To provide a constant point holding control device in which a BRAGE can be held at a fixed point without using a mooring cable.

Deviation to a target position and a target azimuth is determined by a deviation operating part 12 based on a current position obtained by analyzing a signal from a GPS satellite 4 by a position measuring system 11, and a current azimuth obtained by a gyro compass 5, resultant force of thrust and resultant force of turning moments generated by all the plural rotary type pushers provided on a base vesselare determined by a resultant force operating part 13, thrust and direction of each of the plural rotary type pushers are determined by a thrust distribution operating part 14 based on the resultant force of the thrust and the resultant force of the turning moments, command signals to the rotary type pushers are determined by an actuation command operating part 15 based on the determined thrust and direction, and the plural rotary type pushers are driven by a drive unit 6 based on the obtained command signals.