Watercraft speed control device
First Claim
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1. An apparatus for controlling the velocity of a watercraft having an engine for propulsion, said apparatus comprising:
- a velocity measuring device capable of obtaining a first measurement of the velocity magnitude of said watercraft;
a GPS device capable of obtaining a second measurement of the velocity magnitude of said watercraft;
a predetermined desired velocity of said watercraft;
an engine speed algorithm capable of creating a first engine speed output correction from said first velocity measurement, said second velocity measurement, and said predetermined desired velocity;
said first engine speed output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.
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Abstract
An automatic speed control system that provides desired watercraft velocity over land. The coupled algorithms correct engine speed and torque using inertia based measurements, GPS, and tachometer measurements, and the corrections are augmented and enhanced by velocity/speed and torque/speed relationships that are dynamically and adaptively programmed with real-time data collected during replicated operations of the watercraft in specified conditions.
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Citations
52 Claims
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1. An apparatus for controlling the velocity of a watercraft having an engine for propulsion, said apparatus comprising:
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a velocity measuring device capable of obtaining a first measurement of the velocity magnitude of said watercraft; a GPS device capable of obtaining a second measurement of the velocity magnitude of said watercraft; a predetermined desired velocity of said watercraft; an engine speed algorithm capable of creating a first engine speed output correction from said first velocity measurement, said second velocity measurement, and said predetermined desired velocity;
said first engine speed output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52)
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2. An apparatus for controlling the velocity of a watercraft having an engine for propulsion, said apparatus comprising:
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a velocity measuring device capable of obtaining a first measurement of the velocity magnitude of said watercraft; a GPS device capable of obtaining a second measurement of the velocity magnitude of said watercraft; an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft; a predetermined desired velocity of said watercraft; a velocity comparator capable of determining the velocity magnitude difference between said predetermined desired velocity of said watercraft and said observed velocity measurement of said watercraft; an engine speed algorithm capable of creating a first engine speed output correction from said velocity magnitude difference; and
said first engine speed output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.
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3. An apparatus for controlling the velocity of a watercraft having an engine for propulsion, said apparatus comprising:
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a velocity measuring device capable of obtaining a first measurement of the velocity magnitude of said watercraft; a GPS device capable of obtaining a second measurement of the velocity magnitude of said watercraft; an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft; a predetermined desired velocity of said watercraft; an engine speed algorithm capable of creating a first engine speed output correction from said predetermined desired velocity of said watercraft and said observed velocity measurement of the velocity of said watercraft; and
said first engine speed output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.
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25. An apparatus for controlling the velocity of a watercraft having an engine for propulsion, said apparatus comprising:
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a first velocity measurement device capable of obtaining a first measurement of the velocity magnitude of said watercraft; a second velocity measurement device capable of obtaining a second measurement of the velocity magnitude of said watercraft; a predetermined velocity of said watercraft; a tachometer device capable of measuring the speed of said engine propelling said watercraft; an algorithm capable of creating a first engine torque output correction from said tachometer speed measurement, said predetermined velocity, said first velocity measurement, and said second velocity measurement; and
said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity. - View Dependent Claims (28, 29, 30, 31, 32)
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26. An apparatus for controlling the velocity of a watercraft having an engine for propulsion, said apparatus comprising:
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a first velocity measurement device capable of obtaining a first measurement of the velocity magnitude of said watercraft; a second velocity measurement device capable of obtaining a second measurement of the velocity magnitude of said watercraft; an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft; a predetermined velocity of said watercraft; a tachometer device capable of measuring the speed of said engine propelling said watercraft; an algorithm capable of creating a first engine torque output correction from said tachometer speed measurement, said predetermined velocity, said observed velocity measurement; and
said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.
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27. An apparatus for controlling the velocity of a watercraft having an engine for propulsion, said apparatus comprising:
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a first velocity measurement device capable of obtaining a first measurement of the velocity magnitude of said watercraft; a second velocity measurement device capable of obtaining a second measurement of the velocity magnitude of said watercraft; an algorithm capable of creating an observed velocity measurement of the velocity of said watercraft from said first measurement of the velocity of said watercraft and said second measurement of the velocity of said watercraft; a predetermined velocity of said watercraft; a velocity comparator capable of determining the velocity magnitude difference between said predetermined desired velocity of said watercraft and said observed velocity measurement of said watercraft; a tachometer device capable of measuring the speed of said engine propelling said watercraft; an algorithm capable of creating a first engine torque output correction from said tachometer speed measurement, said velocity magnitude difference between said predetermined desired velocity of said watercraft and said observed velocity measurement of said watercraft; and
said first engine torque output correction being capable of causing said watercraft to be propelled at substantially said predetermined velocity.
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Specification