A device and a method for controlling an electrical steering system in a marine vessel comprising at least one steerable propulsion unit, the electrical steering system comprising a main steering system (220; 220.1) that comprises a main electric motor (221; 221.1) and a main power source, e.g. a main battery (229; 229.1); a main steering angle sensor (226; 226.1) arranged to detect the steering angle of the propulsion unit; a main control unit (240; 240.1) arranged to steer the propulsion unit and to monitor the main steering system status; an auxiliary steering system comprising an auxiliary electric motor (231; 231.1) and an auxiliary battery (239; 239.1); and an auxiliary clutch (232; 232.1) arranged to connect a drive shaft of the auxiliary electric motor to the input shaft of the steering transmission (223; 223.1). The method involves the steps of engaging the auxiliary clutch at start-up of the propulsion unit; performing a diagnostic test of the main steering system during start-up; performing a calibration of an auxiliary steering angle sensor; and disengaging the auxiliary clutch upon completion of the diagnostic test.

A system for orienting a marine vessel is provided. The system includes marine propulsion devices, a gyroscopic stabilizer system, and a manually operable control device configured to provide an output signal which is representative of a desired movement of the marine vessel. The system further includes a controller operably coupled to the marine propulsion devices, the gyroscopic stabilization system and the manually operable control device. The controller is configured to receive the output signal from the manually operable control device, resolve said desired movement of the marine vessel into a target movement command, operate the marine propulsion devices to exert a thrust on the marine vessel to achieve the target movement command, and operate the gyroscopic stabilizer system consistent with the thrust exerted by the plurality of marine propulsion devices to achieve the target movement command.

A system for orienting a marine vessel is provided. The system includes marine propulsion devices, a gyroscopic stabilizer system, and a manually operable control device configured to provide an output signal which is representative of a desired movement of the marine vessel. The system further includes a controller operably coupled to the marine propulsion devices, the gyroscopic stabilization system and the manually operable control device. The controller is configured to receive the output signal from the manually operable control device, resolve said desired movement of the marine vessel into a target movement command, operate the marine propulsion devices to exert a thrust on the marine vessel to achieve the target movement command, and operate the gyroscopic stabilizer system consistent with the thrust exerted by the plurality of marine propulsion devices to achieve the target movement command.

A system for orienting a marine vessel is provided. The system includes marine propulsion devices, a gyroscopic stabilizer system, and a controller operably coupled to the marine propulsion devices and the gyroscopic stabilization system. The controller is configured to control operation of the marine propulsion devices to minimize a control torque output of the gyroscopic stabilizer system while maintaining the marine vessel in a selected global position and/or heading.

A catamaran lifting apparatus is disclosed for lifting objects in a marine environment. The apparatus includes first and second vessels that are spaced apart during use. A first frame spans between the vessels. A second frame spans between the vessels. The frames are spaced apart and connected to the vessels in a configuration that spaces the vessels apart. The first frame connects to the first vessel with a universal joint and to the second vessel with a hinged connection. The second frame connects to the second vessel with a universal joint and to the first vessel with a hinged or pinned connection. Each of the frames provides a space under the frame and in between the barges that enables a package to be lifted and/or a marine vessel to be positioned in between the barges and under the frames. In this fashion, an object that has been salvaged from the seabed can be placed upon the marine vessel that is positioned in between the barges and under the frames.

A catamaran lifting apparatus is disclosed for lifting objects in a marine environment. The apparatus includes first and second vessels that are spaced apart during use. A first frame spans between the vessels. A second frame spans between the vessels. The frames are spaced apart and connected to the vessels in a configuration that spaces the vessels apart. The first frame connects to the first vessel with a universal joint and to the second vessel with a hinged connection. The second frame connects to the second vessel with a universal joint and to the first vessel with a hinged or pinned connection. Each of the frames provides a space under the frame and in between the barges that enables a package to be lifted and/or a marine vessel to be positioned in between the barges and under the frames. In this fashion, an object that has been salvaged from the seabed can be placed upon the marine vessel that is positioned in between the barges and under the frames.

A marine propulsion system includes at least two parallel propulsion devices that each generate forward and reverse thrusts, wherein the parallel propulsion devices are oriented such that their thrusts are parallel to one another, and at least one drive position sensor configured to sense a drive angle of the parallel propulsion devices. A lateral thruster is configured to generate starboard and port thrust to propel the marine vessel. A user input device is operable by a user to provide at least a lateral thrust command to command lateral movement of the marine vessel and a rotational thrust command to command rotational movement of the marine vessel. A controller is configured to control the parallel propulsion devices and the lateral thruster based on the lateral steering input and/or the rotational steering input and the drive angle so as to provide the lateral movement and/or the rotational movement.

A marine propulsion system includes at least two parallel propulsion devices that each generate forward and reverse thrusts, wherein the parallel propulsion devices are oriented such that their thrusts are parallel to one another, and at least one drive position sensor configured to sense a drive angle of the parallel propulsion devices. A lateral thruster is configured to generate starboard and port thrust to propel the marine vessel. A user input device is operable by a user to provide at least a lateral thrust command to command lateral movement of the marine vessel and a rotational thrust command to command rotational movement of the marine vessel. A controller is configured to control the parallel propulsion devices and the lateral thruster based on the lateral steering input and/or the rotational steering input and the drive angle so as to provide the lateral movement and/or the rotational movement.

A controller is configured or programmed to obtain at least either of a pitch angle of a watercraft and an angular velocity of the pitch angle, obtain a present thrust of an outboard motor, and set a target thrust of the outboard motor based on the present thrust of the outboard motor and at least either of the pitch angle of the watercraft and the angular velocity of the pitch angle. The controller is configured or programmed to control a drive source such that a thrust of the outboard motor becomes the target thrust.

A maneuvering system for a ship provided with, in the stern, a port-side propulsion system, and a starboard-side propulsion system. For controlling the system, a forward or backward force of the ship 1 is obtained by the difference between the forward and backward propulsion forces of the propulsion systems and a first turning moment in a turning direction of the ship generated by the propulsion forces is offset by a second turning moment in the turning direction of the ship generated by steering a port-side rudder, whereby the ship moves in a transversal manner toward its starboard side while rotation of the ship is avoided. A high degree of maneuverability is thereby achieved with a relatively simple maneuvering operation.