Patent ID: 9650119
Date: 2017-05-16
CPC Classifications: B63B,B63H

Claim:
1. A moving center estimation method for boat which estimates a moving center of a boat equipped with a plurality of outboard motors on a stern side of a hull, the moving center estimation method comprising: a provisional moving center setter setting a provisional moving center at a standard distance between a reference point on the hull and the provisional moving center and offset from an actual moving center of the boat; a sample thrust applier (a) applying a sample thrust having a predetermined magnitude and direction to the provisional moving center by driving the outboard motor; a angular acceleration detector (b) detecting a magnitude and direction of an angular acceleration generated in the boat by application of the sample thrust; a angular acceleration comparator (c) comparing the magnitude of the angular acceleration with a predetermined threshold value; (d) if the magnitude of the angular acceleration is greater than the predetermined threshold value, changing a position of the provisional moving center, and then repeating steps (a)-(d); wherein the position to be changed of the provisional moving center is calculated by using dichotomy to determine a moving distance of the provisional moving center, an initial moving distance being ½ of the standard distance and each subsequent moving distance further reduced by ½, and shortens a distance between the actual moving center and the provisional moving center, in the provisional moving center changing and setting; and if the magnitude of the angular acceleration is not greater than the predetermined threshold value, setting the provisional moving center as the actual moving center.