METHOD AND SYSTEM FOR MOORING WATERCRAFT Russian patent published in 2021 - IPC B63B35/08 G01C9/00 B63H25/04 

FIELD: watercraft navigation.

SUBSTANCE: invention relates to the field of watercraft mooring using a satellite navigation system. The watercraft mooring system includes a satellite navigation system (SNS) receiver, a steering gear, a bow thruster, a rudder sensor, a thrust sensor, a program control unit, a rotation rate sensor and a calculator whereto signals of the coordinates of the watercraft, the speed of the watercraft, the derivative of the speed of the watercraft and the course angle are input from the SNS receiver, the rudder angle signal is input from the rudder sensor, the rotation rate signal is input from the rotation rate sensor and the thrust signal is input from the thrust sensor, additionally, radars and the propeller speed governor are used. Signals of the coordinates of the central mooring point of the watercraft and the length of the vector of the course angle at the starting point of the second stage of mooring are input into the program control unit, the signals of the coordinates of the watercraft and the signals of the coordinates of the central point of the mooring of the watercraft on the calculator are used to generate signals of the specified course angle and the length of the vector of the course angle. The signal of the length of the vector of the course angle is input into the program control unit, wherein signals of the programmed speed of the watercraft, the programmed course and the difference between the signals of the length of the vector of the course angle and the length of the vector of the course angle of the starting point of the second stage of mooring are generated depending on the length of the vector of the course angle, the signals are compared, if the difference between the signals is positive, three control signals of the first mooring stage are generated on the calculator. Wherein the distance and/or bearing and/or course of at least three optical angular reflectors installed on the mooring base with known coordinates are measured by means of radars, the coordinates of the radar installation point on the watercraft are calculated followed by their transformation into a geographic coordinate system, the coordinates of the installation point of the SNS receiver antenna are calculated, the reference coordinates of the installation point of the SNS receiver antenna are calculated, distance, bearing and heading inaccuracy is calculated, corrections are calculated and input into the calculator.

EFFECT: increased mooring accuracy.

2 cl, 10 dwg