CPC B63H 9/061 (2020.02) [B63B 1/10 (2013.01); B63B 1/12 (2013.01); B63B 1/125 (2013.01); B63B 43/00 (2013.01); B63B 43/02 (2013.01); B63B 71/20 (2020.01); B63G 8/001 (2013.01); B63G 8/22 (2013.01); B63G 8/28 (2013.01); B63G 8/38 (2013.01); B63H 9/08 (2013.01); B63H 25/04 (2013.01); B63H 25/38 (2013.01); G05D 1/0206 (2013.01); G05D 1/0875 (2013.01); H02S 40/38 (2014.12); B63B 2035/007 (2013.01); B63G 2008/004 (2013.01); B63H 9/0635 (2020.02); B63H 2009/082 (2013.01); B63H 2025/045 (2013.01)] | 20 Claims |
1. An unmanned sailing vehicle comprising;
a primary hull;
a rigid wing rotationally coupled with said primary hull, wherein said rigid wing freely rotates about a rotational axis of said rigid wing;
a boom comprising a first end extending from a leading edge of said rigid wing and a second end extending from a trailing edge of said rigid wing, said first end of said boom comprising a counterweight configured to dynamically balance a wing system comprising said rigid wing, said boom, and a tail coupled to said second end of said boom with respect to said rotational axis of said rigid wing;
a control surface element disposed on said tail and configured to aerodynamically control a wing angle of said rigid wing based on a position of said control surface element;
a controller configured to determine a control surface angle and generate a signal to position said control surface element based on said control surface angle.
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