Patent ID: 6470246
Filing Date: 2002-10-22
Classification: B63B,B63G

Abstract:
A method of controlling the lateral position of a towed body, comprising the steps of:providing a body in water, said body being equipped with means for effecting aileron, elevator and rudder control thereof; pulling said body through the water along a known direction of travel; defining a frame of reference having one axis along said known direction of travel; defining a lateral correction to said known direction of travel in said frame of reference, said lateral correction defined by a distance measured perpendicular to said one axis; determining a first command indicative of an aileron control that would cause said means for effecting to move said body laterally of said direction of travel by an amount equal to said lateral correction; determining a second command indicative of a rudder control that would cause said means for effecting to move said body laterally of said direction of travel by an amount equal to said lateral correction; combining said first command and said second command to define a combined command; and applying said combined command to said means for effecting.