Race route distribution and route rounding display systems and methods

Techniques are disclosed for systems and methods to provide race route distribution and/or display for mobile structures. A race route distribution and/or display system includes a race route generator, a distribution server, a display board, various race route receivers, and/or a user interface, each of which may be used in conjunction with operation of one or more mobile structures participating in a race to receive a race route from the race route generator and/or distribution server. A race route receiver may include and/or be configured to communicate with a logic device, a memory, one or more sensors, actuators/controllers, and/or corresponding interface modules. The logic device may be adapted to receive the race route and display various portions of the race route to a user using intuitive symbols and/or adjust a directional control signal provided to an actuator of the mobile structure accordingly.

TECHNICAL FIELD

One or more embodiments of the invention relate generally to route distribution and display and more particularly, for example, to systems and methods for route distribution to race participants and/or display to users of mobile structures.

BACKGROUND

Organizing movement of groups of vehicles can be an extremely complex endeavor, particularly if the vehicles are involved in a competitive race over open water. Conventionally, such organization relies heavily on human interactions to relay instructions and a race route, and such process is prone to error and can inherently limit the amount and timeliness of the information conveyed, which in turn can be a safety concern.

In particular, for sailboat racing, the race route is increasingly decided shortly before the start of the race. This leaves little time for participants to enter race marks or waypoints into marine navigation systems and build the race route. Accuracy and timeliness are important concerns, both for the race teams and for the race organizers, and anything that can streamline race route deployment and/or visualization can help maintain race safety by allowing teams to focus on the positions of their competitors. Thus, there is a need for accurate race route distribution methodologies, particularly in the context of racing involving multiple competitors navigating a course at substantially the same time.

SUMMARY

Techniques are disclosed for systems and methods to provide race route distribution and/or intuitive race route display for mobile structures. In accordance with one or more embodiments, a race route distribution and/or display system may include a race route generator, a distribution server, a display board, various race route receivers, and/or a user interface, each of which may be used in conjunction with operation of one or more mobile structures participating in a race to receive a race route from the race route generator and/or distribution server. A race route receiver may include and/or be configured to communicate with a logic device, a memory, one or more sensors, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other modules of a mobile structure. The logic device may be adapted to receive the race route and/or directional data corresponding to the mobile structure and display various portions of the race route and/or various types of control signals to a user and/or adjust a directional control signal provided to an actuator of the mobile structure accordingly. For example, various portions of the race route and/or various types of control signals may be used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure. Received race routes may be rendered and displayed to a user using a combination of graphical and textual indicators to provide for intuitive navigation and may be stored for substantially instantaneous selective recall.

In various embodiments, a race route distribution and/or display system may include an orientation sensor, a position sensor, a gyroscope, an accelerometer, and/or one or more additional sensors, actuators, controllers, user interfaces, mapping systems, and/or other modules mounted to or in proximity to a vehicle. Each component of the system may be implemented with a logic device adapted to form one or more wired and/or wireless communication links for transmitting and/or receiving sensor signals, control signals, or other signals and/or data between the various components.

In one embodiment, a system may include a logic device configured to communicate with a user interface for a mobile structure, wherein the logic device is adapted to receive a series of racemarks; determine a race route from the series of racemarks; and display the race route to a user of the mobile structure.

In another embodiment, a method may include receiving a series of racemarks; determining a race route from the series of racemarks; and displaying the race route to a user of a mobile structure.

In a further embodiment, a system may include a logic device configured to communicate with a user interface for a mobile structure, wherein the logic device is adapted to receive a series of waypoints and/or routelegs; receive rounding characteristics associated with the received waypoints and/or routelegs; and display the series of waypoints and/or routelegs and waypoint rounding indicators corresponding to the received rounding characteristics.

In another embodiment, a method may include receiving a series of waypoints and/or routelegs; receiving rounding characteristics associated with the received waypoints and/or routelegs; and displaying the series of waypoints and/or routelegs and waypoint rounding indicators corresponding to the received rounding characteristics.

DETAILED DESCRIPTION

In accordance with various embodiments of the present disclosure, race route distribution and/or display systems and methods may provide routes to mobile structures that are substantially more reliable and accurate than conventional systems across a wide variety of types of structures. For example, conventional race route distribution consists of race organizers providing race teams with a written list of waypoints, including individual latitude and longitude coordinates, and the race teams each entering all the data manually into their own marine navigation electronics. Race teams can make errors when entering any of the data, including the correct order of waypoints and/or the long series of numbers associated with each coordinate entry.

In addition, race organizers may specify a rounding characteristic for a waypoint and/or routeleg (e.g., whether the waypoint should be passed clockwise or counterclockwise when traversing the race route). Conventionally, the rounding characteristic is conveyed to race teams using flags on the course, which can draw teams' attention and distract the teams just at the time when awareness of the positioning of other teams is paramount.

One or more embodiments of the described race route distribution and/or display system may advantageously include a controller and one or more of and one or more of an orientation sensor, a gyroscope, an accelerometer, a position sensor, a speed sensor, and/or a steering sensor/actuator providing measurements of an orientation, position, acceleration, speed, and/or steering angle of the mobile structure. For example, the sensors may be mounted to or within the mobile structure (e.g., a watercraft, aircraft, motor vehicle, and/or other mobile structure), or may be integrated with the user interface and/or the controller. In some embodiments, the disclosed system may be adapted to execute one or more control loops configured to receive race route identifiers (IDs) from a route distribution server and provide the race route IDs to one or more modules of a mobile structure, such as a user interface and/or the controller, as described herein. This allows race organizers to transmit or display IDs, rather than more complex (e.g., and more prone to error) waypoint information, and embodiments of the disclosed system can generate routes from the IDs without users needing to cross reference a waypoint database or enter individual waypoint coordinates. Further, embodiments of the present disclosure can display rounding characteristics to teams in real time without drawing their attention away from their navigational displays and/or competitors.

Various embodiments of the present disclosure may be configured to automatically coordinate steering actuator operations with a race route received by the controller to provide accurate directional control of a mobile structure in accordance with the received race route. Moreover, embodiments of the present disclosure can be easier to use than conventional systems and/or methods through use of intuitive user interface display and selection techniques, as described herein.

As an example,FIG. 1Aillustrates a block diagram of a mobile structure101including a portion of a race route distribution and/or display system100in accordance with an embodiment of the disclosure. In various embodiments, system100may be adapted to provide race route distribution, display, and/or corresponding directional control for a particular mobile structure101. Directional control of a mobile structure may refer to control of any one or combination of yaw, pitch, or roll of mobile structure101. In some embodiments, system100may be adapted to measure an orientation, a position, an acceleration, and/or a speed of mobile structure101. System100may then use these measurements to control operation of mobile structure101, such as controlling steering actuator150and/or propulsion system170to steer mobile structure101according to a heading along a retrieved route, such as heading angle107, for example

In the embodiment shown inFIG. 1A, system100may be implemented to provide race route distribution and/or display for a particular type of mobile structure101, such as a drone, a watercraft, an aircraft, a robot, a vehicle, and/or other types of mobile structures. In one embodiment, system100may include one or more of a sonar system110, a user interface120, a controller130, an orientation sensor140, a speed sensor142, a gyroscope/accelerometer144, a global positioning satellite system (GPS)146, a steering sensor/actuator150, a propulsion system170, and one or more other sensors and/or actuators, such as other modules180. In some embodiments, one or more of the elements of system100may be implemented in a combined housing or structure that can be coupled to mobile structure101and/or held or carried by a user of mobile structure101.

Directions102,103, and104describe one possible coordinate frame of mobile structure101(e.g., for headings or orientations measured by orientation sensor140and/or angular velocities and accelerations measured by gyroscope144and accelerometer145). As shown inFIG. 1A, direction102illustrates a direction that may be substantially parallel to and/or aligned with a longitudinal axis of mobile structure101, direction103illustrates a direction that may be substantially parallel to and/or aligned with a lateral axis of mobile structure101, and direction104illustrates a direction that may be substantially parallel to and/or aligned with a vertical axis of mobile structure101, as described herein. For example, a roll component of motion of mobile structure101may correspond to rotations around direction102, a pitch component may correspond to rotations around direction103, and a yaw component may correspond to rotations around direction104.

Heading angle107may correspond to the angle between a projection of a reference direction106(e.g., the local component of the Earth's magnetic field) onto a horizontal plane (e.g., referenced to a gravitationally defined “down” vector local to mobile structure101) and a projection of direction102onto the same horizontal plane. In some embodiments, the projection of reference direction106onto a horizontal plane (e.g., referenced to a gravitationally defined “down” vector) may be referred to as Magnetic North. In various embodiments, Magnetic North, a “down” vector, and/or various other directions, positions, and/or fixed or relative reference frames may define an absolute coordinate frame, for example, where directional measurements referenced to an absolute coordinate frame may be referred to as absolute directional measurements (e.g., an “absolute” orientation). In some embodiments, directional measurements may initially be referenced to a coordinate frame of a particular sensor (e.g., a sonar transducer assembly or module of sonar system110) and be transformed (e.g., using parameters for one or more coordinate frame transformations) to be referenced to an absolute coordinate frame and/or a coordinate frame of mobile structure101. In various embodiments, an absolute coordinate frame may be defined and/or correspond to a coordinate frame with one or more undefined axes, such as a horizontal plane local to mobile structure101referenced to a local gravitational vector but with an unreferenced and/or undefined yaw reference (e.g., no reference to Magnetic North).

Sonar system110may be implemented as one or more electrically and/or mechanically coupled controllers, transmitters, receivers, transceivers, signal processing logic devices, various electrical components, transducer elements of various shapes and sizes, multichannel transducers/transducer modules, transducer assemblies, assembly brackets, transom brackets, and/or various actuators adapted to adjust orientations of any of the components of sonar system110, as described herein. Sonar system110may be configured to emit one, multiple, or a series of acoustic beams, receive corresponding acoustic returns, and convert the acoustic returns into sonar data and/or imagery, such as bathymetric data, water depth, water temperature, water column/volume debris, bottom profile, and/or other types of sonar data. Sonar system110may be configured to provide such data and/or imagery to user interface120for display to a user, for example, or to controller130for additional processing.

User interface120may be implemented as one or more of a display, a touch screen, a keyboard, a mouse, a joystick, a knob, a steering wheel, a ship's wheel or helm, a yoke, and/or any other device capable of accepting user input and/or providing feedback to a user. For example, in some embodiments, user interface120may be implemented and/or operated according to any one or combination of the systems and methods described in U.S. Provisional Patent Application 62/069,961 filed Oct. 29, 2014 and entitled “PILOT DISPLAY SYSTEMS AND METHODS”, which is hereby incorporated by reference in its entirety.

In various embodiments, user interface120may be adapted to accept user input and provide the user input (e.g., as a type of signal and/or sensor information) to other devices of system100, such as controller130. User interface120may also be implemented with one or more logic devices that may be adapted to execute instructions, such as software instructions, implementing any of the various processes and/or methods described herein. For example, user interface120may be adapted to form communication links, transmit and/or receive communications (e.g., sensor signals, control signals, sensor information, user input, and/or other information), render and/or display a user interface, determine various coordinate frames and/or orientations, determine parameters for one or more coordinate frame transformations, and/or perform coordinate frame transformations, for example, or to perform various other processes and/or methods.

In various embodiments, user interface120may be adapted to accept user input, for example, to configure sonar system110, to form a communication link, to select a particular wireless networking protocol and/or parameters for a particular wireless networking protocol and/or wireless link (e.g., a password, an encryption key, a MAC address, a device identification number, a device operation profile, parameters for operation of a device, and/or other parameters), to select a method of processing sensor signals to determine sensor information, to adjust a position and/or orientation of an articulated sensor, and/or to otherwise facilitate operation of system100and devices within system100. Once user interface120accepts a user input, the user input may be processed internally and/or transmitted to other devices of system100over one or more communication links.

In one embodiment, user interface120may be adapted to receive a sensor or control signal (e.g., from orientation sensor140and/or steering sensor/actuator150) over communication links formed by one or more associated logic devices, for example, and display sensor and/or other information corresponding to the received sensor or control signal to a user. In related embodiments, user interface120may be adapted to process sensor and/or control signals to determine sensor and/or other information. For example, a sensor signal may include an orientation, an angular velocity, an acceleration, a speed, and/or a position of mobile structure101. In such embodiment, user interface120may be adapted to process the sensor signals to determine sensor information indicating an estimated and/or absolute roll, pitch, and/or yaw (attitude and/or rate), and/or a position or series of positions of mobile structure101, for example, and display the sensor information as feedback to a user.

In one embodiment, user interface120may be adapted to display a time series of various sensor information and/or other parameters as part of or overlaid on a graph or map, which may be referenced to a position and/or orientation of mobile structure101. For example, user interface120may be adapted to display a time series of positions, headings, and/or orientations of mobile structure101and/or other elements of system100(e.g., a transducer assembly of sonar system110) overlaid on a geographical map, which may include a race route, waypoints, one or more graphs indicating a corresponding time series of actuator control signals, sonar data and/or imagery, and/or other sensor and/or control signals. For example, in some embodiments, user interface120may be implemented and/or operated according to any one or combination of the systems and methods described in U.S. Provisional Patent Application No. 62/099,059 filed Dec. 31, 2014 and entitled “COORDINATED ROUTE DISTRIBUTION SYSTEMS AND METHODS”, and/or U.S. Provisional Patent Application No. 61/949,864 filed Mar. 7, 2014, 2014 and entitled “SAILING USER INTERFACE SYSTEMS AND METHODS”, which are hereby incorporated by reference in their entirety.

In some embodiments, user interface120may be adapted to accept user input including a user-defined target heading, route, and/or orientation for a transducer assembly, for example, and to generate control signals for steering sensor/actuator150and/or propulsion system170to cause mobile structure101to move according to the target heading, route, and/or orientation. In further embodiments, user interface120may be adapted to accept user input including a user-defined target attitude for an actuated device coupled to mobile structure101(e.g., sonar system110), for example, and to generate control signals for adjusting an orientation of the actuated device according to the target attitude. More generally, user interface120may be adapted to display a user interface and/or sensor information to a user, for example, and/or to transmit sensor information and/or user input to other user interfaces, sensors, or controllers of system100, for instance, for display and/or further processing.

Controller130may be implemented as any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a control loop for controlling various operations of sonar system110, steering sensor/actuator150, mobile structure101, and/or system100, for example. Such software instructions may also implement methods for processing sensor signals, determining sensor information, providing user feedback (e.g., through user interface120), querying devices for operational parameters, selecting operational parameters for devices, or performing any of the various operations described herein (e.g., operations performed by logic devices of various devices of system100).

In addition, a machine readable medium may be provided for storing non-transitory instructions for loading into and execution by controller130. In these and other embodiments, controller130may be implemented with other components where appropriate, such as volatile memory, non-volatile memory, one or more interfaces, and/or various analog and/or digital components for interfacing with devices of system100. For example, controller130may be adapted to store configuration settings, sensor signals, sensor information, parameters for coordinate frame transformations, calibration parameters, sets of calibration points, and/or other operational parameters, over time, for example, and provide such stored data to a user using user interface120. In some embodiments, controller130may be integrated with one or more user interfaces (e.g., user interface120), and, in one embodiment, may share a communication module or modules. As noted herein, controller130may be adapted to execute one or more control loops for actuated device control, steering control (e.g., using steering sensor/actuator150) and/or performing other various operations of mobile structure101and/or system100. In some embodiments, a control loop may include processing sensor signals and/or sensor information in order to control one or more operations of sonar system110, mobile structure101, and/or system100.

Orientation sensor140may be implemented as one or more of a compass, float, accelerometer, and/or other device capable of measuring an orientation of mobile structure101(e.g., magnitude and direction of roll, pitch, and/or yaw, relative to one or more reference orientations such as gravity and/or Magnetic North) and providing such measurements as sensor signals that may be communicated to various devices of system100. In some embodiments, orientation sensor140may be adapted to provide heading measurements for mobile structure101. In other embodiments, orientation sensor140may be adapted to provide roll, pitch, and/or yaw rates for mobile structure101(e.g., using a time series of orientation measurements). Orientation sensor140may be positioned and/or adapted to make orientation measurements in relation to a particular coordinate frame of mobile structure101, for example.

Speed sensor142may be implemented as an electronic pitot tube, metered gear or wheel, water speed sensor, wind speed sensor, a wind velocity sensor (e.g., direction and magnitude) and/or other device capable of measuring or determining a linear speed of mobile structure101(e.g., in a surrounding medium and/or aligned with a longitudinal axis of mobile structure101) and providing such measurements as sensor signals that may be communicated to various devices of system100. In some embodiments, speed sensor142may be adapted to provide a velocity of a surrounding medium relative to sensor142and/or mobile structure101.

Gyroscope/accelerometer144may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other devices capable of measuring angular velocities/accelerations and/or linear accelerations (e.g., direction and magnitude) of mobile structure101and providing such measurements as sensor signals that may be communicated to other devices of system100(e.g., user interface120, controller130). Gyroscope/accelerometer144may be positioned and/or adapted to make such measurements in relation to a particular coordinate frame of mobile structure101, for example. In various embodiments, gyroscope/accelerometer144may be implemented in a common housing and/or module to ensure a common reference frame or a known transformation between reference frames.

GPS146may be implemented as a global positioning satellite receiver and/or other device capable of determining absolute and/or relative position of mobile structure101based on wireless signals received from space-born and/or terrestrial sources, for example, and capable of providing such measurements as sensor signals that may be communicated to various devices of system100. In some embodiments, GPS146may be adapted to determine a velocity, speed, and/or yaw rate of mobile structure101(e.g., using a time series of position measurements), such as an absolute velocity and/or a yaw component of an angular velocity of mobile structure101. In various embodiments, one or more logic devices of system100may be adapted to determine a calculated speed of mobile structure101and/or a computed yaw component of the angular velocity from such sensor information.

Steering sensor/actuator150may be adapted to physically adjust a heading of mobile structure101according to one or more control signals, user inputs, and/or other signals provided by a logic device of system100, such as controller130. Steering sensor/actuator150may include one or more actuators and control surfaces (e.g., a rudder or other type of steering mechanism) of mobile structure101, and may be adapted to physically adjust the control surfaces to a variety of positive and/or negative steering angles/positions.

Propulsion system170may be implemented as a propeller, turbine, or other thrust-based propulsion system, a mechanical wheeled and/or tracked propulsion system, a sail-based propulsion system, and/or other types of propulsion systems that can be used to provide motive force to mobile structure101. For example, in some embodiments, propulsion system170may be implemented as a sailing propulsion system including one or more masts, booms, sails, and/or one or more sensors and/or actuators adapted to sense and/or adjust a boom angle, a sail trim, and/or other operational parameters of a sailing propulsion system, as described herein.

In some embodiments, propulsion system170may be non-articulated, for example, such that the direction of motive force and/or thrust generated by propulsion system170is fixed relative to a coordinate frame of mobile structure101. Non-limiting examples of non-articulated propulsion systems include, for example, an inboard motor for a watercraft with a fixed thrust vector, for example, or a fixed aircraft propeller or turbine. In other embodiments, propulsion system170may be articulated, for example, and may be coupled to and/or integrated with steering sensor/actuator150, for example, such that the direction of generated motive force and/or thrust is variable relative to a coordinate frame of mobile structure101. Non-limiting examples of articulated propulsion systems include, for example, an outboard motor for a watercraft, an inboard motor for a watercraft with a variable thrust vector/port (e.g., used to steer the watercraft), a sail, or an aircraft propeller or turbine with a variable thrust vector, for example.

Other modules180may include other and/or additional sensors, actuators, communications modules/nodes, and/or user interface devices used to provide additional environmental information of mobile structure101, for example. In some embodiments, other modules180may include a humidity sensor, a wind and/or water temperature sensor, a barometer, a radar system, a visible spectrum camera, an infrared camera, and/or other environmental sensors providing measurements and/or other sensor signals that can be displayed to a user and/or used by other devices of system100(e.g., controller130) to provide operational control of mobile structure101and/or system100that compensates for environmental conditions, such as wind speed and/or direction, swell speed, amplitude, and/or direction, and/or an object in a path of mobile structure101, for example. In some embodiments, other modules180may include one or more actuated devices (e.g., spotlights, cameras, radars, sonars, and/or other actuated devices) coupled to mobile structure101, where each actuated device includes one or more actuators adapted to adjust an orientation of the device, relative to mobile structure101, in response to one or more control signals (e.g., provided by controller130). In further embodiments, other modules180may include a VHF radio receiver/transmitter (e.g., which may be configured as an automatic identification system (AIS) transponder), a mobile phone and/or a mobile phone interface, and/or a camera configured to receive race route data and/or IDs from a race route generator, another ship, and/or a distribution server, as described herein.

In general, each of the elements of system100may be implemented with any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a method for providing sonar data and/or imagery, for example, or for transmitting and/or receiving communications, such as sensor signals, sensor information, and/or control signals, between one or more devices of system100. In one embodiment, such method may include instructions to receive an orientation, acceleration, position, and/or speed of mobile structure101and/or sonar system110from various sensors, to determine a transducer orientation adjustment (e.g., relative to a desired transducer orientation) from the sensor signals, and/or to control an actuator to adjust a transducer orientation accordingly, for example. In a further embodiment, such method may include instructions for forming one or more communication links between various devices of system100.

In addition, one or more machine readable mediums may be provided for storing non-transitory instructions for loading into and execution by any logic device implemented with one or more of the devices of system100. In these and other embodiments, the logic devices may be implemented with other components where appropriate, such as volatile memory, non-volatile memory, and/or one or more interfaces (e.g., inter-integrated circuit (I2C) interfaces, mobile industry processor interfaces (MIPI), joint test action group (JTAG) interfaces (e.g., IEEE 1149.1 standard test access port and boundary-scan architecture), and/or other interfaces, such as an interface for one or more antennas, or an interface for a particular type of sensor).

Each of the elements of system100may be implemented with one or more amplifiers, modulators, phase adjusters, beamforming components, digital to analog converters (DACs), analog to digital converters (ADCs), various interfaces, antennas, transducers, and/or other analog and/or digital components enabling each of the devices of system100to transmit and/or receive signals, for example, in order to facilitate wired and/or wireless communications between one or more devices of system100. Such components may be integrated with a corresponding element of system100, for example. In some embodiments, the same or similar components may be used to perform one or more sensor measurements, as described herein. For example, the same or similar components may be used to receive and/or display race route data and/or IDs, and/or store sensor information, configuration data, and/or other data corresponding to operation of system100, as described herein. Sensor signals, control signals, and other signals may be communicated among elements of system100using a variety of wired and/or wireless communication techniques, including voltage signaling, Ethernet, WiFi, Bluetooth, Zigbee, Xbee, Micronet, or other medium and/or short range wired and/or wireless networking protocols and/or implementations, for example. In such embodiments, each element of system100may include one or more modules supporting wired, wireless, and/or a combination of wired and wireless communication techniques.

In some embodiments, various elements or portions of elements of system100may be integrated with each other, for example, or may be integrated onto a single printed circuit board (PCB) to reduce system complexity, manufacturing costs, power requirements, and/or timing errors between the various sensor measurements. For example, gyroscope/accelerometer144and controller130may be configured to share one or more components, such as a memory, a logic device, a communications module, and/or other components, and such sharing may act to reduce and/or substantially eliminate such timing errors while reducing overall system complexity and/or cost.

Each element of system100may include one or more batteries or other electrical power storage devices, for example, and may include one or more solar cells or other electrical power generating devices (e.g., a wind or water-powered turbine, or a generator producing electrical power from motion of one or more elements of system100). In some embodiments, one or more of the devices may be powered by a power source for mobile structure101, using one or more power leads. Such power leads may also be used to support one or more communication techniques between elements of system100.

In various embodiments, a logic device of system100(e.g., of orientation sensor140and/or other elements of system100) may be adapted to determine parameters (e.g., using signals from various devices of system100) for transforming a coordinate frame of sonar system110and/or other sensors of system100to/from a coordinate frame of mobile structure101, at-rest and/or in-motion, and/or other coordinate frames, as described herein. One or more logic devices of system100may be adapted to use such parameters to transform a coordinate frame of sonar system110and/or other sensors of system100to/from a coordinate frame of orientation sensor140and/or mobile structure101, for example. Furthermore, such parameters may be used to determine and/or calculate one or more adjustments to an orientation of sonar system110that would be necessary to physically align a coordinate frame of sonar system110with a coordinate frame of orientation sensor140and/or mobile structure101, for example, or an absolute coordinate frame. Adjustments determined from such parameters may be used to selectively power adjustment servos/actuators (e.g., of sonar system110and/or other sensors or elements of system100), for example, or may be communicated to a user through user interface120, as described herein.

FIG. 1Billustrates a diagram of system100B in accordance with an embodiment of the disclosure. In the embodiment shown inFIG. 1B, system100B may be implemented to provide race route distribution and/or display for use with operation of mobile structure101, similar to system100ofFIG. 1A. For example, system100B may include sonar system110, integrated user interface/controller/sonar controller120/130, secondary user interface120, steering sensor/actuator150, sensor cluster160(e.g., orientation sensor140, gyroscope/accelerometer144, and/or GPS146), imager cluster161, and various other sensors and/or actuators. In the embodiment illustrated byFIG. 1B, mobile structure101is implemented as a ship including a hull105b, a deck106b, a transom107b, a mast/sensor mount108b, a rudder152, a sail system170aand/or an inboard motor170b, and sonar system110including transducer assembly112coupled to transom107b. In other embodiments, hull105b, deck106b, mast/sensor mount108b, rudder152, propulsion systems170aand/or170b, and various actuated devices may correspond to attributes of a passenger aircraft or other type of vehicle, robot, or drone, for example, such as an undercarriage, a passenger compartment, an engine/engine compartment, a trunk, a roof, a steering mechanism, a headlight, a radar system, and/or other portions of a vehicle.

Also depicted inFIG. 1B, sail system170aof mobile structure101includes sail174coupled to mast/sensor mount108band boom172. Other embodiments of sail system170may include multiple sails, masts, and/or booms in various configurations, such as configurations including one or more jibs, spinnakers, mainsails, headsails, and/or various multi-mast configurations. In some embodiments, sail system170may be implemented with various actuators to adjust various aspects of sail system170, such as a boom angle for boom172or a sail trim for sail174. For example, a portion of either mast/sensor mount108bor boom172may be configured to rotate under power from a corresponding mast or boom actuator (e.g., embedded within mast/sensor mount108band/or boom172) and partially or fully furl sail174. In one embodiment, user interface/controller120/130may be configured to determine an estimated maximum speed for mobile structure101for a particular orientation (e.g., heading/yaw, roll, and/or pitch) of mobile structure101relative to a current wind direction, for example. In such embodiment, user interface/controller120/130may be configured to steer mobile structure101towards the corresponding heading using steering sensor/actuator150and/or to adjust a roll and/or pitch of mobile structure101, using actuators to adjust a boom angle of boom172and/or a furl state of sail174for example, to conform mobile structure101to the corresponding particular roll and/or pitch to help reach the estimated maximum speed.

In one embodiment, user interfaces120may be mounted to mobile structure101substantially on deck106band/or mast/sensor mount108b. Such mounts may be fixed, for example, or may include gimbals and other leveling mechanisms/actuators so that a display of user interfaces120stays substantially level with respect to a horizon and/or a “down” vector (e.g., to mimic typical user head motion/orientation). In another embodiment, at least one of user interfaces120may be located in proximity to mobile structure101and be mobile throughout a user level (e.g., deck106b) of mobile structure101. For example, secondary user interface120may be implemented with a lanyard and/or other type of strap and/or attachment device and be physically coupled to a user of mobile structure101so as to be in proximity to mobile structure101. In various embodiments, user interfaces120may be implemented with a relatively thin display that is integrated into a PCB of the corresponding user interface in order to reduce size, weight, housing complexity, and/or manufacturing costs.

As shown inFIG. 1B, in some embodiments, speed sensor142may be mounted to a portion of mobile structure101, such as to hull105b, and be adapted to measure a relative water speed. In some embodiments, speed sensor142may be adapted to provide a thin profile to reduce and/or avoid water drag. In various embodiments, speed sensor142may be mounted to a portion of mobile structure101that is substantially outside easy operational accessibility. Speed sensor142may include one or more batteries and/or other electrical power storage devices, for example, and may include one or more water-powered turbines to generate electrical power. In other embodiments, speed sensor142may be powered by a power source for mobile structure101, for example, using one or more power leads penetrating hull105b. In alternative embodiments, speed sensor142may be implemented as a wind velocity sensor, for example, and may be mounted to mast/sensor mount108b(e.g., at imager cluster161) to have relatively clear access to local wind.

In the embodiment illustrated byFIG. 1B, mobile structure101includes direction/longitudinal axis102, direction/lateral axis103, and direction/vertical axis104meeting approximately at mast/sensor mount108b(e.g., near a center of gravity of mobile structure101). In one embodiment, the various axes may define a coordinate frame of mobile structure101and/or sensor cluster160. Each sensor adapted to measure a direction (e.g., velocities, accelerations, headings, or other states including a directional component) may be implemented with a mount, actuators, and/or servos that can be used to align a coordinate frame of the sensor with a coordinate frame of any element of system100B and/or mobile structure101. Each element of system100B may be located at positions different from those depicted inFIG. 1B. Each device of system100B may include one or more batteries or other electrical power storage devices, for example, and may include one or more solar cells or other electrical power generating devices. In some embodiments, one or more of the devices may be powered by a power source for mobile structure101. As noted herein, each element of system100B may be implemented with an antenna, a logic device, and/or other analog and/or digital components enabling that element to provide, receive, and process sensor signals and interface or communicate with one or more devices of system100B. Further, a logic device of that element may be adapted to perform any of the methods described herein.

FIG. 1Cillustrates a diagram of a system100C in accordance with an embodiment of the disclosure. In the embodiment shown inFIG. 1C, system100C may be implemented to provide race route distribution and/or display for mobile structure101, similar to system100B ofFIG. 1B. For example, system100C may include various sensors and/or actuators of systems100and/or100B. In the embodiment illustrated byFIG. 1C, mobile structure101is implemented as a sailboat including sail system170a. Similar toFIG. 1B, sail system170aofFIG. 1Cincludes sail174coupled to mast/sensor mount108band boom172. Also shown are boom angle176, which may be adjusted by a boom angle actuator integrated with mast/sensor mount108band/or boom172, and sail trim178. In some embodiments, sail trim178may correspond to the angle between longitudinal axis102and a tangent plane of sail174, where the tangent plane of sail174roughly corresponds to an aggregate moment of sail174taking into account any billowing or other shape of sail174due to the competing forces of wind and the tension between sail174, boom172, and mast/sensor mount108b. More generally, sail trim178may correspond to the shape and angle of sail174relative to the present wind direction.

In some embodiments, sail trim178may be adjusted by one or more actuators configured to incrementally furl and/or unfurl sail174, to increase and/or decrease tension between sail174and mast/sensor mount108band/or boom172, and/or to adjust boom angle176. In various embodiments, sail trim178may be used to adjust a pitch, roll, and/or speed/acceleration of mobile structure101separately from adjusting a heading/steering angle of mobile structure101. For example, user interface/controller120/130may be configured adjust sail trim178to adjust a roll and/or pitch of mobile structure101, using actuators to adjust a boom angle of boom172and/or a furl state of sail174for example, to conform mobile structure101to an orientation corresponding to an estimated maximum speed.

FIG. 2illustrates a block diagram of a race route distribution and/or display system200in accordance with an embodiment of the disclosure. As can be seen inFIG. 2, system200may include a route generator210configured to communicate with a route distribution server212over a combination of communication links214and216and network230and/or optional direct communication link211. Various mobile structures101and/or display board204may each be configured to receive race route data and/or IDs from route generator210and/or distribution server212over some combination of communication links214-216, network230, and/or respective communication links232-235. Each of mobile structures101and (e.g., watercraft) may be implemented as described with respect to mobile structure101ofFIGS. 1A-C. Display board204may be implemented as a display configured to provide race route data to large groups of user simultaneously, for example, or may be implemented as a printer configured to provide physical copies of race route data to various users. In various embodiments, communication links211,214,216, and232-235, and network230, may include one or more wired and/or wireless network interfaces, protocols, topologies, and/or methodologies, as described herein.

In typical operation, route generator210may be configured to generate a race route for mobile structures101and to provide the race route to distribution server212and/or display board204. Each of mobile structures101may then access distribution server212and/or display board204and retrieve the race route. In addition, each of mobile structures101may be configured to provide corresponding operational data to distribution server212and/or to each other, such as indicating successful retrieval of a corresponding route, providing position data for a corresponding mobile structure, and/or providing other sensor data, such as environmental data corresponding to the mobile structure. In various embodiments, the race route and/or the operational data may be time stamped to differentiate old and updated routes and/or operational data.

In some embodiments, route generator210may be implemented as a logic device, a tablet computer, laptop, desktop, and/or server computer that may be configured to access various sources of environmental data and/or forecast models associated with a geographical area in which a race route is desired. In other embodiments, route generator210may be configured to receive a particular race route from race organizers, convert it to race route IDs and/or waypoints, and then provide the race route IDs and/or waypoints to any of the other elements of system200.

In some embodiments, route generator210may be configured to provide a racemark database of waypoints to mobile structures101electronically prior to providing a particular race route within the database of race waypoints (e.g., “racemarks”). In other embodiments, such database may be provided in written form for entry into a navigation system by each team. Such racemark database may include a cross reference of various detailed information of the waypoints to simplified IDs for each of the waypoints to facilitate a simpler and less prone to error distribution of a particular race route. Detailed information may include IDs, textual names, a designated color, coordinates, and/or other detailed information. In some embodiments, such racemarks may include virtual aids to navigation (virtual ATONs) that may be entered into the racemark database in a fashion similar to other physical racemarks. Such virtual ATON type racemarks could be updated dynamically during a race, and would eliminate a need to lay physical race buoys to describe a course. In some embodiments, virtual ATON type racemarks may be indicated in a racemark database and/or in a format for a particular race route ID. Virtual ATONs may also be used to identify virtual competitors in a race and/or other targets, such as for training purposes. Virtual ATONs may include additional information and/or be configured to identify other navigational hazards, such as oil spills, and act as a virtual buoy with a position that can be updated over time.

Table 1 illustrates a portion of an example racemark database.

Sources of environmental data and/or forecast models associated with a geographical area may include, for example, various satellite, radar, barometric, and/or other weather related data provided by a weather information source, various weather and/or ocean forecast models available over the Internet and/or other networks (e.g., BLUElink, HYCOM NCEP, HYCOM Navy), one or more remote sensing/reporting modules (e.g., a self-locating datum marker buoy or SLDMB), and the various mobile structures themselves (e.g., if the mobile structures are configured to provide operational data back to distribution server212and/or route generator210).

Distribution server212may be implemented as a logic device, a tablet computer, laptop, desktop, and/or server computer that may be configured receive routes generated by route generator210and provide them to mobile structures101and/or display board204. In one embodiment, distribution server212may be implemented as an email server, a twitter server, an FTP server, a text message server, and/or other data and/or ASCII file server configured to allow and/or mediate distribution of routes generated by route generator210to mobile structures101and/or display board204. In addition, distribution server212may be configured to monitor access to such routes and/or indicate successful retrieval of individual routes to route generator210(e.g., which can halt a race based on whether a particular race route is successfully retrieved and/or when it is successfully retrieved, relative to various environmental conditions).

In embodiments where mobile structures101are configured to provide operational data back to distribution server212and/or route generator210, distribution server212may be configured to receive the operational data and/or provide it to route generator210and/or to other ones of mobile structures101and/or display board204. Although distribution server212is shown separate from route generator210inFIG. 2, in some embodiments route generator210and distribution server212may be integrated into one logic device, tablet computer, laptop, desktop, and/or server computer. Also, although network230is shown as one element inFIG. 2, in various embodiments, network210may include multiple network infrastructures and/or combinations of infrastructures where, for example, each mobile structure101and/or display board204may be configured to use substantially different network infrastructures to access distribution server212.

In embodiments where race routes IDs are provided to display board204and/or to elements of mobile structures101that are unable to directly convert them to a race route, user interface120/controller130may be configured to accept user input corresponding to the user IDs and generate the race route. As an example,FIGS. 3A-Cillustrate various display views of a user interface120(e.g., which may be implemented as a touch screen or otherwise electronically selectable user interface) in accordance with embodiments of the disclosure. As shown inFIG. 3A, display view300includes header310and routing interface312. In the embodiment shown inFIG. 3A, header310includes user selectable buttons to change the display and/or various environmental data, such as current position, next waypoint, and/or current heading, for example. Also shown, routing interface312includes route selection interface/column320, which may include graphical route representations321and/or textual route information322, and user buttons340. Once a series of race route IDs are received, user interface120may be configured to provide display view300to a user and receive user input to build a new race route (e.g., labeled “Quick RouteBuild” inFIG. 3A). In other embodiments, user interface120may be configured to receive user input to create a route without IDs (e.g., labeled “New Route” inFIG. 3A), to enter or create a racemark database (e.g., labeled “Enter Mark Data” inFIG. 3A), to select a previously identified route in column320, and/or to provide other user interaction with routing interface312, as described herein.

After a user selects to build a new race route from race route IDs, user interface120may be configured to provide display view301ofFIG. 3B, which includes header310and routing interface312configured to allow a user to enter a series of race route IDs. As shown in the embodiment provided byFIG. 3B, routing interface312includes ID series display324and user buttons340configured to provide for error free entry of a series of race route IDs as shown in ID series display324. Once the series is entered, user interface120may be configured to accept user input saving the series.

After a user selects to save a series of race route IDs, user interface120may be configured to provide display view302ofFIG. 3C, which includes header310and routing interface312configured to allow a user to view the series of entered race route IDs along with various waypoint and/or routeleg (e.g., portions of the race route between waypoints) characteristics of the race route determined from the race route IDs. As shown inFIG. 3C, routing interface312may include various route information interfaces/columns (e.g., columns326-334) and user buttons340configured to provide information for a user to check the validity of the race route and the series of race route IDs and either adjust the race route or finish building the route (e.g., determine additional waypoint or routeleg characteristics from their relative geographical positions, corresponding environmental data, and/or other related characteristics of the race route and/or series of race route IDs). In the embodiment shown inFIG. 3C, column326shows a waypoint icon, name, and/or numerical identifier, column328shows a corresponding race route ID, column330shows a relative bearing of the current waypoint from the last waypoint (e.g., a routeleg bearing), a relative distance (e.g., a routeleg distance), and column334indicates whether a particular rounding characteristic (e.g., leave to starboard, or leave to port, when traversing from one routeleg to another at the designated waypoint) is associated with the waypoint and/or corresponding the routeleg(s), as described herein.

Once a user selects to finish or complete building the race route, user interface120may be configured to provide display view300ofFIG. 3Ato select the newly built route for display and/or navigation, for example, or user interface120may be configured to immediately display the newly built route or navigate according to the newly built route. In embodiments where user interface is configured to receive the race route IDs directly (e.g., without necessitating receiving user input of the IDs), user interface120may be configured to provide display view302to allow a user to verify the route before building and/or to apply various rounding characteristics, for example, or user interface120may be configured to provide display view300ofFIG. 3Ato select the newly received and built route for display and/or navigation or to immediately display the newly received and built route or navigate according to the newly received and built route. More generally, such rounding characteristics may include navigation warning indicators and/or other information associated with a racemark, waypoint, and/or routeleg, which may include one or more virtual ATONs, as described herein.

In embodiments where a race route includes rounding characteristics (e.g., where the race organizers have designated a particular rounding characteristic to ensure safety and/or a minimum course distance, for example), user interface120/controller130may be configured to display such rounding characteristics (e.g., if transmitted by route generator210and/or included in a racemark database) and/or accept user input selecting or adjusting a particular rounding characteristic corresponding to the waypoints and/or routelegs of the race route and/or corresponding race route IDs. As an example,FIGS. 4A-Billustrate various display views of a user interface120in accordance with embodiments of the disclosure.

As shown inFIG. 4A, display view400includes header310and routing interface312, which includes various route information interfaces/columns (e.g., columns326,428,430,432,334) and user buttons340configured to provide information for a user to check the validity and/or other characteristics of the race route and the series waypoints and/or routelegs of the race route and adjust the race route or characteristics of the race route/waypoints/routelegs, initiate navigation (e.g., “Follow Route”), erase or export the route, and/or select other race route options.

In the embodiment shown inFIG. 4A, column326shows a waypoint icon, name, and/or numerical identifier, column428shows a relative bearing of either the current position to the next waypoint or the current waypoint from the last waypoint (e.g., a routeleg bearing), a relative distance to the next waypoint or between adjacent waypoints in the route (e.g., a routeleg distance), column432shows the time to get to the next waypoint (or estimated times between waypoints, or routeleg traversal times) based on a current speed over ground (SOG), and column334indicates whether a particular rounding characteristic434is associated with the waypoint and/or corresponding the routeleg(s), as described herein. As shown, each waypoint is associated with a clockwise (e.g., leave to starboard) rounding characteristic. Waypoint31is shown with no rounding characteristic because it is a finish line, and so does not need to be rounded to reach an additional routeleg.

In embodiments where a user selects to display a built race route (e.g., as shown in display view300, or after selection of “Follow Route” in display view400), user interface120may be configured to display a chart or map of the race route along with a position and/or orientation of mobile structure101to facilitate navigation of mobile structure101. As an example,FIG. 4Billustrates display view401user interface120in accordance with embodiments of the disclosure. In the embodiment shown inFIG. 4B, display view401includes navigational chart414(e.g., a view of routing interface312), which shows land area450, sea area457, a position and/or heading of mobile structure101, and a race route corresponding to the one designated in display views3C and4A including waypoints A, H, R, K, and W and corresponding waypoint symbols426and waypoint rounding indicators434(e.g., all shown as clockwise).

FIG. 4Cillustrates display view402similar to display view401and including header310and navigational chart414with land area450, sea area452, an icon indicating position and/or orientation of mobile structure101, waypoint symbol426, waypoint rounding indicator434, routelegs454, and waypoint arrival notification436. As shown, in some embodiments, waypoint arrival notification436may include an appropriate waypoint rounding indicator434and various route information corresponding to an approaching (e.g., the next) waypoint).

FIGS. 5A-Gillustrate various waypoint rounding indicators for display by a user interface in accordance with embodiments of the disclosure. For example, display views500,501, and502ofFIGS. 5A-Cshow waypoint symbols426, routeleg symbols454, counterclockwise waypoint rounding indicators532, and clockwise waypoint rounding indicators533. Waypoint rounding indicators may be differentiated by color in addition to or as an alternative to a graphical symbol indicating rounding direction. Also, as shown inFIG. 5C, a particular waypoint may have multiple non-connected routelegs associated with it (e.g., routelegs455are not connected to routeleg symbols454inFIG. 5C), and so that particular waypoint can be associated with two different types of rounding indicators/characteristics (e.g., to ensure mobile structures on routeleg symbols454do not collide with or cross paths of mobile structures on routelegs455. Display view503ofFIG. 5Dshows an example of the same waypoint but with different rounding indicators, display view504ofFIG. 5Eshows an example of a waypoint symbol with a double rounding indicator (e.g., indicating a participant should round the waypoint twice, through use of double arrows or concentric arcs and arrows, for example), and display view505ofFIG. 5Eshows an example of a waypoint symbol that includes two possible (user or participant selectable) rounding characteristics indicated by an arc with opposite direction arrows. Display view506ofFIG. 5Gshows an example of a gate waypoint symbol that includes two possible (user or participant selectable) rounding characteristics indicated by a double fish hook type rounding indicator.

FIG. 6illustrates a flow diagram of process600to provide race route distribution, display, and/or navigation for mobile structure101in accordance with an embodiment of the disclosure. In some embodiments, the operations ofFIG. 6may be implemented as software instructions executed by one or more logic devices associated with corresponding electronic devices, sensors, and/or structures depicted inFIGS. 1A-Cand2. More generally, the operations ofFIG. 6may be implemented with any combination of software instructions and/or electronic hardware (e.g., inductors, capacitors, amplifiers, actuators, or other analog and/or digital components).

It should be appreciated that any step, sub-step, sub-process, or block of process600may be performed in an order or arrangement different from the embodiments illustrated byFIG. 6. For example, in other embodiments, one or more blocks may be omitted, and other blocks may be included. Furthermore, block inputs, block outputs, various sensor signals, sensor information, calibration parameters, and/or other operational parameters may be stored to one or more memories prior to moving to a following portion of a corresponding process. Although process600is described with reference to systems100,100B,100C, and/or200and/or display views inFIGS. 3A-5G, process600may be performed by other systems different from those systems and display views different from those views, including a different selection of electronic devices, sensors, assemblies, mobile structures, mobile structure attributes, user interfaces, graphics, and/or graphics attributes.

At the initiation of process600, various system parameters may be populated by prior execution of a process similar to process600, for example, or may be initialized to zero and/or one or more values corresponding to typical, stored, and/or learned values derived from past operation of process600, as described herein.

In block602, a logic device receives a series of racemarks. For example, user interface120and/or controller130of system100may be configured to receive a series of racemarks from a route distribution server and/or as user input provided to user interface120. Upon receipt of such racemarks, user interface120and/or controller130may be configured to generate, render, and/or display a routing interface comprising a route selection interface and/or one or more route information interfaces, corresponding to the various display views described herein, to a user of mobile structure101. In some embodiments, the series of racemarks may be implemented as a series of race route IDs to simplify entry, as described herein.

In other embodiments, user interface120and/or controller130may be configured to receive a racemark database prior to receiving the series of racemarks to facilitate converting race route IDs to waypoints and/or coordinate positions. In such embodiments, the racemark database may be received from a route distribution server and/or be received as user input provided to user interface120.

In block604, a logic device determines a race route from a series of racemarks. For example, user interface120and/or controller130may be configured to determine a race route, such as that shown inFIG. 4B, from the series of racemarks received in block602. In some embodiments, user interface120and/or controller130may be configured to determine one or more routeleg bearings, routeleg distances, routeleg traversal times, rounding characteristics, and/or other route information associated with the determined race route and display a routing interface comprising one or more route information interfaces corresponding to the determined one or more routeleg bearings, routeleg distances, routeleg traversal times, rounding characteristics, and/or other route information to the user of the mobile structure.

In block606, a logic device displays a race route to a user. For example, user interface120and/or controller130may be configured to display the race route determined in block604to a user of mobile structure101. In some embodiments, user interface120and/or controller130may be configured to display the race route in a navigational chart comprising a plurality of waypoint symbols, routeleg symbols, and/or waypoint rounding indicators configured to graphically show a clockwise and/or counterclockwise rounding characteristic for at least one waypoint symbol on the navigational chart. Such race route and/or associated data may also be used to adjust various operational systems of mobile structure101, including to autopilot the mobile structure.

It is contemplated that any one or combination of methods to provide race route distribution, display, and/or navigation may be performed according to one or more operating contexts of a control loop, for example, such as a startup, learning, running, and/or other type operating context. For example, process600may proceed back to block602and proceed through process600again to produce updated display views and/or imagery, as in a control loop. In some embodiments, updates to a race route may be provided after a race has begun, for example, and user interface120and/or controller130may be configured to add, delete, and/or swap racemarks by receiving and updated series of racemarks, for example, or through user input (e.g., by entering an existing race route ID and a new race route ID in a racemark swap interface similar to ID series display324ofFIG. 3B(e.g., an option for routing interface312).

Embodiments of the present disclosure can thus provide an intuitive user interface and facilitate race route distribution and generation and display of corresponding data and/or imagery. Such embodiments may be used to assist in navigation of a mobile structure and/or to assist in the operation of other systems, devices, and/or sensors coupled to the mobile structure.

FIG. 7illustrates a flow diagram of process700to provide waypoint rounding indication for mobile structure101in accordance with an embodiment of the disclosure. In some embodiments, the operations ofFIG. 7may be implemented as software instructions executed by one or more logic devices associated with corresponding electronic devices, sensors, and/or structures depicted inFIGS. 1A-Cand2. More generally, the operations ofFIG. 7may be implemented with any combination of software instructions and/or electronic hardware (e.g., inductors, capacitors, amplifiers, actuators, or other analog and/or digital components).

It should be appreciated that any step, sub-step, sub-process, or block of process700may be performed in an order or arrangement different from the embodiments illustrated byFIG. 7. For example, in other embodiments, one or more blocks may be omitted, and other blocks may be included. Furthermore, block inputs, block outputs, various sensor signals, sensor information, calibration parameters, and/or other operational parameters may be stored to one or more memories prior to moving to a following portion of a corresponding process. Although process700is described with reference to systems100,100B,100C, and/or200and/or display views inFIGS. 3A-5G, process700may be performed by other systems different from those systems and display views different from those views, including a different selection of electronic devices, sensors, assemblies, mobile structures, mobile structure attributes, user interfaces, graphics, and/or graphics attributes.

At the initiation of process700, various system parameters may be populated by prior execution of a process similar to process700, for example, or may be initialized to zero and/or one or more values corresponding to typical, stored, and/or learned values derived from past operation of process700, as described herein.

In block702, a logic device receives a series of waypoints and/or routelegs. For example, user interface120and/or controller130of system100may be configured to receive a series of waypoints and/or routelegs from a route distribution server and/or as user input provided to user interface120. Upon receipt of such waypoints and/or routelegs, user interface120and/or controller130may be configured to generate, render, and/or display a routing interface comprising one or more route information interfaces to a user of the mobile structure. In some embodiments, the series of waypoints and/or routelegs may be implemented as a series of race route IDs to simplify entry, as described herein.

In other embodiments, user interface120and/or controller130may be configured to receive a racemark database prior to receiving the series of waypoints and/or routelegs to facilitate converting race route IDs to waypoints, routelegs, and/or coordinate positions. In such embodiments, the racemark database may be received from a route distribution server and/or be received as user input provided to user interface120.

In block704, a logic device receives rounding characteristics associated with received waypoints and/or routelegs. For example, user interface120and/or controller130may be configured to receive rounding characteristics associated with waypoints and/or routelegs received in block702. In some embodiments, user interface120and/or controller130of system100may be configured to receive rounding characteristics from a route distribution server and/or as user input provided to user interface120, similar to race route IDs as described herein. Upon receipt of such rounding characteristics, user interface120and/or controller130may be configured to generate, render, and/or display a routing interface comprising one or more route information interfaces to a user of the mobile structure. In some embodiments, the rounding characteristics may be included in a racemark database, which may be received prior to or as part of receiving the rounding characteristics, as described herein. In such embodiments, the racemark database may be received from a route distribution server and/or be received as user input provided to user interface120.

In block706, a logic device displays a series of waypoints and/or routelegs and waypoint rounding indicators corresponding to received rounding characteristics. For example, user interface120and/or controller130may be configured to display the series of waypoints and/or routelegs received in block702and waypoint rounding indicators, corresponding to the rounding characteristics received in block704, to a user of mobile structure101. In some embodiments, user interface120and/or controller130may be configured to display the series of waypoints and/or routelegs and waypoint rounding indicators as a navigational chart comprising a plurality of waypoint symbols, wherein the waypoint rounding indicators are configured to graphically show a clockwise and/or counterclockwise rounding characteristic for at least one waypoint symbol on the navigational chart. Such race route and/or associated data may also be used to adjust various operational systems of mobile structure101, including to autopilot the mobile structure.

In some embodiments, user interface120and/or controller130may be configured to display waypoint rounding indicators as part of waypoint arrival notifications (e.g., as mobile structure101nears one of the waypoints shown inFIG. 4B, for example). In embodiments where a waypoint symbol (e.g., as selected by a race organizer, for example) includes an inherent rounding characteristic, user interface120and/or controller130may be configured to automatically select the appropriate rounding characteristic for display. In embodiments where a rounding characteristic is associated with a routeleg rather than a particular waypoint (e.g., at a junction between two routelegs), the waypoint symbol may be changed and/or its position moved by a user without changing the rounding characteristic for that junction in the race route. Examples of waypoint arrival notifications are provided inFIGS. 4B through 5G.

It is contemplated that any one or combination of methods to provide race route distribution, display, and/or navigation may be performed according to one or more operating contexts of a control loop, for example, such as a startup, learning, running, and/or other type operating context. For example, process700may proceed back to block702and proceed through process700again to produce updated display views and/or imagery, as in a control loop.

Embodiments of the present disclosure can thus provide an intuitive user interface and facilitate race route display to a user of a mobile device. Such embodiments may be used to assist in navigation of a mobile structure and/or to assist in the operation of other systems, devices, and/or sensors coupled to the mobile structure.