Sun adjusted station keeping methods and systems

• US 10,437,248 B1
• Filed: 01/10/2018
• Issued: 10/08/2019
• Est. Priority Date: 01/10/2018
• Status: Active Grant

• Current Assignee: Brunswick Corporation
• Original Assignee: Brunswick Corporation
• Inventors: Ross, Walter B., Henker, Mark W.
• Primary Examiner(s): Troost, Aaron L
• Application Number:
  US15/867,366
• Time in Patent Office: 636 Days
• CPC Class Codes: B63B 49/00 Arrangements of nautical instruments or navigational aids nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S
• CPC Class Codes: B63B 79/40 for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
• CPC Class Codes: B63J 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G05D 1/0208 dynamic anchoring

Abstract

A method of controlling position of a marine vessel in a body of water includes determining, at a control module, a relative heading instruction describing a position of the marine vessel relative to a position of the sun. A target global position for the marine vessel is received, and a position of the sun relative to the target global position is determined based on a current date and a current time. A sun adjusted heading is calculated for the marine vessel based on the position of the sun and the relative heading instruction. A current heading of the marine vessel is determined, and propulsion devices on the marine vessel are controlled to position the marine vessel at the target global position and align the current heading of the marine vessel at the sun adjusted heading.

Claims

1. A method of controlling position of a marine vessel in a body of water, the vessel being propelled by a marine propulsion device, the method comprising:

with a control module, determining a relative heading instruction describing a position of the marine vessel relative to a position of the sun;

receiving a target global position for the marine vessel;

determining the position of the sun relative to the target global position based on a current date and a current time;

calculating a sun adjusted heading for the marine vessel based on the position of the sun and the relative heading instruction;

determining an current heading of the marine vessel; and

with the control module, controlling the propulsion device to position the marine vessel at the target global position and align the current heading of the marine vessel at the sun adjusted heading.

2. The method of claim 1, further comprising:

receiving user input to maximize sun exposure on a user-selected portion of the marine vessel or to minimize sun exposure on the user-selected portion of the marine vessel; and

wherein the relative heading instruction is determined based on the user input.

3. The method of claim 1, wherein the sun adjusted heading is periodically updated as the position of the sun changes so as to maintain the relative heading instruction.

4. The method of claim 1, further comprising:

determining a current global position and the current heading of the marine vessel;

storing the current global position as the target global position; and

calculating the relative heading instruction based on an angle between the current heading and position of the sun.

5. The method of claim 1, wherein the position of the sun relative to the target global position is a direction of the sun on a water surface plane relative to the target global position.

6. The method of claim 5, wherein the relative heading instruction is an angle on the water surface plane relative to the position of the sun.

7. The method of claim 1, wherein the position of the sun describes a location of the sun in three-dimensional space relative to the target global position.

8. The method of claim 7, wherein the sun adjusted heading is determined based on the position of the sun in three-dimensional space in order to either minimize or maximize the amount of sun on a user-selected portion of the marine vessel.

9. The method of claim 7, wherein determining the sun adjusted heading includes converting the position of the sun in three-dimensional space to a location of the sun on a water surface plane relative to the target global position.

10. The method of claim 1, further comprising updating the sun adjusted heading to account for a change in the position of the sun, controlling the propulsion device to maintain the current heading of the marine vessel at the updated sun adjusted heading.

11. The method of claim 10, wherein the sun adjusted heading is updated at predefined times of day.

12. The method of claim 10, wherein the sun adjusted heading is updated at predefined time intervals.

13. The method of claim 10, wherein the sun adjusted heading is updated upon a threshold change in the position of the sun.

14. The method of claim 1, further comprising:

receiving user input defining a relative heading adjustment;

changing the relative heading instruction based on the relative heading adjustment;

calculating an updated sun adjusted heading based on the changed relative heading instruction; and

controlling the propulsion device to align the current heading of the marine vessel at the sun adjusted heading.

15. A system for controlling position of a marine vessel in a body of water, the system comprising:

a marine propulsion device controllable to propel a marine vessel;

a position determination device configured to determine a current global position of the marine vessel;

a heading detector configured to determine a current heading of the marine vessel;

a control module configured to;

determining a relative heading instruction based on a user input, wherein the relative heading instruction describes a position of the marine vessel relative to a position of the sun;

receive a target global position for the marine vessel;

determine the position of the sun relative to the target global position based on a current date and a current time;

calculate a sun adjusted heading for the marine vessel based on the position of the sun and the relative heading instruction;

receive the current global position from the position determination device;

receive the current heading of the marine vessel from the heading detector; and

control the propulsion device to align that the current position of the marine vessel at the target global position and the current heading of the marine vessel at the sun adjusted heading.

16. The system of claim 15, wherein the control module is further configured to periodically update the sun adjusted heading in accordance with the relative heading instruction as the position of the sun changes.

17. The system of claim 15, further comprising a database of position of the sun values indexed according to longitude, latitude, date, and time, wherein the database is stored in a storage system accessible by the control module.

18. The system of claim 17, wherein the position of the sun values are locations of the sun on a water surface plane relative to a longitude and a latitude of the target global position, and the relative heading instruction is an angle on the water surface plane relative to the position of the sun.

19. The system of claim 15, wherein the user input includes instruction to maximize sun exposure on a user-selected portion of the marine vessel or to minimize sun exposure on the user-selected portion of the marine vessel.

20. The system of claim 15, wherein the user input includes instruction to maintain a current position of the marine vessel relative to the position of the sun, and wherein, upon receiving the user input, the control module is further configured to:

determine the current global position and the current heading of the marine vessel;

store the current global position as the target global position; and

calculate the relative heading instruction based on an angle between the current heading and the position of the sun.