Marine vessel motion estimation and stabilization

Abstract

A marine vessel includes a hull, a propulsion system, a control unit and a motion sensor system. The propulsion system comprises a first drive unit and a second drive unit separated by a longitudinal midship line of the hull, where each drive unit is arranged to generate thrust in a controllable thrust elevation angle and in a controllable thrust azimuth angle, where at least the thrust elevation angles are individually controllable The control unit is arranged to estimate a pitch motion and a roll motion of the hull based on input from the motion sensor system. The control unit is arranged to suppress pitch motion and roll motion by the hull by controlling the thrust elevation angles and the thrust azimuth angles of the first and second drive units.

Dependencies are inferred from the claim text.