# US 10,370,078 B2 · Method and system for determining an estimated steering angle

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- Number: US 10,370,078 B2
- Document ID: US10370078B2
- Status: Granted
- Kind: B2
- Application number: 14/850,939
- Filed: 2015-09-10
- Published: 2016-03-10
- Granted: 2019-08-06
- Earliest claimed: 2014-09-10
- Applicants: Robert A. Morvillo
- Inventors: Robert A. Morvillo
- Web page: https://patentgrep.com/patent/US10370078B2

## CPC

- B63H 25/42: Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
- B60W 10/20: including control of steering systems
- B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)}
- B63B 79/10: using sensors, e.g. pressure sensors, strain gauges or accelerometers
- B63B 79/20: using models or simulation, e.g. statistical models or stochastic models
- B63B 79/40: for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
- B63H 20/08: Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt (initiating means for steering B63H25/02)
- B63H 20/10: Means enabling trim or tilt, or lifting of the propulsion element when an obstruction is hit; Control of trim or tilt
- B63H 20/12: Means enabling steering
- B60W 2510/20: Steering systems
- B60W 2540/18: Steering angle
- B60W 2710/20: Steering systems
- B63H 2020/003: {Arrangements of two, or more outboard propulsion units}
- B63H 2025/026: {using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring}
- B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00)
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06)

## Abstract

A system for controlling one or more propulsion devices of a marine vessel. The system includes circuitry configured to: receive a steering angle command for a propulsion device of the marine vessel; receive a trim position of the propulsion device; and generate a steering actuator position command for the propulsion device based on the steering angle command and the trim position of the propulsion device.

## Claims

### Claim 1

A system for a marine vessel, the marine vessel having a steering actuator coupled to a propulsion device and a trim actuator coupled to the propulsion device, the trim actuator having a trim actuator position, the system comprising:
at least one processor configured to be coupled to a steering actuator position sensor and a trim position sensor, the at least one processor being configured to:
receive a sensed steering actuator position of the steering actuator from the steering actuator position sensor;
receive a sensed trim actuator position from the trim position sensor, wherein movement of the trim actuator position while maintaining a constant steering actuator position changes a steering angle of the propulsion device; and
determine an estimated steering angle of the propulsion device based on the sensed steering actuator position and the sensed trim actuator position.

### Claim 2 (depends on 1)

The system of claim 1, wherein the circuitry at least one processor is configured to determine the estimated steering angle by:
identifying, based on the trim actuator position, a mapping encoding a determined relationship between steering actuator positions and corresponding steering angles; and
using the identified mapping to determine the estimated steering angle based on the sensed steering actuator position.

### Claim 3 (depends on 1)

The system of claim 1, further comprising:
a memory storing a plurality of mappings corresponding to a respective plurality of trim positions, each of the plurality of mappings encoding a determined relationship between steering actuator positions and corresponding steering angles,
wherein the at least one processor is configured to determine the estimated steering angle by:
identifying, based on the sensed trim actuator position, a mapping in the plurality of mappings; and
using the identified mapping to determine the estimated steering angle from the sensed steering actuator position.

### Claim 4 (depends on 1)

The system of claim 1, further configured to display the estimated steering angle to an operator of the marine vessel.

### Claim 5 (depends on 1)

The system of claim 1, further configured to control the steering actuator based, at least in part, on the estimated steering angle.

### Claim 6 (depends on 1)

The system of claim 1, wherein the steering actuator is attached to a transom of the marine vessel at a different height and/or fore-aft position from a trimming pivot point of the propulsion device.

### Claim 7 (depends on 1)

The system of claim 1, wherein the steering actuator position sensor senses a degree of extension of the steering actuator coupled to the propulsion device.

### Claim 8 (depends on 7)

The system of claim 7, wherein the steering actuator position sensor is integrated into the steering actuator.

### Claim 9

A method for use in a marine vessel, the marine vessel having a steering actuator coupled to a propulsion device and a trim actuator coupled to the propulsion device, the trim actuator having a trim actuator position, the method comprising:
receiving a sensed steering actuator position of the steering actuator from a steering actuator position sensor;
receiving a sensed trim actuator position from a trim position sensor, wherein movement of the trim actuator position while maintaining a constant steering actuator position changes a steering angle of the propulsion device; and
determining, using at least one processor, an estimated steering angle of the propulsion device based on the sensed steering actuator position and the sensed trim actuator position.

### Claim 10 (depends on 9)

The method of claim 9, further comprising:
identifying, based on the trim actuator position, a mapping encoding a determined relationship between steering actuator positions and corresponding steering angles; and
using the identified mapping to determine the estimated steering angle based on the sensed steering actuator position.

### Claim 11 (depends on 9)

The method of claim 9, further comprising:
displaying the estimated steering angle to an operator of the marine vessel.

### Claim 12 (depends on 9)

The method of claim 9, further comprising:
controlling the steering actuator based, at least in part, on the estimated steering angle.