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 boat stabilizer having an upper harness for attachment to a vessel, the upper harness having an assembly control system for controlling attached wing assemblies, each wing assembly having a wing attached to the assembly control system and a wing mount attached to the wing and the assembly control system. The boat stabilizer may be further comprised of a controllable parasail comprising a parasail canopy, a plurality of parasail cords attached the parasail canopy, a parasail mount attached to the upper harness and the parasail cords, a parasail control rudder attached to each parasail cords, and yaw and pitch controllers, both of which are attached to the parasail control rudder. The assembly control system is configured to work in conjunction with the controllable parasail to provide the desired balance of vertical lift and forward propulsion to the attached vessel, while also providing directional control to the attached vessel.

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.

Embodiments described herein relate generally to a sailing vessel that can substantially obviate the heeling problem experienced by classical sailboats. During navigation, the sailing vessel is driven forward by an aerodynamic force exerted by wind on the sail, and balanced by a hydrodynamic force exerted by water on a float on the stern of the sailing vessel, the aerodynamic force and the hydrodynamic force being parallel or substantially parallel to a longitudinal axis of the sailing vessel.

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.

Techniques are disclosed for systems and methods to disengage an autopilot drive of a mobile structure based on a steering wheel torque applied manually by a user. A system includes a logic device in communication with a torque sensor unit, such as a strain gauge, load pin, or load cell. Sensor data and/or signals provided by the TSU are used to determine a force applied to a steering mechanism of the mobile structure while the mobile structure is on a heading provided by an autopilot drive of the mobile structure. The force may be a torque applied to the steering mechanism corresponding to manual control of the mobile structure. The system disengages the autopilot device of the mobile structure based, at least in part, on the determined force.

Techniques are disclosed for systems and methods to provide extrinsic sensor calibration for mobile structures. A sensor calibration system includes first and second sensors coupled to a mobile structure and a logic device. The logic device is configured to receive first and second series of pose measurements corresponding to sensor data provided by the respective first and second sensors, determine a set of intermediate calibration transformation estimates corresponding to the first and second sensors based, at least in part, on a scale-dependent calibration error function and/or the first and second series of pose measurements, and determine an ongoing calibration transformation estimate corresponding to the first and second sensors based, at least in part, on the determined set of intermediate calibration transformation estimates.

A fin for use on a surfboard, the fin comprising: a leading edge, a trailing edge, and a base, the base comprising at least one mount for mounting the fin onto a surfboard; a first and a second outer fin surface which meet along the leading edge and the trailing edge and abut the base; and a first ridge protruding laterally from the first outer fin surface, and/or a second ridge protruding laterally from the second outer fin surface; wherein the shape and configuration of the fin creates an area of lower water pressure around and in front of the fin, as well as disrupting and/or reducing the size of trailing vortices, resulting in additional forward thrust for the board on which the fin is mounted.

Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

The propulsion system for vessels comprises at least one suction sail (3), said at least one suction sail (3) comprising a suction system (10) and a transmission unit (8) to drive the rotation of said suction sail (3), wherein the suction sail (3) comprises at least two suction zones (7) arranged symmetrically on two sides of the suction sail (3), said suction zones (7) comprising variable suction means.

It provides a propulsion system for vessels that allows reducing their fuel consumption and polluting emissions by using an improved version of suction sails.