Systems and methods of controlling position of a trawl net

A position control system for a trawl net movable along a travel path, the system comprising:

• a memory storing processor-executable instructions;
• and
• at least one processor communicatively coupled with the memory, the at least one processor configured by the instructions to collectively:
• receive a control input, wherein the control input comprises:
• (i) a selection of one of a plurality of position control modes, and (ii) a position control setpoint for the trawl net;
• receive sensor data indicating a sensed position of the trawl net;
• generate a first trawl position control output based on the control input and the sensor data;
• determine a rate of change of bathymetry along the travel path of the trawl net;
• determine a threshold condition based on a vessel speed and a maximum trawl net pay-in rate;
• and
• in response to the rate of change of bathymetry meeting the threshold condition, generate a second trawl position control output by:
• changing the one of the plurality of position control modes to another of the plurality of position control modes, wherein the other of the plurality of control modes is a depth feed forward control mode, and
• changing the position control set point to a depth setpoint based on bathymetry.

A non-transitory computer-readable medium comprising instructions executable by a processor, wherein the instructions when executed configure the processor to:

• receive a control input, wherein the control input comprises:
• (i) a selection of one of a plurality of position control modes, and (ii) a position control setpoint for the trawl net;
• receive sensor data indicating a sensed position of a trawl net;
• generate a first trawl position control output based on the control input and the sensor data;
• determine a rate of change of bathymetry along a travel path of the trawl net;
• determine a threshold condition based on a vessel speed and a maximum trawl net pay-in rate;
• and
• in response to the rate of change of bathymetry meeting the threshold condition, generate a second trawl position control output by:
• changing the one of the plurality of position control modes to another of the plurality of position control modes, wherein the other of the plurality of control modes is a depth feed forward control mode, and
• changing the position control set point to a depth setpoint based on bathymetry.