Patents Assigned to Glen E. Robertson
  • Publication number: 20030191562
    Abstract: An anchorless boat positioning system for establishing and maintaining a boat at a selected geographic location without the use of a conventional anchor. In one embodiment, a steerable thruster is used whose thrust and steering direction are determined and controlled on the basis of position information signals received from global positioning system (GPS) satellites, relative steering angle between the boat and the thruster and boat heading indication signals from a magnetic compass. The system continuously monitors the position and heading of the boat and compares it with the stored coordinates of the selected anchoring location(s) to generate control signals for the steerable motor. Several modes of operation are disclosed and Euler transformations for offset antenna placement for error reduction are taught. Proportional, integral, and derivative control (PID) of four constants of vessel control is also provided.
    Type: Application
    Filed: April 8, 2002
    Publication date: October 9, 2003
    Applicant: Glen E. Robertson
    Inventors: Glen E. Robertson, John L. Webster
  • Patent number: 5491636
    Abstract: An anchorless boat positioning system dynamically and automatically maintains a boat at a selected anchoring location within water without the use of a conventional anchor by using a steerable thruster whose thrust and steering direction are determined on the basis of position information signals received from global positioning system (GPS) satellites and heading indication signals from a magnetic compass. The anchorless positioning system continuously monitors the position and heading of the boat and compares it with the stored coordinates of the selected anchoring location to generate control signals for the steerable motor.
    Type: Grant
    Filed: April 19, 1994
    Date of Patent: February 13, 1996
    Assignee: Glen E. Robertson
    Inventors: Glen E. Robertson, John L. Webster