# US 2017/0255201 A1 · Station keeping and waypoint tracking methods

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- Number: US 2017/0255201 A1
- Document ID: US20170255201A1
- Status: Published application
- Kind: A1
- Application number: 15/416,359
- Filed: 2017-01-26
- Published: 2017-09-07
- Earliest claimed: 2016-03-01
- Assignees: Brunswick Corporation
- Applicants: Brunswick Corporation
- Inventors: Jason S. Arbuckle; Thomas S. Kirchhoff; Michael J. Lemancik
- Web page: https://patentgrep.com/patent/US20170255201A1

## CPC

- G05D 1/0206: {specially adapted to water vehicles}
- B63B 79/10: using sensors, e.g. pressure sensors, strain gauges or accelerometers
- B63B 79/40: for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
- B63H 21/21: Control means for engine or transmission, specially adapted for use on marine vessels
- B63H 25/04: automatic, e.g. reacting to compass
- 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
- B63J 99/00: Subject matter not provided for in other groups of this subclass
- G05D 1/0208: {dynamic anchoring}
- B63B 2213/02: using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
- B63H 2021/216: {using electric control means}
- B63H 2025/045: {making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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)
- 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)
- B63J: AUXILIARIES ON VESSELS

## Abstract

A method for controlling movement of a marine vessel includes controlling a propulsion device to automatically maneuver the vessel along a track including a series of waypoints, and determining whether the next waypoint is a stopover waypoint at or near which the vessel is to electronically anchor. If the next waypoint is the stopover waypoint, a control module calculates a distance between the vessel and the stopover waypoint. In response to the calculated distance being less than or equal to a threshold distance, the propulsion device's thrust is decreased. In response to sensing that the vessel thereafter slows to a first threshold speed, the vessel's speed is further reduced. In response to sensing that the vessel thereafter slows to a second, lower threshold speed or passes the stopover waypoint, the propulsion device is controlled to maintain the vessel at an anchor point that is at or near the stopover waypoint.

## Claims

### Claim 1

A method for controlling movement of a marine vessel powered by a marine propulsion system commanded by a control module, the method being carried out by the control module and comprising:
controlling a propulsion device of the propulsion system so as to automatically maneuver the vessel along a track including a series of waypoints;
determining whether a next waypoint in the series of waypoints is a predetermined stopover waypoint at or near which the vessel is to electronically anchor;
in response to determining that the next waypoint is the stopover waypoint, calculating a distance between the vessel and the stopover waypoint;
in response to the calculated distance being less than or equal to a threshold distance, decreasing a magnitude of thrust of the propulsion device;
in response to sensing that the vessel has thereafter slowed to a first threshold speed, controlling the propulsion system to further decrease vessel speed; and
in response to sensing that one of (a) the vessel has thereafter slowed to a second threshold speed that is less than the first threshold speed or (b) the calculated distance has thereafter begun to increase, controlling the propulsion device so as to maintain the vessel at an anchor point that is at or near the stopover waypoint.

### Claim 2 (depends on 1)

The method of claim 1, further comprising automatically controlling at least one of the magnitude of thrust, a shift position, and a steering angle of the propulsion device so as to maintain the marine vessel at a given heading.

### Claim 3 (depends on 2)

The method of claim 2, further comprising setting a current, actual geographic location of the vessel as the anchor point in response to reaching the second threshold speed or in response to the calculated distance increasing.

### Claim 4 (depends on 3)

The method of claim 3, further comprising setting a current, actual heading of the vessel as the given heading in response to reaching the second threshold speed or in response to the calculated distance increasing.

### Claim 5 (depends on 2)

The method of claim 2, further comprising setting a geographic location of the stopover waypoint as the anchor point.

### Claim 6 (depends on 5)

The method of claim 5, further comprising setting an operator-selected heading as the given heading.

### Claim 7 (depends on 1)

The method of claim 1, further comprising decreasing the propulsion device's magnitude of thrust upon reaching the threshold distance from the stopover waypoint by slowing a speed of an engine of the propulsion device at a given rate.

### Claim 8 (depends on 7)

The method of claim 7, wherein the given rate at which the engine speed is slowed is inversely proportional to a current, actual speed of the vessel upon reaching the threshold distance from the stopover waypoint.

### Claim 9 (depends on 7)

The method of claim 7, further comprising slowing the engine speed at the given rate until the engine speed reaches a predefined idle speed.

### Claim 10 (depends on 2)

The method of claim 2, further comprising disregarding a position of a throttle/shift lever of the propulsion system until an operator of the vessel moves the throttle/shift lever to a neutral position and subsequently commands the vessel to move off the anchor point or to rotate away from the given heading.

### Claim 11 (depends on 1)

The method of claim 1, further comprising generating a prompt while the vessel is being maintained at the anchor point, wherein the prompt alerts an operator of the vessel to move a throttle/shift lever of the propulsion system to a neutral position.

### Claim 12 (depends on 1)

The method of claim 1, further comprising shifting the propulsion device into reverse in response to sensing that the vessel has slowed to the first threshold speed.

### Claim 13

A system for controlling movement of a marine vessel, the system comprising:
a marine propulsion system including a marine propulsion device;
a control module that controls a magnitude of thrust, a shift position, and a steering angle of the propulsion device;
an electronic navigation device that provides to the control module a desired track including a series of waypoints, wherein the series of waypoints includes a stopover waypoint at or near which the vessel is to electronically anchor; and
a position determination device that provides to the control module a current, actual geographic location of the vessel as the vessel navigates the track under the command of the control module;
wherein, in response to determining that the vessel has reached a threshold distance from the stopover waypoint, the control module commands the propulsion device's magnitude of thrust to decrease;
wherein, in response to sensing that the vessel has thereafter slowed to a first threshold speed, the control module commands the propulsion system to further decrease vessel speed; and
wherein, in response to sensing that one of (a) the vessel has thereafter slowed to a second threshold speed that is less than the first threshold speed or (b) a distance between the vessel and the stopover waypoint has thereafter begun to increase, the control module controls at least one of the magnitude of thrust, the shift position, and the steering angle of the propulsion device so as to maintain the vessel at an anchor point that is at or near the stopover waypoint.

### Claim 14 (depends on 13)

The system of claim 13, further comprising a heading detector that detects a heading of the vessel, wherein the control module controls at least one of the magnitude of thrust, the shift position, and the steering angle of the propulsion device so as to maintain the vessel at a heading that is equal to a given heading.

### Claim 15 (depends on 14)

The system of claim 14, wherein, in response to the vessel reaching the second threshold speed or in response to the distance between the vessel and the stopover waypoint increasing, the control module sets the given heading as one of a current, actual heading of the vessel or an operator-selected heading.

### Claim 16 (depends on 15)

The system of claim 15, wherein the control module sets a geographic location of the stopover waypoint as the anchor point.

### Claim 17 (depends on 15)

The system of claim 15, wherein, in response to the vessel reaching the second threshold speed or in response to the distance between the vessel and the stopover waypoint increasing, the control module sets the current, actual geographic location of the vessel as the anchor point.

### Claim 18 (depends on 14)

The system of claim 14, wherein the propulsion system further includes a throttle/shift lever, and wherein the control module disregards a position of the throttle/shift lever until an operator of the vessel moves the throttle/shift lever to a neutral position and subsequently commands the marine vessel to move off the anchor point or to rotate away from the given heading.

### Claim 19 (depends on 13)

The system of claim 13, wherein the propulsion system further includes a throttle/shift lever and a notification device, and wherein the control module commands the notification device to emit a prompt that alerts an operator of the vessel to move the throttle/shift lever to a neutral position while the vessel is being maintained at the anchor point.

### Claim 20 (depends on 13)

The system of claim 13, wherein the electronic navigation device is a chart plotter including an operator interface that allows an operator of the vessel to select one or more of the track, the stopover waypoint, the threshold distance, the first threshold speed, and the second threshold speed.

### Claim 21 (depends on 13)

The system of claim 13, wherein the control module defaults to setting a final waypoint in the track as the stopover waypoint.

### Claim 22 (depends on 13)

The system of claim 13, wherein, in response to sensing that the vessel has slowed to the first threshold speed, the control module commands the propulsion device to shift into reverse.