The tip of the Chukotskiy Peninsula in the Soviet Far East is 86 km from mainlandAlaska and its mountains are clearly visible from St Lawrence Island. It is a ruggedtreeless land that straddles the Arctic Circle between the Bering Sea and the ArcticOcean. In winter it is snow-covered and the sea stays frozen until May.

For more efficient aerial surveillance, charging pads are set up at corresponding distances so that an unmanned aerial vehicle (UAV) can sustain its operations without landing. Usually manual intervention is required to land a UAV for charging and so extend its mission. To enable a UAV to operate autonomously, wireless power charging using inductive coupling is proposed. Using this method, the UAV's battery is charged until it reaches the next charging station. This paper focuses on two significant aspects of the process: vision-based navigation for charging pad detection, and wireless power charging. The coils were designed, and other parameters like mutual inductance, coupling coefficient and the distance between the coils for effective power transmission were analysed, using Ansys and Maxwell software. A quadcopter was built, with battery and Lidar sensor connected to the Arduino controller for low battery voltage detection and height measurement, respectively. Whenever the battery voltage is low, the UAV is steered towards the nearest charging pad using the global position navigation system. To test the process, the quadcopter was flown over the charging pad using a vision-based algorithm pre-defined in the image processor (Raspberry Pi B+).

Many ship accidents have arisen from an error in course indication. Bearing in mind that the actual errors in gyrocompass and satellite compass are really minor, they may be considered valid to be input into an autopilot provided that any failure in such devices is controlled by means of a secondary heading source such as a magnetic compass. However, magnetic compass deviation may be significant and its heading should be corrected before being input to the autopilot. The errors caused by the geographic variability of the deviation should also be taken into account. Moreover, the current way to reduce the deviation requires that the ship is un-berthed to execute a complete swing. The aim of this article is to obtain a ship magnetic model by means of an algorithm based on least squares to correct magnetic compass heading input in the autopilot and to permit definitive magnetic compass compensation without swinging the ship through 360°.

The fundamental approaches for preventing collisions at sea are based on interpreting and understanding the Collision Regulations correctly. Although the Regulations are the technical standards of collision avoidance conduct at sea, they are also the code for dividing liability1. When one tries to apportion the collision liability between two parties, the first question faced is whether the Rules apply and if so, when do they apply? In order to answer this question, this paper has reviewed most of the English, American and Canadian cases in the past hundred plus years, which are related to this topic and outlined briefly four special circumstances where collision avoidance rules do not apply, even if there is a risk of collision.

Dead reckoning (also called path integration) is the process by which a navigating organism derives its current position relative to an Earthbound reference point from its own locomotion. Dead reckoning requires the continuous estimation of changes in direction and location through self-generated signals and the computation of position on the basis of these signals.

(i) Hymenopterous insects measure rotations and translations mainly with the help of optical references such as the Sun and translational visual flow. By contrast, mammals are able to estimate their position on the basis of purely ‘internal’ information; that is, signals generated in the vestibular system by inertial forces, somatosensory feedback, and efference copies (copies of central commands that control the performance of rotations and translations). Obviously, the assessment of the angular and linear components of locomotion is much more precise if it is assisted by external references than if this is not the case.

(ii) Only man-made dead reckoning systems yield precise position information through the twofold integration over time of inertial signals deriving from angular and linear acceleration. On the biological level, all species tested so far seem to rely on a simplified form of path ‘integration’: in certain test situations, arthropods and mammals (including humans) commit similar systematic errors. This suggests that species from unrelated taxa update position according to a similar algorithm.

X-ray pulsar navigation is a promising technology for autonomous spacecraft navigation. The key measurement of pulsar navigation is the time delay (phase delay). There are various methods to estimate phase delay, but most of them have high computational complexities. In this paper, a new method for phase delay estimation is proposed, which is based on the time-shift property of Discrete Fourier Transformation (DFT). With this method, the time complexity can be greatly reduced. Also, a delta-function approximation can be used to further decrease the computational cost. Numerical simulation shows that the proposed method is effective for phase delay estimation, and the reduced complexity makes our method more suitable for on board implementation.

Determination of calibration parameters is essential for the fusion performance of an inertial measurement unit (IMU) and odometer integrated navigation system. Traditional calibration methods are commonly based on the filter frame, which limits the improvement of the calibration accuracy. This paper proposes a graph-optimisation-based self-calibration method for the IMU/odometer using preintegration theory. Different from existing preintegrations, the complete IMU/odometer preintegration model is derived, which takes into consideration the effects of the scale factor of the odometer, and misalignments in the attitude and position between the IMU and odometer. Then the calibration is implemented by the graph-optimisation method. The KITTI dataset and field experimental tests are carried out to evaluate the effectiveness of the proposed method. The results illustrate that the proposed method outperforms the filter-based calibration method. Meanwhile, the performance of the proposed IMU/odometer preintegration model is optimal compared with the traditional preintegration models.

In this paper, which is a revised and up-dated version of an article which appeared on the back of the United States Pilot Chart of the North Pacific Ocean for May 1964, Mr. Fricker, a member of the Maritime Safety Division of the United States Naval Oceanographic Office, first of all analyses world-wide statistics of collision at sea on a geographical basis. He highlights the results of an investigation conducted by the U.S. Coast Guard into the conditions surrounding marine collisions; taking into account the results of this enquiry the author then goes into the common causes of collision. The paper then reviews the whole subject of radar and collision and the interpretation of the Collision Regulations in relation to the use of that aid. Certain collision counter-measures such as particular radar displays, improved lights and sound signals, bridge to bridge communication, &c. are then discussed.

Language holds many pitfalls for the unwary. A housewife picks up her iron, and so does the golfer: a butcher uses the steel and so does the soldier: a government nationalizes iron and steel. No wonder the foreigner makes ludicrous mistakes. And we in our turn, coming across an Italian book entitled Il Compasso da Navigare might be pardoned for supposing its subject-matter to be the navigating compass. This is not so. It is a learned and comprehensive treatise under the title belonging to the oldest surviving Sailing Directions for the Mediterranean Sea, and as the author, Bacchisio R. Motzo, clearly proves, such Directions were called a Compasso, and by a natural transference the same name was given to the sailing chart which was drawn to accompany the Directions. What we call a mariner's compass, or simply a compass, the Italians term Compasso-bussola or more usually just bussola. When English sailors began to use written Directions or ‘Pilots’ they called them Rutters (from the French Routier), while an alternative Italian name for a Compasso was Portolano, which also meant the accompanying chart.

An examination of accounts of sixteenth-century voyages shows that the estimations of latitude then arrived at by astronomical means were subject to widely varying error. The purpose of the present study has been to discover by practical experiments at sea, with replicas of instruments in use at the time, to what extent the size and irregularity of the errors can be attributed to the characteristics of the instruments and to what extent they arise from other causes. Observations were made from a 9-ton yacht under conditions not wholly dissimilar to those obtaining in some of the very small ships whose voyages are recorded.

The evidence for latitude errors is derived from published studies and from the writer's own analyses of three voyages made in northern waters by ships of the Muscovy Company: those of Stephen Borough of 1556 and 1557 and that of Arthur Pet and Charles Jackman of 1580. These were chosen because the masters in that Company's service received the best nagivational advice of the time3 and from the early 1550s onwards regularly recorded both latitude and compass variation. Furthermore, the relatively low altitude of the Sun in the higher latitudes was conducive to greater accuracy with a cross-staff.

The marriage of the computer with the collision avoidance (C/A) radar permits a higher order of manœuvrability finesse than is possible with the plotting board. Given the computer as a new tool, the marine systems engineer is faced with the question of whether to attempt a radical improvement in the art of collision avoidance displays, or whether merely to introduce a marginal extrapolation of the existing art. That the first course of action may be necessary is evident from various studies of the modern marine traffic environment; thus a recent study by the United States Coast Guard for the Department of Transportation showed that ‘…the total probability of collision avoidance for this condition [surrounded by a significant number of ships] requires an analytical solution quite different from one which would relate to a sparsely populated area’. Indeed the increase in shipping density, collision rates, speed and size of the newer ships, economic pressures and ecological constraints demand a radically different approach to solving the collision avoidance problem. The marine electronics industry has responded by developing collision avoidance systems of various types. Many of these are relatively straightforward extrapolations of existing art but one at least, the Sperry CAS, goes beyond a simple extrapolation and is a radical departure from conventional practice.

In this paper, a novel method is proposed to generate the matching sequence of an ICCP algorithm for aircraft geomagnetic-aided navigation based on the M coding principle. The length of the matching sequence and the selection of the matching points directly affects the performance of the Iterated Closest Contour Point (ICCP) algorithm. This study proposes an adaptive geomagnetic matching method, ΔM-ICCP, to solve the problem of selecting suitable matching lengths, and matching points, when a vehicle is moving in a highly dynamic environment. First, the △M coding principle is adopted to select the matching points based on the information of the magnetic field, the resolution of the magnetic map, and the accuracy of the magnetic sensor. Then, the problem of selecting parameters for the △M-ICCP algorithm is turned into an optimisation problem, which can be solved by a Binary Particle Swarm Optimisation (BPSO) algorithm. Finally, the algorithm is verified through simulation experiments. The proposed algorithm can provide a basis to determine the matching length of the △M-ICCP algorithm and adaptively adjust the algorithm's parameters according to different trajectories. The algorithm is applicable even in the areas where the fluctuations of Earth's magnetic field are not significant.

In the process of composing a double-differenced positioning model, it is difficult to separate different frequency signals between code division multiple access (CDMA) systems, the single-difference ambiguity of the pivot satellite and phase differential inter-system biases (PDISBs). Hence it is difficult to calibrate in advance the bias between systems in order to build an inter-system model which only needs one pivot satellite. Based on analysis of the stability of PDISB parameters for non-overlapping frequency CDMA systems, this study adopts a particle filter to estimate the fractional part of the PDISBs (F-PDISBs) between the systems and proposes a particle filter-based inter-system positioning model. Results show that the F-PDISBs and code DISBs for the baselines with the same receiver types and some with different receiver types are rather stable over time and for these baselines it is feasible to use a particle filter to estimate the F-PDISB parameters in the initial stage. Having attained the F-PDISBs, the inter-system model can be constructed to improve positioning accuracy in complex operational environments.

The objective of this paper is to accurately determine mobile robots' position and orientation by integrating information received from odometry and an inertial sensor. The position and orientation provided by odometry are subject to different types of errors. To improve the odometry, an inertial measurement unit is exploited to give more reliable attitude information. However, the nonlinear dynamic of these systems and their complexities such as different sources of errors make navigation difficult. Since the dynamic models of navigation systems are nonlinear in practice, in this study, a Cubature Kalman Filter (CKF) has been proposed to estimate and correct the errors of these systems. The information from odometry and a gyroscope are integrated using a CKF. Simulation results are provided to illustrate the superiority and the higher reliability of the proposed approach in comparison with conventional nonlinear filtering algorithms such as an Extended Kalman Filter (EKF).

When anchorages are arranged in a harbour, the manoeuvering difficulty of a ship navigating between anchored ships should be considered. However, until now, nobody has researched how to design the arrangement of anchorages from the viewpoint of manoeuvering difficulty. In this paper, the relationship between the arrangement of anchorages and manoeuvering difficulty is systematically analysed by applying the Environmental Stress Model to the problems of a ship navigating between anchored ships. Based on this analysis, a method of designing the arrangement of anchorages is considered that ensures manoeuvering difficulty is at an acceptable level for mariners. The distance needed between the anchored ships has been proposed to accord with the length of the navigating ship and the mean length of anchored ships.

A number of automated decision support tools will be required in the future air traffic management system to enable continued provision of safe and efficient services in increasingly congested skies. In particular, Conflict Detection and Resolution (CDR) tools should allow for early detection of possible conflicts and propose safe and efficient resolution manoeuvres to avoid loss of separation. However, current approaches in the open literature not only use different levels of aircraft intent information but also make a number of assumptions on models of aircraft motion. Furthermore, information relevant to aircraft performance is often not considered with the consequence of the resulting resolution strategies being potentially unreliable. This paper presents an enhanced, strategic, pairwise, performance-based and distributed CDR algorithm. It accounts for the weaknesses of current approaches by using the maximum level of aircraft intent information together with a novel trajectory prediction model. Numerical results for representative conflict scenarios show that the proposed CDR method is able to generate conflict-free trajectories for participating aircraft while taking into account the actual aircraft capabilities to perform the recommended resolution manoeuvres.

The shipping industry is faced with unilateral legislation proposed by the United States of America covering navigational equipment and, in the interests of harmonization, IMCO is compiling performance specifications and carriage requirements for navigational equipment including collision avoidance systems; the establishment of type approval procedures can be anticipated. The shipowner has reservations, in respect of the need for adequate training in the use of advanced systems and the risk of navigators placing reliance on such devices as collision avoidance systems when their constant availability cannot be guaranteed.

This paper describes an algorithm for evaluation of magnetic compass deviation based on the least squares method. An automatic system was built, coupled with a magnetic compass recording device, for fine estimation of the deviation curve on the basis of an incomplete compass swing circulation.

Europe and the USA are developing plans (‘SESAR’ and ‘NextGen’) to transform the processes of Air Traffic Management (ATM). These will improve safety and efficiency, and match predicted increases in air transportation demand. Aircraft would fly on Four Dimensional-Trajectories (4D-Trajectories), incorporating altitude, position, time, and other aircraft positions and vectors. This vision would involve extremely large investments from the airline industry and ATM service providers. Thus, development priorities need to be based on sound business cases. But will these necessarily lead to the strategic vision of a 4D-Trajectory system? Will the changes in practice be limited to a series of short and medium term operational improvements rather than strategic improvements? Killer App(lication)s is jargon for innovations so valuable that they prove the core value of some larger technology. So, are there ‘Killer Apps’ for 4D-Trajectory ATM? Killer Apps generate high degrees of stakeholder technical and financial cooperation. Ironically, most past ATM Killer Apps have improved safety. The analysis here attempts to identify and then size potential 4D-Trajectory ATM Killer Apps. The evidence for Killer Apps has to pass key tests. Killer Apps obviously have to offer enormous benefits to stakeholders in the context of the potential costs. The bulk of these benefits must not be obtainable through technologically ‘cut down’ non−4D-Trajectory versions. Part 1 of this paper sets out the framework for investigating these questions; Part 2 will be published subsequently and will examine potential Killer Apps derived from improvements in Fuel Efficiency, Capacity and Cost. An abbreviated version of this paper was first presented at the European Navigation Conference (ENC 2011), London in November 2011.

A novel relative spacecraft attitude and position estimation approach based on an Unscented Kalman Filter (UKF) is derived. The integrated sensor suite comprises the gyro sensors on each spacecraft and a vision-based navigation system on the slave spacecraft. In the traditional algorithm, an assumption that the master's body frame coincides with its Local Vertical Local Horizontal (LVLH) frame is made to construct the line-of-sight observations for convenience. To solve this problem, two relative quaternions that map the master's LVLH frame to the slave and master body frames are involved. The general relative equations of motion for eccentric orbits are used to describe the positional dynamics. The implementation equations for the UKF are derived. A modified version of the UKF is presented based on the averaging-quaternion algorithm. Simulation results indicate that the proposed filters provide more accurate estimates of relative attitude and position than the Extended Kalman Filter (EKF).