Autonomous unmanned sailing vessel

An unmanned, autonomous vessel comprising;

• a primary hull;
• a rigid wing rotationally coupled with said primary hull, wherein the rigid wing freely rotates about a rotational axis of the rigid wing;
• at least one controller configured to maintain a desired heading;
• at least one sensor;
• a control surface element configured to aerodynamically control a wing angle of the rigid wing based on a force exerted by wind on the control surface element;
• a rudder, wherein the controller is further configured to determine a rudder position and generate a signal to position the rudder to the rudder position;
• and
• a keel coupled with the primary hull at a first end of the keel, wherein the keel comprises ballast sufficient to provide a positive righting moment sufficient to cause the primary hull to passively right from any position outside of a normal operating range to a position within the normal operating range, wherein the normal operating range includes orientations of the primary hull where the rigid wing is capable of generating lift.