Position hold to structure/object feature for thruster equipped watercraft

Abstract

A method includes receiving a position hold signal from a human-machine interface of a marine vessel; in response to receiving the position hold signal, monitoring sensor data from at least one sensor; determining a hold position based at least on the monitored sensor data; and selectively controlling a thruster system of the marine vessel to hold the marine vessel in the hold position using the monitored sensor data.

What is claimed is: 
     
         1 . A method for marine vessel position control, the method comprising:
 receiving a position hold signal from a human-machine interface of a marine vessel;   in response to receiving the position hold signal, monitoring sensor data from at least one sensor;   determining a hold position based at least on the monitored sensor data; and   selectively controlling a thruster system of the marine vessel to hold the marine vessel in the hold position using the monitored sensor data.   
     
     
         2 . The method of  claim 1 , wherein the at least one sensor includes at least one of a light detection and ranging sensor, a radio detection and ranging sensor, a sound navigation and ranging sensor, an optical sensor, at least one pendant set, and an image capturing senor. 
     
     
         3 . The method of  claim 1 , wherein the at least one sensor includes at least one of a real-time kinematic sensor, a global positioning system sensor, and a global navigation satellite system sensor. 
     
     
         4 . The method of  claim 1 , wherein the at least one sensor is configured to interact with at least one real-time-kinematic base. 
     
     
         5 . The method of  claim 1 , wherein the at least one sensor is configured to interact with at least one target. 
     
     
         6 . The method of  claim 5 , wherein the at least one target includes at least one of a reflective target, a magnetic target, a hi-contrast target, a radio-frequency target, and a radio-frequency identification target. 
     
     
         7 . The method of  claim 1 , wherein the thruster system includes at least one thruster disposed on the marine vessel. 
     
     
         8 . The method of  claim 7 , wherein the at least one thruster is disposed proximate a bow of the marine vessel. 
     
     
         9 . The method of  claim 7 , wherein the at least one thruster is disposed proximate a stern of the marine vessel. 
     
     
         10 . A system for marine vessel position control, the system comprising:
 a processor; and   a memory including instructions that, when executed by the processor, cause the processor to:
 receive a position hold signal from a human-machine interface of a marine vessel; 
 in response to receiving the position hold signal, monitor sensor data from at least one sensor; 
 determine a hold position based at least on the monitored sensor data; and 
 selectively control a thruster system of the marine vessel to hold the marine vessel in the hold position using the monitored sensor data. 
   
     
     
         11 . The system of  claim 10 , wherein the at least one sensor includes at least one of a light detection and ranging sensor, a radio detection and ranging sensor, a sound navigation and ranging sensor, an optical sensor, at least one pendant set, and an image capturing senor. 
     
     
         12 . The system of  claim 10 , wherein the at least one sensor includes at least one of a real-time kinematic sensor, a global positioning system sensor, and a global navigation satellite system sensor. 
     
     
         13 . The system of  claim 10 , wherein the at least one sensor is configured to interact with at least one real-time-kinematic base. 
     
     
         14 . The system of  claim 10 , wherein the at least one sensor is configured to interact with at least one target. 
     
     
         15 . The system of  claim 14 , wherein the at least one target includes at least one of a reflective target, a magnetic target, a hi-contrast target, a radio-frequency target, and a radio-frequency identification target. 
     
     
         16 . The system of  claim 10 , wherein the thruster system includes at least one thruster disposed on the marine vessel. 
     
     
         17 . The system of  claim 16 , wherein the at least one thruster is disposed proximate a bow of the marine vessel. 
     
     
         18 . The system of  claim 16 , wherein the at least one thruster is disposed proximate a stern of the marine vessel. 
     
     
         19 . An apparatus for marine vessel position control, the apparatus comprising:
 a processor; and   a memory including instructions that, when executed by the processor, cause the processor to:
 receive a position hold signal from a human-machine interface of a marine vessel, the position hold signal indicating at least a hold distance between the marine vessel and an object; 
 in response to receiving the position hold signal, determine an initial distance between the marine vessel and the object using sensor data from one or more sensors; 
 in response to the initial distance being greater than the hold distance, selectively control a thruster system of the marine vessel, using at least one thruster of the thruster system, to propel the marine vessel toward the object; 
 wait a delay period; 
 determine a current distance between the marine vessel and the object; and 
 in response to a determination that the current distance corresponds to the hold distance, selectively control the thruster system, using the at least one thruster, to hold the marine vessel in the hold position. 
   
     
     
         20 . The apparatus of  claim 19 , wherein the one or more sensors includes at least one sensor disposed on the object and at least one sensor disposed on the marine vessel.