Method for determining the position of a marine vessel relative to a fixed location

• US 7,561,886 B1
• Filed: 01/06/2006
• Issued: 07/14/2009
• Est. Priority Date: 01/06/2006
• Status: Active Grant

• Current Assignee: Brunswick Corporation
• Original Assignee: Brunswick Corporation
• Inventors: Staerzl, Richard E., Gonring, Steven J.
• Primary Examiner(s): Bhattacharya; Sam
• Application Number:
  US11/327,139
• Time in Patent Office: 1,285 Days
• Field of Search: 455/404.2, 4554561-4566, 340514-516, 340/541, 342/418, 342/428, 701/21, 701/207
• US Class Current: 455/456.1
• CPC Class Codes: G01C 1/00 Measuring angles
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors

Abstract

A method is provided by which a position of a marine vessel can be determined relative to a stationary object, such as a dock. Two position sensors are attached to a marine vessel and a microprocessor, onboard the marine vessel, computes various distances and angular relationships between the position sensors on the marine vessel and stationary transponders attached to the fixed device, such as a dock. The various dimensions and angular relationships allow a complete determination regarding the location and attitude of a marine vessel relative to the dock. This information can then be used by a maneuvering program to cause the marine vessel to be berthed at a position proximate the dock.

Claims

1. A method for determining the position of a marine vessel relative to a fixed structure, comprising the steps of:

providing a first position sensor attached to said marine vessel;

providing a second position sensor attached to said marine vessel;

providing a first fixed reference device which is stationary;

providing a second fixed reference device which is stationary;

determining a first relative position between said first position sensor and said first and second fixed reference devices;

determining a second relative position between said second position sensor and said first and second fixed reference devices;

determining a position of said marine vessel relative to said first and second fixed reference devices as a function of said first and second relative positions;

transmitting an initiation signal from said first position sensor to said first fixed reference device;

transmitting a response signal from said first fixed reference device to said first position sensor in response to receiving said initiation signal;

receiving said response signal by said first position sensor; and

computing a distance between said first position sensor and said first fixed reference device as a function of the elapsed time between said initiation transmitting step and said response signal receiving step.

2. The method of claim 1, wherein:

said first position sensor is a radio frequency transceiver; and

said second position sensor is a radio frequency transceiver.

3. The method of claim 1, wherein:

said step of computing a distance between said first position sensor and said first fixed reference device as a function of the elapsed time between said initiation transmitting step and said response signal receiving step is performed by a microprocessor disposed on said marine vessel and connected in signal communication with said first position sensor.

4. The method of claim 1, wherein:

said first position sensor is a Doppler direction finder; and

said second position sensor is a Doppler direction finder.

5. The method of claim 1, further comprising:

transmitting an initiation signal from said first position sensor to said first fixed reference device;

transmitting a direction signal from said first fixed reference device to said first position sensor in response to receiving said initiation signal;

receiving said direction signal by said first position sensor; and

computing an angle between said first position sensor and said first fixed reference device as a function of frequency differences of said direction signal at a plurality of reception positions created by said first position sensor.

6. The method of claim 5, wherein:

said step of computing an angle between said first position sensor and said first fixed reference device as a function of frequency differences of said direction signal at a plurality of reception positions created by said first position sensor is performed by a microprocessor disposed on said marine vessel and connected in signal communication with said first position sensor.

7. The method of claim 1, further comprising:

determining a first angular relationship between lines which extend from said first position sensor to said first and second fixed reference devices; and

determining a second angular relationship between lines which extend from said second position sensor to said first and second fixed reference devices.

8. The method of claim 1, wherein:

said first fixed reference device is a radio frequency transponder; and

said second fixed reference device is a radio frequency transponder.

9. The method of claim 1, further comprising:

determining an angular relationship between a first line which extends between said first and second position sensors and a second line which extends between said first and second fixed reference devices.

10. The method of claim 1, further comprising:

determining a first distance between said first position sensor and said first fixed reference device; and

determining a second distance between said second position sensor and said second fixed reference device.

11. The method of claim 10, further comprising:

calculating an effective distance between said marine vessel and a stationary point as a function of said first and second distances.

12. The method of claim 1, wherein:

said first and second fixed reference devices are attached to a dock.

13. The method of claim 1, further comprising:

maneuvering said marine vessel as a function of said position of said marine vessel relative to said first and second fixed reference devices.

14. A method for determining the position of a marine vessel relative to a fixed structure, comprising the steps of:

providing a first position transceiver attached to said marine vessel;

providing a second position transceiver attached to said marine vessel;

providing a first fixed reference transponder which is stationary;

providing a second fixed reference transponder which is stationary;

determining a first relative position between said first position transceiver and said first and second fixed reference transponders;

determining a second relative position between said second position transceiver and said first and second fixed reference transponders;

determining a position of said marine vessel relative to said first and second fixed reference transponders as a function of said first and second relative positions;

transmitting an initiation signal from said first position transceiver to said first fixed reference transponder;

transmitting a response signal from said first fixed reference transponder to said first position transceiver in response to receiving said initiation signal;

receiving said response signal by said first position transceiver; and

computing a distance between said first position transceiver and said first fixed reference transponder as a function of the elapsed time between said initiation transmitting step and said response signal receiving step.

15. The method of claim 14, further comprising:

determining a first angular relationship between lines which extend from said first position transceiver to said first and second fixed reference transponders; and

determining a second angular relationship between lines which extend from said second position transceiver to said first and second fixed reference transponders.

16. The method of claim 14, further comprising:

determining an angular relationship between a first line which extends between said first and second position transceivers and a second line which extends between said first and second fixed reference transponders.

17. The method of claim 14, further comprising:

determining a first distance between said first position transceiver and said first fixed reference transponder; and

determining a second distance between said second position transceiver and said second fixed reference transponder.

18. The method of claim 17, further comprising:

calculating an effective distance between said marine vessel and a stationary point as a function of said first and second distances.

19. The method of claim 18, further comprising:

maneuvering said marine vessel as a function of said position of said marine vessel relative to said first and second fixed reference transponders.

20. A method for determining the position of a marine vessel relative to a fixed structure, comprising the steps of:

providing a first position sensor attached to said marine vessel;

providing a second position sensor attached to said marine vessel;

providing a first fixed reference device which is stationary;

providing a second fixed reference device which is stationary;

determining a first relative position between said first position sensor and said first and second fixed reference devices;

determining a second relative position between said second position sensor and said first and second fixed reference devices;

determining a position of said marine vessel relative to said first and second fixed reference devices as a function of said first and second relative positions;

determining a first angular relationship between lines which extend from said first position sensor to said first and second fixed reference devices;

determining a second angular relationship between lines which extend from said second position sensor to said first and second fixed reference devices;

determining an angular relationship between a first line which extends between said first and second position sensors and a second line which extends between said first and second fixed reference devices;

determining a first distance between said first position sensor and said first fixed reference device;

determining a second distance between said second position sensor and said second fixed reference device;

calculating an effective distance between said marine vessel and a stationary point as a function of said first and second distances; and

maneuvering said marine vessel as a function of said position of said marine vessel relative to said first and second fixed reference devices.

21. The method of claim 20, wherein:

said first position sensor is a radio frequency transceiver; and

said second position sensor is a radio frequency transceiver.

22. The method of claim 21, wherein:

said first fixed reference device is a radio frequency transponder; and

said second fixed reference device is a radio frequency transponder.

23. The method of claim 22, wherein:

said first position sensor is a Doppler direction finder; and

said second position sensor is a Doppler direction finder.