speed of the watercraft relative to surrounding water. 
     
     
         9 . The apparatus of  claim 5 , wherein the at least one controller is configured to estimate the estimated non-steering influence on movement of the watercraft in response to at least an estimation of engine thrust force on the watercraft. 
     
     
         10 . The apparatus of  claim 5 , wherein the at least one controller is configured to estimate the estimated non-steering influence on movement of the watercraft in response to at least estimated positions of trim tabs of the watercraft. 
     
     
         11 . The apparatus of  claim 5 , wherein the at least one controller is configured to estimate the estimated non-steering influence on movement of the watercraft in response to at least a ballast configuration of a ballast system of the watercraft. 
     
     
         12 . The apparatus of  claim 2 , wherein the at least one controller is further configured to, at least, cause the at least one steering device to move in response to, at least:
 the steering-input position of the steering input relative to the watercraft; and   an association between steering-input positions of the steering input relative to the watercraft and respective target quantities related to direction of the watercraft.   
     
     
         13 . The apparatus of  claim 12 , wherein causing the at least one steering device to move comprises causing the at least one steering device to move in response to, at least, a direction difference between:
 a measured direction quantity related to the direction of travel of the watercraft; and   a desired direction quantity related to the direction of travel of the watercraft.   
     
     
         14 . The apparatus of  claim 13 , wherein the at least one controller is further configured to, at least, identify the desired direction quantity according to, at least:
 the steering-input position of the steering input; and   the association between steering-input positions of the steering input relative to the watercraft and respective target quantities.   
     
     
         15 . The apparatus of  claim 14 , wherein the target, measured, and desired quantities are respective directions of travel of the watercraft. 
     
     
         16 . The apparatus of  claim 14 , wherein the target, measured, and desired quantities are respective rates of change over time of the direction of travel of the watercraft. 
     
     
         17 . The apparatus of  claim 2 , wherein the at least one controller is further configured to, at least, cause the at least one steering device to move in response to, at least, a heading difference between:
 a measured heading quantity related to a heading of the watercraft; and   a measured direction quantity related to a direction of travel of the watercraft.   
     
     
         18 . The apparatus of  claim 17 , wherein the measured heading quantity is a measured heading of the watercraft, and the measured direction quantity is a measured direction of travel of the watercraft. 
     
     
         19 . The apparatus of  claim 17 , wherein the measured heading quantity is a measured rate of change over time of heading of the watercraft, and the measured direction quantity is a measured rate of change over time of direction of travel of the watercraft. 
     
     
         20 . A system comprising:
 the apparatus of  claim 2 ;   the watercraft, wherein the apparatus is on the watercraft;   the at least one steering device, wherein the at least one steering device comprises at least one steering actuator operable to steer the watercraft, and the at least one steering actuator is coupled to at least one engine or to at least one rudder on the watercraft and operable to change a steering angle of the at least one engine or of the at least one rudder relative to the watercraft to steer the watercraft in response to movement of the at least one steering actuator relative to the watercraft; and   the steering input, wherein the steering input comprises an electronic helm on the watercraft.