Since January 1962, waves have been recorded by a shipborne wave recorder (Tucker, 1956) on the Sevenstones light-vessel which is stationed about 20 miles south-west of Land's End in about 200 ft. of water. Records were taken at three-hourly intervals and were mostly of 12 minutes’ duration. The analysis presented here is based on 2920 records taken in the first year of operation; the method of analysis which has been used is that described by Tucker (1961). This gives for each record:

(a) H1 = The sum of the distances of the highest crest and the lowest trough from the mean water level.

(b) Tz = The mean zero-crossing period.

(c) Tc = The mean crest period.

It has been recognized for some time that calculations of potential encounter rates based on the speed and lateral distributions of ships using sea routes provide only a partial estimation of the actual collision risk, as all encounters are usually given equal rating, and no attempt is made to include factors such as the degree of domain penetration or the relative speed of the ships. One possible solution to the problem consists in attempting to weight the calculated potential encounter rates according to the most relevant factors, and thus replace the calculated rates by weighted values to provide a relative estimate of collision risk. Goodwin, Lamb and Kemp reported a first attempt at such a procedure in their calculation of weighted encounter rates based on the observed traffic distributions and flow rates in the Sunk Lightship area in the neighbourhood of Harwich. A two-part index was used in the work; the first part employed a weighting factor based on the ratio of the time required for the completion of a manoeuvre involving a specified angle of course change, to the time available as measured from the ‘decision-distance’ at which the manoeuvre was deemed to commence. The second part used a factor based on the time required to pass and draw clear after completion of the manoeuvre.

Vehicle state estimation and path prediction, which usually involve Kalman filter and motion model, are critical tasks for intelligent driving. In vehicle state estimation, the comparative performance assessment, regarding accuracy and efficiency, of the unscented Kalman filter (UKF) and the extended Kalman filter (EKF) is rarely discussed. This paper is devoted to empirically evaluating the performance of UKF and EKF incorporating different motion models and investigating the models’ properties and the affecting factors in path prediction. Extensive real world experiments have been carried out and the results show that EKF and UKF have roughly identical accuracy in state estimation; however, EKF is faster than UKF generally; the fastest filter is about 2⋅6 times faster than the slowest. The path prediction experiments reveal that the velocity estimate and the used motion model affect path prediction; the more realistically the model reflects the vehicle's driving status, the more reliable its predictions.

This paper considers the effect of receiving a secondary source of information upon ability to acquire and use spatial knowledge (i.e. the formation of a cognitive map). Participants watch videos of three journeys through an unfamiliar area. They then perform tasks measuring ability to integrate the routes into a cognitive map of the area. Subjects viewing the routes whilst hearing route guidance information performed consistently worse than those receiving no guidance. The presence of non-salient information, however, did not impair performance.

Existing studies highlighting differences between gender and age groups regarding spatial ability receive only partial support: the results suggest that ability to drive negates these effects. Female drivers perform as well as, if not better than, their male counterparts, and outperform male non-drivers. This same ‘driving’ effect was also evident in the over-55s group, with both male and female drivers performing significantly better than non-drivers in this age group. The results also show that driving ability enhances ability to cope with and use guidance information, suggesting that systems’ designers should make varying levels of spatial information available for less experienced drivers.

Primarily in response to airline pressures for fuel economies, ICAO, the International Civil Aviation Organization, established a study programme early in the 1980s to determine the feasibility of halving the vertical separation minimum (VSM) used above FL 290 to 1000 ft. This paper is the first of a 3-part article describing a European contribution to this programme. After outlining the aims and organization of the experimental work, it describes the choice of methodology available to measure height-keeping errors and gives an indication of the measurement accuracy achieved. Details of the data collections, the risk calculations performed and the factors found to affect height-keeping accuracy are given in Parts II and III. Overall, the work has shown that whereas it would be technically feasible to introduce a 1000-ft VSM in the North Atlantic region, other measures would be necessary before it could be used in continental airspace. Today, in certain areas, the need for a reduced VSM has become even more pressing in order to achieve the gains in airspace capacity necessary to handle rapidly growing volumes of air traffic.

This paper is based on a presentation made at the IAIN International Navigation Congress held in Sydney, Australia, in February 1988.

The global positioning system (GPS) offers a new opportunity for the automation of aircraft landing systems. The position and velocity measurements provided by a state-of-the-art GPS receiver using the C/A code and working in a normal or differential mode (D-GPS) and aided by one or two ground-based PseudoLites (PLS), may be able to satisfy the landing accuracy requirements of the FA A.

This paper describes the design and simulation of an aircraft automatic landing system. Aircraft position and velocity are assumed to be measured using a (carrier-tracking) GPS receiver. The hypothesized capability is based on measurements taken at Stanford and elsewhere, using the Trimble 4000SX, five-channel receiver in an integrated-doppler-aiding mode. For some of the autopilot designs, either ground-based GPS transmitters (pseudolites) or a radar altimeter have also been incorporated.

Included in the landing simulations are wind shears and a gust model, creating realistic landing situations. The performances of the lateral and vertical displacements are presented with their 1σ r.m.s. estimation errors during the glide-slope and flare phases. Included are different wind conditions, GPS configurations and controllers. The results are compared with the FAA requirements for various categories of automatic landing systems.

The present-day emphasis on the need to analyse and identify risk situations in ports is hardly a new phenomenon. In fact, port managements have, as a matter of course, been very conscious of this need but over the years, with the ever-increasing transport by sea of hazardous hydrocarbon, chemical as well as nuclear-related products, this need has simply become much more pronounced. Moreover, present-day public awareness and concern about the possible incident impact on the environment in the form of pollution or personal injury has even further increased the awareness of the corporate responsibility and the need to assess the operational risk levels of ports. Of equal importance, of course, is the need and the capability to predict operational risk levels for new port developments or modification projects or of the possible risks associated with the introduction of hazardous cargo-handling facilities at existing or new port terminals.

This paper was first presented at a Symposium on ‘Advanced Moving-Map Displays’ held on the 3rd and 4th of August 1999 by the US Naval Research Laboratory Detachment at the NASA Stennis Space Centre, Mississippi, and is reproduced in modified form with the kind permission of the NRL Commanding Officer, Captain Douglas H. Rau USN.

Wavelets and wavelet transforms can be used for vector-map data compression. The choice of wavelet, the level of decomposition, the method of thresholding, the height of the threshold, relative CPU times and file sizes, and reconstructed map appearance were investigated using the Wavelet Toolbox of MATLAB. Quantitative error measures were obtained. For two test vector-map data sets consisting of longitude and latitude points, compressions of 35 to 50 percent (1·5[ratio ]1 to 2[ratio ]1) were obtained with root-mean-square errors less than 0·003 to 0·01° longitude/latitude for wavelet packet decompositions using selected wavelets.

A direct method for obtaining the two possible positions derived from two sights using vector analysis instead of spherical trigonometry is presented. The geometry of the circle of equal altitude and of the two body fixes is analyzed, and the vector equation for simultaneous sights is constructed. The running fix problem is also treated.

After Global Navigation Satellite Systems (GNSS) were first used in the field of hydrography in 1980, developments in hydrographic surveying accelerated. Survey precision in hydrography has been improved for both horizontal and vertical positioning and seafloor acoustic measurement by means of these new developments. Differential Global Positioning System (DGPS), Real Time Kinematic (RTK) and Network RTK (NRTK) techniques are the satellite-based positioning techniques that are commonly used in shallow water surveys and shoreline measurements. In line with these developments, the newer Precise Point Positioning (PPP) has been introduced. Combining precise satellite positions and clocks with dual-frequency GNSS data, PPP can provide position solutions from the centimetre to decimetre level. In this study, the coordinates of control points were determined by using the Post-Process PPP (PP-PPP) technique. Seven test points, which are the points of the Continuously Operating Reference Station - Turkey (CORS-TR) network, are selected near the shorelines within Turkey. The 24-hour data was split from one to six hours by one hour periods. Automatic Point Positioning Service (APPS) was selected to process the data. The poisoning error of the test points were given and compared with International Hydrographic Organization (IHO) S44 hydrographic survey standards.

The introduction of AIS in 2002 and the drive to introduce electronic navigation aids to merchant ships had the principal stated objective of improving safety by enhancing situational awareness. This paper reviews the various types of electronic equipment fitted to vessels during the past five years in order to assist the watch-keeper, comments on the reduction in core watch-keeping skills and argues for a back-to-basics approach for watch-keepers. A version of this paper was first presented at the RIN conference NAV 07 in October 2007.

The acquisition of signals is a precondition for tracking and solution calculation in software-based Global Navigation Satellite System (GNSS) receivers. The Parallel Code phase Acquisition (PCA) algorithm can simultaneously obtain the correlation results at every sampling point. However, if the number of sampling points that needs processing is large, this method will lead to a heavy computational load. Thus, we improve the process of the PCA algorithm and propose a novel algorithm that divides the signals into K (K is a constant) parts to achieve correlation and obtains the correlation results with a fusion algorithm. This algorithm can simultaneously obtain the correlation results for sampling points at an interval of K points. If the K value is selected appropriately, the computational load can be decreased by about 50%. Also, the Receiver Operating Characteristic (ROC) curves show that under a certain probability of false alarm, the detection probability of the proposed algorithms is 5% lower than that of the PCA algorithm. Therefore, the proposed algorithm can speed up the acquisition process with a slight decrease in detection probability.

This paper investigates an RTK-GPS correction generation technique suitable for low-rate (<600 bps) data-link. We combined correction filtering algorithm with an efficient transmission technique which is based upon correction scheduling. The correction scheduling technique can reduce the required amount of correction data as well as the latency effect on RTK-GPS positioning accuracy. We processed real time GPS data to evaluate the performance of the RTK-GPS correction generator for low-rate data-link. The experimental results demonstrate that the proposed techniques can lower the required bandwidth of data-link up to 500 bps, maintaining the high accuracy of RTK-GPS.

The demand for accurate indoor positioning continues to grow but the predominant positioning technologies such as Global Navigation Satellite Systems (GNSS) are not suitable for indoor environments due to multipath effects and Non-Line-Of-Sight (NLOS) conditions. This paper presents a new indoor positioning system using artificial encoded magnetic fields, which has good properties for NLOS conditions and fewer multipath effects. The encoded magnetic fields are generated by multiple beacons; each beacon periodically generates unique magnetic field sequences, which consist of a gold code sequence and a beacon location sequence. The position of an object can be determined with measurements from a tri-axial magnetometer using a three-step method: performing time synchronisation between sensor and beacons, identifying the beacon field and the beacon location, and estimating the position of the object. The results of the simulation and experiment show that the proposed system is capable of achieving Two-Dimensional (2D) and Three-Dimensional (3D) accuracy at sub-decimetre and decimetre levels, respectively.

This paper focusses on the development of a tool for decision-making, tailored for personnel involved in complex Ship-To-Ship (STS) operations, to enhance the efficiency and safety of these operations. A step-wise approach has been selected. The first step includes specification, development and testing of the tool in a simulated work environment using full-mission simulators. In the second step the findings from application of the tool in the simulated work environment will be used to develop a prototype which will be tested during real life STS operations. This paper describes work done in the first of these two steps. During four iterations, a Graphical User Interface (GUI) has been made following Interaction Design (IxD) principles. The designs have been iteratively developed and tested by experienced ship's officers in a ship-handling simulator to clarify key information to enhance their Situation Awareness (SA) and decision-making process. In order to find indicators for performance, an initial performance test was carried out in a ship-handling simulator. The test indicates that a logic based Decision-Support System (DSS) can improve existing simulator-based training activities in STS operations.

Recent developments in GPS positioning show that a user with a standalone GPS receiver can obtain positioning accuracy comparable to that of carrier-phase-based differential positioning. Such technique is commonly known as Precise Point Positioning (PPP). A significant challenge of PPP, however, is that about 30 minutes or more is required to achieve centimetre to decimetre-level accuracy. This relatively long convergence time is a result of the un-modelled GPS residual errors. A major residual error component, which affects the convergence of PPP solution, is higher-order Ionospheric Delay (IONO). In this paper, we rigorously model the second-order IONO, which represents the bulk of higher-order IONO, for PPP applications. Firstly, raw GPS measurements from a global cluster of International GNSS Service (IGS) stations are corrected for the effect of second-order IONO. The corrected data sets are then used as input to the Bernese GPS software to estimate the precise orbit, satellite clock corrections, and Global Ionospheric Maps (GIMs). It is shown that the effect of second-order IONO on GPS satellite orbit ranges from 1·5 to 24·7 mm in radial, 2·7 to 18·6 mm in along-track, and 3·2 to 15·9 mm in cross-track directions, respectively. GPS satellite clock corrections, on the other hand, showed a difference of up to 0·067 ns. GIMs showed a difference up to 4·28 Total Electron Content Units (TECU) in the absolute sense and an improvement of about 11% in the Root Mean Square (RMS). The estimated precise orbit clock corrections have been used in all of our PPP trials. NRCan's GPSPace software was modified to accept the second-order ionospheric corrections. To examine the effect of the second-order IONO on the PPP solution, new data sets from several IGS stations were processed using the modified GPSPace software. It is shown that accounting for the second-order IONO improved the PPP solution convergence time by about 15% and improved the accuracy estimation by 3 mm.

To meet the requirements of different applications, the International Global Navigation Satellite System (GNSS) Service (IGS) has provided Global Positioning System (GPS) satellite ephemerides and clock products with different accuracy levels (final, rapid and ultra-rapid products). Comparison of Precise Point Positioning/Inertial Navigation System/Ultra Wideband (PPP/INS/UWB) tightly coupled positioning with different precise satellite ephemeris and clock products is made and corresponding data analysis is provided. Final, rapid and ultra-rapid products are applied in a PPP/INS/UWB integrated system. The field trajectories, position and velocity errors of the integrated system with different products are compared. The results indicate that PPP/INS/UWB tightly coupled positioning with final and rapid products achieves an accurate performance. Compared with the position resolution using final products, the position accuracy with the ultra-rapid products (observed half) is slightly reduced and the position accuracy with the ultra-rapid products (predicted half) has a 0·1–0·2 m reduction. The influence of precise satellite ephemeris and clock products is very minor for non-real-time positioning, relative to the accuracy of PPP/INS/UWB tightly coupled positioning.

Nautical services should be allocated efficiently as they have great resource costs. In this paper, the Marine Pilotage Service in the Istanbul Strait has been analysed by using Rockwell Arena Simulation Software. The purpose of the study is to find the required number of marine pilots for vessel traffic flow in the Istanbul Strait. It is evaluated thoroughly by a stochastic, dynamic, discrete simulation for safe service standards in pilotage. The result of the paper shows that discrete simulation technique is an efficient and reliable way of solving complex techno-nautical service allocation problems as proven by experts. As the discrete simulation result data shows, most other techno-nautical services can also be modelled and optimised by using similar techniques. Areas like optimisation of the number of pilots, tugs, resource allocation problems, berthing area selections and many more complex and inherently stochastic problems can be reliably solved by simulation experiments.

Vessel trajectories from the Automatic Identification System (AIS) play an important role in maritime traffic management, but a drawback is the huge amount of memory occupation which thus results in a low speed of data acquisition in maritime applications due to a large number of scattered data. This paper proposes a novel online vessel trajectory compression method based on the Improved Open Window (IOPW) algorithm. The proposed method compresses vessel trajectory instantly according to vessel coordinates along with a timestamp driven by the AIS data. In particular, we adopt the weighted Euclidean distance (WED), fusing the perpendicular Euclidean distance (PED) and synchronous Euclidean distance (SED) in IOPW to improve the robustness. The realistic AIS-based vessel trajectories are used to illustrate the proposed model by comparing it with five traditional trajectory compression methods. The experimental results reveal that the proposed method could effectively maintain the important trajectory features and significantly reduce the rate of distance loss during the online compression of vessel trajectories.

Every day several hundred subsonic aircraft travel between the European and North American continents. Because of noise limitations at major airports, aircraft turn-around times and the time difference between the continents, the direction of the main traffic flow changes through the day. In the afternoon (GMT) the flow is predominantly westbound, while in the early hours of the morning the flow is predominantly eastbound. Oceanic air traffic control for the North Atlantic region has evolved into what is now known as the Organized Track System; traffic is divided into streams, each stream flying at a specified set of flight levels on one of several adjacent tracks. Figure 1 shows an example of the subsonic track system during the westbound peak. To secure operating economy the layout of the track system on any day is matched to the pattern of the upper winds.