초록 ▼

A vessel positioning system maneuvers a marine vessel in such a way that the vessel maintains its global position and heading in accordance with a desired position and heading selected by the operator of the marine vessel. When used in conjunction with a joystick, the operator of the marine vessel c

A vessel positioning system maneuvers a marine vessel in such a way that the vessel maintains its global position and heading in accordance with a desired position and heading selected by the operator of the marine vessel. When used in conjunction with a joystick, the operator of the marine vessel can place the system in a station keeping enabled mode and the system then maintains the desired position obtained upon the initial change in the joystick from an active mode to an inactive mode. In this way, the operator can selectively maneuver the marine vessel manually and, when the joystick is released, the vessel will maintain the position in which it was at the instant the operator stopped maneuvering it with the joystick.

대표청구항 ▼

The invention claimed is: 1. A method for maintaining a marine vessel in a selected position, comprising the steps of: providing a first marine propulsion device which is rotatable about a first steering axis; providing a second marine propulsion device which is rotatable about a second steering ax

The invention claimed is: 1. A method for maintaining a marine vessel in a selected position, comprising the steps of: providing a first marine propulsion device which is rotatable about a first steering axis; providing a second marine propulsion device which is rotatable about a second steering axis; determining a current global position of said marine vessel; determining a current heading of said marine vessel; receiving a signal command to maintain the current global position and the current heading of said marine vessel; storing said current global position and heading of said marine vessel as a target global position and a target heading in response to receiving said signal command; determining a subsequent global position of said marine vessel; determining a subsequent heading of said marine vessel; calculating a position error difference between said subsequent global position and said target global position; calculating a heading error difference between said subsequent heading and said target heading; determining required marine vessel movements to minimize said position error difference and said heading error difference; resolving said required marine vessel movements into a target linear thrust and a target moment about a preselected point of said marine vessel; determining a first rotational position of said first marine propulsion device about said first steering axis, a second rotational position of said second marine propulsion device about said second steering axis, a first magnitude and first direction of thrust for said first marine propulsion device, and a second magnitude and second direction of thrust for said second marine propulsion device which will result in achievement of said target linear thrust and said target moment about said preselected point of said marine vessel; rotating said first and second marine propulsion devices to said first and second rotational positions about said first and second steering axes, respectively; causing said first and second marine propulsion devices to produce said first and second magnitudes and directions of thrust, respectively; and providing a manually operable control device which is configured to provide an output signal which is representative of a desired movement of said marine vessel, said signal command receiving step being performed only upon an initial change from activity to inactivity of said manually operable control device. 2. The method of claim 1, wherein: said steps of calculating a position error difference, calculating a heading error difference, and determining the required marine vessel movements to minimize said position error difference and said heading error difference are only performed when said manually operable control device is inactive. 3. The method of claim 1, wherein: said step of resolving said required marine vessel movements into a target linear thrust and a target moment about a preselected point of said marine vessel is only performed when said manually operable control device is inactive. 4. The method of claim 1, further comprising: providing a station keeping mode maintaining said vessel in a selected position comprising providing first and second GPS, global positioning system, devices each located at a preselected fixed position on said vessel and supplying GPS signals. 5. The method of claim 4, comprising providing said GPS signals from said first and second GPS devices to an IMU, inertial measurement unit, and supplying information from said IMU including longitude, latitude, and heading of said vessel. 6. The method of claim 1, wherein: said first and second internal combustion engines are the sole providers or torque to said first and second marine propulsion devices, respectively. 7. The method of claim 1, wherein: said first and second rotational positions result in said first and second marine propulsion devices producing first and second thrust vectors which intersect at a point located on a centerline which extends from a bow to a stern of said marine vessel. 8. The method of claim 7, wherein: said first and second thrust vectors intersect at said preselected point of said marine vessel when said target moment is equal to zero. 9. The method of claim 7, wherein: said first and second thrust vectors intersect at a point on said centerline other than said preselected point of said marine vessel when said target moment has an absolute value greater than zero. 10. The method of claim 7, wherein: said first and second rotational positions of said first and second marine propulsion devices are symmetrical about said centerline. 11. The method of claim 1, wherein: said manually operable control device is a joystick. 12. The method of claim 1, wherein: said first marine propulsion device is located on a port side of said centerline and said second marine propulsion device is located on a starboard side of said centerline. 13. The method of claim 12, wherein: said first marine propulsion device comprises a first propeller attached to a rear portion of said first marine propulsion device to provide a pushing thrust on said first marine propulsion device when said first propeller is rotated in a forward direction; and said second marine propulsion device comprises a second propeller attached to a rear portion of said second marine propulsion device to provide a pushing thrust on said second marine propulsion device when said second propeller is rotated in a forward direction. 14. The method of claim 1, wherein: said first and second steering axes are generally parallel to each other. 15. The method of claim 1, wherein: said preselected point of said marine vessel is a center of gravity of said marine vessel. 16. A method for positioning a marine vessel, comprising the steps of: obtaining a measured position of said marine vessel; selecting a desired position of said marine vessel; determining a current position of said marine vessel; calculating a difference between said desired and current positions of said marine vessel; determining required movements of said marine vessel to reduce said difference; providing a first marine propulsion device which is rotatable about a first steering axis; providing a second marine propulsion device which is rotatable about a second steering axis; maneuvering said marine vessel to achieve said required movements; and providing a manually operable control device which is configured to provide an output signal which is representative of a marine vessel movement command, said manually operable control device having an active state during which it is being manually manipulated and an inactive state when it is not being manually manipulated. 17. The method of claim 16, wherein: said maneuvering step comprises the steps of resolving said required movements of said marine vessel into a target linear thrust and a target moment about a preselected point of said marine vessel; determining a first rotational position of said first marine propulsion device about said first vertical steering axis, a second rotational position of said second marine propulsion device about said second vertical steering axis, a first magnitude and first direction of thrust for said first marine propulsion device, and a second magnitude and second direction of thrust for said second marine propulsion device which will result in achievement of said target linear thrust and said target moment about said preselected point of said marine vessel; and rotating said first and second marine propulsion devices to said first and second rotational positions about said first and second vertical steering axes, respectively. 18. The method of claim 17, further comprising: causing said first and second marine propulsion devices to produce said first and second magnitudes and directions of thrust, respectively, said first and second rotational positions resulting in said first and second marine propulsion devices producing first and second thrust vectors which intersect at a point located on a centerline which extends from a bow to a stem of said marine vessel. 19. The method of claim 18, wherein: said first and second thrust vectors intersect at said preselected point of said marine vessel when said target moment is equal to zero, said preselected point of said marine vessel being a center of gravity of said marine vessel. 20. The method of claim 19, wherein: said first and second thrust vectors intersect at a point on said centerline other than said preselected point of said marine vessel when said target moment has an absolute value greater than zero. 21. The method of claim 18, wherein: said manually operable control device is a joystick. 22. The method of claim 17, wherein: said first and second rotational positions of said first and second marine propulsion devices are symmetrical about said centerline. 23. The method of claim 16, wherein: said measured, desired, and current positions of said marine vessel are each defined in relation to a global position and a heading of said marine vessel. 24. The method of claim 23, wherein: said first steering axis is generally vertical and extends through a hull surface of said marine vessel; and said second steering axis is generally vertical and extends through said hull surface of said marine vessel. 25. The method of claim 16, further comprising: receiving a manually selectable enable command, said step of maneuvering said marine vessel to achieve said required movements only being performed when said enable command is selected and said status of said manually operable control device is inactive. 26. The method of claim 25, wherein: said measured position is saved as said desired position when said status of said manually operable control device initially changes from active to inactive when said enable command is selected. 27. The method of claim 16, wherein: said obtaining step is performed periodically. 28. The method of claim 16, further comprising: providing a station keeping mode maintaining said vessel in a selected position comprising providing first and second GPS, global positioning system, devices each located at a preselected fixed position on said vessel and supplying GPS signals. 29. The method of claim 28, wherein: said first and second internal combustion engines are the sole providers of torque to said first and second marine propulsion devices, respectively. 30. The method of claim 28, comprising providing said GPS signals from said first and second GPS devices to an IMU, inertial measurement unit, and supplying information from said IMU including longitude, latitude, and heading of said vessel. 31. The method of claim 16, wherein: said first marine propulsion device comprises a first propeller attached to a rear portion of said first marine propulsion device to provide a pushing thrust on said first marine propulsion device when said first propeller is rotated in a forward direction; and said second marine propulsion device comprises a second propeller attached to a rear portion of said second marine propulsion device to provide a pushing thrust on said second marine propulsion device when said second propeller is rotated in a forward direction. 32. A method for positioning a marine vessel, comprising the steps of: obtaining a measured position of said marine vessel; selecting a desired position of said marine vessel in response to receiving a manually provided input signal; determining a current position of said marine vessel by storing a recent magnitude of said measured position, said measured, desired, and current positions of said marine vessel each being defined in relation to a global position and a heading of said marine vessel; calculating a difference between said desired and current positions of said marine vessel; determining a required movement of said marine vessel which reduces said difference; providing a first marine propulsion device which is rotatable about a first steering axis; providing a second marine propulsion device which is rotatable about a second steering axis; providing a first internal combustion engine disposed within said hull of said marine vessel and connected in torque transmitting relation with said first marine propulsion device; and providing a second internal combustion engine disposed within said hull of said marine vessel and connected in torque transmitting relation with said second marine propulsion device, said first and second internal combustion engines being the sole providers or torque to said first and second marine propulsion devices, respectively; maneuvering said marine vessel to achieve said required movements; and providing a manually operable control device which is configured to provide an output signal which is representative of a marine vessel movement command, said manually operable control device having an active state during which it is being manually manipulated and an inactive state when it is not being manually manipulated. 33. The method of claim 32, wherein: said maneuvering step comprises the steps of resolving said required movements of said marine vessel into a target linear thrust and a target moment about a preselected point of said marine vessel; determining a first rotational position of said first marine propulsion device about said first vertical steering axis, a second rotational position of said second marine propulsion device about said second vertical steering axis, a first magnitude and first direction of thrust for said first marine propulsion device, and a second magnitude and second direction of thrust for said second marine propulsion device which will result in achievement of said target linear thrust and said target moment about said preselected point of said marine vessel; and rotating said first and second marine propulsion devices to said first and second rotational positions about said first and second vertical steering axes, respectively. 34. The method of claim 33, further comprising: causing said first and second marine propulsion devices to produce said first and second magnitudes and directions of thrust, respectively, said first and second rotational positions resulting in said first and second marine propulsion devices producing first and second thrust vectors which intersect at a point located on a centerline which extends from a bow to a stern of said marine vessel. 35. The method of claim 34, wherein: said first steering axis is generally vertical and extends through a hull surface of said marine vessel; and said second steering axis is generally vertical and extends through said hull surface of said marine vessel. 36. The method of claim 32, further comprising: receiving a manually selectable enable command, said step of maneuvering said marine vessel to achieve said required movements only being performed when said enable command is selected and said status of said manually operable control device is inactive. 37. The method of claim 36, wherein: said obtaining step is performed periodically, said measured position being saved as said desired position when said status of said manually operable control device initially changes from active to inactive when said enable command is selected. 38. The method of claim 37, wherein: said first and second thrust vectors intersect at said preselected point of said marine vessel when said target moment is equal to zero, said preselected point of said marine vessel being a center of gravity of said marine vessel; and said first and second thrust vectors intersect at a point on said centerline other than said preselected point of said marine vessel when said target moment has an absolute value greater than zero. 39. The method of claim 38, wherein: said manually operable control device is a joystick. 40. The method of claim 32 comprising providing a station keeping mode maintaining said vessel in a selected position comprising providing first and second GPS, global positioning system, devices each located at a preselected fixed position on said vessel and supplying GPS signals. 41. The method of claim 40 comprising providing said GPS signals from said first and second GPS devices to an IMU, inertial measurement unit, and supplying information from said IMU including longitude, latitude, and heading of said vessel. 42. A method for positioning a marine vessel, comprising the steps of: obtaining a measured position of said marine vessel; selecting a desired position of said marine vessel in response to receiving a manually provided input signal; determining a current position of said marine vessel by storing a recent magnitude of said measured position, said measured, desired, and current positions of said marine vessel each being defined in relation to a global position and a heading of said marine vessel; calculating a difference between said desired and current positions of said marine vessel; determining a required movement of said marine vessel which reduces-said difference; providing a first marine propulsion device which is rotatable about a first steering axis; providing a second marine propulsion device which is rotatable about a second steering axis; providing a first internal combustion engine disposed within said hull of said marine vessel and connected in torque transmitting relation with said first marine propulsion device; and providing a second internal combustion engine disposed within said hull of said marine vessel and connected in torque transmitting relation with said second marine propulsion device, said first and second internal combustion engines being the sole providers or torque to said first and second marine propulsion devices, respectively; providing a manually operable control device which is configured to provide an output signal which is representative of a marine vessel movement command, said manually operable control device having an active state during which it is being manually manipulated and an inactive state when it is not being manually manipulated; and resolving said required movements of said marine vessel into a target linear thrust and a target moment about a preselected point of said marine vessel; determining a first rotational position of said first marine propulsion device about said first vertical steering axis, a second rotational position of said second marine propulsion device about said second vertical steering axis, a first magnitude and first direction of thrust for said first marine propulsion device, and a second magnitude and second direction of thrust for said second marine propulsion device which will result in achievement of said target linear thrust and said target moment about said preselected point of said marine vessel; and rotating said first and second marine propulsion devices to said first and second rotational positions about said first and second vertical steering axes, respectively; and causing said first and second marine propulsion devices to produce said first and second magnitudes and directions of thrust, respectively, said first and second rotational positions resulting in said first and second marine propulsion devices producing first and second thrust vectors which intersect at a point located on a centerline which extends from a bow to a stem of said marine vessel, said step of selecting a desired position of said marine vessel is only performed when said status of said manually operable control device initially changes from active to inactive. 43. The method of claim 42, wherein: said first steering axis is generally vertical and extends through a hull surface of said marine vessel; and said second steering axis is generally vertical and extends through said hull surface of said marine vessel. 44. The method of claim 43, further comprising: receiving a manually selectable enable command from said manually operable control device, said steps of rotating and causing only being performed when said enable command is selected and said status of said manually operable control device is inactive. 45. The method of claim 44, wherein: said obtaining step is performed periodically, said measured position being saved as said desired position when said status of said manually operable control device initially changes from active to inactive when said enable command is selected. 46. The method of claim 42, wherein: said first and second thrust vectors intersect at said preselected point of said marine vessel when said target moment is equal to zero, said preselected point of said marine vessel being a center of gravity of said marine vessel; and said first and second thrust vectors intersect at a point on said centerline other than said preselected point of said marine vessel when said target moment has an absolute value greater than zero, said manually operable control device being a joystick. 47. The method of claim 42 comprising providing a station keeping mode maintaining said vessel in a selected position comprising providing first and second GPS, global positioning system, devices each located at a preselected fixed position on said vessel and supplying GPS signals. 48. The method of claim 47 comprising providing said GPS signals from said first and second GPS devices to an IMU, inertial measurement unit, and supplying information from said IMU including longitude, latitude, and heading of said vessel. 49. A method for positioning a marine vessel, comprising the steps of: obtaining a measured position of said marine vessel; selecting a desired position of said marine vessel; determining a current position of said marine vessel, said measured, desired, and current positions of said marine vessel each being defined in relation to a global position and a heading of said marine vessel; calculating a difference between said desired and current positions of said marine vessel; determining required movements of said marine vessel to reduce-said difference; providing a first marine propulsion device which is rotatable about a first steering axis; providing a second marine propulsion device which is rotatable about a second steering axis, said first and second steering axes each being generally vertical and extending through a hull surface of said marine vessel, said first marine propulsion device comprising a first propeller attached to a rear portion of said first marine propulsion device to provide a pushing thrust on said first marine propulsion device when said first propeller is rotated in a forward direction, said second marine propulsion device comprising a second propeller attached to a rear portion of said second marine propulsion device to provide a pushing thrust on said second marine propulsion device when said second propeller is rotated in a forward direction; providing a first internal combustion engine disposed within said hull of said marine vessel and connected in torque transmitting relation with said first marine propulsion device; providing a second internal combustion engine disposed within said hull of said marine vessel and connected in torque transmitting relation with said second marine propulsion device, said first and second internal combustion engines being the sole providers or torque to said first and second marine propulsion devices, respectively; providing a joystick which is configured to provide an output signal which is representative of a marine vessel movement command, said joystick having an active state during which it is being manually manipulated and an inactive state when it is not being manually manipulated, said step of selecting a desired position of said marine vessel only being performed when said status of said joystick initially changes from active to inactive, said measured position being saved as said desired position when said status of said joystick initially changes from active to inactive when said enable command is selected; and maneuvering said marine vessel to achieve said required movements. 50. The method of claim 49, wherein: said maneuvering step comprises the steps of resolving said required movements of said marine vessel into a target linear thrust and a target moment about a preselected point of said marine vessel; determining a first rotational position of said first marine propulsion device about said first vertical steering axis, a second rotational position of said second marine propulsion device about said second vertical steering axis, a first magnitude and first direction of thrust for said first marine propulsion device, and a second magnitude and second direction of thrust for said second marine propulsion device which will result in achievement of said target linear thrust and said target moment about said preselected point of said marine vessel; rotating said first and second marine propulsion devices to said first and second rotational positions about said first and second vertical steering axes, respectively; and causing said first and second marine propulsion devices to produce said first and second magnitudes and directions of thrust, respectively, said first and second rotational positions resulting in said first and second marine propulsion devices producing first and second thrust vectors which intersect at a point located on a centerline which extends from a bow to a stem of said marine vessel. 51. The method of claim 50, further comprising: receiving a manually selectable enable command, said step of maneuvering said marine vessel to achieve said required movements only being performed when said enable command is selected and said status of said joystick is inactive. 52. The method of claim 49 comprising providing a station keeping mode maintaining said vessel in a selected position comprising providing first and second GPS, global positioning system, devices each located at a preselected fixed position on said vessel and supplying GPS signals. 53. The method of claim 52 comprising providing said GPS signals from said first and second GPS devices to an IMU, inertial measurement unit, and supplying information from said IMU including longitude, latitude, and heading of said vessel.