Abstract: A marine propulsion system for a marine vessel including a joystick, at least one steerable and trimmable marine drive, and a control system configured to receive a user input to engage full vessel control mode, receive a vessel speed parameter, and receive a joystick position from the joystick. The control system determines a thrust command, a steering command, and a trim command for the at least one marine drive based on the joystick position and the vessel speed parameter and to control the at least one marine drive accordingly.

Abstract: A propulsion control system on a marine vessel includes at least one propulsion device configured to propel the marine vessel and at least one proximity sensor system configured to generate proximity measurements describing proximity of objects surrounding the marine vessel. A control system is configured to receive the proximity measurements, access a preset buffer distance surrounding the marine vessel, calculate a velocity limit for the marine vessel in one or more directions of the objects based on a difference between the proximity measurements and the preset buffer distance surrounding the marine vessel so as to progressively decrease the velocity limit as the marine vessel approaches the preset buffer distance from any of the objects, and control the at least one propulsion device such that a velocity of the marine vessel does not exceed the velocity limit in the direction of any of the objects.

Abstract: A system for proximity sensing on a marine vessel includes a main inertial measurement unit (IMU) positioned on the marine vessel at a main installation attitude and a main location, a first proximity sensor configured to measure proximity of objects from a first sensor location on the marine vessel, and a first sensor IMU positioned on the marine vessel at the first sensor location and at a first installation attitude. A processor is configured to receive main IMU data from the main IMU and first IMU data from the first sensor IMU, wherein the main location of the main IMU on the marine vessel is known and at least one of the first sensor location and the first installation attitude of the first sensor IMU are initially unknown, calibrate the proximity measurements based on the main IMU data and the first IMU data, and output a calibration completion alert.

Abstract: A method of controlling propulsion of a marine vessel includes limiting user input authority over propulsion output by at least one propulsion device based on proximity measurements so as to maintain the marine vessel at least a buffer distance from any object, where in the buffer distance is a predefined distance around the marine vessel. After a user-generated instruction is received to suspend maintenance of the buffer distance and a user control input is received to move the marine vessel in the direction of the object, the at least one propulsion device is controlled based on the user control input such that the marine vessel approaches and impacts the object.

Abstract: A method of proximity sensing on a marine vessel includes storing at least one zone map, wherein the zone map divides an area surrounding the marine vessel into two or more zones. Proximity measurements measured by one or more proximity sensors on the marine vessel are received, and the proximity measurements are then divided into zone sets based on a location of each proximity measurement with respect to the zone map. A closest proximity measurement in each zone set is then identified and a zone-filtered dataset is generated. The zone-filtered dataset contains only the closest proximity measurement from each zone set.

Abstract: A marine propulsion system includes at least one propulsion device and a user input device configured to facilitate input for engaging automatic propulsion control functionality with respect to a docking surface, wherein the user input device includes a direction indicator display configured to visually indicate a direction with respect to the marine vessel. A controller is configured to identify a potential docking surface, determine a direction of the potential docking surface with respect to the marine vessel, and control the direction indicator display to indicate the direction of the potential docking surface with respect to the marine vessel. When a user selection is received via the user input device to select the potential docking surface as a selected docking surface, and propulsion of the marine vessel is automatically controlled by controlling the at least one propulsion device to move the marine vessel with respect to the selected docking surface.

Abstract: A method of controlling attitude of a marine vessel includes identifying a natural roll frequency of the marine vessel, measuring a roll motion of the marine vessel with an attitude sensor, and then determining that the roll motion exceeds the threshold roll where no corresponding steering input is present. The method further includes determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and the natural roll frequency of the marine vessel. A steering actuator is then controlled to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract an environmentally-induced roll motion of the marine vessel.

Abstract: A method of controlling a propulsion system on a marine vessel includes receiving proximity measurements describing locations of one or more objects with respect to the marine vessel, receiving a command vector instructing magnitude and direction for propulsion of the marine vessel with respect to a point of navigation for the marine vessel, and then determining a funnel boundary based on the command vector. When an object is determined to be within the funnel boundary, a propulsion adjustment command is calculated to move the marine vessel such that the object is no longer in the funnel boundary. At least one propulsion device is then controlled based on the propulsion adjustment command.

Abstract: A navigation system for a marine vessel incudes one or more proximity sensors, each at a sensor location on the marine vessel and configured to measure proximity of objects in an area surrounding the marine vessel and generate proximity measurements, and a control system configured to receive the proximity measurements measured by the one or more proximity sensors. From the received proximity measurements, four linearly-closest proximity measurements to the marine vessel are identified, including one closest proximity measurement to the marine vessel in each of a positive X direction, a negative X direction, a positive Y direction, and a negative Y direction. A most important object (MIO) dataset is generated identifying the four linearly-closest proximity measurements and propulsion of the marine vessel is controlled based at least in part on the MIO dataset.

Abstract: A marine propulsion system includes at least two parallel propulsion devices that each generate forward and reverse thrusts, wherein the parallel propulsion devices are oriented such that their thrusts are parallel to one another, and at least one drive position sensor configured to sense a drive angle of the parallel propulsion devices. A lateral thruster is configured to generate starboard and port thrust to propel the marine vessel. A user input device is operable by a user to provide at least a lateral thrust command to command lateral movement of the marine vessel and a rotational thrust command to command rotational movement of the marine vessel. A controller is configured to control the parallel propulsion devices and the lateral thruster based on the lateral steering input and/or the rotational steering input and the drive angle so as to provide the lateral movement and/or the rotational movement.

Abstract: A propulsion control system on a marine vessel includes at least one propulsion device configured to propel the marine vessel and at least one proximity sensor system configured to generate proximity measurements describing proximity of objects surrounding the marine vessel. A control system is configured to receive the proximity measurements, access a preset buffer distance surrounding the marine vessel, calculate a velocity limit for the marine vessel in one or more directions of the objects based on a difference between the proximity measurements and the preset buffer distance surrounding the marine vessel so as to progressively decrease the velocity limit as the marine vessel approaches the preset buffer distance from any of the objects, and control the at least one propulsion device such that a velocity of the marine vessel does not exceed the velocity limit in the direction of any of the objects.

Abstract: A proximity sensor system on a marine vessel includes one or more proximity sensors, each at a sensor location on the marine vessel and configured to measure proximity of objects and generate proximity measurements. A processor is configured to store a two-dimensional vessel outline of the marine vessel with respect to a point of navigation for the marine vessel, receive the proximity measurements measured by one or more proximity sensors on the marine vessel, and identify four linearly-closest proximity measurements to the two-dimensional vessel outline, including one closest proximity measurement in each of a positive X direction, a negative X direction, a positive Y direction, and a negative Y direction. The processor then generates a most important object (MIO) dataset identifying the four linearly-closest proximity measurements.

Abstract: A system for proximity sensing on a marine vessel includes a main inertial measurement unit (IMU) positioned at a main installation attitude and a main location, a first proximity sensor configured to measure proximity of objects from a first sensor location, and a first sensor IMU positioned at the first sensor location and at a first installation attitude. A sensor processor is configured to receive main IMU data from the main IMU and first IMU data from the first sensor IMU, and then determine a relative orientation transform between the main installation attitude and the first installation attitude by comparing the main IMU data and the first IMU data, and then determine a relative position transform between the main location and the first sensor location based on the relative orientation transform, the main IMU data, and the first IMU data.

Abstract: A propulsion control system on a marine vessel includes at least one propulsion device configured to propel the marine vessel and at least one proximity sensor system configured to generate proximity measurements describing a proximity of an object with respect to the marine vessel. The system further includes a controller configured to receive proximity measurements, access a preset buffer distance, and calculate a velocity limit in a direction of the object for the marine vessel based on the proximity measurements and the preset buffer distance so as to progressively decrease the velocity limit as the marine vessel approaches the preset buffer distance from the object.

Abstract: A steering system on a marine vessel includes at least one propulsion device, a steering actuator that rotates the propulsion device to effectuate steering, at least one trim device moveable to adjust a running angle of the vessel, and a trim actuator configured to move the trim device so as to adjust the running angle. The system further includes a control system configured to determine a desired roll angle and at least one of a desired turn rate and a desired turn angle for the marine vessel based on a steering instructions. The control system then controls the steering actuator to the rotate the at least one propulsion device based on the desired turn rate and/or the desired turn angle, and to control the trim actuator to move the at least one trim device based on the desired roll angle so as to effectuate the steering instruction.

Abstract: A method of controlling propulsion of a marine vessel includes receiving proximity measurements from one or more proximity sensors on the marine vessel and limiting user input authority over propulsion output in a direction of an object by at least one propulsion device based on the proximity measurement so as to maintain the marine vessel at least a buffer distance from the object. The method further includes suspending maintenance of the buffer distance from the object in response to a user-generated instruction. Then, when user control input is received via a user input device to move the marine vessel in the direction of the object, the at least one propulsion device is controlled based on the user control input such that the marine vessel approaches and impacts the object.

Abstract: A method of controlling a propulsion system on a marine vessel includes receiving proximity measurements describing locations of one or more objects with respect to the marine vessel, receiving a command vector instructing magnitude and direction for propulsion of the marine vessel with respect to a point of navigation for the marine vessel, and then determining a funnel boundary based on the command vector. When an object is determined to be within the funnel boundary, a propulsion adjustment command is calculated to move the marine vessel such that the object is no longer in the funnel boundary. At least one propulsion device is then controlled based on the propulsion adjustment command.

Abstract: A method of controlling a propulsion system on a marine vessel includes receiving proximity measurements describing locations of one or more objects with respect to the marine vessel, receiving a command vector instructing magnitude and direction for propulsion of the marine vessel with respect to a point of navigation for the marine vessel, and then determining a funnel boundary based on the command vector. An object is identified based on the proximity measurements and determined to be within the funnel boundary, and then a propulsion adjustment command is calculated based on the command vector and an angle of the object with respect to the point of navigation. At least one propulsion device is then controlled based on the propulsion adjustment command in order to avoid the object.

Abstract: A marine propulsion system includes at least two parallel propulsion devices that each generate forward and reverse thrusts, wherein the parallel propulsion devices are oriented such that their thrusts are parallel to one another, and at least one drive position sensor configured to sense a drive angle of the parallel propulsion devices. A lateral thruster is configured to generate starboard and port thrust to propel the marine vessel. A user input device is operable by a user to provide at least a lateral thrust command to command lateral movement of the marine vessel and a rotational thrust command to command rotational movement of the marine vessel. A controller is configured to control the parallel propulsion devices and the lateral thruster based on the lateral steering input and/or the rotational steering input and the drive angle so as to provide the lateral movement and/or the rotational movement commanded by the user without controlling the drive angle.

Abstract: A method of controlling attitude of a marine vessel includes identifying a natural roll frequency of the marine vessel, measuring a roll motion of the marine vessel with an attitude sensor, and then determining that the roll motion exceeds the threshold roll where no corresponding steering input is present. The method further includes determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and the natural roll frequency of the marine vessel. A steering actuator is then controlled to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract an environmentally-induced roll motion of the marine vessel.