A dynamic state realization for tightly coupling Global Positioning System (GPS) measurements with an Inertial Navigation System (INS) is described. The realization, based on the direct fusion of GPS and INS systems through Kalman filter state dynamics, explicitly accounts for temporal and spatial decorrelation of GPS measurement errors (such as tropospheric, ionospheric, and multipath errors) through state augmentation, thereby ensuring Kalman filter integrity under fault-free error conditions. Predicted system performance for a Local Area Augmentation System (LAAS) aircraft precision approach application is evaluated using covariance analysis and validated with flight data.

Built-in fault detection mechanisms based on the Kalman filter innovations are also evaluated to help provide integrity under certain fault conditions. It is shown that an algorithm based on the integral of Kalman filter innovations outperforms other existing GPS fault detection methods in the detection of slowly developing ranging errors, such as those caused by ionospheric and tropospheric anomalies.

This paper tackles the Equatorial ionosphere and its effects on Differential Global Positioning System (DGPS) error growth over Malaysia by using a network of GPS Continuously Operating Reference Stations (CORS). Seasonal variation of ionospheric delay has been examined and findings show that the effect of spatial variation of ionospheric errors in DGPS is very significant during the equinoctial seasons. Furthermore, a DGPS regression model was developed and tested during the solar maximum year in 2013 by using internet-based DGPS. The results show that the model is capable of estimating DGPS positional errors for distances of user to reference station less than 680 km.

This year marks the twentieth anniversary of the introduction of Concorde into commercial airline service. The first commercial flights were on 21 January 1976 – British Airways from Heathrow to Bahrain and Air France from Paris to Rio via Dakar. Later in that year commercial flights to Washington/Dulles began on 24 May. Services to New York were delayed until 22 November 1977. The first flight of Concorde was some seven years earlier. The prototype took off out of Toulouse on 2 March 1969 and this was followed by 002 from Filton to Fairford on 9 April. At the time it was anticipated that this was the beginning of an era when supersonic flight would be the normal way to travel long distances. Now, in 1996, Concorde is still the world's only supersonic commercial passenger airliner in airline service. This is an extraordinary achievement. The Boeing SST proved to be too ambitious and the programme was halted in 1971 after the United States Government withdrew support, while the Russian TU 144 was beset with problems. One TU 144 crashed at the Paris Air Show in 1973. The aircraft entered internal airline service in December 1975, flying supersonically between Moscow and Alma-Ata, capital of Kazakhstan, carrying mail and freight, but it did not have the range to operate viable intercontinental passenger serives. Certainly by 1985, if not many years before, the TU 144 was out of service.

The use of the required navigation performance (RNP) procedure has been increasing for aircraft navigation, since it allows for better optimisation of the airspace, which is increasingly congested. The present work aims to investigate the application of the functional resonance analysis method (FRAM), combined with the quantitative analysis provided by the Bayesian belief network (BBN), to demonstrate the existing variability in functions that are part of the complex navigation system based on the RNP procedure, specifically when the aircraft approaches the airport (approach phase). As a result, it is possible to analyse the variability that occurs in the studied system and the BBN complemented the study by allowing a quantitative interpretation of the functions considered most important for the execution of an RNP approach procedure.

During recent years there has been significant development in several technologies which can contribute to the efficiency and safety of maritime traffic. The most important of these are accurate positioning systems (DGPS), digital data transmission/transponder technology, electronic chart systems (ECDIS), control of ships using electronic passage plans, and ship path prediction. With a widespread implementation of these new techniques, combined with advanced ship-shore and ship-ship data transfer, significant improvements can be achieved in traffic situation awareness both in a VTS and onboard. This paper describes the research carried out at VTT on VTS development, and especially gives an outline of new VTS functions using ship—shore and ship—ship data transfer.

This paper, and the two following papers, were included in the VTS-96 Symposium held in Rotterdam in April 1996. They are reproduced by kind permission of the Symposium Organizing Committee.

In the Netherlands, inland waterways occupy an important position in the transport of goods to and from the hinterland. To guarantee safety at dangerous junctions, VTS-centres have been introduced since 1952. Some years ago an extra dimension was added to some of these VTScentres, namely the promotion of the optimal use of a limited waterway, to guarantee a smooth traffic flow. This is certainly necessary for the river Waal, which can be considered as the aorta to the German hinterland.

Automatic data exchange between all inland VTS-centres and the German information centres along the Rhine contributes to a great extent to the operation of the VTS-centres. In case of an accident, appropriate measures can be taken immediately, saving human life and respecting the environment.

The 2007 Annual General Meeting of the Royal Institute of Navigation was particularly significant; not only did it celebrate the 60th anniversary of the founding, but also celebrated the granting of the Royal Charter of Incorporation to the Institute by Her Majesty Queen Elizabeth II. Our President, Professor David Last, marked the occasion with his Presidential Address which is recorded here.

In a car navigation system the conventional information used to guide drivers in selecting their driving routes typically considers only one criterion, usually the Shortest Distance Path (SDP). However, drivers may apply multiple criteria to decide their driving routes. In this paper, possible route selection criteria together with a Multi Objective Path Optimisation (MOPO) model and algorithms for solving the MOPO problem are proposed. Three types of decision criteria were used to present the characteristics of the proposed model. They relate to the cumulative SDP, passed intersections (Least Node Path – LNP) and number of turns (Minimum Turn Path – MTP). A two-step technique which incorporates shortest path algorithms for solving the MOPO problem was tested. To demonstrate the advantage that the MOPO model provides drivers to assist in route selection, several empirical studies were conducted using two real road networks with different roadway types. With the aid of a Geographic Information System (GIS), drivers can easily and quickly obtain the optimal paths of the MOPO problem, despite the fact that these paths are highly complex and difficult to solve manually.

Computer Based Systems (CBS) and Integrated Bridge Systems (IBS) are being introduced. They provide enhanced navigation capabilities and promote ship safety. However, they are highly complex and are becoming the primary source of data/information used to navigate ships. CBS issues have arisen that challenge current safety assurance and certification practices. This paper explores the potential contribution of System Safety Engineering including technical, operational management and crew capability contributions to CBS/IBS safety. A six step roadmap for the production of best practice guidance for the safe development and operation of such systems is presented.

This report summarizes a study of signals for indicating course alterations conducted by the Course Signal Committee of The Mercantile Marine Institute of Japan (President Captain Inazo Ara) as part of the 1995 project entitled ‘Research on Improving Course Signals etc’ sponsored by The Japan Foundation for Shipbuilding Advancement.

In order to analyse quantitative radar observations of bird movements, one needs to know the dimensions of the air space surveyed by the radar. The present study shows how to calibrate the operational beam width and the maximum range of any radar for cross sections for different body sizes of songbirds. The trial used an X-band fan beam ship radar of 25 KW (Furuno Fr-2125) and a captive balloon. Metal spheres of different diameters, fastened to the bottom of the balloon at defined distances, corresponding to the radar cross sections of song birds, were moved in all three dimensions of the air space. Simultaneously to the location by radar, the position of the suspended sphere was measured by theodolites.

In an earlier paper, the writer attempted a quantitative study of a flow-planning system for aircraft intending to fly across Europe. This paper aims to offer each aircraft a clearance giving a reasonable expectation that, throughout cruising flight at least, there will be no conflict with other traffic. Such a clearance is sometimes termed a ‘tube of flight’. Reference i assumed a pattern of traffic flying along rhumb lines, each flight having a starting position chosen at random in a region roughly the size of Europe. Flight was in a random direction and the flight path length was chosen at random from a plausible distribution.

The delay-lock-loop is a device used in direct-sequence spread-spectrum receivers to track the delay difference between two binary correlated waveforms. This short paper aims to clarify both the interpretation of the S-curve and the sign of the tracking error for such devices, especially those for navigation systems such as GPS.

The aim of this paper is to give insight into the day-to-day navigation of a modern day cruise vessel – in this case a state of the art 77,000 GRT vessel – 261 metres long with an 8·0 metre draft, carrying 2270 passengers and 910 crew. The ship operates mainly in the Caribbean in winter and Europe – Mediterranean and Scandinavia – in the summer. The instructions are my own, which supplement the Company's (which at present do not fully cover a full Electronic Chart Display and Information System (ECDIS) operation) and have been written to ensure all Bridge Officers fully understand how I expect to operate the Bridge at sea and in confined waters using ECDIS as the main navigation system. The paper is presented in its user format and is a copy of my orders as written.

Following the initial development of 20-channel, all-in-view Global Navigation Satellite System (GNSS), GPS/GLONASS/Inmarsat-3, receivers at the Institute of Satellite Navigation (ISN), University of Leeds, a modification programme has been undertaken to allow real-time differential corrections to be sent from one 20-channel receiver to another identical receiver using a serial link between them. The differential correction software incorporates the RTCM SC-104 and RTCA DO-217 format developed specifically for GPS and adjusted by the ISN to allow simultaneous GLONASS operation.

After successful laboratory testing, real-time differential GNSS tests were successfully completed in static mode between Aberdeen and Leeds via the SkyFix differential data-link, and in dynamic mode at DTEO Boscombe Down using a C-band data-link between the ground and a receiver on board the DRA BAC 1–11 aircraft. The aims of the tests were, (i) to demonstrate real-time differential GNSS position-fixing, (ii) to establish the accuracy improvements brought about, and (iii) to examine the effects of data-link latency and satellite PDOP on the solution accuracy.

This paper describes an advanced method, and the corresponding algorithms, which could provide a high precision Wide Area Differential GPS (WADGPS). The service would be suitable for single or dual frequency users, and could be introduced with very few reference stations. The two main components of the service are a precise, near real-time orbit determination of the GPS satellites, and an accurate estimation and modelling of ionospheric and tropospheric effects. Broad principles of the processing algorithms and results of both simulation and real data tests are described. User positioning accuracies of better than 2·5 m (r.m.s.) in plan and 3·0 m (r.m.s.) in height are achieved by both single and dual frequency scenarios.

Wide Area Differential GPS (WADGPS) is being developed to overcome the main drawbacks of conventional or Local Area Differential GPS (LADGPS), where positional accuracy of a user degrades as the reference-to-user separation increases. The spatial decorrelation of the error sources, notably the atmospheric propagation and satellite orbital errors inherent in GPS, are the main causes of this accuracy degradation. Several organizations are involved in WADGPS research, and different conceptual approaches have been suggested. The proposed methods all share a common basic assumption: that the error sources which affect the system are broken down into individual error components and are modelled separately. The variance between the different techniques comes from the way in which the different error components are modelled.

One of the essentials of the Collision Regulations is that they should, so far as possible, eliminate doubt in the minds of navigators using them. In recent years, an amendment has introduced a serious, dangerous doubt.

This and the following six papers were selected from the many papers presented at the 9th World Congress of the International Association of Institutes of Navigation (IAIN) held in Amsterdam, The Netherlands, 17–21 November 1997.

During the past several years, a number of important investigations, policy initiatives and national commitments relating to the future of GPS, GLONASS and their augmentations have occurred. Substantive and on-going studies of the character and configuration of a Global Navigation Satellite System (GNSS) have also been evaluated worldwide, especially by the International Civil Aviation Organization (ICAO). These efforts have been principally directed toward the definition of near- and far-term GNSS implementations that meet the needs and concerns of the international community. This paper briefly reviews some of the investigations and addresses, in particular, the concerns and requirements that may affect the future capabilities and the dual (civil/military) character of GPS. The main issues relating to the modernisation of GPS and its subsequent transition to a component of a GNSS with a viable international character are presented. These include a discussion of new signal structure options, certain changes in operating frequencies, increased signal power levels, other system alternatives and their potential impact on system performance. International issues are briefly addressed, including future performance capabilities, assurance of service, economic participation and benefit, reasonable cost, standards and international participation.