One critical issue in network real-time kinematic (NRTK) is the interpolation of atmospheric delay for user stations. Some classic interpolation algorithms, such as linear interpolation method (LIM), ignore the strong correlation between tropospheric delay and height factors, and the interpolation accuracy is poor in areas with large height difference. To solve this problem, a troposphere modelling method based on error compensation, namely ECDIM (Error Compensation-Based DIM), is proposed, and this method can be applied to both conventional single Delaunay triangulated network (DTN) and multi-station scenarios. The results of California Real Time Network (CRTN) with large height difference show that compared with LIM, the overall modelling accuracy with ECDIM has been improved by 50.1% to 67.3%, and especially for low elevation satellites (e.g., 10–20 degree), the accuracy is increased from tens of centimetres to a few centimetres. At user end, the positioning error in up direction with LIM has an obvious systematic deviation, and the fix rate of epoch is relatively low. This situation has been improved significantly after using ECDIM. The results of Tianjin Continuously Operating Reference System (TJCORS) show that in areas with small height difference, both methods have achieved high precision interpolation accuracy, and the positioning accuracy with ECDIM in up direction is improved by 21.2% compared with LIM.

In our present age, radio communication and navigational aids are taken without comment throughout the aviation industry. However, all developments must start somewhere and it is the intention of this paper to look into the earliest days of “wireless” and its gradual application to aviation.

The first step was, as far as I can ascertain, in October 1866 when Mahlon Loomis flew a kite from a mountain top in Virginia, USA. He had fitted a copper mesh to the kite and connected this to a copper wire. Between the wire and earth he connected a galvanometer which, he noted, deflected from static electricity. On flying an identical kite at a similar height some fourteen miles away, if the copper wire were earthed, the deflection on the galvanometer changed. However, if the kite wires were of different length, this effect was not observed. For this, in 1872, he was issued with a US Patent 129971 for “wireless telegraphy” but, as far as we know, apart from a few fading freehand notes, (See Figure 1) no details of his apparatus survive, so it must remain a matter of conjecture what was actually achieved.

Digital maps have a large potential to support safety-related Advanced Driver Assistance Systems (ADAS) by providing detailed road and environment information. However, one critical attribute – road accident hotspot – is not available from existing digital maps, and is also difficult to derive from practical surveying. This paper provides a Geographical Information Systems (GIS)-based approach for the production of digital hotspot maps, based on a historical accident dataset and geospatial methods in a GIS. In this approach, firstly the Kernel Density Estimation (KDE) method was used to identify hotspot distribution; secondly the Percent Volume Contour (PVC) method was coupled with KDE to extract hotspot patterns; and finally the map layers of hotspot patterns were integrated with classical navigation maps. Following a description for geospatial hotspot production, the derivation of hotspot property data is also discussed. In order to prove this approach, a small-area case study was carried out in the City Centre of Nottingham. The presented results demonstrate that this approach is useful and effective for solving the hotspot creation problem for ADAS, but other future works will be required to improve data effectiveness.

Benefiting from video surveillance systems that provide real-time traffic conditions, automatic vessel detection has become an indispensable part of the maritime surveillance system. However, high-level vision tasks generally rely on high-quality images. Affected by the imaging environment, maritime images taken under poor lighting conditions easily suffer from heavy noise and colour distortion. Such degraded images may interfere with the analysis of maritime video by regulatory agencies, such as vessel detection, recognition and tracking. To improve the accuracy and robustness of detection accuracy, we propose a lightweight generative adversarial network (LGAN) to enhance maritime images under low-light conditions. The LGAN uses an attention mechanism to locally enhance low-light images and prevent overexposure. Both mixed loss functions and local discriminator are then adopted to reduce loss of detail and improve image quality. Meanwhile, to satisfy the demand for real-time enhancement of low-light maritime images, model compression strategy is exploited to enhance images efficiently while reducing the network parameters. Experiments on synthetic and realistic images indicate that the proposed LGAN can effectively enhance low-light images with better preservation of detail and visual quality than other competing methods.

The Position and Orientation System (POS) is a special Strapdown Inertial Navigation System (SINS)/Global Positioning System (GPS) integrated system, widely employed in airborne remote sensing. In-Flight Alignment (IFA) is an effective way to improve the accuracy and speed of initial alignment for an airborne POS. IFA is normally accomplished with references from the position and velocity of GPS for SINS, so that unstable GPS measurements will result in poor alignment accuracy. To improve alignment accuracy under unstable GPS conditions, an adaptive filtering algorithm of the Second-order Divided Difference filter (DD2) based on adaptive innovation estimation is proposed, which introduces calculated innovation covariance directly into computation of the filter gain matrix. Then, the adaptive DD2 algorithm is used for the IFA of the POS with a large initial heading error. To validate the proposed algorithm, simulations are undertaken, followed by IFA experiments for the prototype of the airborne POS (TX-F30) under a turning manoeuvre in a car-mounted experiment, and under an “8” manoeuvre in-flight. The simulations and experimental results show that the proposed algorithm can reach better alignment accuracy under unknown statistical characteristic of GPS measurement noises.

Marine traffic engineering is a new field of navigation study with a history ranging over some fifteen years. The first traffic survey fully deserving of the name was carried out by Yamaguchi et al in 1963 in Japan; more than 30 surveys a year are nowadays being carried out with the cooperation of the Maritime Safety Agency, the Japanese Association for Preventing Sea Casualties and the Marine Traffic Engineering Research Group. The number of papers on the subject in the Journal of the Japanese Institute of Navigation has increased correspondingly. Table I gives a breakdown of theoretical studies of marine traffic engineering. A general account of Japanese activity in these fields has been published in different papers in the Journal of Navigation, London, and emphasis in this paper is based on activities since 1970.

Anyone concerned with navigation, be he practising navigator, design or development engineer, teacher, or amateur yachtsman, will be aware that the great majority of developments took place prior to Captain Cook's epic voyages (1768–1779) or after 1904 when the first radio time signals were transmitted. During the first period the science of astro-navigation had been developed and such aids as log, chronometer, sextant and Nautical Almanac were available. The methods developed during that period differ very little from the traditional methods which are still in use today.

FOR traffic proceeding in random directions on a plane surface the frequency of collisions, if no avoiding action is taken, is approximately proportional to the square of the traffic density and directly proportional to the size and speed of the craft. Avoiding action is normally taken and the rate of collisions is therefore also governed by additional factors such as the visibility, the effectiveness of the collision-avoidance rules, the competence of personnel, the manoeuvrability of the craft and the efficiency of radar and other equipment.

In the post-war years there has been a considerable increase in the number of merchant ships. The number of vessels of ioo tons gross and upwards increased from less than 30,000 in 1948 to over 65,000 in 1976. When considering the population of ships at risk it is necessary to deduct special types of non-trading vessels and ships laid up. The number of trading ships in service has increased by approximately 100 per cent since 1950 (Fig. 1) and the greatest increase has been for large ships. The average length of trading ships has increased by approximately 40 per cent in the same period and there has also been an appreciable increase in the mean speed of ships.

The existence of marine science is commonly believed to date from the great Challenger Expedition which sailed in 1872. Indeed John Young Buchanan, the Expedition's chemist, held that oceanography started on one particular day in 1873, the day of Challenger's Station I when she first dredged in the depths of the North Atlantic south of Tenerife. In fact, as anyone who has read Margaret Deacon's Scientists and the Sea knows very well, marine science has grown gradually over the centuries, at rates depending on individuals and the environment in which they found themselves.

Everyone now knows that radar has not fulfilled expectations as a means of preventing collision at sea, and that, because of this, its legal status is merely that of an aid to navigation. Nevertheless, everyone seems to feel that such a good technical instrument should enable ships to proceed safely in fog without reducing speed, and the fact that the collisions per fog day have increased by about thirty times in the fifteen years since radar became operational, shows that many mariners are in fact relying on it for collision avoidance. During these fifteen years, many papers have been published pointing out the dangers and giving advice, but in spite of this, the number of vessels involved in collision every year seems to have settled down to a constant figure of about 1700, or 7 per cent of the world fleet.

Efforts to determine the mean size of ship ‘domains’ from measurements of the distribution of ships in the vicinity of an individual ship have been made by several workers, particularly by Goodwin, who made extensive observations in the Sunk Lightship area of the North Sea. The work involved plotting the positions of vessels at time intervals of a few minutes to estimate the number of ships in an annulus about a central ship, or alternatively the number per unit area at various distances from a central ship. These figures were used to obtain distribution curves from which the average domain could be estimated. The work of Curtis and Barratt on the validation of simulator studies of passing manoeuvres in fog, in which the nearest point of approach of ship's tracks was determined, serves to illustrate an alternative method based on the distribution of the density of tracks. In both procedures use is made of the point at which the distribution function first returns to the value which would obtain if the distribution were uniform, that is, if ship domains were absent. Some doubts have been expressed as to the validity of using the position of the cross-over point as a measure of the average domain size, and also whether it would be more appropriate to employ the position of the maximum value of the functions.

In a series of three papers Dr Lewison has described the progressive results of a line of research which may have important applications in the consideration of routing schemes. The first paper described a mathematical model which can predict the number of encounters that would occur between ships of different traffic streams in the absence of avoidance manœuvres. In the second paper the number of potential encounters was calculated from estimates of traffic flow, in a particular area of the Dover Strait, then compared with the number of actual collisions to determine the risk of a ship encounter leading to a collision. The third paper updated these results for the Dover Strait and suggested how estimates of collision risk could be made for other UK coastal areas.

Concerning the minimum fuel routeing, the algorithm stated in Section 2 is very effective in the calculation of the (sub)optimum route for most environmental conditions. However, when the weather around the great circle route is extremely severe and the final isochrone bends backwards sharply near the destination, there is a possibility that the route passing through the other side of the great circle causes less fuel consumption than the calculated minimum fuel route. In such a case, to investigate the fuel consumption of that alternative route it is necessary to apply the algorithm for only the other side of the great circle route.

One of the popular techniques for solving GPS pseudorange nonlinear quadratic equations to obtain the receiver's position and clock bias involves linearizing the equations and solving them by the least-squares (LS) scheme, which is based on the L2 minimization criterion. When outliers are a problem, LS estimation scheme may not be the best approach because the LS estimator minimizes the mean squared error of the observations. This paper discusses the implementation aspects of L1 and L∞ criteria, and their outlier resistance performance for GPS positioning. Three ordinary differential equation formulation schemes and corresponding circuits of neuron-like analogue L1 (least-absolute), L∞ (minimax), and L2 (least-squares) processors will be employed for GPS navigation processing. The circuits of simple neuron-like analogue processors are employed essentially for solving systems of linear equations. Experiments on single epoch and thereafter kinematic positioning will be conducted by computer simulation for investigating the outlier resistance performance for the least-absolute and minimax schemes as compared to the one provided by the least-squares scheme.

Condensation inside marine containers occurs during voyages owing to weather changes. In this study, we define the condensation probability along one of the major routes for container ships between Asia and Europe. First, the inside and outside air conditions were measured on land in Japan, and a correlation analysis was conducted to derive their relationship. Second, onboard measurements were conducted for 20,000 twenty-foot equivalent unit (TEU) ships to determine the variation in outside air conditions. Complicated patterns of weather change were observed with changes in latitude, sea area, and season. Third, condensation probability was estimated based on a multi-regression analysis with land and onboard measured data. The maximum condensation probability in westbound or eastbound voyages in winter was found to be approximately 50%. The condensation probability estimation method established in this study can contribute to the quantification of cargo damage risks for the planning of marine container transportation voyages.

This paper proposes a dynamic aided inertial navigation method to improve the attitude accuracy for ocean vehicles. The proposed method includes a dynamic identification algorithm and the utilisation of dynamic constraints to derive additional observations. The derived additional observations are used to update the filters and limit the attitude error based on the dynamic knowledge. In this paper, two dynamic conditions, constant speed cruise and quasi-static, are identified and corresponding additional velocity and position observations are derived. Simulation and experimental results show that the proposed method can improve and guarantee the accuracy of the attitude. The method can be used as a backup method to bridge external information outages or unavailability. Both the features of independence of external support and integrity of the Inertial Navigation System (INS) are enhanced.

An aircraft wing is the carrier of imaging payload (interferometric synthetic aperture radar (SAR) or array SAR) of a high-resolution aerial remote sensing system, and high-precision estimation of wing deformation is the key. There are two main traditional modelling methods for wing deformation, namely stochastic theory modelling and material mechanics modelling only dealing with single disturbance, of which the model parameters are derived from empirical values. Aiming at the complex multi-source disturbance of an aircraft wing, this paper separately probes the influence of external disturbance (air disturbance) and internal disturbance (engine vibration) based on the real-time observation of sensors and classifies the wing deformation on the basis of auto-regressive (AR) modelling for parameter identification. With the authentic flight data of a certain types of aircraft, the experimental analysis shows that the wing deformation under the influence of engine vibration is the 14th-order AR model, and the wing deformation under the influence of turbulence is the fifth-order AR model. Meanwhile, this paper also provides an experimental verification idea for the wing deflection modelling built on the second- or third-order Markov model.

A round of three celestial sights yields three lines of position along which the observer's true position could lie. Due to measurement errors, the lines of position do not intersect at a point but rather form a triangle called the “cocked hat”. The probability that this encloses the observer's true position is well known to be 25% which is the average over all possible cocked hats that could arise when the sights are made. It does not apply to any specific set of sights and in that case the probabilities depend on the statistical distribution of the measurement errors. With fixed azimuths for the observed celestial bodies and assuming a normal distribution for the errors in their measured altitudes, a closed form analytic expression is derived for the probability of the observer's position falling inside the cocked hat and this is related back to the global average. Probabilities for exterior regions bounded by the lines of position are also obtained. General results are given that apply for any number of lines of position.

Several types of equipment have been developed over the years to assist ship operators with their tasks. Nowadays, navigational equipment typically provides an enormous volume of information. Thus, there is a corresponding need for efficiency in how such information is presented to ship operators. Augmented reality (AR) systems are being investigated for such efficient presentation of typical navigational information. The present work is particularly interested in an AR architecture commonly referred as monitor augmented reality (MAR).

In this context, the development of MAR systems is briefly summarised. The projection of three-dimensional elements into a camera scene is presented. Potential visual assets are proposed and exemplified with videos from a ship manoeuvring simulator and a real experiment. Enhanced scenes combining pertinent virtual elements are shown exemplifying potential assistance applications. The authors mean to contribute to the popularisation of MAR systems in maritime environments. Further research is suggested to define optimal combinations of visual elements for alternative maritime navigation scenarios. Note that there are still many challenges for the deployment of MAR tools in typical maritime operations.