A system for proximity sensing on a marine vessel includes a main inertial measurement unit (IMU) positioned at a main installation attitude and a main location, a first proximity sensor configured to measure proximity of objects from a first sensor location, and a first sensor IMU positioned at the first sensor location and at a first installation attitude. A sensor processor is configured to receive main IMU data from the main IMU and first IMU data from the first sensor IMU, and then determine a relative orientation transform between the main installation attitude and the first installation attitude by comparing the main IMU data and the first IMU data, and then determine a relative position transform between the main location and the first sensor location based on the relative orientation transform, the main IMU data, and the first IMU data.

A system and a method are disclosed for enabling seamlessly tracking a location of a water vessel by supplementing satellite data with mobile data location based on proximity of a water vessel to shore. The system receives a Global Positioning System (GPS) location of the water vessel, the GPS location of the water vessel based on using the satellite data of the water vessel. The system determines that the GPS location is within a threshold distance of a boundary. Responsive to determining that the GPS location is within the threshold distance of the boundary, the system initiates monitoring for a mobile signal emanating from a trajectory path of the water vessel. The system detects, during the monitoring, the mobile signal, the tracking the location of the water vessel based on mobile data of the mobile signal. The system provides the tracked location to a monitoring device.

A system and a method are disclosed for enabling seamlessly tracking a location of a water vessel by supplementing satellite data with mobile data location based on proximity of a water vessel to shore. The system receives a Global Positioning System (GPS) location of the water vessel, the GPS location of the water vessel based on using the satellite data of the water vessel. The system determines that the GPS location is within a threshold distance of a boundary. Responsive to determining that the GPS location is within the threshold distance of the boundary, the system initiates monitoring for a mobile signal emanating from a trajectory path of the water vessel. The system detects, during the monitoring, the mobile signal, the tracking the location of the water vessel based on mobile data of the mobile signal. The system provides the tracked location to a monitoring device.

A sensor that detects a shape of a surrounding environment of a boat and a positional relationship between the surrounding environment and the boat body outputs environment information indicating the shape of the surrounding environment and the positional relationship. A display displays an environment map indicating the surrounding environment. An input accepts an input of a shore arrival target position of the boat body on the environment map and outputs target position information indicating the shore arrival target position. A controller receives the environment information and the target position information, determines a possible shore arrival space of the boat body in the surrounding environment based on the environment information, and corrects the shore arrival target position based on the possible shore arrival space. The controller generates an instruction signal to control a propulsion device so as to cause the boat body to arrive at the shore at the corrected shore arrival target position.

A sensor that detects a shape of a surrounding environment of a boat and a positional relationship between the surrounding environment and the boat body outputs environment information indicating the shape of the surrounding environment and the positional relationship. A display displays an environment map indicating the surrounding environment. An input accepts an input of a shore arrival target position of the boat body on the environment map and outputs target position information indicating the shore arrival target position. A controller receives the environment information and the target position information, determines a possible shore arrival space of the boat body in the surrounding environment based on the environment information, and corrects the shore arrival target position based on the possible shore arrival space. The controller generates an instruction signal to control a propulsion device so as to cause the boat body to arrive at the shore at the corrected shore arrival target position.

A system and method of positioning a set of vehicles (102) with respect to an object (104) and a set of targets (106). Embodiments can generate (302) an isovist using data obtained from at least one sensor associated with the object and use it to compute (304) an estimated position of each target with respect to the object. Embodiments can compute (306) a plurality of positions for each vehicle based on the estimated positions of the targets, with each position having an associated value representing a number of the targets at their estimated positions that are within a predetermined proximity of the vehicle at that position. Embodiments can select (308) a subset of the positions based on the associated values, and position (310) the set of vehicles based on the selected subset of the positions.

A system and method of positioning a set of vehicles (102) with respect to an object (104) and a set of targets (106). Embodiments can generate (302) an isovist using data obtained from at least one sensor associated with the object and use it to compute (304) an estimated position of each target with respect to the object. Embodiments can compute (306) a plurality of positions for each vehicle based on the estimated positions of the targets, with each position having an associated value representing a number of the targets at their estimated positions that are within a predetermined proximity of the vehicle at that position. Embodiments can select (308) a subset of the positions based on the associated values, and position (310) the set of vehicles based on the selected subset of the positions.

A method for a collision risk calculation includes: executing acquisition processing that includes acquiring travel information regarding a position and velocity of each of a first vessel and a second vessel; executing region calculation processing that includes calculating a region having a possibility of future collision between the first vessel and the second vessel from the travel information of each of the first vessel and the second vessel; and executing first risk calculation processing that includes calculating a first risk value based on a maneuvering amount used by the first vessel or the second vessel in order to avoid the region.

A docking control device includes a memory storing docking information including information on a docking position of a ship and information on an azimuth in which the ship is anchored at the docking position; and a processor, including hardware, performing control related to a docking operation of the ship on a basis of the docking information stored in the memory.

A docking control device includes a memory storing docking information including information on a docking position of a ship and information on an azimuth in which the ship is anchored at the docking position; and a processor, including hardware, performing control related to a docking operation of the ship on a basis of the docking information stored in the memory.