Systems and methods for pairing marine vessels with docking stations

1 . A docking station system for marine vessels, the system comprising:

a plurality of marine vessels, each of the plurality of marine vessels comprising a navigation system configured to determine a position of the marine vessel;

a plurality of docking stations, each of the plurality of docking stations located on a dock structure and configured to provide a designated position to dock at least one of the plurality of marine vessels; and

a control system configured to:

execute a calibration process wherein it receives and stores the positions of each of the plurality of docking stations based on position data collected by the navigation system when one of the plurality of marine vessels is docked at the docking station;

detect that one of the plurality of marine vessels needs docking; and

pair the marine vessel that needs docking to one of the plurality of docking stations.

2 . The system of claim 1 , wherein the control system is configured to transmit the position of the paired docking station to the marine vessel that needs docking such that the marine vessel that needs docking can automatically navigate to the paired docking station.

3 . The system of claim 1 , wherein the control system is configured to detect that the marine vessel needs docking based on a request generated by an operator of the marine vessel that needs docking.

4 . The system of claim 1 , wherein the control system is configured to automatically detect that the marine vessel needs docking based on a status of a power storage device located on the marine vessel that needs docking.

5 . The system of claim 1 , wherein the control system is configured to automatically detect that the marine vessel needs docking based on the marine vessel that needs docking moving within a predetermined distance of any dock structure.

6 . The system of claim 1 , wherein:

at least one of the plurality of docking stations comprises a charging station configured to charge a power storage device on the marine vessel when the marine vessel is docked at the charging station; and

the position of the charging station stored in the control system is used to align a charging port on the marine vessel with the charging station.

7 . The system of claim 1 , wherein:

each of the plurality of marine vessels further comprises an imaging system configured to capture images of an imaging area proximate the marine vessel; and

wherein the control system is further configured to:

receive the images of the imaging area from the imaging system;

detect one of the plurality of docking stations in the images of the imaging area;

determine whether a position error between a global position of the docking station based on the images of the imaging area and the stored position of the docking station from the calibration process exceeds a position error threshold; and

responsive to a determination that the position error exceeds a position error threshold, perform a position error mitigation action.

8 . The system of claim 7 , wherein the position error mitigation action comprises performing a re-calibration process such that the control system receives and stores an updated position of at least one of the plurality of docking stations based on position data collected by the collected by the navigation system when one of the plurality of marine vessels is docked at the docking station.

9 . The system of claim 1 , wherein:

one of the plurality of docking stations is a master docking station having a high accuracy locating system configured to determine a position of the master docking station; and

the positions of each of the docking stations are determined relative to the position of the master docking station.

10 . The system of claim 9 , wherein the high accuracy locating system is a real-time kinematics (RTK) base station.

11 . A method of operating a docking station system for marine vessels, comprising:

providing a plurality of marine vessels, each of the plurality of marine vessels comprising a navigation system configured to determine a position of the marine vessel;

providing a plurality of docking stations, each of the plurality of docking stations located on a dock structure and configured to provide a designated position to dock at least one of the plurality of marine vessels;

executing a calibration process to receive and store positions of each of the plurality of docking stations based on position data collected by the navigation system when one of the plurality of marine vessels is docked at the docking station;

detecting that one of the plurality of marine vessels needs docking; and

pairing the marine vessel that needs docking to one of the plurality of docking stations.

12 . The method of claim 11 , wherein the method further includes transmitting the position of the paired docking station to the marine vessel that needs docking such that the marine vessel that needs docking can automatically navigate to the paired docking station.

13 . The method of claim 11 , wherein detecting that one of the plurality of marine vessels needs docking is based on a request generated by an operator of the marine vessel that needs docking.

14 . The method of claim 11 , wherein detecting that one of the plurality of marine vessels needs docking is based on a status of a power storage device located on the marine vessel that needs docking.

15 . The method of claim 11 , wherein detecting that one of the plurality of marine vessels needs docking is based on the marine vessel that needs docking moving within a predetermined distance of any dock structure.

16 . The method of claim 11 , wherein:

at least one of the plurality of docking stations comprises a charging station configured to charge a power storage device on the marine vessel when the marine vessel is docked at the charging station; and

the position of the charging station stored is used to align a charging port on the marine vessel with the charging station.

17 . The method of claim 11 , wherein:

each of the plurality of marine vessels further comprises an imaging system configured to capture images of an imaging area proximate the marine vessel; and

wherein the method further includes:

receiving the images of the imaging area from the imaging system;

detecting one of the plurality of docking stations in the images of the imaging area;

determining whether a position error between a global position of the docking station based on the images of the imaging area and the stored position of the docking station from the calibration process exceeds a position error threshold; and

responsive to a determination that the position error exceeds a position error threshold, performing a position error mitigation action.

18 . The method of claim 17 , wherein the position error mitigation action comprises performing a re-calibration process including receiving and storing an updated position of at least one of the plurality of docking stations based on position data collected by the collected by the navigation system when one of the plurality of marine vessels is docked at the docking station.

19 . The method of claim 11 , wherein:

one of the plurality of docking stations is a master docking station having a high accuracy locating system configured to determine a position of the master docking station; and

the positions of each of the docking stations are determined relative to the position of the master docking station.

20 . The method of claim 19 , wherein the high accuracy locating system is a real-time kinematics (RTK) base station.