Method for Determining Correction Under Steering of a Point on a Towed Object towards a Goal Position

A method for determining correction during steering of a point on an object towed by a towing device, the object point (6), toward a known target position (4), the object being provided with a bird (10), and where said method comprises the following steps:

• determining a target position (4);
• determining the position of the object point (6);
• determining the speed and acceleration of the object point (6) and also directions of these;
• determining an inline (12) direction based on performed measurements;
• determining whether the inline (12) is directed toward the target position (4);
• determining a distance vector (16) between the object point (6) and the target position (4);
• calculating, the object point's (6) distance, speed and acceleration components at least in the lateral direction (14) or the vertical direction;
• transferring values for the said components to a control system for the corresponding bird (10);
• determining the time taken before the object point (6) is at the target position (4);
• determining the necessary acceleration in at least the lateral direction (14) or the vertical direction to correct the inline (12) direction;
• and
• transferring at least one acceleration value to a control system for the corresponding bird (10).