Patent ID: 9003986
Filing Date: 2015-04-14
Classification: B63B,B63G,B63H,G05D,H02S,Y02E

Abstract:
1. An unmanned ocean-going vessel comprising; a primary hull comprising a primary axis; a rigid wing rotationally coupled with said primary hull, wherein said rigid wing freely rotates about a rotational axis of said rigid wing; a controller configured to maintain a desired heading; a control surface element configured to aerodynamically control a wing angle of said rigid wing based on a position of said control surface element, wherein said controller is configured to determine a control surface angle and generate a signal to position said control surface element based on said control surface angle; wherein said controller is further configured to calculate a plurality of control surface angles in real time during navigation to at least one waypoint location and generate a plurality of signals to position said control surface element based on said plurality of control surface angles; a rudder, wherein said controller is further configured to determine a rudder position and generate a signal to position said rudder to said rudder position; and a keel coupled with said primary hull at a first end of said keel, wherein said keel comprises ballast sufficient to provide a positive righting moment sufficient to cause said primary hull to passively right from any position.