A method of controlling a propulsion system on a marine vessel includes receiving proximity measurements describing locations of one or more objects with respect to the marine vessel, receiving a command vector instructing magnitude and direction for propulsion of the marine vessel with respect to a point of navigation for the marine vessel, and then determining a funnel boundary based on the command vector. An object is identified based on the proximity measurements and determined to be within the funnel boundary, and then a propulsion adjustment command is calculated based on the command vector and an angle of the object with respect to the point of navigation. At least one propulsion device is then controlled based on the propulsion adjustment command in order to avoid the object.

A method of controlling a propulsion system on a marine vessel includes receiving proximity measurements describing locations of one or more objects with respect to the marine vessel, receiving a command vector instructing magnitude and direction for propulsion of the marine vessel with respect to a point of navigation for the marine vessel, and then determining a funnel boundary based on the command vector. An object is identified based on the proximity measurements and determined to be within the funnel boundary, and then a propulsion adjustment command is calculated based on the command vector and an angle of the object with respect to the point of navigation. At least one propulsion device is then controlled based on the propulsion adjustment command in order to avoid the object.

An integrated antenna device comprises a protective casing of hydrodynamic shape delimiting an inner cavity and an upper fixing interface suitable for being fixed mechanically on a carrier structure, the device further comprises an antenna housed inside the inner cavity and fixed to the internal wall of the casing at the level of at least one fixing point, an assembly of cables comprising power supply and signals reception cables linked to the antenna. The protective casing is closed in a hermetic manner and traversed in a leaktight manner by the cables.

An integrated antenna device comprises a protective casing of hydrodynamic shape delimiting an inner cavity and an upper fixing interface suitable for being fixed mechanically on a carrier structure, the device further comprises an antenna housed inside the inner cavity and fixed to the internal wall of the casing at the level of at least one fixing point, an assembly of cables comprising power supply and signals reception cables linked to the antenna. The protective casing is closed in a hermetic manner and traversed in a leaktight manner by the cables.

A race start assistance method for a boat participating in a regatta including a pre-race having a duration before the crossing of the start line, the method including a first step intended to permit the creation and storage of the start line in virtual form, and the determination of the instantaneous speed of the boat and its position with respect to the start line, in order to provide at least one indication on how to proceed in the pre-race.

A race start assistance method for a boat participating in a regatta including a pre-race having a duration before the crossing of the start line, the method including a first step intended to permit the creation and storage of the start line in virtual form, and the determination of the instantaneous speed of the boat and its position with respect to the start line, in order to provide at least one indication on how to proceed in the pre-race.

A carrying device for a side-scan sonar, including a suspension rod, a hanging rack, and a flange. The side-scan sonar is in fixed connection to the lower part of the hanging rack. The suspension rod includes a suspension unit, a universal joint, and a tension rod. The flange is disposed below the lower part of the tension rod. The hanging rack includes a Z-shaped main cross beam. Two U-shaped hooks are disposed at two ends of the Z-shaped main cross beam for supporting the side-scan sonar. A vertical drag hook is disposed in the inner side of each of the two U-shaped hooks for hanging the side-scan sonar. The flange is fixed in the center of the Z-shaped main cross beam.

A carrying device for a side-scan sonar, including a suspension rod, a hanging rack, and a flange. The side-scan sonar is in fixed connection to the lower part of the hanging rack. The suspension rod includes a suspension unit, a universal joint, and a tension rod. The flange is disposed below the lower part of the tension rod. The hanging rack includes a Z-shaped main cross beam. Two U-shaped hooks are disposed at two ends of the Z-shaped main cross beam for supporting the side-scan sonar. A vertical drag hook is disposed in the inner side of each of the two U-shaped hooks for hanging the side-scan sonar. The flange is fixed in the center of the Z-shaped main cross beam.

A watercraft steering system includes a reverse reduction transmission and an obstacle detector. The reverse reduction transmission is configured to convert power from a main engine into an output for causing a watercraft to make forward travel, neutral, or reverse travel, so as to control navigation of the watercraft. The obstacle detector is disposed at a hull of the watercraft and is configured to detect an obstacle. The watercraft steering system is configured to, based on a location of the obstacle with respect to the hull, a travel direction of the watercraft, a travel speed of the watercraft, and a distance between the hull and the obstacle, select from among the forward travel, the neutral, and the reverse travel, and maintain the travel speed or change the travel speed.

A non-transitory computer-readable recording medium stores therein a program that causes a computer to execute a process. The process includes calculating, for each of a plurality of grids through which a track of a specific vessel passes, an angle of approach and an angle of exit of the track, respectively; extracting a grid for which the angle of approach and the angle of exit conform to a determining condition set for each of the grids based on the determining condition; and determining whether the specific vessel has taken an avoidance behavior based on a relative distance from another vessel corresponding to a position of the specific vessel in a track in the extracted grid.