A marine vessel includes: an actuator having a rudder; a heading detection unit; and a heading control device including a target heading acquisition unit, a heading deviation calculation unit, a PID control unit, and a gain setting unit, the heading deviation calculation unit calculates a heading deviation, which is the difference between a target heading and a actual heading, the PID control unit calculates an instruction value for the actuator through PID control from the heading deviation calculated by the heading deviation calculation unit, the gain setting unit sets at least a derivative gain, and in a case in which the heading deviation calculated by the heading deviation calculation unit is equal to or greater than a first threshold value, the gain setting unit adds a derivative gain addition correction quantity to the current value of the derivative gain.

A marine vessel includes: an actuator having a rudder; a heading detection unit; and a heading control device including a target heading acquisition unit, a heading deviation calculation unit, a PID control unit, and a gain setting unit, the heading deviation calculation unit calculates a heading deviation, which is the difference between a target heading and a actual heading, the PID control unit calculates an instruction value for the actuator through PID control from the heading deviation calculated by the heading deviation calculation unit, the gain setting unit sets at least a derivative gain, and in a case in which the heading deviation calculated by the heading deviation calculation unit is equal to or greater than a first threshold value, the gain setting unit adds a derivative gain addition correction quantity to the current value of the derivative gain.

A towboat hull configured to shape a desired wake shape by creating an adjustable dual side surf wake as the vessel travels through water. Controlled shaping of the wake is achieved by a secondary thrust flow redirector unit that has flow redirectors that redirect the thrust flow from a propeller as the towboat moves in a forward direction. The flow redirectors can create a single side surf wake on either side of the towboat or can simultaneously create an side surf wakes on both sides of the towboat. The adjustable flow redirector can create side surf wake with a controlled shape that is desirable for wake surfing.

A towboat hull configured to shape a desired wake shape by creating an adjustable dual side surf wake as the vessel travels through water. Controlled shaping of the wake is achieved by a secondary thrust flow redirector unit that has flow redirectors that redirect the thrust flow from a propeller as the towboat moves in a forward direction. The flow redirectors can create a single side surf wake on either side of the towboat or can simultaneously create an side surf wakes on both sides of the towboat. The adjustable flow redirector can create side surf wake with a controlled shape that is desirable for wake surfing.

A propulsion rudder for use with a water vessel, preferably an unmanned surface water vessel. The propulsion rudder includes a rotating base, a rudder assembly, and a thrust assembly. In one embodiment, the rudder assembly may comprise two vertical mast rudders connected by an upper horizontal wing, with the thrust assembly mounted on the horizontal wing. In a second embodiment, the rudder assembly may comprise an annular airfoil with the thrust assembly mounted on a mast and positioned in the center of the annular airfoil. The thrust assembly may be a propeller, a turbine, a ramjet, or a rocket.

A propulsion rudder for use with a water vessel, preferably an unmanned surface water vessel. The propulsion rudder includes a rotating base, a rudder assembly, and a thrust assembly. In one embodiment, the rudder assembly may comprise two vertical mast rudders connected by an upper horizontal wing, with the thrust assembly mounted on the horizontal wing. In a second embodiment, the rudder assembly may comprise an annular airfoil with the thrust assembly mounted on a mast and positioned in the center of the annular airfoil. The thrust assembly may be a propeller, a turbine, a ramjet, or a rocket.

An airboat rudder that results in increased turning force on the airboat while also being easily controlled by the airboat driver is disclosed. Airboats can be configured to run on both water and dry ground. Many times, somewhat dry mud and some types of grass are very difficult to run over and will cause an airboat to get stuck. One way of getting an airboat free is to oscillate the one or more airboat rudders from a hard right hand turn to a hard left hand turn. Doing so creates lateral forces on the airboat from both directions at different times causing the back of the airboat to move to the side and slightly forward as well. The airboat rudder disclosed herein increases the amount of lateral force generated on the airboat without increasing the horsepower of the airboat engine, which is highly desirable.

An airboat rudder that results in increased turning force on the airboat while also being easily controlled by the airboat driver is disclosed. Airboats can be configured to run on both water and dry ground. Many times, somewhat dry mud and some types of grass are very difficult to run over and will cause an airboat to get stuck. One way of getting an airboat free is to oscillate the one or more airboat rudders from a hard right hand turn to a hard left hand turn. Doing so creates lateral forces on the airboat from both directions at different times causing the back of the airboat to move to the side and slightly forward as well. The airboat rudder disclosed herein increases the amount of lateral force generated on the airboat without increasing the horsepower of the airboat engine, which is highly desirable.

Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.

Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.