Position locating system, marine vessel, and trailer for marine vessel

Patent metadata

Field	Value
Publication number	US-12195147-B2
Application number	US-202217875493-A
Country	US
Kind code	B2
Filing date	Jul 28, 2022
Priority date	Aug 4, 2021
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

A position locating system to determine relative position information between a marine vessel and a trailer includes a first GNSS receiver located on one of a marine vessel and a trailer to receive a positioning signal from a positioning satellite, a second GNSS receiver located on the other of the marine vessel and the trailer to receive the positioning signal from the positioning satellite, a registering unit to register a current position of the trailer based on the positioning signal received by the first GNSS receiver when the trailer is stationary, a direction obtaining unit to obtain a direction of the marine vessel, a generating unit to generate correction information in real time based on the current position and the positioning signal received from the positioning satellite by the first GNSS receiver, and a position locator to determine relative position information between the marine vessel and the trailer.

First claim

What is claimed is:

1. A position locating system comprising:
a first GNSS receiver located on a first object that is one of a marine vessel and a trailer for the marine vessel and configured or programmed to receive a positioning signal from a positioning satellite;
a second GNSS receiver located on a second object that is the other of the marine vessel and the trailer and configured or programmed to receive the positioning signal from the positioning satellite;
a controller configured or programmed to function as:
a registering unit to register a current position of the first object based on the positioning signal received from the positioning satellite by the first GNSS receiver in a state that the first object is stationary;
a direction obtaining unit to obtain a direction of the second object; and
a generating unit to generate correction information in real time based on the current position registered by the registering unit and the positioning signal received from the positioning satellite by the first GNSS receiver; and

a position locator configured or programmed to determine relative position information between the marine vessel and the trailer based on the direction of the second object obtained by the direction obtaining unit, the correction information generated by the generating unit, and the positioning signal received from the positioning satellite by the second GNSS receiver at a time coincident to receiving the positioning signal by the first GNSS receiver; wherein
the position locator is configured or programmed to determine a distance between the marine vessel and the trailer based on the correction information generated by the generating unit, and the positioning signal received from the positioning satellite by the second GNSS receiver at the time coincident to receiving the positioning signal by the first GNSS receiver.

2. The position locating system according to claim 1 , wherein
the first object is the trailer and the second object is the marine vessel;
a third GNSS receiver configured or programmed to receive the positioning signal from the positioning satellite is located at a position on the marine vessel different from that of the second GNSS receiver; and
the direction obtaining unit is configured or programmed to obtain a direction of the marine vessel based on the positioning signal received from the positioning satellite by the second GNSS receiver and the positioning signal received from the positioning satellite by the third GNSS receiver.

3. The position locating system according to claim 2 , wherein one of the second GNSS receiver and the third GNSS receiver is located on a bow of the marine vessel, and the other of the second GNSS receiver and the third GNSS receiver is located on a stern of the marine vessel.

4. The position locating system according to claim 2 , wherein one of the second GNSS receiver and the third GNSS receiver is located on a left side of the marine vessel, and the other of the second GNSS receiver and the third GNSS receiver is located on a right side of the marine vessel.

5. The position locating system according to claim 1 , wherein the direction obtaining unit is configured or programmed to obtain the direction of the second object from a direction sensor.

6. The position locating system according to claim 1 , further comprising:
a second direction obtaining unit to obtain a direction of the first object; wherein
the position locator is configured or programmed to determine an orientation of the second object as viewed from the first object based on the relative position information, and the direction of the first object obtained by the second direction obtaining unit.

7. The position locating system according to claim 1 , wherein the position locator is configured or programmed to determine the relative position information by using a Real Time Kinematic positioning method.

8. A marine vessel that is the first object or the second object in the position locating system according to claim 1 , the marine vessel comprising:
at least one of the registering unit, the direction obtaining unit, the generating unit, or the position locator of the position locating system.

9. A trailer for a marine vessel that is the first object or the second object in the position locating system according to claim 1 , the trailer comprising:
at least one of the registering unit, the direction obtaining unit, the generating unit, or the position locator of the position locating system.

10. A position locating system comprising:
a first GNSS receiver located on a first object that is one of a marine vessel and a trailer for the marine vessel and configured or programmed to receive a positioning signal from a positioning satellite;
a second GNSS receiver located on a second object that is the other of the marine vessel and the trailer and configured or programmed to receive the positioning signal from the positioning satellite;
a controller configured or programmed to function as:
a registering unit to register a current position of the first object based on the positioning signal received from the positioning satellite by the first GNSS receiver in a state that the first object is stationary;
a direction obtaining unit to obtain a direction of the second object; and
a generating unit to generate correction information in real time based on the current position registered by the registering unit and the positioning signal received from the positioning satellite by the first GNSS receiver; and

a position locator configured or programmed to determine relative position information between the marine vessel and the trailer based on the direction of the second object obtained by the direction obtaining unit, the correction information generated by the generating unit, and the positioning signal received from the positioning satellite by the second GNSS receiver at a time coincident to receiving the positioning signal by the first GNSS receiver; wherein
the position locator is configured or programmed to determine an orientation of the first object as viewed from the second object based on the direction of the second object obtained by the direction obtaining unit, the correction information generated by the generating unit, and the positioning signal received from the positioning satellite by the second GNSS receiver at the time coincident to receiving the positioning signal by the first GNSS receiver.

11. A position locating system comprising:
a first GNSS receiver located on a first object that is one of a marine vessel and a trailer for the marine vessel and configured or programmed to receive a positioning signal from a positioning satellite;
a second GNSS receiver located on a second object that is the other of the marine vessel and the trailer and configured or programmed to receive the positioning signal from the positioning satellite;
a controller configured or programmed to function as:
a registering unit to register a current position of the first object based on the positioning signal received from the positioning satellite by the first GNSS receiver in a state that the first object is stationary;
a direction obtaining unit to obtain a direction of the second object; and
a generating unit to generate correction information in real time based on the current position registered by the registering unit and the positioning signal received from the positioning satellite by the first GNSS receiver;

a position locator configured or programmed to determine relative position information between the marine vessel and the trailer based on the direction of the second object obtained by the direction obtaining unit, the correction i

Assignees

• Yamaha Motor Co Ltd

Inventors

• Inoue Hiroshi

Classifications

• G01S19/243

  Demodulation of navigation message · CPC title

• G01S19/43

  using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry · CPC title

• G01S19/41

  Differential correction, e.g. DGPS [differential GPS] · CPC title

• G01S19/51

  Relative positioning · CPC title

• G01S19/54

  using carrier phase measurements; using long or short baseline interferometry · CPC title