A version of this paper was first presented at the European Navigation Conference 2006, held under the auspices of the RIN at Manchester on 8–10 May 2006.

AIS is the most recent example of a major globally-introduced maritime navigation system. During its evolution, introduction and early in-service life, it has aroused a lot of negative comment. The basis for this negativity is examined, particularly in the light of the real experience that is now being gained by users of the system. The evolution of the AIS concept through the relevant international bodies – IMO, ITU, IALA and IEC – is discussed, together with the type of problems encountered during its introduction. Many of the problems would have been ameliorated if there had been better communication to users of the system. It is argued that the complexity of the system really required mandatory training to be undertaken, in parallel with the installation of the new equipment.

A version of this paper was first presented at the European Navigation Conference 2006, held under the auspices of the RIN at Manchester on 8–10 May 2006.

This paper reviews the need for the GLAs to develop a strategy for the integration of radionavigation services around the British Isles. After investigating the recent trends and forecasts for shipping and with a view towards the need for e-Navigation, the strategy formation process and initial findings for the development of a radionavigation plan are outlined.

Currently Vessel Traffic Service (VTS) does not have enough technical capability to monitor a crowded surveillance area to maintain safety. Without an efficient alerting system, many marine accidents have occurred due to operator oversight. In this article, a new fuzzy logic method is proposed to add vessel collision avoidance capability to VTS/AIS systems for all potential collision ships in the surveillance area. Starting from the VTS standpoint and integrating AIS data into the Marine Geographic Information System (MGIS) as a platform, the calculations of ship domain and ship inertial force are utilized to generate models of a guarding ring and danger index. By this means, a precise prediction of collision time and position can be achieved using a marine GIS spatial analyst module. The proposed method is able to enhance the VTS operator's decision-making abilities by providing a collision avoidance alerting system.

Using GPS for animal tracking applications presents many significant challenges; not least the integration of the antenna in what is usually a miniature device. This paper describes a test setup that has been constructed to allow the user to perform something close to a full antenna gain pattern test using a simple turntable and relying on the GPS satellite motion to collect all angles required for a 3D gain plot. This has proved invaluable when predicting the expected performance of various antenna/packaging options for animal tags.

European Air Traffic Management is extremely safe. The drawback to this safety record is that it is very difficult to estimate what the ‘underlying’ accident rate for mid-air collisions is now, or to detect any changes over time. The aim is to see if it possible to construct simple ATM safety indicators that correlate with this underlying accident rate. A perfect indicator would be simple to comprehend and capable of being calculated by a checklist process. This problem has been examined using a combination of analogies with simple ‘defensive’ systems with Markov process properties. An important concept is that of ‘system control’: the ability to determine the outcome against reasonably foreseen changes and variations of system parameters. The statistical distribution of future incidents has been analysed by focusing on an index – the Close Proximity Index (CPI) – of separation at the Closest Point of Approach. A promising indicator is ‘Incident Not Resolved by ATC’ (INRA) incidents in which the ground ATC defences have been ‘used up’. ATM Incidents can also be categorised in other ways. Two examples are reviewed: the risk-bearing category for Airproxes and ‘risk of collision/severity’ scores. The second is more promising conceptually, but the existing scoring system has not been demonstrated to have the properties necessary to derive risk estimates. The key question is: if someone says they know how to make a good estimate of the underlying accident rate, then how could this claim be tested? If it correlates very well with INRA, then what would be the argument for saying that it is a better indicator?

Ionospheric plasma irregularities or bubbles, that are regions with depleted density, are generated at the magnetic equator after sunset due to plasma instabilities, and as they move upward they map along the magnetic field lines to low latitudes. To analyse the temporal and spatial evolution of the bubbles over Brazilian territory, the mapping of ionospheric plasma bubbles for the night of 17/18 March 2002 was generated using data collected from one GPS receiver array, and applying interpolation techniques. The impact on the performance of Global Navigation Satellites System (GNSS) and on the Space Based Augmentation System (SBAS) in the tropical regions of the GPS signal losses of lock and of the signal amplitude fades during ionospheric irregularities is presented.

The rapid development of positioning technology, wireless communication and mobile devices has given rise to the exciting Location Based Services (LBS) thus significantly influencing existing navigational procedures. Motivated by the increasing need to search efficiently through a huge number of service locations (e.g. restaurants, hotels, shops, and more), this paper presents an efficient spatial index QR-tree, a hybrid index structure of Quadtree and R-tree, instead of the exhaustive search to improve the performance in response to user queries. QR-tree consists of two levels: the upper level is a Quadtree residing in the main memory which partitions the data space and the lower level is disk-resident R-trees assigned to the subspaces resulting from the partitioning process. Computational experiments show that the hybrid index structure is able to reduce query response time by up to 30% and achieve significant improvement on data update over the conventional indexing methods, thereby providing an effective option for efficient navigation services.

Positioning in the urban environment using GNSS is hampered by poor satellite availability due to signal obstruction created by both man-made and natural features of the urban environment. In addition, range measurement to satellites for positioning and for navigation is severely degraded by the multipath effect. The arrival and continuous enhancement of computerised geometric city models makes it possible to tackle these problems through modelling. In this paper description is given of a method for determining the local multipath environment, defined by the surfaces within a city model that will cause disruptive signal reflections to be presented to a receiver. An example simulation is performed, and graphical and numerical results are produced.

In the work package “Integrated Positioning” of the research project NAVIO (Pedestrian Navigation Systems in Combined Indoor/Outdoor Environments) we are dealing with the navigation and guidance of visitors to our University. The start points are the public transport stops in the surroundings of the Vienna University of Technology and the system users should be guided to certain office rooms or persons. For the user's position determination different location sensors are employed, i.e., for outdoor positioning GPS and dead reckoning sensors, such as a digital compass and gyro for heading determination, accelerometers for the determination of the distance travelled, a barometric pressure sensor for altitude determination and, for indoor areas, location determination using WiFi fingerprinting. All sensors and positioning methods are combined and integrated using a Kalman filter. An optimal estimate of the current location of the user is obtained using the filter. To perform an adequate weighting of the senors in the stochastic filter model, the sensor characteristics and performance were investigated in several tests. The tests were performed in different environments either with free satellite visibility, in urban canyons or inside buildings. The tests have shown that it is possible to determine the user's location continuously with the required precision and that the selected sensors provide a good performance and high reliability. Selected tests results and our approach are presented in the paper.

Strapdown inertial navigation systems (INS) often employ aiding sensors to increase accuracy. Nonlinear filtering algorithms are then needed to fuse the collected data from these aiding sensors with measurements of strapdown rate gyros. Aiding sensors usually have slower dynamics compared to gyros and therefore collect data at lower rates. Thus the system will be unobservable between aiding sensors' sampling instants, and the error covariance, which shows the uncertainty in the estimation, grows during the sampling period. This paper presents a divided difference filter (DDF)-based data fusion algorithm, which utilizes the complementary noise profile of rate gyros and gravimetric inclinometers to extend their limits and achieve more accurate attitude estimates. It is confirmed experimentally that DDF achieves better covariance estimates compared to the extended Kalman filter (EKF) because the uncertainty in the state estimate is taken care of in the DDF polynomial approximation formulation.

One of the popular techniques for solving GPS pseudorange nonlinear quadratic equations to obtain the receiver's position and clock bias involves linearizing the equations and solving them by the least-squares (LS) scheme, which is based on the L2 minimization criterion. When outliers are a problem, LS estimation scheme may not be the best approach because the LS estimator minimizes the mean squared error of the observations. This paper discusses the implementation aspects of L1 and L∞ criteria, and their outlier resistance performance for GPS positioning. Three ordinary differential equation formulation schemes and corresponding circuits of neuron-like analogue L1 (least-absolute), L∞ (minimax), and L2 (least-squares) processors will be employed for GPS navigation processing. The circuits of simple neuron-like analogue processors are employed essentially for solving systems of linear equations. Experiments on single epoch and thereafter kinematic positioning will be conducted by computer simulation for investigating the outlier resistance performance for the least-absolute and minimax schemes as compared to the one provided by the least-squares scheme.

In this paper, we propose new separated decision variables that are derived by directly using the normal distribution of each measurement error and allowing substitution of the chi-square variable of the conventional method. In the derivation of the proposed decision variables, we considered not only the related mathematical model, but also the additional unmodelled properties of GPS measurements. Using the sequential pseudo-moving-average technique, we developed a method that easily obtains the combined results of multiple epochs. To verify our proposed algorithm, we analysed its performance using real data and compared the results with those of the conventional method. Our proposed approach performs better than the conventional approach, and effectively reduces computational effort by approximately 60%. Our results demonstrate that our method achieves a solution that is as reliable as the conventional technique, while reducing the time required to only 15% of that required by the conventional technique.

Traditionally, on a great circle, the latitude or longitude of a waypoint is found by inspection. In this paper, using an elementary knowledge of vector algebra including linear combination of vectors and vector basis, we provide an easy method for finding the equation of a great circle path as a parameterized curve. By use of this vector function of distance travelled, the latitude and longitude of waypoints can be found based on the distance from departure point along a great circle. The approach is intended to appeal to the navigator who is interested in the mathematics of navigation and who, nowadays, solves his navigation problems with a personal computer.

We were amused by the Cross Track Distance at Mid-Longitude problem posed by Paul Hickley in The Journal of Navigation 57, 320. Two professors, John Ponsonby and Peter Hoare, replied to the invitations immediately. Both their solutions to the original article give superb accuracy. The two solutions are certainly ingenious and creative and encouraged us to develop new formula for building the Mid-Longitude Equation on great circle. Regrettably, the original author doesn’t think that the two were the solution that ATPL examiners were looking for. I also think that the two solutions would be beyond the capacity of the average undergraduate. Our method gives a good understanding logically and easily to be mnemonic, and the derivation process is found without any need to appeal to any formula of spherical trigonometry.