| CPC G05B 13/048 (2013.01) [G01S 19/01 (2013.01); G05B 11/36 (2013.01); G05D 1/0875 (2013.01)] | 19 Claims |
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1. A disturbance estimation apparatus, comprising:
a position data receiver configured to receive position data indicating a position of a ship;
a thrust data receiver configured to receive thrust data indicating a thrust force driving the ship during navigation; and
processing circuitry configured to:
determine a magnitude of the thrust force based on the thrust data;
determine, based on the position data, disturbance data including a drift direction in which the ship drifts due to an external force while the thrust force is less than a threshold value; and
output the disturbance data, wherein the disturbance data indicates disturbance acting on the ship and assists to control movement of the ship, wherein
determination of the disturbance data is performed when the thrust force is less than the threshold value and an operation of generating the thrust force is stopped, the determination of the disturbance data being initiated only after a predetermined period has elapsed since the thrust force fell below the threshold value,
the determination of the disturbance data is interrupted when the thrust force is greater than the threshold value and the thrust force is generated,
the predetermined period is adjusted based on a cruising speed of the ship, and
the predetermined period becomes longer when the cruising speed of the ship is higher at a start of the predetermined period, and shorter when the cruising speed is lower.
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