Techniques are disclosed for systems and methods for water non-water segmentation of navigational imagery to assist in the autonomous navigation of mobile structures. An imagery based navigation system includes a logic device configured to communicate with an imaging module coupled to a mobile structure and/or configured to capture images of an environment about the mobile structure. The logic device may be configured to receive at least one image from the imaging module; determine a water/non-water segmented image based, at least in part, on the received at least one image, and generate a range chart corresponding to the environment about the mobile structure based, at least in part, on the determined water/non-water segmented image and/or the received at least one image.

A watercraft maneuvering control apparatus for controlling a propulsion device of a watercraft includes an obstacle sensor to detect an obstacle around the watercraft, a pattern sailing commander operated by a user to provide a command to sail the watercraft in a sailing pattern, and a controller configured or programmed to control the propulsion device. The controller is configured or programmed to function as a pattern sailing controller to control the propulsion device to sail the watercraft in the sailing pattern, an expected sailing water area computer to compute an expected sailing water area when the watercraft is sailed in the sailing pattern, and a pattern sailing intervener to suspend or cancel the pattern sailing of the watercraft when the obstacle sensor detects an obstacle interfering with the expected sailing water area.

An apparatus for artificial intelligence (AI) bathymetry is disclosed. The apparatus includes a sonic unit attached to a boat, the sonic unit configured to generate a plurality of metric data as a function of a plurality of ultrasonic pulses and a plurality of return pulses. An image processing module is configured to generate a bathymetric image as a function of the plurality of metric data, identify, as a function of the bathymetric image, an underwater landmark, and register the bathymetric image to a map location as a function of the underwater landmark. A communication module is configured to transmit the registered bathymetric image to at least a remote device. An autonomous navigation module is configured to determine a heading for the boat as a function of a path datum and command boat control to navigate the boat as a function of the heading.

A method for providing a location-specific machine learning model from a harbor operating system to an on-board processing system of a vessel is provided. The method includes predetermining a geographical area of an area of a harbor, creating communication between the harbor operating system and the on-board processing system of the vessel, receiving a specification of the vessel from the on-board processing system of the vessel, at the harbor operating system. The received specification is used for preparing and providing at least one software container according to the received specification of the vessel, wherein the at least one software container includes the location-specific machine learning model. The at least one software container received by the on-board processing system of the vessel is activated by using the at least one provided software container activation means.

Techniques are disclosed for systems and methods to provide sailing information to users of a mobile structure. A sailing user interface system includes a logic device configured to communicate with a compass or orientation sensor, a wind sensor, and/or a speed sensor. Sensor signals provided by the various sensors are used to determine a heading and a wind direction for the mobile structure. The wind direction and heading may be used to generate a steering guide display view. The steering guide graphically indicates the heading of the mobile structure relative to various optimum velocity made good (VMG) headings associated with the mobile structure, its heading, the wind direction, and/or a performance contour for the mobile structure. The steering guide may be displayed to a user to refine manual operation of the mobile structure, and the information rendered in the steering guide may be used to autopilot the mobile structure.

Techniques are disclosed for systems and methods to provide dynamic display systems for mobile structures. A dynamic marine display system includes a user interface comprising a primary display and secondary display, where the secondary display is disposed along and physically separate from an edge of the primary display, and where the secondary display comprises a touch screen display configured to render pixelated display views and receive user input as one or more user touches and/or gestures applied to a display surface of the secondary display. A logic device is configured to receive user selection of an operational mode associated with the user interface and/or the mobile structure and render a primary display view via the primary display and/or a secondary display view via the secondary display corresponding to the received user selection and/or operational mode.

The purpose is to provide a nautical chart display device which enables a measurement of a distance on an electronic nautical chart, like a measuring method which is performed by using a divider. The nautical chart display device includes a display unit, an operation detector, a registration processing module, and a change processing module. The display unit has a screen and displays a nautical chart on the screen. The operation detector detects a touch operation to the screen. The registration processing module accepts two points of the touch operation on the screen, and registers a scale at which a distance between the touched points on the screen matches a distance setting on the nautical chart as an additional scale. The change processing module changes the scale of the nautical chart to the additional scale.

Techniques are disclosed for systems and methods to provide perimeter ranging for navigation of mobile structures. A navigation control system includes a logic device, a perimeter ranging sensor, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other elements of a mobile structure. The logic device is configured to receive perimeter sensor data from the perimeter ranging system. The logic device determines a range to and/or a relative velocity of a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system based on the received perimeter sensor data. The logic device then generates a display view of the perimeter sensor data or determines navigation control signals based on the range and/or relative velocity of the navigation hazard. Control signals may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

A method for generation of a vehicle path for a vehicle. The method includes, using an excursion planning processor to perform generating a grid of attitude constraint masks, wherein each attitude constraint mask corresponds to a respective possible attitude of the vehicle. The method also includes defining a distance function between two points on a vehicle path, such that the vehicle path defines a change in orientation of the vehicle, determining a vehicle path component, of the vehicle path, between the two points having a selected cost, selecting a vehicle path in the grid of attitude constraint masks from the vehicle path component, and generating an excursion plan so that the vehicle travels along the vehicle path.

The present disclosure relates to a method for determining an action for collision avoidance in a craft. The method (100) comprises obtaining (110) object data comprising three-dimensional object data points (420); obtaining (120) state data of the craft (260); determining (140) at least one set of manoeuvre paths (410a,b,c) for the craft (260) based on the obtained craft state data; determining (150) a set of distance thresholds (421) for the three-dimensional object data points (420) based on the object data; comparing (160) each set of manoeuvre paths (410a,b,c) with the object data and the set of distance thresholds (421), wherein the set of manoeuvre paths (410a,b,c) is identified as a colliding set of manoeuvre paths (410a,b,c) when each path of the set of manoeuvre paths (410a,b,c) is at least partially within the corresponding distance threshold (421) of at least one three-dimensional object data point (420); and determining (170) an action upon identification of at least one colliding set of manoeuvre paths (410a,b,c).