SHIP CONTROL SYSTEM, EXTERNAL FORCE VECTOR ESTIMATION DEVICE, CONTROL METHOD OF SHIP CONTROL SYSTEM, AND CONTROL PROGRAM OF SHIP CONTROL SYSTEM

To provide a ship control system technology capable of reducing the influence of an external force vector.SOLUTION: A ship control system 100 of a certain aspect comprises a route command department 50 to output route commands Es including a target ship position and a target ship direction of a ship 1, an information detection department 21 to detect ship information Js including the actual ship position and actual ship direction of the ship 1, an external force vector estimation department 28 to estimate the external force vector Ve acting on the ship 1 using the ship information Js and a ship motion model related to the motion of the ship 1, and a control command department 15 to control at least one of the rotating speed of a main engine 74 and of the rudder angle of the ship based on the route command Es, the ship information Js, and the external force vector Ve.SELECTED DRAWING: Figure 2 【課題】外力ベクトルの影響を減らすことが可能な船舶制御システムの技術を提供することを目的とする。【解決手段】ある態様の船舶制御システム１００は、船舶１の目標船位および目標船首方向を含む航路指令Ｅｓを出力する航路指令部５０と、船舶１の実船位と実船首方向を含む船舶情報Ｊｓを検知する情報検知部２１と、船舶情報Ｊｓと、船舶１の船体運動に関する船体運動モデルと、を用いて、船舶１が受ける外力ベクトルＶｅを推定する外力ベクトル推定部２８と、航路指令Ｅｓと、船舶情報Ｊｓと、外力ベクトルＶｅと、に基づいて船舶の主機７４の回転数と舵角の少なくとも一方を制御する制御指令部１５と、を備える。【選択図】図２