A first sensor detects first environment information indicating a shape of a shore arrival location and a positional relationship between the shore arrival location and a boat body. A second sensor, different from the first sensor, detects second environment information indicating the shape of the shore arrival location and the positional relationship between the shore arrival location and the boat body. A controller is communicatively connected to the first sensor and the second sensor. When the distance from the boat body to the shore arrival location is greater than a predetermined distance threshold, the controller generates, based on the first environment information, an instruction signal to control a propulsion device to as to cause the boat body to arrive at the shore arrival location. When the distance from the boat body to the shore arrival location is equal to or less than the distance threshold, the controller generates an instruction signal based on the second environment information.

A sensor detects a shape of a shore arrival location and a positional relationship of the shore arrival location and a boat body and outputs environment information indicating the shape of the shore arrival location and the positional relationship. A controller receives the environment information and generates an instruction signal to control a propulsion device to cause the boat body to move toward the shore arrival location based on the environment information and to push the boat body to the shore arrival location.

A boat includes a boat body, a propulsion device, an operator that operates the propulsion device, and a controller. The propulsion device is disposed in the boat body and generates a propulsion force to move the boat body. The controller executes an automatic shore arrival control to control the propulsion device so as to cause the boat body to move toward a target position. The controller ends the automatic shore arrival control when the operator is positioned in a non-neutral position that differs from a neutral position.

An apparatus for estimating a direction of a vehicle includes: a vehicle position calculator calculating a current position of the vehicle and a current time using a received satellite signal; a satellite candidate predictor predicting satellite candidates that are observable at the calculated current position of the vehicle using ALMANAC data in which information about positions and azimuths of satellites is included and using the calculated current position of the vehicle and current time; a road candidate searcher searching road candidates positioned around the vehicle based on the calculated current position of the vehicle; and a direction estimator estimating the direction of the vehicle using information about the predicted satellite candidates and the searched road candidates.

A computing device is provided. The computing device includes a user interface configured to receive an input that indicates a user has detected an object of interest in a body of water, a processing device coupled to the user interface, the processing device configured to automatically retrieve, in response to the input, data from at least one data source, and generate a report including the retrieved data, and a means for transmitting data coupled to the processing device and configured to transmit the generated report to a database that includes a plurality of navigational charts, wherein the generated report is used to update at least one of the database and at least one of the plurality of navigational charts to include the object of interest.

A computing device is provided. The computing device includes a user interface configured to receive an input that indicates a user has detected an object of interest in a body of water, a processing device coupled to the user interface, the processing device configured to automatically retrieve, in response to the input, data from at least one data source, and generate a report including the retrieved data, and a means for transmitting data coupled to the processing device and configured to transmit the generated report to a database that includes a plurality of navigational charts, wherein the generated report is used to update at least one of the database and at least one of the plurality of navigational charts to include the object of interest.

The presently disclosed technology discloses an unmanned aerial vehicle control method and apparatus. A device displays a map. The device detects a first movement path on a touch-sensitive surface of the device. The device overlays a trajectory on the map in accordance with the first movement path.; The device automatically generates a number of waypoints along the trajectory. and the device displays the waypoints on the trajectory and sends instructions to an unmanned vehicle in accordance with the trajectory and the waypoints. The unmanned vehicle moves in accordance with trajectory by executing the instructions.

The present invention relates to a method for navigating an unmanned autonomous vehicle on a terrain, comprising moving the vehicle on the terrain, wherein the camera captures images of the terrain, wherein at least two images comprise identical points; creating a map based on the images; autonomous navigation of the vehicle based on the map created; wherein the vehicle is first moved along a perimeter in the terrain, wherein a first set of images is captured, after which a map of the perimeter is created based on the first set, followed by autonomous exploration of the terrain based on the created map of the perimeter, wherein a second set of images is created, after which the map of the terrain is created on the basis of the first and the second set. The invention also relates to an unmanned autonomous vehicle and a use.

A determination device includes a detection unit that detects acceleration. The determination device includes a setting unit that sets a reference direction based on the acceleration detected by the detection unit. The determination device includes an acquisition unit that acquires a characteristic amount based on acceleration in a direction with respect to the reference direction set by the setting unit. The determination device includes a determination unit that determines a traveling state of a terminal device by using the characteristic amount acquired by the acquisition unit.

The present invention provides a method and an apparatus for detecting unmanned aerial vehicle conflict based on an airspace digital raster, and a storage medium, wherein the method comprises: establishing an airspace discrete subdivision raster model; constructing a conversion relationship between a raster code rule and longitude and latitude coordinates and grid codes; establishing an unmanned aerial vehicle safety protection area, and performing gridding expression on the unmanned aerial vehicle in the airspace; establishing a coordinate system to convert the grid codes of the unmanned aerial vehicle into coordinates; calculating the Minkowski difference set of two blocks using the GJK algorithm; and determining whether the unmanned aerial vehicle conflicts or not according to the Minkowski difference set. Through combining an airspace raster code and the GJK algorithm, compare with traditional coordinate operation in pairs, the present invention can effectively reduce the complexity of conflict detection, save a lot of calculation time, and effectively improve the efficiency of detecting unmanned aerial vehicle conflict to meet the rapid and real-time conflict detection requirements of unmanned aerial vehicles in the airspace.