Systems and methods for classifying and responding to heading error in marine propulsion
A method of operating a marine drive configured to propel a marine vessel is provided. The method includes operating the marine drive to effectuate a specified heading, measuring a heading of the marine vessel using a heading sensor, and measuring acceleration data of the marine vessel using at least one sensor. The method further includes determining that a heading error between the specified heading and the measured heading exceeds a heading error threshold, classifying the heading error based at least in part on the measured acceleration data during a time period prior to the heading error, and performing a heading error response based on the heading error classification.
1 . A method of operating a marine drive configured to propel a marine vessel, the method comprising:
operating the marine drive to effectuate a specified heading based on a steering input;
measuring a heading of the marine vessel using a heading sensor;
measuring acceleration data of the marine vessel using at least one sensor:
determining, by a processor, that a heading error between the specified heading and the measured heading exceeds a heading error threshold;
classifying the heading error based at least in part on the measured acceleration data during a time period associated with the heading error exceeding the threshold; and
performing a heading error response based on the heading error classification.
2 . The method of claim 1 , wherein tie heading error classification is an object strike event.
3 . The method of claim 2 , wherein the heading error response comprises not correcting the heading error for at least a predetermined period of time.
4 . The method of claim 3 , wherein not correcting the heading error comprises at least one of not changing a steering angle of the marine drive, steering the marine drive away from an object, and stopping a thrust output of the marine drive.
5 . The method of claim 2 , wherein:
the at least one sensor is a 3-axis accelerometer configured to measure acceleration data along the port-starboard, bow-stern, and vertical directions of the marine vessel; and
the obstacle-based heading error classification is based on a measured acceleration value along the port-starboard direction or the bow-stern direction exceeding an acceleration threshold.
6 . The method of claim 1 , wherein the heading error classification is an environmental-based event caused by wind or current conditions surrounding the marine vessel.
7 . The method of claim 6 , wherein the heading error response comprises automatically controlling steering and/or propulsion of the marine drive to correct the heading error.
8 . The method of claim 7 , wherein the heading error response comprises stopping correction of the heading error responsive to a determination that a heading error correction time has lapsed.
9 . The method of claim 6 , wherein:
the at least one sensor is a 3-axis accelerometer configured to measure acceleration data along the port-starboard, bow-stern, and vertical directions of the marine vessel; and
the environmental-based heading error classification is based on a measured acceleration value along the vertical direction exceeding an acceleration threshold.
10 . The method of claim 1 , wherein the heading error threshold comprises at least one of a threshold magnitude of error between the commanded heading and the measured heading and a threshold rate of change in the measured heading.
11 . The method of claim 1 , wherein the marine drive contains an electric motor, and the method further comprises:
measuring an input current supplied to the electric motor; and
classifying the heading error further based at least in part on the input current measurement.
12 . The method of claim 11 , wherein the electric motor comprises a steering motor.
13 . A marine propulsion system comprising:
a marine drive configured to propel a marine vessel;
a heading sensor configured to detect a heading of the marine vessel;
at least one sensor used to determine acceleration of the marine vessel along at least one axis; and
a control system configured to:
operate the marine drive to effectuate the specified heading;
measure a heading of the marine vessel using the heading sensor;
measure acceleration data of the marine vessel using the at least one sensor;
determine that a heading error between the specified heading and the measured heading exceeds a heading error threshold:
classify the heading error based at least in part on the measured acceleration data during a time period prior to the heading error; and
perform a heading error response based on the heading error classification.
14 . The system of claim 13 , wherein the heading error classification is an object strike event.
15 . The system of claim 14 , wherein the heading error response comprises not correcting the heading error for at least a predetermined period of time.
16 . The system of claim 15 , wherein not correcting the heading error comprises at least one of not changing a steering angle of the marine drive, steering the marine drive away from an object, and stopping a thrust output of the marine drive.
17 . The system of claim 14 , wherein:
the at least one sensor is a 3-axis accelerometer configured to measure acceleration data along the port-starboard, bow-stern, and vertical directions of the marine vessel; and
the obstacle-based heading error classification is based on a measured acceleration value along the port-starboard direction or the bow-stern direction exceeding an acceleration threshold.
18 . The system of claim 13 , wherein the heading error classification is an environmental-based event caused by wind or current conditions surrounding the marine vessel.
19 . The system of claim 18 , wherein the heading error response comprises correcting the heading error.
20 . The system of claim 19 , wherein the heading error response comprises stopping correction of the heading error responsive to a determination that a heading error correction time has lapsed.
21 . The system of claim 18 , wherein:
the at least one sensor is a 3-axis accelerometer configured to measure acceleration data along the port-starboard, bow-stern, and vertical directions of the marine vessel; and
the environmental-based heading error classification is based on a measured acceleration value along the vertical direction exceeding an acceleration threshold.
22 . The system of claim 13 , wherein the heading error threshold comprises at least one of a threshold magnitude of error between the commanded heading and the measured heading and a threshold rate of change in the measured heading.
23 . The system of claim 13 , wherein the marine drive contains an electric motor, and the control system is further configured to:
measure an input current supplied to the electric motor; and
classify the heading error further based at least in part on the input current measurement.
24 . The system of claim 23 , wherein the electric motor comprises a steering motor.