CPC G05D 1/0206 (2013.01) [B63B 43/18 (2013.01); B63H 25/42 (2013.01); G01C 21/203 (2013.01); G01C 21/3804 (2020.08); G01S 13/862 (2013.01); B63H 2025/026 (2013.01)] | 20 Claims |
1. A system comprising:
a perimeter ranging system comprising one or more ultrasonic perimeter ranging sensor assemblies configured to be coupled to a mobile structure, each sensor assembly comprising one or more ultrasonic transducers each of which is operable to generate a beam; and
a logic device configured to communicate with the perimeter ranging system, wherein the logic device is configured to:
receive perimeter sensor data from each of the one or more ultrasonic perimeter ranging sensor assemblies of the perimeter ranging system;
determine a horizontal distance from the mobile structure to a navigation hazard based at least in part on the perimeter sensor data received over time from at least one of the one or more ultrasonic perimeter ranging sensor assemblies; and
generate one or more navigation control signals based, at least in part, on the determined horizontal distance, the one or more navigation control signals being configured for a navigation control system for the mobile structure, the navigation control system comprising one or more of a steering actuator, a propulsion system, and/or a thrust maneuver system, the navigation control signals being configured to control one or more of the steering actuator, the propulsion system, and/or the thrust maneuver system,
wherein the determining of the horizontal distance comprises at least one of:
(1) determining a transition time of the navigation hazard appearing in beams of two of the sensor assemblies to appearing in the beam of only one of the two sensor assemblies,
(2) determining an absolute velocity of the mobile structure and a rate of change of a range from at least one of the one or more sensor assemblies to the navigation hazard, the range being measured by the at least one of the one or more sensor assemblies, the horizontal distance being determined based at least in part on a relationship between the absolute velocity and the measured range, or
(3) tracking the navigation hazard through beams of different ones of the sensor assemblies positioned at different heights, as the mobile structure approaches the navigation hazard and the navigation hazard is first detected and ranged by at least one of the different sensor assemblies but not by at least another one of the different sensor assemblies, but is later detected and ranged by the another one of the different sensor assemblies.
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