METHOD AND SYSTEM FOR CONTROLING ATTITUDE OF A MARINE VESSEL

A method (100) of controlling attitude of a marine vessel (10) includes identifying (102; 120) a natural roll frequency of the marine vessel (10), measuring (104; 122) a roll motion of the marine vessel (10) with an attitude sensor (36), and then determining (106;124) that the roll motion exceeds the threshold roll where no corresponding steering input is present. The method (100) further includes determining (108;126) a counteracting drive movement for at least one propulsion device (12a,12b) based on the measured roll motion and the natural roll frequency of the marine vessel (10). A steering actuator (21a,21b) is then controlled (110;130) to move the at least one propulsion device (12a,12b) to effectuate the counteracting drive movement so as to counteract an environmentally-induced roll motion of the marine vessel (10).