Azimuth thruster control allocation for dynamic positioning in marine freight vessel using underwater autonomous acoustic emitter

The Dynamic Positioning is a controlled system aimed at automatically maintaining the vessel´s position and heading towards by means of its propellers and maneuvering thrusters rather than anchors. The thrusters are constructed at both sides of hull to oppose the sea currents. The surface buoy is kept at a specific distance and installed with an acoustic receiver, which calculates the time of arrival (TOA) of signal from acoustic transmitter, which is being anchored over seabed. It shows about wave related to its height, velocity and heading towards the ship. Information is processed by the controller and its relative output signals are being forwarded to the Azimuth Thrusters, which in turn maintains the ship´s stability.