Patent ID: 8606440
Filing Date: 2013-12-10
Classification: B63B,B63H

Abstract:
1. A method for determining direction to a target position during steering of a point on an object towed by a towing device, the object being provided with a bird ( 10 ), said method employs feedback-free control in determining the direction and comprises the following steps: determining a first target position from a set of target positions ( determining by means of GPS combined with compass and triangular, trilateral, or triangular and trilateral acoustic measurements a position of a first object point ( determining velocity and acceleration of the object point ( determining a distance vector ( calculating the time taken before the first object point ( calculating a necessary acceleration of the first object point ( transferring the necessary acceleration value to a steering system for the corresponding bird ( at a later point in time and before the first target position ( determining a position of a second object point ( determining velocity and acceleration of the second object point ( determining a distance vector ( calculating the time taken before the second object point ( calculating a necessary acceleration of the second object point ( transferring the necessary acceleration value to the steering system for the corresponding bird ( wherein the steering system directs each object point (