US 12,272,249 B1
Proximity sensing system and method for a marine vessel with automated proximity sensor location estimation
Matthew E. Derginer, Butte des Mort, WI (US); Aaron J. Ward, Oshkosh, WI (US); and Travis C. Malouf, Germantown, WI (US)
Assigned to Brunswick Corporation, Mettawa, IL (US)
Filed by Brunswick Corporation, Mettawa, IL (US)
Filed on Sep. 29, 2023, as Appl. No. 18/478,089.
Application 18/478,089 is a continuation of application No. 17/873,567, filed on Jul. 26, 2022, granted, now 11,816,994.
Application 17/873,567 is a continuation of application No. 16/674,889, filed on Nov. 5, 2019, granted, now 11,436,927, issued on Sep. 6, 2022.
Claims priority of provisional application 62/770,499, filed on Nov. 21, 2018.
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 3/00 (2006.01); B63B 49/00 (2006.01); B63H 25/04 (2006.01); G05D 1/00 (2024.01); G08G 3/02 (2006.01)
CPC G08G 3/02 (2013.01) [B63B 49/00 (2013.01); B63H 25/04 (2013.01); G05D 1/0206 (2013.01); B63H 2025/045 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A proximity sensing system on a marine vessel, the system comprising:
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;
a first sensor IMU positioned on the marine vessel at the first sensor location and at a first installation attitude;
a control system 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 on the marine vessel are initially unknown;
calibrate the proximity measurements from the first proximity sensor based on the main IMU data and the first IMU data; and
adjust subsequently measured proximity measurements from the first proximity sensor based on the calibration.