The safety on board medium-sized fishing vessels in relation to working conditions on the bridge is analysed by means of a problem-solving method developed by the Safety Science Group of the Delft University of Technology. The potential of the method is illustrated by a number of case studies on selected aspects of the bridge design, since a complete application of the method is not yet available.

The content of this paper was presented at the International Maritime Association of the Mediterranean, 8th International Congress on Marine Technology in Istanbul, November 1997.

The effect of different measurement points on an acquired target is theoretically investigated with respect to the ARPA plotting performance. The target is described by simple geometrical figures and the echo is simplified. The actual measurement position is generally not at the centre of the target. This may cause errors in the standard plotting results. The characteristics of these errors are discussed from a nautical viewpoint.

The Global Positioning System (GPS) can be employed as a free attitude determination interferometer when carrier phase measurements are utilized. Conventional approaches for the baseline vectors are essentially based on the least-squares or Kalman filtering methods. The raw attitude solutions are inherently noisy if the solutions of baseline vectors are obtained based on the least-squares method. The Kalman filter attempts to minimize the error variance of the estimation errors and will provide the optimal result while it is required that the complete a priori knowledge of both the process noise and measurement noise covariance matrices are available. In this article, a neural network state estimator, which replaces the Kalman filter, will be incorporated into the attitude determination mechanism for estimating the attitude angles from the noisy raw attitude solutions. Employing the neural network estimator improves robustness compared to the Kalman filtering method when uncertainty in noise statistical knowledge exists. Simulation is conducted and a comparative evaluation based on the neural network estimator and Kalman filter is provided.

A ship lock zone represents a specific area on waterway, and control of the ship lockage process requires a comprehensive approach. This research is a practical application of a Mamdani-type fuzzy inference system and particle swarm optimisation to control this process. It presents an optimisation process that adapts control logic to the desired criteria. The initially proposed Fuzzy Expert System (FES) was developed using suggestions from lockmasters (ship lock operators) with extensive experience. Further optimisation of the membership function parameters of the input variables was performed to achieve better results in the local distribution of ship arrivals. The presented fuzzy logic-based expert system was designed as part of a Programmable Logic Controller (PLC) and Supervisory Control And Data Acquisition (SCADA) system to support decision making and control. The developed fuzzy algorithm is a rare application of artificial intelligence in navigable canals and significantly improves performance of the ship lockage process. This adaptable FES is designed to be used as a support in decision-making processes or for the direct control of ship lock operations.

The standards for CSTDMA Class B AIS will shortly be published by the International Electrotechnical Commission and equipment will become available during 2006. The perceived benefits that Class B brings to leisure craft users and its relatively low cost will make it attractive in the market place. A rapid take-up of Class B use can therefore be expected. This paper considers the impact that increased use of Class B will have on users of Class A AIS that are compulsorily fitted to larger vessels to meet the requirements of the International Maritime Organization Safety of Life at Sea convention. The CSTDMA Class B system has been designed to prevent overloading of the AIS VHF data link. This is briefly reviewed but there are a number of other aspects that need to be considered. These include: the increased garbling of Class B messages compared to those of Class A; the problems accruing from the low update rate of Class B information; the increase in display information that will need to be managed; and the possible increase in inappropriate manoeuvres of leisure craft caused by misplaced reliance on AIS. As a result of the investigation the paper highlights the fact that Class B users must not assume that their own presence, in the form of Class B transmissions, will be particularly visible on the bridge of many SOLAS vessels. This will continue to be the case for many years into the future, until such vessels are mandated to carry radar with AIS target overlay capability.

Controlling a ship in a berthing operation is carried out mainly by the change of state, such as velocity and yaw rate (turn rate), although the value of the change of state is very small at berthing. Very high precision is, therefore, required to determine the velocity and angular velocity. A sensor that has an accuracy of ±0.02°/s (1 σ) is sought for determination of turn rate in a berthing system. Three-dimensional angular velocity can directly be determined, with 2 independent baselines of 3 GPS antennas, using instantaneous Doppler measurements or phase rate (temporal difference of phase) observations. This paper discusses the mathematical model for direct determination of angular velocity using GPS, and the comparison of the results of the angular velocity determination using the Doppler and phase rate. The precision of angular velocity determination is estimated using temporal difference of the attitude sensors (TSS and gyrocompass) on board a hydrographic sounding ship. The RMS values of the difference of yaw rate determination between the two systems were: ±0.16°/s using phase rate and ±0.31°/s using Doppler measurements with the separation of onboard antennas of ca. 1·34 m. 10 m baselines could satisfy the sensor requirements for angular velocity determination during berthing maneuvers.

A strapdown inertial navigation system and celestial navigation system integrated autonomous navigation scheme is proposed in this paper, using the navigation information obtained from Earth sensors and star sensors. To eliminate the adverse effect caused by the asymmetry of Earth infrared radiance, the relationship between Earth infrared radiance brightness and effective horizon height is found. According to the relationship as well as the measuring principle of the Earth sensor, this paper derives a function to correct the measurement of the Earth sensor. Then, the angle-distance of stars can be calculated, and using this information, we can estimate the navigation information of a ballistic missile by least square estimation. The simulation results show that the error of Earth infrared radiance has a great effect on the navigation precision, and by using the correction scheme, this adverse effect can be greatly mitigated. This correction scheme is available and effective.

This paper discusses the preliminary performance analysis result of the Asia-Pacific Global Navigation Satellite Systems (GNSS) Test Bed. Currently, seven Asia-Pacific economies are participating in the Test Bed project, namely Australia, Chinese Taipei, Indonesia, Malaysia, the Philippines, Thailand and Vietnam. The Test Bed was commissioned in May 2006. The discussion topics in this paper include Test Bed system architecture and preliminary analysis of the system performance. As presented in this paper, while current Satellite-Based Augmentation System (SBAS) algorithms can improve the accuracy performance of GPS positioning results, it cannot fulfill the integrity performance required by civil aviation community. This paper analyzes the limitation of the algorithm and proposes future research topics related to the limitation.

Safe navigation in restricted waters continues to be a perennial concern for ship owners, operators, navigators, and citizens. The Nieuw Amsterdam, a cruise ship which ran aground in Southeast Alaska in August 1994; the Royal Majesty, another cruise ship which ran aground 10 miles east of Nantucket Island in June 1995; and the Regent Star, which caught fire in Prince William Sound, Alaska on 22 July, 1995, are just a few of the recent incidents which remind us of the importance of safe navigation in restricted waters. Clearly, the Braer, the World Prodigy, and the Exxon Valdez provide other examples of the importance of safe navigation in close waters. Fire, collision, allisions and groundings can result if vessels navigating in such waters stray.

Synchronisation of the received Pseudorandom (PRN) code and its locally generated replica is fundamental when estimating user position in Global Navigation Satellite System (GNSS) receivers. It has been observed through experiments that user position accuracy decreases if sampling frequency is an integer multiple of the nominal code rate. This paper provides an accuracy analysis based on the number of samples and the residual code phase of each code chip. The outcomes reveal that the distribution of residual code phases in the code phase range [0, 1/ns), where ns is the number of samples per code chip, is the root cause of accuracy degradation, rather than the ratio between sampling frequency and nominal code rate. Doppler frequencies, coherent integration periods, front-end filter bandwidths and received Carrier to Noise ratios (C/N0) also influence receiver accuracy. Also provided are a sampling frequency selection guideline and new proposed estimates of the correlation output and the Delay Locked Loop (DLL) tracking error, which can be applied to precisely model GNSS receiver baseband signal processing.

Efficient and precise geolocation can be achieved by integrating a ranging system, such as GPS, with inertial sensors in order to bridge short outages, enhance accuracy degradation, and increase the temporal resolution in the ranging system. Optimal integration depends on appropriate filter methods that can accommodate the particular short-term dynamics experienced by platforms, such as UXO ground-based detection systems. The traditional extended Kalman filter was designed to integrate data from a linearized system excited by Gaussian noise. We compared this filter to modern filters that obviate these prerequisites, including the unscented Kalman filter, the particle filter, and adaptive variations thereof, using simulated IMU/ranging systems that follow a typical trajectory with both straight and curved segments. The unscented filter performed significantly better than the extended Kalman filter, particularly over the curved segments, yielding up to 50% improvement in the position accuracy using medium-grade inertial measurement units. Similar improvement was obtained for the unscented particle filter, and its adaptive variant, over the unscented Kalman filter (which performed comparably to the extended Kalman filter) when the statistical distribution of the IMU noise was non-symmetric (i.e., essentially non-Gaussian). While the few-centimetre geolocation accuracy goal for highly dynamic UXO characterization applications remains a challenge if tactical grade IMUs are integrated with a significantly degraded ranging system, using filters appropriate to the inherent nonlinear dynamics and potential non-Gaussian nature of the sensor noise tend to reduce overall errors compared to the traditional filter.

Armed with the axiom that the best way to avoid collision at sea is for one ship to pass under the stern of the other, this paper revisits the early steering and sailing rules. It conjectures that the port tack rule was an antidote to the sailing ship's imperative to gain ground to windward even at the cost of risk of collision. It draws attention to evidence that with early steamships, free of the port tack rule, one altered course to pass astern of the other and that, in fact, the one to alter was invariably the faster of the two. It traces, to the want of prescribed navigation lights, the introduction of the port helm/right rudder rule for all ships by day and by night. It records how with the introduction of prescribed lights the port tack rule, though in a form proposed by France, was re-introduced for sailing ships together with an analogous crossing rule for streamers. The paper concludes that the port tack rule is redundant in this collision conscious age and that its objective of motivating one ship to alter course can be achieved by making both ships to blame in the event of a collision. It is submitted that these lessons offer the e-navigator a method of avoiding collision at sea applicable in all situations; the only technical requirement for its safe conduct is for each ship to be able to tell instantly and accurately at any moment how the other ship is heading.

In the paper Piracy at Sea: Somalia an Area of Great Concern (Baniela, 2010), a general up-to-date vision of piracy at sea in Somalia was analysed. As piracy at sea has political, socio-economic, security and humanitarian dimensions, the international community requires a thorough approach that embraces a comprehensive and multi-faceted response of effective counter-measures, both onshore and offshore. So as a follow-up to that paper, the objective of this one is to analyse the impact of the current strategy in the struggle against piracy in Somalia carried out by the international community focused solely at sea and to examine the proposals to find a solution to the problem on land.

Multipath arises from the reception of reflected or diffracted signals in addition to the Line-Of-Sight (LOS) signal. By using a block processing high sensitivity receiver scheme, this paper aims to obtain better positioning performance in urban canyon areas. Generally, the peak with the most power is utilised in high sensitivity receivers; however, this approach is not always optimal in multipath environments. Noting that signal correlation peaks may be separated in the Doppler domain by a long coherent integration time, a peak identification scheme is proposed in this work, which yields better positioning performance. It is shown that most of the multipath peaks are removed in the receiver after using the proposed algorithm.

The paper presents the error characteristics of a vehicle dynamic model (VDM)-based integration architecture for fixed-wing unmanned aerial vehicles. Global navigation satellite system (GNSS) and inertial measurement unit measurements are fused in an extended Kalman filter (EKF) which uses the VDM as the main process model. Control inputs from the autopilot system are used to drive the navigation solution. Using a predefined trajectory with segments of both high and low dynamics and a variable wind profile, Monte Carlo simulations reveal a degrading performance in varying periods of GNSS outage lasting 10 s, 20 s, 30 s, 60 s and 90 s, respectively. These are followed by periods of re-acquisition where the navigation solution recovers. With a GNSS outage lasting less than 60 s, the position error gradually grows to a maximum of 8⋅4 m while attitude errors in roll and pitch remain bounded, as opposed to an inertial navigation system (INS)/GNSS approach in which the navigation solution degrades rapidly. The model-based approach shows improved navigation performance even with parameter uncertainties over a conventional INS/GNSS integration approach.

To effectively design navigation and travel information systems, car manufacturers need data on how these systems are typically used. In this study, researchers surveyed thirty typical drivers and eleven auto experts to determine previously visited destinations, favourite destinations, and other information. Unexpectedly, subjects predominantly reported they used navigation systems to reach familiar destinations (typical drivers: 61%; auto experts: 89%). History was self-reported to be a very common entry method (typical drivers: 30%; auto experts: 24%), which conflicted with data retrieved from navigation systems (both groups: <1%). Based on the history list, common trip purposes included Shopping and visiting Friends' Houses.

Since the descriptors based on Three-Dimensional (3D) Zernike moments are robust to geometric transformations and noise, they have been proposed for terrain matching. However, terrain matching algorithms based on 3D Zernike Moments (3DZMs) are often difficult to implement in practice since they are computationally intensive. This paper presents a more efficient real-time terrain matching algorithm based on 3DZMs for land applications. Two efficient methods based on coordinate transformation and symmetry are proposed to compute the geometric moments. The impact of the sample difference on the matching result due to heading angle is investigated to prove the feasibility of using a circular template. Consequently, the terrain feature vectors of the reference map can be computed off-line with the circular template to significantly reduce on-line computation. Numerical experiments on a real digital elevation model demonstrate that the proposed algorithm is robust to the heading angle and can be implemented for real-time terrain matching operations.

Both the code–phase combination and the Geometry-Free (GF) phase combination are widely employed to detect and repair cycle slips for BeiDou Navigation Satellite System (BDS) triple-frequency observations. However, the effect of residual ionospheric delay on Narrow-Lane (NL) or GF observations must be considered to avoid incorrect cycle–slip estimation. To improve the accuracy in repairing cycle slips, a corrective ionospheric delay value predicted from the previous ionosphere sequence is used to amend the NL or GF observations at the current epoch. The main purpose of the work reported here is to evaluate the efficacy of a three-step method proposed to detect and repair cycle slip using two extra-wide-lane code–phase and one GF phase combination observations. BDS triple-frequency data were processed in two stages: separate processing of geosynchronous Earth orbit satellites, and the division of inclined geosynchronous satellite orbit and medium Earth orbit satellites into two groups for processing at 30° elevation thresholds. Results revealed that using the prediction models to correct NL or GF observations could ensure a rounding success rate of cycle slip close to 100%, even under high ionospheric activity.

The aim of this study is to provide a balanced distribution of air traffic controller workload (ATCW) across airspace sectors taking into account the complexity of airspace sectors and the factors affecting ATCW, both objective and perceived. Almost all the studies focusing on the airspace sectorisation problem use heuristic or metaheuristic algorithms in dynamic simulation environments instead of a mathematical modelling approach. The paper proposes a multi-objective mixed integer mathematical model for airspace sectorisation. The model is applied to the upper, en-route level of Turkish airspace. Geographical information systems (GIS) are used to advantage for airspace analysis. The multi-objective model developed in this paper is scalarised by using the conic scalarisation method. For solving the scalarised problem, the CPLEX and DICOPT solvers of GAMS software are implemented. Finally, the optimal sector boundaries of Turkish airspace are defined.

The integration of multi-constellation Global Navigation Satellite System (GNSS) measurements can effectively improve the accuracy and reliability of navigation and positioning solutions, while the Inter-System Bias (ISB) is a key issue for compatibility. The ISB is traditionally estimated as an unknown parameter along with three-dimensional position coordinates and a receiver clock offset with respect to Global Positioning System (GPS) time. ISB estimation of this sort will sacrifice a satellite observation for each integrated GNSS system. These sacrificed observations could be vital in situations of limited satellite visibility. In this study, an enhanced multi-GNSS navigation algorithm is developed to avoid sacrificing observations under poor visibility conditions. The main idea of this algorithm is to employ a moving average filter to smooth the ISBs estimated at previous epochs. The filtered value is utilised as a priori information at the current epoch. Experimental tests were conducted to evaluate the enhanced algorithm under open and blocked sky conditions. The results show that the enhanced algorithm effectively improves the accuracy and availability of navigation solutions under the blocked sky condition, with performance being comparable to traditional ISB estimation algorithms in open sky conditions. The improvement rates of the three-dimensional position accuracy and availability reach up to 63% and 21% in the blocked sky environment. Even in the case of only four different GNSS satellites, a position solution can still be obtained using the enhanced algorithm.