In dense networks, the tremendous computational complexity and communication overhead of cooperative localisation are the two main bottlenecks that limit practical application. In this study, we introduce a bootstrap percolation scheme into Gaussian message passing-based cooperative localisation for precise positioning, aimed at reducing the system overhead. Considering the uncertainty information and geometric distribution of neighbours, an approximate collinear detection criterion is proposed to detect the possible flip ambiguities in cooperative localisation. According to the detection result and our connection constraint, agents are divided into three categories and are approximated by different distribution families. A message passing rule is designed to control the propagation direction from high precision to low precision, thereby mitigating potential error propagation. Additionally, a layer-by-layer positioning mechanism is established where the agents are located gradually. Analytical and simulation results indicate that when the ranging standard deviation is 0·2 m, 89·3% of the agent nodes can be located within 0·4 m using the proposed algorithm. Compared with the Hybrid Sum-Product Algorithm over A Wireless Network (H-SPAWN), this ratio is increased by 8·4% and the computational complexity is reduced by 72%.

The integration of magnetometers and Inertial Navigation Systems (INS) is widely used in low-cost navigation systems. However, even if the system has been calibrated, random magnetic disturbances still appear in practical applications, which lead to large heading errors. To solve this problem, an adaptive anti-disturbance method to overcome random magnetic disturbance is proposed. First, disturbances are classified and analysed in detail based on actual road vehicle driving data. Then an Adaptive Robust Extend Kalman Filter (AREKF) is designed to resist sudden disturbances. However, an AREKF may accumulate errors slowly when a long-term disturbance exists. Considering this situation, this paper proposes that AREKF is used to maintain accuracy in the early stages, at the same time as the magnetometer is quickly calibrated with a Kalman filter. Then, the new magnetometer parameters are put into the AREKF to suppress long-term disturbances. Finally, cascading these two modules, not only the sudden disturbance can be overcome, but the situation of long-term disturbances can be suppressed. The results of simulation and an actual driving test show that the proposed method can effectively overcome random magnetic disturbances in both the short and long term.

This paper discusses the design, development and operation of two tools intended for B-RNAV operations: the enhanced AUGUR system, which was commissioned by EUROCONTROL, and the Global Positioning System (GPS) Performance Monitoring System (GPMS), commissioned by National Air Traffic Services Ltd. (NATS). Both tools were implemented by STASYS Ltd., with support from Delft University on AUGUR algorithm issues. AUGUR, a Predictive GPS Receiver Autonomous Integrity Monitoring (RAIM) system, performs complex calculations and provides an easy-to-interpret Internet-based interface to aid aircraft operators with the use of GPS. Enhancements to AUGUR have been implemented to meet user requests and the requirements of a future Joint Aviation Authorities (JAA) Temporary Guidance Leaflet (TGL) on the airworthiness and operational approval for the use of Area Navigation (RNAV) systems in European airspace designated for Precision RNAV (P-RNAV) operations. The GPMS records output from a variety of GPS UE, has a real-time interface, performs simulations based on logged data, and permits remote analysis. The work carried out consisted of specifying a system to meet the safety study recommendations, choosing hardware, analysing interface requirements, and developing systems and software. These tools are now in place to help with GPS B-RNAV operations, and provide a layer of safety for both en-route flight and GPS-based non-precision approach operations in European airspace.

There are occasions when, because of the density of shipping and/or lack of sea room, ships navigating by radar in thick weather cannot avoid passing within a distance of two miles, the least distance usually considered desirable. In such a situation a simple plan of procedure and of avoiding action, if possible to devise, should greatly reduce strain on the navigator and so increase the safety of navigation generally. Also, if such a plan came to be generally followed, safety would be further enhanced, because each navigator would know what the others were likely to do.

In traditional satellite navigation receivers, the parameters of tracking loop such as loop bandwidth and integration time are usually set in the design of the receivers according to different scenarios. The signal tracking performance is limited in traditional receivers. In addition, when the tracking ability of weak signals is improved by extending the integration time, negative effect of residual frequency error becomes more and more serious with extension of the integration time. To solve these problems, this paper presents out research on receiver tracking algorithms and proposes an optimised tracking algorithm with inertial information. The receiver loop filter is designed based on Kalman filter, reducing the phase jitter caused by thermal noise in the weak signal environment and improving the signal tracking sensitivity. To confirm the feasibility of the proposed algorithm, simulation tests are conducted.

Almost all the long-range civil transport aircraft entering service during the next few years will be equipped with some form of instrument system. It is proposed to describe here some aspects of the developments which have been embodied in one such system, the Smiths Flight System, and to indicate its scope when applied to the operation of such aircraft.

Since the war the operation of a high-performance transport aircraft on congested and competitive routes has become an increasingly complicated process. With the advent of the gas turbine, cruising speeds have doubled, and at the same time there has been a tendency towards higher standards of economy and safety. The development of the air traffic control system has brought about a demand for greater precision in navigation, and in the most congested areas by far the greatest number of flights are conducted under instrument conditions. Meanwhile, aircraft have also become more complex, and the pilots themselves are often expected to monitor the operation of the controls and instrumentation associated with the engines, electrics and pressurization as well as carry out the navigation. This extra work has had to be undertaken without any relaxation of the general vigilance which constitutes good airmanship.

The authors give a personal account of the use of astro navigation during the years before GPS became the primary aid for oceanic navigation. The paper also contains an account of the support provided by The Nautical Almanac (NA) together with its associated tables and computer programs which ease the tedium of sight reduction while leaving the satisfaction to be found in successful astro observations at sea.

An early version of Section 2 of this paper formed part of a presentation made at the Symposium After Longitude – Modern Navigation in Context which took place at the UK National Maritime Museum from 22–23 March 2012.

This paper introduces a novel approach for extracting vessel navigation patterns from very large automatic identification system (AIS) trajectory big data. AIS trajectory data records are first converted to a series of code documents using vector quantisation, such as k-means and PQk-means algorithms, whose performance is evaluated in terms of precision and computational time. Therefore, a topic model is applied to these code documents from which vessels’ navigation patterns are extracted and identified. The potential of the proposed approach is illustrated by several experiments conducted with a practical AIS dataset in a region of North West France. These experimental results show that the proposed approach is highly appropriate for mining AIS trajectory big data and outperforms common DBSCAN algorithms and Gaussian mixture models.

A simple scheme is presented for mapping the 2D probability density for an observer's position, defined by any number of lines of position (LOPs) on the surface of the Earth, assuming that the LOPs result from uncorrelated observations that have normally distributed errors. Although the mapping can be used to determine the position fix corresponding to the LOPs (which is consistent with other methods), its intended use is computing the total probability that the observer is located within (or outside) some specified area of interest, such as a zone of avoidance around a navigational hazard. Numerical experiments with areas where the average total interior probability is known, such as the triangles and polygons formed by nearly convergent LOPs, show that the method provides correct answers. The numerical experiments also revealed that theoretical probabilities associated with commonly used error ellipses are overstated for navigational solutions based on small numbers of LOPs.

This, and the following three papers, were first presented at GNSS 2000, the Third European Symposium on Global Navigation Satellite Systems held in Edinburgh, Scotland from 1st to 4th May 2000.

GNSS, or more specifically, Satellite Based Augmentation System (SBAS), guidance provides the prospect of a low-cost means for aircraft to become equipped to fly area navigation (RNAV) operations. The implementation of such RNAV operations within UK airspace offers potential benefits to both the airline operators and the Air Traffic Service Providers (ATSPs).

During the morning of 27 January 1968 the submarine Minerve was on exercise south of Cape Sicie. She was due to return to her base, Toulon, in the evening. Her last-known position was that fixed by a Breguet Atlantic aircraft on the same day at 0735. The last communication between this aircraft (then returning to base) and the submarine was at 0755.

The Collision Regulations are due for revision by Imco in 1972 and already governments and other agencies are formulating proposals for consideration by its Maritime Safety Committee. The Institute's working party on the subject, which was formed initially to try to lessen the area of disagreement between people who had put forward positive proposals over the last few years, has now formed a cohesive view and formulated a set of recommendations. These are given in the interim report which follows. In the normal course of events things would have been allowed to run their course and the final report published only after further meetings of the working party which has still to reach firm conclusions on a number of points (for example on the precise form of the manœuvring diagram referred to at the end of Section 2 and in proposition (14), and on the whole question of lights). However, time is short and it seems probable that if the views of the working party are to have any effect on the deliberations of Imco, they must be made known straight away. The report (of which M. W. Richey is the author), therefore, which embodies the whole area of agreement between the members of the working party, is published here in interim form.

Dr. Calvert has expressed some unease from his own point of view about propositions (1) to (19) and it is hoped in the final report to publish an appendix by him suggesting a totally new approach to the whole problem of collision avoidance by manœuvre. It is hoped also to publish an appendix by Admiral García Frías describing the system he proposes. Both these contributions are perhaps likely to be of long-term rather than immediate significance.

It is generally accepted nowadays that, to obtain full value for anti-collision purposes from the use of radar by a ship proceeding in poor visibility, it is necessary to plot, or to compute in some other way, the raw data which may be obtained from the radar. It is also usually conceded that, for this to be done effectively in frequented areas, without the aid of mechano/electronic devices, a great deal of time and expertise is demanded from the radar observer and a great deal of responsibility thereby rests upon his shoulders.

To reduce the load of work and the possibility of human error and to give the observer more time to use his intelligence in appraising the situation and keeping it under review, radar engineers are already pressing forward the development of automatic devices which, in one way or another, produce computed informatioa in the form ultimately needed.

The British Nautical Almanac was first published by Nevil Maskelyne, the Astronomer Royal, in 1766 for the year 1767 and the chief table in it was of lunar distances, which were tabulated at intervals of three hours to the nearest second of arc. On the bicentenary of its publication the theory and practice of lunar distance observation and reduction were reviewed in this Journal.

Captain Wylie's extensive and detailed criticisms of the Sailing and Steering Rules in the new Collision Regulations (Journal, 26, 365) were published in the January number of Navigation, the journal of the French Institute of Navigation, with an editorial note by Professor Hugon. The note and Captain Wyile's reply are given below.

In the bicentenary year of the birth of Matthew Flinders at Donington, near Boston in Lincolnshire, it is my privilege to present to Members of three notable British societies some details of the life and work of this great hydrographer.

His surveying and charting impact was made entirely in Australian waters and he is probably better remembered in that country today than he is in his homeland. It is my hope that my discourse, added to the many activities that have been arranged in Britain this year, will do something to rectify this situation. My talk will attempt to tell the brief story of Flinders' 40 years of life and work, beset in his later years by many misfortunes. I will also examine in some detail how Flinders conducted his surveys by taking a few isolated examples, and finally briefly review the results of his labours.

Standards IEC 62288:2014 and MSC.191(79) require information on the displays of shipboard navigation systems to be logically grouped, but only provide limited specification for this ‘logical’ criterion. Meanwhile, complex interfaces and information overload remain as major design issues, being connected to several maritime accidents. To address this matter, a three-phase study was conducted to develop a pattern to organise essential information on Radar and Electronic Chart Display and Information System (ECDIS) displays and their equivalent modules on integrated navigation systems and integrated bridge systems. The first phase involved identifying the information most essential for safe navigation using cognitive task analyses, equipment performance standards and frequency of use. The second phase involved a card-sorting experiment with seafarers (n = 63) to develop an initial grouping pattern for the identified essential information. The third phase involved validating the initial grouping pattern with a new sample of seafarers (n = 35). The result is a pattern to group 48 types of information on shipboard navigation displays into 13 groups. The paper details the selected methods and the findings, and provides implications for future research.