US20090069962A1 - Guidance of marine vessels - Google Patents

Guidance of marine vessels Download PDF

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Publication number
US20090069962A1
US20090069962A1 US12/280,803 US28080307A US2009069962A1 US 20090069962 A1 US20090069962 A1 US 20090069962A1 US 28080307 A US28080307 A US 28080307A US 2009069962 A1 US2009069962 A1 US 2009069962A1
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United States
Prior art keywords
vessel
target
payload
cruise
guiding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
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US12/280,803
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English (en)
Inventor
Hanoch Aharon
Noam Brook
Ruslan Agayev
Yehuda Yosefi
Giora Katz
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Individual
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Individual
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Publication of US20090069962A1 publication Critical patent/US20090069962A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G13/00—Other offensive or defensive arrangements on vessels; Vessels characterised thereby
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H2025/028—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using remote control means, e.g. wireless control; Equipment or accessories therefor

Definitions

  • the present invention relates to guidance of marine vessels. More specifically, the invention relates to guidance of unmanned marine vessels.
  • An unmanned marine vessel was described in PCT/IL2005/001329 from the same applicant.
  • Such a marine vessel can carry a variety of payloads.
  • payloads may be related to any task that the vessel is to fulfill, civil, military, reconnaissance, guard tasks, or any combination thereof.
  • Payload on board vessels may include subsystems that relate to positioning of the vessel in relation to either a geographic grid or to a local object.
  • FIG. 1 is a flow chart describing an exemplary sequence of steps implemented by a vessel which follows a target boat and instructed to keep a specific distance from the target;
  • FIG. 2 is a flow chart describing an exemplary sequence of steps implemented by a vessel instructed to follow a specific course guided by a subsystem of the payload;
  • FIG. 3 is a block diagram describing the data flow from payload to vessel's guidance control system
  • the invention is typically implemented in an unmanned marine vessel, but the invention may also be implemented in a manned vessel.
  • a vessel as discussed above, can carry a variety of payloads, some of which or some subsystems of which can be used to aid in the guidance of the vessel.
  • the payload utilizable in accordance with the present invention is any appliance useful in providing locational data, i.e. data bearing distance information to a target relative to an accepted geographical grid or to a local grid.
  • locational data i.e. data bearing distance information to a target relative to an accepted geographical grid or to a local grid.
  • optical and electromagnetic equipment are used to such ends.
  • the control over the payload and vessel may be categorized in any of the three following possible categories.
  • the first type relates to a vessel fully controlled by a remote control unit such that the control signals are initiated in the control unit and the response parameters are fed back to the same unit.
  • the second type relates to an autonomous vessel fully responsible for initiating changes in sail parameters as required by the changing circumstances.
  • the third type relates to a vessel having partial control over the cruise guidance, for example, at certain parts of the mission the control is fully managed by the control unit whereas at other occasions the mission is fully controlled by the vessel.
  • the autonomy is in such case directed by an algorithm stored on board the vessel or somewhere else. Typically, however it is likely that a combined control is practiced, meaning a supervised autonomy keeping some control over the vessel.
  • a vessel carrying an electromagnetic radiation detection system uses the payload for guidance purposes.
  • Systems for locating and geolocating radiation sources are known in the art, such as the system disclosed in U.S. Pat. No. 5,719,584.
  • Geolocating a radiating source may require several receiving stations, which may require cooperation of more vessels or a vessel and a stationary station, or a combination of such stations. If only the direction of the radiating station is of consequence, the payload on board the vessel may be a sufficient source of information for the boat maintaining a predetermined direction relative to a target.
  • Such payload typically detects either optical or RF signals originating in the target or reflected by it.
  • the payload on board the vessel may not be sufficient, in such cases there may be need for an additional data source, for example from an on shore station and/or from a subsystem of the vessel itself.
  • the use of a payload for electromagnetic radiation detection can be efficiently exploited if the unmanned vessel is to follow a specific radiation source. In such case, geolocating the source can be considered of secondary importance, since the main mission is to follow and approach the radiation source.
  • an optical detecting payload on board the vessel is aimed at the target. From this point on, the boat is to continue following a course functionally dependant upon the location of the target as viewed by the payload of the vessel with reference to an inertial direction.
  • the guiding function may be a zero order function (i.e. a constant angle) or a higher order function.
  • the vessel maneuvers itself both as regards velocity and direction such that the projected courses converge both with reference to the distance to be traveled and with respect to the time scale.
  • a vessel bearing a target acquisition system such as radar uses the acquisition system to guide the vessel.
  • the vessel is instructed by wireless communication to follow a target at a specific range.
  • the event flow representing a velocity control of the vessel is described in FIG. 1 to which reference is now made.
  • the vessel receives an operational instruction to stay at a specific distance D from a target.
  • the acquisition payload on board the vessel acquires the target, and at step 24 the distance to the target is measured by payload.
  • decision step 26 if the distance measured is smaller than the required D, velocity is decreased at step 28 . If the distance is not smaller than D, velocity is increased in step 30 .
  • the vessel verifies whether an operational instruction is in force. If it is still in force, the distance is measured and so on. Measuring of distance to the target is accomplished using the range finder of the payload on board the vessel, either in a supervised manner or automatically.
  • a vessel carrying an electro-optic acquisition system uses the payload for guidance purposes.
  • the output signal of a bearing finder, such as a resolver implemented in the payload is used to guide the vessel.
  • the vessel receives instruction as to the course it should follow in step 60 .
  • the vessel is to change to course D if it is not currently sailing in that direction.
  • the payload orients itself relative to the target.
  • decision step 66 the relative measured bearing to the target is compared to the one received in the instruction. If the measured relative bearing is not smaller than the required D, then the vessel is steered left in step 70 . If the measured relative bearing is smaller than D, the vessel is to steer right in step 70 . Subsequently, the vessel verifies whether an operational instruction is in force in step 74 , to resume course update if required.
  • Target acquisition systems require relating the acquisition payload to the target such that a direction to the target, (e.g. a boat) from the payload is established. This may also be referred to as a line of sight.
  • the payload on a vessel implementing the invention is therefore expected to establish a direction (line of sight) to a target, once the target is acquired.
  • direction for a guidance system in accordance with the invention it is convenient to relate to direction as issued by the acquisition system. This may be interpreted in using the line of sight as an axis of reference. This is implemented geometrically by generating a local circular coordinate system, also known as polar coordinate system, with respect to which the vessel is oriented.
  • a target bearing 0 means cruising in the direction towards the target, and any other degree would mean a deviation from that direction.
  • a changeable course, whether related to a reference axis directed to a target or to a global bearing, would mean referring the vessel to different angles of the deviation from any reference axis. Either an automatic algorithm or a manual input can be used for managing such a course.
  • the vessel can cruise in a constant course deviating from the direction to the target at a specific angle, etc.
  • a vessel is required to change both course and velocity with respect to a target in its maneuvers in the water. Such changes may be implemented in the water by applying control over both the drive and steering systems.
  • FIG. 3 a schematic block diagram is shown describing the data flow between subunits in a vessel implementing the invention. Signals 86 from the payload subsystem which contain locational data are fed into navigation processor 88 of the vessel.
  • task manager 90 a program that calculates the course and velocity modifications, is to be implemented by vessel cruise control 92 in order to achieve a desired maneuver with respect to the target. The instructions are interpreted by a vessel cruise control into mechanical parameters of the appropriate vessel's mechanical subunits.
  • Such mechanical subunits are typically the rudder (course modification) and the engine (velocity modification), together performing the necessary maneuvers to acquire a specific course in the water, either momentarily or continuously.
  • course modification In jet propelled vessels, the course control and maneuvering are performed by jet steering.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
US12/280,803 2006-02-27 2007-02-26 Guidance of marine vessels Abandoned US20090069962A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IL173955A IL173955A0 (en) 2006-02-27 2006-02-27 Guidance of marine vessels
IL173955 2006-02-27
PCT/IL2007/000248 WO2007096887A2 (fr) 2006-02-27 2007-02-26 Guidage de bâtiments de mer

Publications (1)

Publication Number Publication Date
US20090069962A1 true US20090069962A1 (en) 2009-03-12

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Family Applications (1)

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US12/280,803 Abandoned US20090069962A1 (en) 2006-02-27 2007-02-26 Guidance of marine vessels

Country Status (4)

Country Link
US (1) US20090069962A1 (fr)
EP (1) EP2015986A4 (fr)
IL (1) IL173955A0 (fr)
WO (1) WO2007096887A2 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110054784A1 (en) * 2009-09-03 2011-03-03 ProMap Technologies, Inc. Shallow water highlight method and display systems
US8543269B1 (en) * 2010-08-20 2013-09-24 Johnson Outdoors Marine Electronics, Inc. Digital mapping display functions for a GPS/sonar unit
US8645012B2 (en) 2010-08-20 2014-02-04 Johnson Outdoors Inc. System and method for automatically navigating a depth contour
US8761976B2 (en) 2010-07-16 2014-06-24 Johnson Outdoors Inc. System and method for controlling a trolling motor
WO2014129907A1 (fr) * 2013-02-25 2014-08-28 Tecom As Procédé permettant de faire fonctionner un navire de haute mer non habité
US9162743B2 (en) 2007-10-19 2015-10-20 Ted V. Grace Watercraft automation and aquatic effort data utilization
US20190031300A1 (en) * 2016-03-31 2019-01-31 A.P. Moller - Maersk A/S Method and system for operating one or more tugboats
US10202182B2 (en) * 2015-11-25 2019-02-12 Yamaha Hatsudoki Kabushiki Kaisha Watercraft control method and watercraft control system
US20240227993A1 (en) * 2021-09-29 2024-07-11 Nhk Spring Co., Ltd. Vessel, vessel control device, vessel control method, and nonvolatile storage medium storing program

Citations (8)

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US4437841A (en) * 1981-11-04 1984-03-20 Stallman Richard C Outboard jet drive steering mechanism
US4739236A (en) * 1985-12-05 1988-04-19 Russel H. Keyes Portable helm
US4760397A (en) * 1986-12-22 1988-07-26 Contraves Ag Target tracking system
US6273771B1 (en) * 2000-03-17 2001-08-14 Brunswick Corporation Control system for a marine vessel
US6450112B1 (en) * 1999-04-02 2002-09-17 Nautronix, Inc. Vessel control force allocation optimization
US20040240256A1 (en) * 2003-05-30 2004-12-02 Smith Kenneth K. Method and system for adjusting offset voltage
US6904341B2 (en) * 2002-06-12 2005-06-07 Sea-Watch Technologies, Inc. Integrated vessel monitoring and control system
US7238069B2 (en) * 2004-11-30 2007-07-03 Yamaha Marine Kabushiki Kaisha Outboard motor

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US6118066A (en) * 1997-09-25 2000-09-12 The United States Of America As Represented By The Secretary Of The Navy Autonomous undersea platform
US6178379B1 (en) * 1997-10-31 2001-01-23 Honeywell International Inc. Method and apparatus of monitoring a navigation system using deviation signals from navigation sensors
US6301545B1 (en) * 1999-04-30 2001-10-09 Sirf Technology, Inc. Global positioning system tag system
US6494159B2 (en) * 2001-05-11 2002-12-17 The United States Of America As Represented By The Secretary Of The Navy Submarine launched unmanned combat vehicle replenishment
JP3962236B2 (ja) * 2001-10-25 2007-08-22 ヤマハマリン株式会社 船舶制御システム、船舶への制御入力システム、船舶制御装置
JP2004142537A (ja) * 2002-10-23 2004-05-20 Yamaha Marine Co Ltd 船舶の操舵制御装置
EP1651512A4 (fr) * 2003-07-31 2009-05-06 Solar Sailor Pty Ltd Vehicule oceanique telepilote

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4437841A (en) * 1981-11-04 1984-03-20 Stallman Richard C Outboard jet drive steering mechanism
US4739236A (en) * 1985-12-05 1988-04-19 Russel H. Keyes Portable helm
US4760397A (en) * 1986-12-22 1988-07-26 Contraves Ag Target tracking system
US6450112B1 (en) * 1999-04-02 2002-09-17 Nautronix, Inc. Vessel control force allocation optimization
US6273771B1 (en) * 2000-03-17 2001-08-14 Brunswick Corporation Control system for a marine vessel
US6904341B2 (en) * 2002-06-12 2005-06-07 Sea-Watch Technologies, Inc. Integrated vessel monitoring and control system
US20040240256A1 (en) * 2003-05-30 2004-12-02 Smith Kenneth K. Method and system for adjusting offset voltage
US7238069B2 (en) * 2004-11-30 2007-07-03 Yamaha Marine Kabushiki Kaisha Outboard motor

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9944365B2 (en) 2007-10-19 2018-04-17 Garmin Switzerland Gmbh Watercraft automation and aquatic effort data utilization
US10507895B2 (en) 2007-10-19 2019-12-17 Garmin Switzerland Gmbh Watercraft automation and aquatic effort data utilization
US10322780B2 (en) 2007-10-19 2019-06-18 Garmin Switzerland Gmbh Watercraft automation and aquatic effort data utilization
US9162743B2 (en) 2007-10-19 2015-10-20 Ted V. Grace Watercraft automation and aquatic effort data utilization
US20110054785A1 (en) * 2009-09-03 2011-03-03 ProMap Technologies, Inc. Depth highlight, depth highlight range, and water level offset highlight display and systems
US8463458B2 (en) 2009-09-03 2013-06-11 Johnson Outdoors Marine Electronics, Inc. Depth highlight, depth highlight range, and water level offset highlight display and systems
US8463470B2 (en) 2009-09-03 2013-06-11 Johnson Outdoors Marine Electronics, Inc. Shallow water highlight method and display systems
US20110054784A1 (en) * 2009-09-03 2011-03-03 ProMap Technologies, Inc. Shallow water highlight method and display systems
US8577525B2 (en) 2009-09-03 2013-11-05 Johnson Outdoors Marine Electronics, Inc. Shallow water highlight method and display systems
US8606432B1 (en) 2009-09-03 2013-12-10 Johnson Outdoors Marine Electronics, Inc. Depth highlight, depth highlight range, and water level offset highlight display and systems
US8761976B2 (en) 2010-07-16 2014-06-24 Johnson Outdoors Inc. System and method for controlling a trolling motor
US9132900B2 (en) 2010-07-16 2015-09-15 Johnson Outdoors Inc. System and method for controlling a trolling motor
US8543269B1 (en) * 2010-08-20 2013-09-24 Johnson Outdoors Marine Electronics, Inc. Digital mapping display functions for a GPS/sonar unit
US8645012B2 (en) 2010-08-20 2014-02-04 Johnson Outdoors Inc. System and method for automatically navigating a depth contour
US9616984B2 (en) 2013-02-25 2017-04-11 Offshore Sensing As Method for operation of an unmanned ocean vessel
WO2014129907A1 (fr) * 2013-02-25 2014-08-28 Tecom As Procédé permettant de faire fonctionner un navire de haute mer non habité
US10202182B2 (en) * 2015-11-25 2019-02-12 Yamaha Hatsudoki Kabushiki Kaisha Watercraft control method and watercraft control system
US20190031300A1 (en) * 2016-03-31 2019-01-31 A.P. Moller - Maersk A/S Method and system for operating one or more tugboats
US20240227993A1 (en) * 2021-09-29 2024-07-11 Nhk Spring Co., Ltd. Vessel, vessel control device, vessel control method, and nonvolatile storage medium storing program

Also Published As

Publication number Publication date
EP2015986A2 (fr) 2009-01-21
IL173955A0 (en) 2007-03-08
WO2007096887A2 (fr) 2007-08-30
EP2015986A4 (fr) 2010-11-24
WO2007096887A3 (fr) 2009-04-09

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