Research into statistical distributions of φ, λ and two-dimensional (2D) position errors of the global positioning system (GPS) enables the evaluation of its accuracy. Based on this, the navigation applications in which the positioning system can be used are determined. However, studies of GPS accuracy indicate that the empirical φ and λ errors deviate from the typical normal distribution, significantly affecting the statistical distribution of 2D position errors. Therefore, determining the actual statistical distributions of position errors (1D and 2D) is decisive for the precision of calculating the actual accuracy of the GPS system. In this paper, based on two measurement sessions (900,000 and 237,000 fixes), the distributions of GPS position error statistics in both 1D and 2D space are analysed. Statistical distribution measures are determined using statistical tests, the hypothesis on the normal distribution of φ and λ errors is verified, and the consistency of GPS position errors with commonly used statistical distributions is assessed together with finding the best fit. Research has shown that φ and λ errors for the GPS system are normally distributed. It is proven that φ and λ errors are more concentrated around the central value than in a typical normal distribution (positive kurtosis) with a low value of asymmetry. Moreover, φ errors are clearly more concentrated than λ errors. This results in larger standard deviation values for φ errors than λ errors. The differences in both values were 25–39%. Regarding the 2D position error, it should be noted that the value of twice the distance root mean square (2DRMS) is about 10–14% greater than the value of R95. In addition, studies show that statistical distributions such as beta, gamma, lognormal and Weibull are the best fit for 2D position errors in the GPS system.

This paper presents a methodology to support the decision-making process during the planning of ship operations. The methodology is designed with the aim of identifying and providing the operator with the best Estimated Time of Departure (ETD)–Estimated Time of Arrival (ETA) window of opportunity to execute the journey/operation between two predefined locations. To achieve this purpose, the International Maritime Organization (IMO) stability criteria are exploited in the process to formulate an operational safety criterion based on fuzzy reasoning as a function of the METeorological and OCeanographic (METOC) and sailing conditions. This allows for the analysis of the set of Pareto routes computed by a weather routing systems relying on a multi-objective set-up. The proposed methodology is tested in an operational scenario in the Mediterranean Sea.

Seafaring, as a traditionally male-dominated industry, continues to have very few female seafarers, with approximately 2% globally being women. This paper draws on the findings of a study that considered both the experiences of women seafarers working in the UK shipping industry and the views of key industry stakeholder representatives, and asks what must be done to improve those experiences? Responses across the industry suggest that all women seafarers will experience some form of harassment during their careers, which has significant implications for their occupational health, safety and wellbeing. These experiences reflect failures of leadership in developing and promoting a safe and inclusive onboard culture. This paper calls for fundamental change within the industry, including improvements in training and leadership to reflect modern seafaring and diversity on board. It also calls for relevant policy and strategic changes to be based on the views of seafarers and their representatives. It concludes that improving the experiences of women on board will improve the occupational health, safety and wellbeing of all seafarers, regardless of gender or any other characteristic or classification.

Coastal surveillance video helps officials to obtain on-site visual information on maritime traffic situations, which benefits building up the maritime transportation detection infrastructure. The previous ship detection methods focused on detecting distant small ships in maritime videos, with less attention paid to the task of ship detection from coastal surveillance video. To address this challenge, a novel framework is proposed to detect ships from coastal maritime images in three typical traffic situations in three consecutive steps. First the Canny detector is introduced to determine the potential ship edges in each maritime frame. Then, the self-adaptive Gaussian descriptor is employed to accurately rule out noisy edges. Finally, the morphology operator is developed to link the detected separated edges to connected ship contours. The model's performance is tested under three typical maritime traffic situations. The experimental results show that the proposed ship detector achieved satisfactory performance (in terms of precision, accuracy and time cost) compared with other state-of-the-art algorithms. The findings of the study offer the potential of providing real-time visual traffic information to maritime regulators, which is crucial for the development of intelligent maritime transportation.

This paper presents a formulation of snapshot positioning as a mixed-integer least-squares problem. In snapshot positioning, one estimates a position from code-phase (and possibly Doppler-shift) observations of global navigation satellite system (GNSS) signals without knowing the time of departure (timestamp) of the codes. Solving the problem allows a receiver to determine a fix from short radio-frequency snapshots missing the timestamp information embedded in the GNSS data stream. This is used to reduce the time to first fix in some receivers, and it is used in certain wildlife trackers. This paper presents two new formulations of the problem and an algorithm that solves the resulting mixed-integer least-squares problems. We also show that the new formulations can produce fixes even with huge initial errors, much larger than permitted in Van Diggelen's widely-cited coarse-time navigation method.

The ship safety domain plays a significant role in collision risk assessment. However, few studies take the practical considerations of implementing this method in the vicinity of bridge-waters into account. Therefore, historical automatic identification system data is utilised to construct and analyse ship domains considering ship–ship and ship–bridge collisions. A method for determining the closest boundary is proposed, and the boundary of the ship domain is fitted by the least squares method. The ship domains near bridge-waters are constructed as ellipse models, the characteristics of which are discussed. Novel fuzzy quaternion ship domain models are established respectively for inland ships and bridge piers, which would assist in the construction of a risk quantification model and the calculation of a grid ship collision index. A case study is carried out on the multi-bridge waterway of the Yangtze River in Wuhan, China. The results show that the size of the ship domain is highly correlated with the ship's speed and length, and analysis of collision risk can reflect the real situation near bridge-waters, which is helpful to demonstrate the application of the ship domain in quantifying the collision risk and to characterise the collision risk distribution near bridge-waters.

The objective of this study was to design and evaluate new means of complying to time constraints by presenting aircraft target taxi speeds on a head-up display (HUD). Four different HUD presentations were iteratively developed from paper sketches into digital prototypes. Each HUD presentation reflected different levels of information presentation. A subsequent evaluation included 32 pilots, with varying flight experience, in usability tests. The participants subjectively assessed which information was most useful to comply with time constraints. The assessment was based on six themes including information, workload, situational awareness, stress, support and usability. The evaluation consisted of computer-simulated taxi-runs, self-assessments and statistical analysis. Information provided by a graphical vertical tape descriptive/predictive HUD presentation, including alpha-numerical information redundancy, was rated most useful. Differences between novice and expert pilots can be resolved by incorporating combinations of graphics and alpha-numeric presentations. The findings can be applied for further studies of combining navigational and time-keeping HUD support during taxi.

Video monitoring is an important means of ship traffic supervision. In practice, regulators often need to use an electronic chart platform to determine basic information concerning ships passing through a video feed. To enrich the information in the surveillance video and to effectively use multimodal maritime data, this paper proposes a novel ship multi-object tracking technology based on improved single shot multibox detector (SSD) and DeepSORT algorithms. In addition, a night contrast enhancement algorithm is used to enhance the ship identification performance in night scenes and a multimodal data fusion algorithm is used to incorporate the ship automatic identification system (AIS) information into the video display. The experimental results indicate that the ship information tracking accuracies in the day and night scenes are 78⋅2% and 70⋅4%, respectively. Our method can effectively help regulators to quickly obtain ship information from a video feed and improve the supervision of a waterway.

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.

For torpedo electronic components tested by functional verification, there are characteristics of a few samples and few failures. During service life, it is difficult to analyse and predict the changes in reliability. At present, management's observation of quality is mainly base on failure data, and it is difficult to make predictions about the moments without failure in service life. In this paper, according to the failure data, we consider such factors as performance degradation and detection and use the model of instantaneous failure rate to evaluate the reliability of the detection moments periodically, and predict the reliability of stages through the results of detection moments. The method proposed in this paper, on the one hand, considers the service experience, and on the other combines the detection data, to make the final evaluation result more credible. In addition, this paper predicts the changing trend of reliability between adjacent detection moments, which can provide a useful reference for quality management work.

Stochastic models are essential for precise navigation and positioning of the global navigation satellite system (GNSS). A stochastic model can influence the resolution of ambiguity, which is a key step in GNSS positioning. Most of the existing multi-GNSS stochastic models are based on the GPS empirical model, while differences in the precision of observations among different systems are not considered. In this paper, three refined stochastic models, namely the variance components between systems (RSM1), the variances of different types of observations (RSM2) and the variances of observations for each satellite (RSM3) are proposed based on the least-squares variance component estimation (LS-VCE). Zero-baseline and short-baseline GNSS experimental data were used to verify the proposed three refined stochastic models. The results show that, compared with the traditional elevation-dependent model (EDM), though the proposed models do not significantly improve the ambiguity resolution success rate, the positioning precision of the three proposed models has been improved. RSM3, which is more realistic for the data itself, performs the best, and the precision at elevation mask angles 20°, 30°, 40°, 50° can be improved by 4⋅6%, 7⋅6%, 13⋅2%, 73⋅0% for L1-B1-E1 and 1⋅1%, 4⋅8%, 16⋅3%, 64⋅5% for L2-B2-E5a, respectively.

In urban areas, the Global Navigation Satellite System (GNSS) can lead to position errors of tens of meters due to signal obstruction and severe multipath effects. In cases of 3D-positioning, the vertical coordinate is estimated less accurately than are the horizontal coordinates. Multisensor systems can enhance navigation performance in terms of accuracy, availability, continuity and integrity. However, the addition of multiple sensors increases the system cost, and thereby the applicability to low-cost applications is limited. By using the concept of receiver clock modelling (RCM), the position estimation can be made more robust; the use of high-sensitivity (HS) GNSS receivers can improve the system availability and continuity. This paper investigates the integration of a low-cost HS GNSS receiver with an external clock in urban conditions; subsequently, the gain in the navigation performance is evaluated. GNSS kinematic data is recorded in an urban environment with multiple geodetic-grade and HS receivers. The external clock stability information is incorporated through the process noise matrix in a Kalman filter when estimating the position, velocity and time states. Results shows that the improvement in the precision of the height component and vertical velocity with both receivers is about 70% with RCM compared with the estimates obtained without applying RCM. Pertaining accuracy, the improvement in height with RCM is found to be about 70% and 50% with geodetic and HS receivers, respectively. In terms of availability, the HS receiver delivers an 100% output compared with a geodetic receiver, which provides an output 99⋅4% of the total experiment duration.

A ship's perception of risk is an important basis for collision avoidance. To improve such perception, several risk measurement parameters on the ship domain are determined, including the approach factor, the time to domain violation (TDV) and the possible collision domain. Then, a risk hierarchy prewarning (RHP) model based on the violation detection of a ship domain is proposed, in which a two-level alarm scheme is adopted accordingly. A low-intensity alarm will be activated by reaching the minimum approach factor and the TDV threshold, and a high-intensity alarm will be activated by the factor of the possible collision domain and the TDV threshold. Subsequently, a novel guard zone in ARPA radar utilising the RHP model has been developed to establish a ship's risk perception system for officers on watch at sea. The model proposed in this paper can not only enhance the veracity of risk assessment around our own ship, but also be used as a decision support system for collision avoidance.