Anchorless boat positioning employing global positioning system

Claim 1

A system for substantially maintaining the position of a boat at an anchoring location in water selected by an operator of the boat, the system comprising: at least one thruster, attached to a vertical shaft mounted to the boat and driven by a power source, for moving the boat to the selected anchoring location within the water; a DGPS capable receiver located on-board the boat for receiving signals from GPS satellites and differential correction signals from another source, the DGPS capable receiver providing position information signals indicative of the position of the thruster in a differential GPS mode of operation based on said signals from the GPS satellites and the differential correction signal source, a digital solid state compass for providing current heading indication signals representative of the heading of the thruster at less than about one second intervals; said DGPS capable receiver generating range, bearing, magnitude and rate of change in range information at about one second intervals or faster on the basis of the difference between the selected position and present position of the thruster, a controller providing control signals to the thruster for steering and propelling the boat to the selected anchoring location, the control signals related to the range, bearing, magnitude and rate of change in range information, said control signals including a variable thrust signal whose magnitude is dependent on the direction, magnitude and rate of change in range; and a slip-ring assembly for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source.

Claim 2

A system for substantially maintaining the position of a boat at an anchoring location in water selected by an operator of the boat, the system comprising: at least one thruster, attached to a vertical shaft mounted to the boat and driven by a power source, for moving the boat to the selected anchoring location within the water; a DGPS capable receiver located on-board the boat for receiving signals from GPS satellites and differential correction signals from another source, the DGPS capable receiver providing position information signals indicative of the position of the thruster in a differential GPS mode of operation based on said signals from the GPS satellites and the differential correction signal source, a digital solid state compass for providing current heading indication signals representative of the heading of the thruster at less than about one second intervals; said DGPS capable receiver generating range, bearing, magnitude and rate of change in range information at about one second intervals or faster on the basis of the difference between the selected position and present position of the thruster, a controller providing control signals to the thruster for steering and propelling the boat to the selected anchoring location, the control signals related to the range, bearing, magnitude and rate of change in range information, said control signals including a variable thrust signal whose magnitude is dependent on the direction, magnitude and rate of change in range; and a slip-ring assembly for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source.

Claim 11

A method of substantially maintaining a position of a point on a boat at an anchoring location in water selected by an operator, the boat including a steerable thruster connected vertical shaft mounted to a boat and driven by a power source, the method comprising the steps of: providing an on-board DGPS capable receiver on the boat and a digital solid state compass on the thruster to indicate the thruster's current heading at less than about one second intervals, modifying the thruster by providing a slip-ring assembly for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source; receiving and storing position information signals from GPS satellites and differential correction signals from another source with the on-board DGPS capable receiver to establish positional coordinates of a selected anchoring location in a differential GPS mode of operation, receiving, at about one second intervals or less, position information signals from the GPS satellites and the differential correction signal source with the on-board DGPS capable receiver to determine a present location of the steerable thruster and a present heading indication of the steerable thruster from the digital solid state compass, determining a range, bearing, magnitude and rate of change in range from a present location of the boat to the selected anchoring location on the basis of the difference between the selected and present position of the thruster, determining the direction of the rate of change in range at the present location, and controlling the magnitude and direction of the thrust of the thruster on the basis of the range, bearing, and rate of change in range from the present location to the selected location and the direction of the rate of change in range, the magnitude of the thrust being dependent on the direction of the change in range.

Claim 12

A method of substantially maintaining a position of a point on a boat at an anchoring location in water selected by an operator, the boat including a steerable thruster connected vertical shaft mounted to a boat and driven by a power source, the method comprising the steps of: providing an on-board DGPS capable receiver on the boat and a digital solid state compass on the thruster to indicate the thruster's current heading at less than about one second intervals, modifying the thruster by providing a slip-ring assembly for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source; receiving and storing position information signals from GPS satellites and differential correction signals from another source with the on-board DGPS capable receiver to establish positional coordinates of a selected anchoring location in a differential GPS mode of operation, receiving, at about one second intervals or less, position information signals from the GPS satellites and the differential correction signal source with the on-board DGPS capable receiver to determine a present location of the steerable thruster and a present heading indication of the steerable thruster from the digital solid state compass, determining a range, bearing, magnitude and rate of change in range from a present location of the boat to the selected anchoring location on the basis of the difference between the selected and present position of the thruster, determining the direction of the rate of change in range at the present location, and controlling the magnitude and direction of the thrust of the thruster on the basis of the range, bearing, and rate of change in range from the present location to the selected location and the direction of the rate of change in range, the magnitude of the thrust being dependent on the direction of the change in range.

Claim 14

A system for substantially maintaining the position of a boat at a selected location in water, the system comprising: a thruster, attached to a vertical shaft mounted to the boat and driven by a power source, for maintaining the boat at the selected location within the water; receiving means, located on-board the boat, for receiving signals from the GPS satellites and differential correction signals from another source, and for providing position information signals indicative of the position of the thruster in a differential GPS mode of operation; means for providing a heading indication signal representative of the heading of the thruster; said receiving means generating range, bearing, magnitude and rate of change in range information on the basis of the difference between the selected and present position of the thruster at about one second intervals or less, and controller means providing control signals to the thruster for steering and propelling the boat to the selected location, the control signals related to the range, bearing, magnitude and rate of change in range information, said control signals including a variable thrust signal dependent on the direction of the rate of change in range; and means for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source.

Claim 15

A system for substantially maintaining the position of a boat at a selected location in water, the system comprising: a thruster, attached to a vertical shaft mounted to the boat and driven by a power source, for maintaining the boat at the selected location within the water; receiving means, located on-board the boat, for receiving signals from the GPS satellites and differential correction signals from another source, and for providing position information signals indicative of the position of the thruster in a differential GPS mode of operation; means for providing a heading indication signal representative of the heading of the thruster; said receiving means generating range, bearing, magnitude and rate of change in range information on the basis of the difference between the selected and present position of the thruster at about one second intervals or less, and controller means providing control signals to the thruster for steering and propelling the boat to the selected location, the control signals related to the range, bearing, magnitude and rate of change in range information, said control signals including a variable thrust signal dependent on the direction of the rate of change in range; and means for allowing the thruster to rotate unrestricted multiple revolutions and without limit about the axis of the shaft while maintaining electrical connection between the thruster and the power source.