A method of automatically moving, by an automatic location placement system, a marine vessel includes receiving, by a central processing unit, from a vision ranging photography system, at least one optical feed including data providing a mapping of an environment surrounding a marine vessel. The method includes displaying, by the central processing unit, on a touch screen monitor, the mapping of the environment. The method includes receiving, by the central processing unit, from the touch screen monitor, target location data. The method includes directing, by the central processing unit, at least one element of a propulsion system of the marine vessel, to move the marine vessel to the targeted location, using the mapping.

An aquatic vessel comprising a control system for controlling the position of the vessel, the control system including one or more inputs for receiving real-time operational data in relation to flow conditions of the aquatic environment. The vessel has a dynamic positioning system and a navigational system connected to the dynamic positioning system, the navigational system comprising a data processing device and a plurality of motion sensors for continuously calculating the position, orientation and velocity of the vessel. Furthermore, a data processing device for generating data in relation to a plurality of possible failures of parts of the vessel is included, the data processing device being in communication with the control system which is thereby able to react in the event of an actual failure of a part of the vessel.

This invention provides a vessel system and methodology that can be used to promote growth of phytoplankton in the oceans. Unmanned self-controlled wave-powered vessels are equipped with storage units for dispensing a fertilizer, and with sensors to monitor ocean conditions and effects. Fleets of vessels move autonomously by on-board processing of GPS and directional information, piloting a path that is coordinated by a central processing unit. The vessels travel through a defined target area, creating a detailed survey of chemical and biological characteristics that affect grown. The data are processed in a computer model to identify precise locations and precise amounts of fertilizer that will produce the best results. Projected benefits of fertilizing plankton include sequestering CO.sub.2 from the atmosphere, and enhancing the marine food chain to improve the fish stock in and around the treated area.

Techniques are disclosed for systems and methods to provide proactive directional control for a mobile structure. A proactive directional control system may include a logic device, a memory, one or more sensors, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other modules of a mobile structure. The logic device is adapted to determine a steering angle disturbance estimate based on environmental conditions associated with the mobile structure, and the steering angle disturbance estimate is used adjust a directional control signal provided to an actuator of the mobile structure. The logic device may also be adapted to receive directional data about a mobile structure and determine nominal vehicle feedback from the directional data, which may be used to adjust and/or stabilize the directional control signal provided to the actuator.

Techniques are disclosed for systems and methods to provide wind sensor motion compensation for wind sensors mounted to moving platforms. A wind sensor motion compensation system may include a wind sensor, a wind sensor accelerometer, one or more additional sensors, actuators, controllers, user interfaces, and/or other modules mounted to or in proximity to a vehicle. The wind sensor motion compensation system may be implemented with one or more logic devices adapted to receive sensor signals and determine a sensor-motion compensated wind velocity. The logic devices may be adapted to receive a wind sensor acceleration and a relative wind velocity from a wind sensor, determine a wind sensor velocity from the wind sensor acceleration, and determine a sensor-motion compensated relative wind velocity from the wind sensor velocity and the relative wind velocity.

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 trolling plate which, together with a supporting and deployment mechanism, is fixed to and strutted from an outboard motor without the need for engineering modifications or the use special tools; said trolling plate being pivotably deployable into the water in the zone immediately downstream of the propeller of the outboard motor to substantially block the efflux from said propeller and thereby reduce its propulsive effort; said deployment being effected in a universally variable way by means of a suitable actuator; control means of said actuator and/or said deployment mechanism incorporating means to permit the immediate retraction of said trolling plate should it impact an obstruction or should the power of said outboard motor suddenly be increased.

To easily grasp a relationship of parameter values which influence a log velocity of a ship, with the log velocity of the ship caused by the parameters, a ship characteristic estimating device is provided, which includes a data outputter configured to output a plurality of parameter data respectively including rotational speed data of a propeller of a ship, and wind velocity vector data of wind force that may act on the ship, and an estimator configured to receive the plurality of parameter data outputted from the data outputter, estimate values corresponding to the respective parameter data to be log velocity vectors of the ship, and output them as first output values. The rotational speed data are same as each other and the wind velocity vector data are different from each other.

Autopilot systems and related techniques are provided to improve the ability of mobile structures to maintain a desired reference path (e.g., to keep a desired track and/or to follow a desired contour). In various embodiments, a high quality turn rate signal and GPS based signals are used to generate high bandwidth cross track/contour errors and other associated signals. An adaptive controller uses the generated cross track/contour signals to provide robust track keeping and/or contour following in the directional control of a mobile structure. Techniques are also provided for systems and methods to provide directional control for mobile structures.

A method for maintaining a marine vessel at a global position and/or heading includes receiving measurements related to vessel attitude and estimating water roughness conditions based on the measurements. A difference between the vessel's actual global position and the target global position and/or a difference between the vessel's actual heading and the target heading are determined. The method includes calculating a desired linear velocity based on the position difference and/or a desired rotational velocity based on the heading difference. The vessel's actual linear velocity and/or actual rotational velocity are filtered based on the roughness conditions. The method includes determining a difference between the desired linear velocity and the filtered actual linear velocity and/or a difference between the desired rotational velocity and the filtered actual rotational velocity. The method also includes calculating vessel movements that will minimize the linear velocity difference and/or rotational velocity difference and carrying out the calculated movements.