Orientation fault detection system

A method of fault detection for a dynamic active control system within a marine vessel, comprising:

• connecting a controller comprising one or more processors to (i) a plurality of sensors disposed within the marine vessel and configured to generate sensor data indicative of movement, location, or orientation of the marine vessel and (ii) a plurality of water engagement devices communicatively connected to the controller, each of the plurality of water engagement devices comprising an actuator and a water engagement element;
• receiving, by the one or more processors of the controller, the sensor data from the plurality of sensors;
• and
• detecting, by the one or more processors of the controller, an orientation fault based upon the sensor data by:
• determining operation of the marine vessel meets one or more evaluation conditions for a time window based upon the sensor data, including (i) the marine vessel operating within a predetermined yaw rate range and/or (ii) either the marine vessel operating within a speed range for a minimum time or the vessel accelerating through the speed range within a maximum time;
• calculating one or more orientation fault detection metrics from the sensor data over the duration of the time window;
• and
• determining whether an orientation fault exists for the dynamic active control system based upon the one or more orientation fault detection metrics.

A tangible, non-transitory computer-readable medium storing executable instructions for fault detection for a dynamic active control system within a marine vessel that, when executed by one or more processors of a controller communicatively connected to (i) a plurality of sensors disposed within the marine vessel and configured to generate sensor data indicative of movement, location, or orientation of the marine vessel and (ii) a plurality of water engagement devices communicatively connected to the controller, each of the plurality of water engagement devices comprising an actuator and a water engagement element, cause the one or more processors to:

• receive the sensor data from the plurality of sensors;
• and
• detect an orientation fault based upon the sensor data by:
• determining operation of the marine vessel meets one or more evaluation conditions for a time window based upon the sensor data, including (i) the marine vessel operating within a predetermined yaw rate range and/or (ii) either the marine vessel operating within a speed range for a minimum time or the vessel accelerating through the speed range within a maximum time;
• calculating one or more orientation fault detection metrics from the sensor data over the duration of the time window;
• and
• determining whether an orientation fault exists for the dynamic active control system based upon the one or more orientation fault detection metrics.