Anchorless boat positioning employing global positioning system

• US 5,491,636 A
• Filed: 04/19/1994
• Issued: 02/13/1996
• Est. Priority Date: 04/19/1994
• Status: Expired due to Term

• Current Assignee: Glen E. Robertson
• Original Assignee: Glen E. Robertson
• Inventors: Webster, John L., Robertson, Glen E.
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/229,512
• Time in Patent Office: 665 Days
• Field of Search: 364/432, 364/449, 364/460, 364/462, 364/457, 364/444, 364/458, 342/357, 342/450, 342/451, 340/986, 440/1, 114/144 A, 114/144 B
• US Class Current: 701/116
• CPC Class Codes: B63H 25/42 Steering or dynamic anchoring by propulsive elements by jets B63H25/46; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G05D 1/0208 dynamic anchoring

Abstract

An anchorless boat positioning system dynamically and automatically maintains a boat at a selected anchoring location within water without the use of a conventional anchor by using a steerable thruster whose thrust and steering direction are determined on the basis of position information signals received from global positioning system (GPS) satellites and heading indication signals from a magnetic compass. The anchorless positioning system continuously monitors the position and heading of the boat and compares it with the stored coordinates of the selected anchoring location to generate control signals for the steerable motor.

Claims

1. A system for substantially maintaining the position of a boat at an anchoring location in water selected by an operator of the boat, the system comprising:

at least one thruster, attached to a vertical shaft mounted to the boat and driven by a power source, for moving the boat to the selected anchoring location within the water;

a DGPS capable receiver located on-board the boat for receiving signals from GPS satellites and differential correction signals from another source, the DGPS capable receiver providing position information signals indicative of the position of the thruster in a differential GPS mode of operation based on said signals from the GPS satellites and the differential correction signal source,

a digital solid state compass for providing current heading indication signals representative of the heading of the thruster at less than about one second intervals;

said DGPS capable receiver generating range, bearing, magnitude and rate of change in range information at about one second intervals or faster on the basis of the difference between the selected position and present position of the thruster,

a controller providing control signals to the thruster for steering and propelling the boat to the selected anchoring location, the control signals related to the range, bearing, magnitude and rate of change in range information, said control signals including a variable thrust signal whose magnitude is dependent on the direction, magnitude and rate of change in range; and

a slip-ring assembly for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source.

2. The system of claim 1 wherein the at least one thruster comprises a single thruster fully rotatable about a vertical axis extending from above the surface of the water to below the surface of the water and transverse to the direction of propulsion of the single thruster.

3. The system of claim 2 wherein the control signals include thrust control signals for propelling the single thruster and steering control signals for rotating the single thruster.

4. The system of claim 2 wherein the single thruster is attached to the bow of the boat.

5. The system of claim 4 further comprising a second thruster positioned at the stern of the boat for propelling the boat in the direction of the boat'"'"'s heading.

6. The system of claim 1 wherein the digital solid state compass provides a heading indication signal representative of the heading of the thruster toward the selected location and the control signals relate to the difference between position information and heading indication signals received at the selected location and position information and heading indication signals received at a present location.

7. The system of claim 1 further comprising a second digital solid state compass for providing a second heading indication signal representative of the heading of the boat, with the control signals provided to the thruster further relating to the difference between a second heading indication signal received at the selected location and a second heading signal received at the present location.

8. The system of claim 1, wherein said controller amplifies the magnitude of the variable thrust signal as a function of the range and velocity away from the selected location and reduces the magnitude of the variable thrust signal as a function of the range and velocity toward the selected location.

9. The system of claim 8, wherein the function describing the magnitude of the thrust signal can be expressed at least in part substantially as follows:

range * K1-rangerate * K2,

wherein K1 and K2 are independently adjustable constants and rangerate is velocity toward or away from, depending on its sign, the selected location.

10. A method of substantially maintaining a position of a point on a boat at an anchoring location in water selected by an operator, the boat including a steerable thruster connected vertical shaft mounted to a boat and driven by a power source, the method comprising the steps of:

providing an on-board DGPS capable receiver on the boat and a digital solid state compass on the thruster to indicate the thruster'"'"'s current heading at less than about one second intervals,

modifying the thruster by providing a slip-ring assembly for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source;

receiving and storing position information signals from GPS satellites and differential correction signals from another source with the on-board DGPS capable receiver to establish positional coordinates of a selected anchoring location in a differential GPS mode of operation,

receiving, at about one second intervals or less, position information signals from the GPS satellites and the differential correction signal source with the on-board DGPS capable receiver to determine a present location of the steerable thruster and a present heading indication of the steerable thruster from the digital solid state compass,

determining a range, bearing, magnitude and rate of change in range from a present location of the boat to the selected anchoring location on the basis of the difference between the selected and present position of the thruster,

determining the direction of the rate of change in range at the present location, and

controlling the magnitude and direction of the thrust of the thruster on the basis of the range, bearing, and rate of change in range from the present location to the selected location and the direction of the rate of change in range, the magnitude of the thrust being dependent on the direction of the change in range.

11. The method of claim 10 wherein the receiving and storing step further comprises:

receiving and storing, from a second digital solid state compass, a heading indication of the boat at the selected anchoring location.

12. A system for substantially maintaining the position of a boat at a selected location in water, the system comprising:

a thruster, attached to a vertical shaft mounted to the boat and driven by a power source, for maintaining the boat at the selected location within the water;

receiving means, located on-board the boat, for receiving signals from the GPS satellites and differential correction signals from another source, and for providing position information signals indicative of the position of the thruster in a differential GPS mode of operation;

means for providing a heading indication signal representative of the heading of the thruster;

said receiving means generating range, bearing, magnitude and rate of change in range information on the basis of the difference between the selected and present position of the thruster at about one second intervals or less, and

controller means providing control signals to the thruster for steering and propelling the boat to the selected location, the control signals related to the range, bearing, magnitude and rate of change in range information, said control signals including a variable thrust signal dependent on the direction of the rate of change in range; and

means for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source.