Method for planning a trajectory in presence of water current

A method for planning a trajectory to be performed by a marine vessel between a first point and a second point, the coordinates of said first and second points being pre-determined, the trajectory comprising a first path, from said first point to a third point, and a second path, from said third point to said second point, said second path being a straight portion, wherein the method comprises:

• a first step of computing a theoretical trajectory in a ground reference frame from said first point to said second point assuming an absence of sea current, the theoretical trajectory comprising a first theoretical path, from said first point to a theoretical third point and a second theoretical path, from said theoretical third point to said second point, said second theoretical path being a straight portion,
• a second step of computing a second path in the ground reference frame and determining the coordinates of the third point taking into account at least one previously estimated parameter of water current,
• a third step of computing a corrected first path in a water reference frame from said first point to said third point, and
• a fourth step of computing the trajectory in the ground reference frame from said first point to said second point based on said corrected first path and said second path.