Yes but a ship alone cannot pick up a discovery tile on a regular tile. An influence disk is required right?
Yes, Tim quoted the relevant rule section. There is no mention of a discovery tile in the rulebook that explains a different mechanism for picking it up other than placing an influence disc.
Rulebook, p7 wrote:
Some hexes contain a Discovery Tile which is awarded to you when you first take control of the hex by placing an Influence Disc there.