System and method for positioning a marine vessel
A marine vessel control system comprises a propulsion unit and a steering actuator for steering the propulsion unit. There is a shift actuator for shifting gears in the propulsion unit and a throttle actuator for increasing or decreasing throttle to the propulsion unit. There is an input device for providing user inputted steering commands to the steering actuator and for providing user inputted shift and throttle commands to the shift actuator and the throttle actuator. There is a sensor for detecting a global position and a heading direction of the marine vessel. A controller receives position and heading values of the marine vessel from the sensor. The controller compares the received position value to a pre-programmed position value to determine a position error difference. The controller also compares the received heading value to a pre-programmed heading value to determine a heading error difference.
1. A method of controlling movement of a marine vessel, the method comprising:
causing a single propulsion unit of the marine vessel to move the marine vessel against a direction of a force of a disturbance on the marine vessel and away from a target position in a target position range of the marine vessel until the marine vessel reaches a boundary of the target position range;
after the marine vessel has reached the boundary of the target position range in response to the causing the single propulsion unit of the marine vessel to move the marine vessel, allowing the force of the disturbance to move the marine vessel in the direction of the force of the disturbance; and
after the force of the disturbance has moved the marine vessel in response to the allowing the force of the disturbance to move the marine vessel in the direction of the force of the disturbance, causing the single propulsion unit to move the marine vessel again against the direction of the force of the disturbance and away from the target position.
2. The method of claim 1 further comprising causing the marine vessel to be steered such that a heading of the marine vessel is against the direction of the force of the disturbance.
3. The method of claim 2 wherein causing the marine vessel to be steered such that the heading of the marine vessel is against the direction of the force of the disturbance comprises causing the marine vessel to be steered when the marine vessel is on a side of the target position range past the target position in the direction of the force of the disturbance.
4. The method of claim 2 wherein causing the marine vessel to be steered such that the heading of the marine vessel is against the direction of the force of the disturbance comprises causing the single propulsion unit to steer the marine vessel.
5. The method of claim 1 wherein causing the single propulsion unit to move the marine vessel against the direction of the force of the disturbance comprises causing the single propulsion unit to move the marine vessel against the direction of the force of the disturbance with a heading of the marine vessel and a thrust force of the single propulsion unit on the marine vessel both aligned opposite the direction of the force of the disturbance.
6. The method of claim 1 wherein:
causing the single propulsion unit to move the marine vessel against the direction of the force of the disturbance comprises causing the single propulsion unit to exert a first thrust force on the marine vessel; and
allowing the force of the disturbance to move the marine vessel in the direction of the force of the disturbance comprises causing the single propulsion unit to exert less than the first thrust force on the marine vessel.
7. The method of claim 1 wherein the target position range is defined by a radius extending from the target position.
8. The method of claim 1 further comprising detecting the direction of the force of the disturbance.
9. The method of claim 1 wherein the single propulsion unit is a rear-mounted propulsion unit of the marine vessel.
10. An apparatus for controlling movement of a marine vessel, the apparatus comprising:
a controller operable to, at least:
cause a single propulsion unit of the marine vessel to move the marine vessel against a direction of a force of a disturbance on the marine vessel and away from a target position in a target position range of the marine vessel until the marine vessel reaches a boundary of the target position range;
after the marine vessel has reached the boundary of the target position range in response to the controller causing the single propulsion unit of the marine vessel to move the marine vessel, allow the force of the disturbance to move the marine vessel in the direction of the force of the disturbance; and
after the force of the disturbance has moved the marine vessel in response to the controller allowing the force of the disturbance to move the marine vessel in the direction of the force of the disturbance after the marine vessel reached the boundary of the target position range in response to the controller causing the single propulsion unit of the marine vessel to move the marine vessel, cause the single propulsion unit to move the marine vessel again against the direction of the force of the disturbance and away from the target position.
11. The apparatus of claim 10 wherein the controller is further operable to, at least, cause the marine vessel to be steered such that a heading of the marine vessel is against the direction of the force of the disturbance.
12. The apparatus of claim 11 wherein the controller is operable to cause the marine vessel to be steered such that the heading of the marine vessel is against the direction of the force of the disturbance when the marine vessel is on a side of the target position range past the target position in the direction of the force of the disturbance.
13. The apparatus of claim 11 wherein the controller is operable to cause the single propulsion unit to steer the marine vessel such that the heading of the marine vessel is against the direction of the force of the disturbance.
14. The apparatus of claim 10 wherein the controller is operable to cause the single propulsion unit to move the marine vessel against the direction of the force of the disturbance such that a heading of the marine vessel and a thrust force of the single propulsion unit on the marine vessel both aligned opposite the direction of the force of the disturbance.
15. The apparatus of claim 10 wherein:
the controller is operable to cause the single propulsion unit to move the marine vessel against the direction of the force of the disturbance by, at least, causing the single propulsion unit to exert a first thrust force on the marine vessel; and
the controller is operable to, after the marine vessel has reached the boundary of the target position range in response to the controller causing the single propulsion unit of the marine vessel to move the marine vessel, allow the force of the disturbance to move the marine vessel in the direction of the force of the disturbance by, at least, causing the single propulsion unit to exert less than the first thrust force on the marine vessel.
16. The apparatus of claim 10 wherein the target position range is defined by a radius extending from the target position.
17. The apparatus of claim 10 wherein the controller is further operable to, at least, detect the direction of the force of the disturbance.
18. A marine vessel comprising:
the apparatus of claim 10 ; and
the single propulsion unit.
19. The marine vessel of claim 18 wherein the single propulsion unit is a rear-mounted propulsion unit of the marine vessel.
20. The marine vessel of claim 19 wherein the rear-mounted propulsion unit is an outboard engine of the marine vessel.