Techniques for thruster system control for a pontoon boat or other watercraft. A thruster system may comprise a plurality of thrusters used to control movement of the pontoon boat in addition to an outboard prime mover. The thrusters may be fixed and/or steerable thrusters. In examples, the thrusters may be retracted based on identifying a condition in which the thrusters may be damaged. The thrusters may be deployed based on identifying a condition in which the thrusters may be used to recharge an associated energy source. User input to control the thrusters may be adapted to account for external forces acting on the pontoon boat. A user interface is provided with which to control the thruster system, via which an operator manipulates a movement intent line to control the thruster system. The user interface may further comprise obstacle indicators, thereby enabling the operator to maneuver the pontoon boat accordingly.

Techniques for thruster system control for a pontoon boat or other watercraft. A thruster system may comprise a plurality of thrusters used to control movement of the pontoon boat in addition to an outboard prime mover. The thrusters may be fixed and/or steerable thrusters. In examples, the thrusters may be retracted based on identifying a condition in which the thrusters may be damaged. The thrusters may be deployed based on identifying a condition in which the thrusters may be used to recharge an associated energy source. User input to control the thrusters may be adapted to account for external forces acting on the pontoon boat. A user interface is provided with which to control the thruster system, via which an operator manipulates a movement intent line to control the thruster system. The user interface may further comprise obstacle indicators, thereby enabling the operator to maneuver the pontoon boat accordingly.

A steering apparatus of a hydrofoil includes first to fourth propulsion portions, a central connecting portion, a left hydrofoil, and a right hydrofoil. Among the first to fourth propulsion portions, the first propulsion portion 41 and the third propulsion portion are disposed on the left side, and the second propulsion portion and the fourth propulsion portion are disposed on the right side. The central connecting portion connects the first to fourth propulsion portions with each other via a first fixing portion and a second fixing portion. A left hydrofoil and a right hydrofoil are respectively attached to outer sides of the central connecting portion via the first fixing portion and the second fixing portion.

A steering apparatus of a hydrofoil includes first to fourth propulsion portions, a central connecting portion, a left hydrofoil, and a right hydrofoil. Among the first to fourth propulsion portions, the first propulsion portion 41 and the third propulsion portion are disposed on the left side, and the second propulsion portion and the fourth propulsion portion are disposed on the right side. The central connecting portion connects the first to fourth propulsion portions with each other via a first fixing portion and a second fixing portion. A left hydrofoil and a right hydrofoil are respectively attached to outer sides of the central connecting portion via the first fixing portion and the second fixing portion.

A boat maneuvering control method for a boat includes acquiring target route information and information about an actual position of the boat, setting a target position based on the target route information and the information about the actual position, acquiring, as a deviation amount, a distance between the target position and the boat in a predetermined direction that intersects with a target route, and controlling a magnitude of a propulsion force of a propulsion device so as to reduce the deviation amount.

An arrangement and a method for installing a propulsion unit to a hull of a ship. The propulsion unit comprises an upper part of the propulsion unit attachable to the hull of the ship and a lower part of the propulsion unit where to a propeller shaft is rotatably supported, and the upper part of the propulsion unit having flanges to attach the flanges tightly to the hull, and wherein there is an aperture in bottom of hull where to the propulsion unit is to be installed. The arrangement comprises a plurality of watertight covers covering openings in the bottom of hull and a plurality of watertight covers covering openings in the top of the upper part of the propulsion unit, wherein the arrangement comprises a removable hull-side cover covering at least the opening under it, and at least one removable propulsion unit side cover covering the opening under it and facing the opening, and the removable covers are bolted from the hull-side.

An arrangement and a method for installing a propulsion unit to a hull of a ship. The propulsion unit comprises an upper part of the propulsion unit attachable to the hull of the ship and a lower part of the propulsion unit where to a propeller shaft is rotatably supported, and the upper part of the propulsion unit having flanges to attach the flanges tightly to the hull, and wherein there is an aperture in bottom of hull where to the propulsion unit is to be installed. The arrangement comprises a plurality of watertight covers covering openings in the bottom of hull and a plurality of watertight covers covering openings in the top of the upper part of the propulsion unit, wherein the arrangement comprises a removable hull-side cover covering at least the opening under it, and at least one removable propulsion unit side cover covering the opening under it and facing the opening, and the removable covers are bolted from the hull-side.

A control system for navigating a marine vessel employs at least a first motor and a second motor. The control system is configured to communicate with the first and second motors. The control system is configured to receive a position measurement and an orientation measurement for the marine vessel. The control system is further configured to generate at least one control signal for the first motor based on the position measurement and at least one control signal for the second motor based on the orientation measurement.

A control system for navigating a marine vessel employs at least a first motor and a second motor. The control system is configured to communicate with the first and second motors. The control system is configured to receive a position measurement and an orientation measurement for the marine vessel. The control system is further configured to generate at least one control signal for the first motor based on the position measurement and at least one control signal for the second motor based on the orientation measurement.

A method for maneuvering a marine vessel includes receiving an input signal from an analog user input device and comparing a magnitude of the input signal to a predetermined threshold. In response to the magnitude of the input signal being less than the predetermined threshold, the method includes actuating a first marine propulsion device to produce thrust. In response to the magnitude of the input signal being greater than or equal to the predetermined threshold, the method includes actuating the first marine propulsion device and a second marine propulsion device to produce thrust. The second marine propulsion device does not produce thrust when the magnitude of the input signal is less than the predetermined threshold.