U.S. patent application number 12/280803 was filed with the patent office on 2009-03-12 for guidance of marine vessels.
Invention is credited to Ruslan Agayev, Hanoch Aharon, Noam Brook, Giora Katz, Yehuda Yosefi.
Application Number | 20090069962 12/280803 |
Document ID | / |
Family ID | 38437775 |
Filed Date | 2009-03-12 |
United States Patent
Application |
20090069962 |
Kind Code |
A1 |
Aharon; Hanoch ; et
al. |
March 12, 2009 |
GUIDANCE OF MARINE VESSELS
Abstract
A method for controlling the cruise of an autonomous vessel
incorporates using a subsystem of a payload of the vessel
functional in generating locational data relating to a target. A
controller for controlling the cruise control subsystems
determining the bearing and the velocity of said vessel.
Inventors: |
Aharon; Hanoch; (Haifa,
IL) ; Brook; Noam; (Haifa, IL) ; Agayev;
Ruslan; (Haifa, IL) ; Yosefi; Yehuda;
(Karmiel, IL) ; Katz; Giora; (Timrat, IL) |
Correspondence
Address: |
YORAM TSIVION
P.O. BOX 1307
PARDES HANNA
37111
IL
|
Family ID: |
38437775 |
Appl. No.: |
12/280803 |
Filed: |
February 26, 2007 |
PCT Filed: |
February 26, 2007 |
PCT NO: |
PCT/IL07/00248 |
371 Date: |
August 27, 2008 |
Current U.S.
Class: |
701/21 |
Current CPC
Class: |
B63C 11/42 20130101;
B63G 2008/004 20130101; B63G 13/00 20130101; B63H 2025/028
20130101; B63H 25/46 20130101; B63B 2035/008 20130101; B63B
2035/006 20130101; B63B 2035/007 20130101 |
Class at
Publication: |
701/21 |
International
Class: |
G06F 17/00 20060101
G06F017/00 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 27, 2006 |
IL |
173955 |
Claims
1. A system for controlling the cruise of a vessel comprising: a
subsystem of a payload of said vessel functional in generating
locational data relating to a target; a controller for controlling
the cruise control units determining bearing and velocity of said
vessel.
2. A payload for controlling the cruise of a vessel as in claim 1
further comprising an interpreting system of said vessel for
accepting signals of said payload of said vessel and for moderating
them to be accepted by said controller.
3. A system for controlling the cruise of a vessel as in claim 1
wherein said vessel is an unmanned vessel.
4. A system for controlling the cruise of a vessel as in claim 1
wherein said cruise control units selected from a group consisting
of a rudder and an engine, and any combination thereof.
5. A system for controlling the cruise of a vessel as in claim 1
wherein said cruise control units are selected from a group
consisting of a jet steering subunit, an engine and an external
steerable engine, or any combination thereof.
6. A method for guiding a vessel comprising: using a subsystem of a
payload of said vessel for obtaining locational data; determining
at least a course of said vessel in relation to said locational
data.
7. A method for guiding a vessel as in claim 6 wherein said vessel
is guided relative to a reference axis of a polar coordinate
system, wherein said reference axis is a line of sight to a
target.
8. A method for guiding a vessel as in claim 6 wherein said vessel
is guided relative to a distance from a target.
9. A method for guiding a vessel as in claim 6 wherein said vessel
is autonomous.
10. A method for guiding a vessel as in claim 6 wherein said vessel
is fully remote controlled.
11. A method for guiding an autonomous vessel with respect to a
target vessel, wherein said autonomous vessel keeps a functionally
dependent course related to the location of said target vessel with
a constant inertial reference.
12. A method as in claim 11 for guiding an autonomous vessel with
respect to a target vessel, wherein said autonomous vessel
manoeuvres itself to keep said course, functionally dependent upon
the location of said target.
Description
FIELD OF THE INVENTION
[0001] The present invention relates to guidance of marine vessels.
More specifically, the invention relates to guidance of unmanned
marine vessels.
BACKGROUND OF THE INVENTION
[0002] An unmanned marine vessel was described in PCT/IL2005/001329
from the same applicant. Such a marine vessel can carry a variety
of payloads. Such payloads may be related to any task that the
vessel is to fulfill, civil, military, reconnaissance, guard tasks,
or any combination thereof. Payload on board vessels may include
subsystems that relate to positioning of the vessel in relation to
either a geographic grid or to a local object.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] FIG. 1 is a flow chart describing an exemplary sequence of
steps implemented by a vessel which follows a target boat and
instructed to keep a specific distance from the target;
[0004] FIG. 2 is a flow chart describing an exemplary sequence of
steps implemented by a vessel instructed to follow a specific
course guided by a subsystem of the payload;
[0005] FIG. 3 is a block diagram describing the data flow from
payload to vessel's guidance control system;
DETAILED DESCRIPTION OF THE PRESENT INVENTION
[0006] The invention is typically implemented in an unmanned marine
vessel, but the invention may also be implemented in a manned
vessel. Such a vessel, as discussed above, can carry a variety of
payloads, some of which or some subsystems of which can be used to
aid in the guidance of the vessel. The payload utilizable in
accordance with the present invention is any appliance useful in
providing locational data, i.e. data bearing distance information
to a target relative to an accepted geographical grid or to a local
grid. In the art, optical and electromagnetic equipment are used to
such ends. To better explain the invention, some examples are given
in the following.
[0007] The control over the payload and vessel may be categorized
in any of the three following possible categories. The first type
relates to a vessel fully controlled by a remote control unit such
that the control signals are initiated in the control unit and the
response parameters are fed back to the same unit. The second type
relates to an autonomous vessel fully responsible for initiating
changes in sail parameters as required by the changing
circumstances. The third type relates to a vessel having partial
control over the cruise guidance, for example, at certain parts of
the mission the control is fully managed by the control unit
whereas at other occasions the mission is fully controlled by the
vessel. The autonomy is in such case directed by an algorithm
stored on board the vessel or somewhere else. Typically, however it
is likely that a combined control is practiced, meaning a
supervised autonomy keeping some control over the vessel.
EXAMPLE 1
Guidance to a Target
[0008] A vessel carrying an electromagnetic radiation detection
system uses the payload for guidance purposes. Systems for locating
and geolocating radiation sources are known in the art, such as the
system disclosed in U.S. Pat. No. 5,719,584. Geolocating a
radiating source may require several receiving stations, which may
require cooperation of more vessels or a vessel and a stationary
station, or a combination of such stations. If only the direction
of the radiating station is of consequence, the payload on board
the vessel may be a sufficient source of information for the boat
maintaining a predetermined direction relative to a target. Such
payload typically detects either optical or RF signals originating
in the target or reflected by it. If, however the direction as well
as the distance to the target are required for fulfilling a
mission, the payload on board the vessel may not be sufficient, in
such cases there may be need for an additional data source, for
example from an on shore station and/or from a subsystem of the
vessel itself. The use of a payload for electromagnetic radiation
detection can be efficiently exploited if the unmanned vessel is to
follow a specific radiation source. In such case, geolocating the
source can be considered of secondary importance, since the main
mission is to follow and approach the radiation source. For
example, an optical detecting payload on board the vessel is aimed
at the target. From this point on, the boat is to continue
following a course functionally dependant upon the location of the
target as viewed by the payload of the vessel with reference to an
inertial direction. The guiding function may be a zero order
function (i.e. a constant angle) or a higher order function. The
vessel maneuvers itself both as regards velocity and direction such
that the projected courses converge both with reference to the
distance to be traveled and with respect to the time scale.
EXAMPLE 2
Guidance Associated with Velocity Control
[0009] A vessel bearing a target acquisition system such as radar
uses the acquisition system to guide the vessel. The vessel is
instructed by wireless communication to follow a target at a
specific range. The event flow representing a velocity control of
the vessel is described in FIG. 1 to which reference is now made.
In step 20 the vessel receives an operational instruction to stay
at a specific distance D from a target. At step 22 the acquisition
payload on board the vessel acquires the target, and at step 24 the
distance to the target is measured by payload. At decision step 26
if the distance measured is smaller than the required D, velocity
is decreased at step 28. If the distance is not smaller than D,
velocity is increased in step 30. In a next decision, at step 32,
the vessel verifies whether an operational instruction is in force.
If it is still in force, the distance is measured and so on.
Measuring of distance to the target is accomplished using the range
finder of the payload on board the vessel, either in a supervised
manner or automatically.
EXAMPLE 3
Guidance Associated with Course Control
[0010] A vessel carrying an electro-optic acquisition system uses
the payload for guidance purposes. The output signal of a bearing
finder, such as a resolver implemented in the payload is used to
guide the vessel. To explain this, example reference is made to
FIG. 2. The vessel receives instruction as to the course it should
follow in step 60. The vessel is to change to course D if it is not
currently sailing in that direction. In step 62 the payload orients
itself relative to the target. In decision step 66 the relative
measured bearing to the target is compared to the one received in
the instruction. If the measured relative bearing is not smaller
than the required D, then the vessel is steered left in step 70. If
the measured relative bearing is smaller than D, the vessel is to
steer right in step 70. Subsequently, the vessel verifies whether
an operational instruction is in force in step 74, to resume course
update if required.
[0011] Target acquisition systems require relating the acquisition
payload to the target such that a direction to the target, (e.g. a
boat) from the payload is established. This may also be referred to
as a line of sight. The payload on a vessel implementing the
invention is therefore expected to establish a direction (line of
sight) to a target, once the target is acquired. For a guidance
system in accordance with the invention it is convenient to relate
to direction as issued by the acquisition system. This may be
interpreted in using the line of sight as an axis of reference.
This is implemented geometrically by generating a local circular
coordinate system, also known as polar coordinate system, with
respect to which the vessel is oriented. In such a grid the
direction is referred to as an angle from the reference axis
(relative to the vessel), in this case line of sight to the target.
Thus, a target bearing 0 means cruising in the direction towards
the target, and any other degree would mean a deviation from that
direction. A changeable course, whether related to a reference axis
directed to a target or to a global bearing, would mean referring
the vessel to different angles of the deviation from any reference
axis. Either an automatic algorithm or a manual input can be used
for managing such a course. Typically, the vessel can cruise in a
constant course deviating from the direction to the target at a
specific angle, etc.
EXAMPLE 4
Guidance Associated with Combined Course and Distance Control
[0012] A vessel is required to change both course and velocity with
respect to a target in its maneuvers in the water. Such changes may
be implemented in the water by applying control over both the drive
and steering systems. In FIG. 3 to which reference is now made, a
schematic block diagram is shown describing the data flow between
subunits in a vessel implementing the invention. Signals 86 from
the payload subsystem which contain locational data are fed into
navigation processor 88 of the vessel. In the vessel, task manager
90, a program that calculates the course and velocity
modifications, is to be implemented by vessel cruise control 92 in
order to achieve a desired maneuver with respect to the target. The
instructions are interpreted by a vessel cruise control into
mechanical parameters of the appropriate vessel's mechanical
subunits.
[0013] Such mechanical subunits are typically the rudder (course
modification) and the engine (velocity modification), together
performing the necessary maneuvers to acquire a specific course in
the water, either momentarily or continuously. In jet propelled
vessels, the course control and maneuvering are performed by jet
steering. Some vessels, typically small ones, employ a steerable
external engine, which can be manipulated for both changing
velocity and changing bearing.
* * * * *