Relating to Control of Marine Vessels
First Claim
1. A dynamic control system for a marine vessel having two or more waterjet units as the primary propulsion system of the vessel, the waterjet units comprising steering deflectors and reverse ducts and being operable in synchronism or differentially, the dynamic control system for maintaining vessel position or velocity when in a dynamic control mode, comprising:
- a position or velocity indicator to indicate vessel position or velocity or deviations in vessel position or velocity;
a heading indicator means to indicate vessel heading or yaw rate or deviations in vessel heading or yaw rate; and
a controller to control the operation of the steering deflectors and reverse ducts of the waterjet units to substantially maintain vessel position and heading, or operation of the waterjet units to substantially maintain velocity and yaw rate, when the dynamic control mode is enabled.
1 Assignment
0 Petitions
Accused Products
Abstract
A dynamic control system for a marine vessel having two or more waterjet units as the primary propulsion system of the vessel, for maintaining vessel position or velocity when in a dynamic control mode, comprises a position or velocity indicator to indicate vessel position or velocity or deviations in vessel position or velocity; such as a satellite-based positioning system indicator, or accelerometers as a relative position indicator, a heading indicator to indicate vessel heading from position heading or yaw rate or deviations in vessel heading or yaw rate, such as a compass as an absolute heading indicator or a yaw rate sensor as a relative heading indicator, and a controller to control the operation of the waterjet units to substantially maintain the vessel position or velocity, and vessel heading or yaw rate when the dynamic control mode is enabled.
93 Citations
41 Claims
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1. A dynamic control system for a marine vessel having two or more waterjet units as the primary propulsion system of the vessel, the waterjet units comprising steering deflectors and reverse ducts and being operable in synchronism or differentially, the dynamic control system for maintaining vessel position or velocity when in a dynamic control mode, comprising:
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a position or velocity indicator to indicate vessel position or velocity or deviations in vessel position or velocity; a heading indicator means to indicate vessel heading or yaw rate or deviations in vessel heading or yaw rate; and a controller to control the operation of the steering deflectors and reverse ducts of the waterjet units to substantially maintain vessel position and heading, or operation of the waterjet units to substantially maintain velocity and yaw rate, when the dynamic control mode is enabled. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 40, 41)
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2. A dynamic control system for a marine vessel having two or more waterjet units as the primary propulsion system of the vessel, the waterjet units comprising steering deflectors and reverse ducts and being operable in synchronism or differentially, the dynamic control system for maintaining vessel position when in a dynamic position control mode, and for maintaining vessel velocity when in a dynamic velocity control mode, comprising:
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position and velocity indicators to indicate vessel position and velocity or deviations in vessel position or velocity, or a combined indicator for indicating both vessel position and velocity; a heading indicator means to indicate vessel heading or yaw rate or deviations in vessel heading or yaw rate; and a controller to control the operation of the steering deflectors and reverse ducts to substantially maintain vessel position and heading, or operation of the waterjet units to substantially maintain velocity and yaw, rate when the dynamic control mode is enabled.
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28. A dynamic control system for a marine vessel having two or more waterjet units as the primary propulsion system of the vessel, the waterjet units including steering deflectors and reverse ducts and being operable in synchronism or differentially, the dynamic control system for maintaining at least vessel position when in a dynamic positioning control mode, comprising:
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a position indicator to indicate deviations in vessel position via a satellite-based positioning system; a compass and a yaw rate sensor to indicate deviations in vessel heading; and a controller to control the operation of at least the steering deflectors and reverse ducts of the waterjet units to substantially maintain vessel position and heading when the dynamic control mode is enabled.
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29. A dynamic control system for a marine vessel having two or more waterjet units as the primary propulsion system of the vessel, the waterjet units comprising steering deflectors and reverse ducts and being operable in synchronism or differentially, the dynamic control system for maintaining at least vessel position when in a dynamic positioning mode, comprising:
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accelerometers arranged to indicate deviations in vessel position; a yaw rate sensor arranged to indicate deviations in vessel heading; and a controller to control the operation of at least the steering deflectors and reverse ducts of the waterjet units to substantially maintain vessel position and heading when the dynamic control mode is enabled.
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30-31. -31. (canceled)
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32. A computer-implemented method for dynamically controlling a marine vessel propelled by two or more waterjet units comprising the steps of:
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(a) determining a commanded vessel position or velocity and heading or yaw rate; (b) determining a current vessel position or velocity using a position or velocity determining means; (c) determining a current vessel heading or yaw rate using a heading or yaw rate determining means; and (d) controlling at least steering deflectors and reverse ducts, of waterjet units which are the primary propulsion system of the vessel to substantially maintain the commanded vessel position and heading, or controlling at least the steering deflectors of waterjet units which are the primary propulsion system of the vessel to substantially maintain velocity or yaw rate. - View Dependent Claims (33)
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34-37. -37. (canceled)
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38. A dynamic control system for a marine vessel having two or more waterjet units as the primary propulsion system of the vessel, for controlling vessel acceleration and/or deceleration when in a dynamic control mode, comprising:
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an acceleration indicator to indicate vessel acceleration and/or deceleration or deviations in vessel acceleration and/or deceleration; a heading indicator means to indicate vessel heading or yaw rate or deviations in vessel heading or yaw rate; and a controller to control the operation of the waterjet units to substantially maintain the vessel acceleration and/or deceleration and vessel heading or yaw rate, when the dynamic control mode is enabled. - View Dependent Claims (39)
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Specification