Autonomous sailing vessel

An unmanned ocean-going vessel comprising;

• a primary hull comprising a primary axis;
• a rigid wing rotationally coupled with said primary hull, wherein said rigid wing freely rotates about a rotational axis of said rigid wing;
• a controller configured to maintain a desired heading;
• a control surface element configured to aerodynamically control a wing angle of said rigid wing based on a position of said control surface element, wherein said controller is configured to determine a control surface angle and generate a signal to position said control surface element based on said control surface angle;
• a rudder, wherein said controller is further configured to determine a rudder position and generate a signal to position said rudder to said rudder position;
• and
• a keel coupled with said primary hull at a first end of said keel, wherein said keel comprises ballast sufficient to provide a positive righting moment sufficient to cause said primary hull to passively right from any position;
• wherein said first end of said boom extends from a leading edge of said rigid wing, and
• wherein said first end of said boom is coupled with a counterweight configured to dynamically balance a wing system comprising said rigid wing, said boom, and said tail with respect to said rotational axis of said rigid wing.