A joystick outputs an operating signal indicating a tilt amount and a twist direction of the joystick. A controller receives the operating signal and controls a marine propulsion device to output a thrust having a magnitude depending on the tilt amount. The controller changes a rudder angle of the marine propulsion device such that a watercraft turns in a direction corresponding to the twist direction. The controller reduces a speed of changing the rudder angle with an increase in the magnitude of the thrust.

A controller for a marine propulsion device determines a route on which a single or a plurality of target spots are located. The controller controls the marine propulsion device such that a watercraft moves along the route. The controller obtains a position of the watercraft, and determines whether or not the watercraft has arrived at a destination. When it is determined that the watercraft has arrived at the destination, the controller controls the marine propulsion device in a fixed spot keeping mode to keep the watercraft located at the destination.

A marine vessel maneuvering system includes an operator to receive both a propulsive force operation to change a propulsive force of a propulsion device and a steering operation to turn the propulsion device to steer a marine vessel, and a controller configured or programmed to perform a control to automatically drive the propulsion device to move the marine vessel in an automatic marine vessel maneuvering mode. The controller is configured or programmed to perform a control to transition to the automatic marine vessel maneuvering mode based on a transition operation being performed on the operator.

A marine vessel maneuvering system includes a controller configured or programmed to perform a shift-out start control to control a shift actuator to immediately start an intermittent operation mode from a shift-out state when an intermittent operation switching control is performed to switch a normal operation mode in which a shift-in state continues to the intermittent operation mode in which the shift-in state and the shift-out state are repeated in a predetermined period of time based on a user's operation.

A marine propulsion system for a marine vessel includes a first marine propulsion device rotatable with respect to the marine vessel about at least one of a first steering axis and a first tilt-trim axis and a second marine propulsion device rotatable with respect to the marine vessel about at least one of a second steering axis and a second tilt-trim axis. A first control module controls operation of the first marine propulsion device, and a second control module controls operation of the second marine propulsion device. In response to one of the first and second marine propulsion devices being commanded to rotate about at least one of its respective first or second steering axis and its respective first or second tilt-trim axis, the respective first or second control module of the other of the first and second marine propulsion devices is turned ON.

A method for maintaining a marine vessel at a target position in a body of water, the method being carried out by a processing system and including: estimating at least one roughness condition of the body of water based on measurements related to an attitude of the marine vessel; calculating a desired linear velocity based on a difference between an actual position of the marine vessel and the target position; filtering an actual linear velocity of the marine vessel based on the roughness conditions; and operating a propulsion system of the marine vessel to move the marine vessel to minimize a difference between the desired linear velocity and the filtered actual linear velocity. A method for maintaining a marine vessel at a target heading in a body of water is also disclosed.

Techniques are disclosed for systems and methods to provide perimeter ranging for navigation of mobile structures. A navigation control system includes a logic device, a perimeter ranging system, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other elements of a mobile structure. The logic device is configured to receive perimeter sensor data from ultrasonic perimeter ranging sensor assemblies of the perimeter ranging system and generate an obstruction map based on the received perimeter sensor data. The logic device determines a range to and/or a relative velocity of a navigation hazard based on the received perimeter sensor data. The logic device determines navigation control signals based on the range and/or relative velocity of the navigation hazard. Control signals may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

A method of controlling a propulsion system on a marine vessel includes receiving proximity measurements describing locations of one or more objects with respect to the marine vessel, receiving a command vector instructing magnitude and direction for propulsion of the marine vessel with respect to a point of navigation for the marine vessel, and then determining a funnel boundary based on the command vector. When an object is determined to be within the funnel boundary, a propulsion adjustment command is calculated to move the marine vessel such that the object is no longer in the funnel boundary. At least one propulsion device is then controlled based on the propulsion adjustment command.

A steering system for a hydrofoil watercraft, wherein a user may ride in a seated, prone, kneeling, or standing position while steering the watercraft without the use of his or her bodyweight. Vertical elevation, left and right roll, and longitudinal direction control of the watercraft is accomplished via steering, resulting in movement of the control surfaces (fins) on the hydrofoil, thus eliminating the need for weight shifting on the flotation device. An electronic remote and/or mounted joystick steering system can be operated either electronically or through direct mechanical linkage to control the direction of the watercraft. The steering system can include an unmanned remote controlled drone hydrofoil watercraft that can be operated remotely.

A marine vessel maneuvering system able to improve operability when shifting a marine vessel to a pivot turning mode includes a rotatable operator to maneuver a marine vessel, and a controller configured or programmed to shift to a pivot turning mode in which the marine vessel is turned on the spot. In a rotation operation direction of the operator, a high friction region where a resistance of a rotation operation increases is set within a rotatable range of the operator. When the operator is rotated to the high-friction region, the controller is configured or programmed to shift the marine vessel to the pivot turning mode.