A research and development programme performed in Sweden over a period of 9 years has created a substantial know-how on the design of satellite navigation user systems. Thus, a basic user system, called the GP & c Total System has been developed and tested over 3 years. This system can serve as a basis for the tailoring of an almost endless number of applications. The system is currently using data from the GPS satellites, but can also be operated with combined GPS/GLONASS receivers. The Swedish GP & c System is an example of how the communication, navigation and surveillance (CNS) concept and the various elements (ADS, ATM, etc.) for a new global Air Navigation System published by the ICAO FANS Committee can be implemented and integrated into a user-friendly operational system. The ICAO 10th Air Navigation Conference (5–20 September 1991) endorsed the FANS concept in which the main elements are based on the implementation of satellite navigation technology.

This paper discusses the drawbacks of observational methods of analysing navigational errors and shows the advantages of a synthesizing technique, whereby the effect of any change in the magnitude and distribution of a component error upon the overall resultant error can be evaluated and examined. To this end a computer program has been developed which is capable of accepting both analytical and numerical statistical distributions, representing errors in the components, and combining them to yield the overall effective error. A new error distribution better representative of many navigational error distributions is introduced. The work described is applicable to the investigation of any error which depends upon the interaction of many component errors and is not restricted to the navigation field. An extension of the method to mixed samples is indicated.

The paper describes the final step in the development of a universal computer program aimed at synthesizing navigational errors in order that they can be used in evaluating their effect on any proposed A.T.C. system. The investigation was commenced at the College of Aeronautics in 1963 and has been the subject of several published papers during the interim period.

The history of the first 10 years of the Channel Navigation Information Service (CNIS) from its inception in 1972 has been well-documented in Captain Richard Emden's three papers published in the Journal of the Royal Institute of Navigation. While the purpose of this paper is to discuss the period of consolidation following these first 10 years, it is perhaps appropriate to set out briefly the factors leading up to the introduction of CNIS in the Dover Strait, the operating philosophy and some of the major milestones along the way.

Since its inception in 1972 progress of the Channel Navigation Information Service (CNIS) has twice been described in the Journal. The tenth anniversary of the first broadcast bulletin of information occurred on 31 July 1982, and it is perhaps appropriate to review and bring up to date the major milestones in the history of the Service and to review the safety of navigation in the Dover Strait.

It will be recalled that, following the multiple collision off the Varne in 1971 and bearing in mind previous major disasters – Torrey Canyon, Pacific Glory, etc. – the Department of Trade concluded that a voluntary Traffic Separation Scheme (TSS), without surveillance and without a coordinating information service, was inadequate for the dense and complex maritime traffic problems of the Dover Strait. Thus was born the Dover Strait Information Service, now CNIS, under the aegis of HM Coastguard, and located on the upper floor of an old Port War Signal Station at Leathercote Point, St Margaret's Bay. The Decca Marine Radar Company installed a simple harbour radar and its associated display towards the end of 1971 and Coastguard evolved the essential elements of what remains to this day a half-hourly bulletin, broadcast on vhf/rt Channel 10. In low visibility intermediate broadcasts are given, based on actual visibilities reported from sea.

In August 1973 the French authorities installed a similar system at Cap Gris Nez and a very close co-ordination, vital from the mariner's point of view, developed.

Ergonomics can mean the science of making work fit the worker or the study of man at work. This paper will be confined to the aspects of ergonomics affecting ship design, which include anatomy and physiology, anthropometry, and physiological and experimental psychology.

The following report, here printed in a slightly abridged form, was prepared under a contract with the U.S. Office of Naval Research and covers the results of research at Key West, Florida, and near Newport, Rhode Island, as well as afloat during the period January 1958 to May 1961. It has so far been unpublished. It describes the results of investigations into the use of high-magnification sextant telescopes and makes recommendations for the improvement of marine sextants and their use. It is here published with a prefatory note and final general comment by Mr. D. H. Sadler, Superintendent of H.M. Nautical Almanac Office.

In this paper, a simplified constellation architecture consisting of only two navigation satellites located around the Earth-Moon L1,2 libration points is obtained for the Universe Lighthouse. In order to determine the feasible constellations that can achieve continuous global coverage for lunar orbits, an exhaustive search over all possible combinations of libration point orbits is performed first. With the use of a fitting procedure, amplitude relations between the feasible L1 and L2 libration point orbits are derived by polynomial interpolation. After that, a cislunar navigation simulation is conducted to verify the navigation performance of the candidate two-satellite constellations. The final Monte Carlo simulation results indicate that the simplified system is available for cislunar navigation and the best accuracy of a few tens of metres can be achieved for both the trans-lunar cruise phase and lunar orbit phase.

The problem of errors in radar plotting were considered by Capt. H. Topley (11, 167) and Capt. F. J. Wylie (12, 198), and it was shown that the error in the estimated distance of the C.P.A. depends upon mean range and range change in plotting interval. I want to introduce the term rate of error in the estimated distance of C.P.A., in the same way that Topley shows the percentage error in the estimated speed.

Modern hydrofoil ships have evolved in response to the need for a fast reliable means of sea transportation which is capable of operating in all sea conditions. It is the purpose of this paper to describe how the application of modern stabilization and navigation technology to hydrofoil ships has contributed to the achievement of these goals.

First, consider the subject of stability. In particular, consider the source of roll stability in three types of ships: a displacement ship; a surface piercing hydrofoil and a submerged-foil hydrofoil. A roll disturbance of each of the ships is depicted in Fig. 1. In both the displacement ship and in the surface piercing hydrofoil, the righting moment is produced entirely by the change in attitude of the ship relative to the water surface. In the case of the displacement ship, the righting moment is due to the shift of the centre of buoyancy. For the surface piercing hydrofoil, the moment occurs due to the shift of the hydrodynamic pressure centre of the foils. However, for the submerged-foil hydrofoil, no righting moment is produced by the change of the relative position of the water surface. The righting moment for this ship must be produced by underwater control surfaces in response to the change of ship attitude relative to inertial space, as sensed by a vertical gyro. It is this transfer of stability reference from the water surface to an inertial reference that leads to the superior seakeeping capabilities of the submerged foil hydrofoil.

Oscillator phase noise has a negative effect on the tracking performance of Global Navigation Satellite System (GNSS) receivers. To provide GNSS software receivers with real test environments, this paper proposes a method to simulate the GNSS Intermediate Frequency (IF) signal, taking the oscillator phase noise effect into consideration. The oscillator parameters are first measured via a pseudolite transmitter and receiver system. According to the measured oscillator parameters, an oscillator-induced frequency fluctuation is then generated, and added to the digital IF signal. Further simulation experiments are conducted that attempt to measure the oscillator phase noise effect on a second-order Phase Lock Loop (PLL) performance. Results indicate that the IF signal simulator considering the oscillator phase noise is able to provide software receivers with real signal dynamics, helping to evaluate the performance of signal processing algorithms on a software platform.

A closed form of an algorithm to determine a Global Positioning System (GPS) satellite's position, velocity and acceleration is proposed, and an Earth Centred Earth Fixed (ECEF) to Earth Centred Inertial (ECI) transformation result using the Civil Navigation (CNAV) message is presented in this paper. To obtain the closed form of the GPS satellite velocity and acceleration determination algorithm using the CNAV, we analytically differentiated the IS-GPS-200F position determination function. The calculated data are transformed from the International Terrestrial Reference Frame (ITRF) to the Geocentric Celestial Reference Frame (GCRF) using an equinox-based transform algorithm that is defined in the IAU-2000 resolution system using the Earth Orientation Parameter (EOP) data. To verify the correctness of the proposed velocity and acceleration determination algorithm, the analytical results are compared to the numerical result. The equinox-based transformation result is compared to simple rotation about the z-axis, which does not use the EOP. The results show that by using the proposed algorithm and the equinox-based transformation together, the user can obtain more accurate navigation data in the ECI frame.

I am pleased to see that, in light of my critical evaluation, Arne B. Molander has reevaluated a number of points in his analysis, and has revised his proposals of Columbus's alleged use of the Moon for determining his longitude. However, it is disappointing that these latest proposals again do not seem to have been thoroughly considered.

Since it is clear that Columbus's East–West position fixes are not correlated with visible lunar-planetary conjunctions, Mr Molander's latest hypothesis is that Columbus observed a dark-horizon moonrise or moonset near each conjunction – which usually can be done whether or not the conjunction itself is visible. However, it is entirely unclear how such an observation can be converted into a longitude. Reading attentively, we can glean a few details of this process: only a single observation is required, since some positions are computed within a few hours of the purported observation; and Columbus apparently used the Ephemerides of Johann Miiller, since errors in that ephemeris are alleged to have caused errors in the computed longitude. In his 1992 paper, Mr Molander asserted that timing of the conjunction is not required by this method, because Columbus somehow utilizes the Moon's daily topocentric motion. But how this datum is utilized, and in fact all details of the longitude determination itself, are entirely obscure.

The aim of the Duke of Edinburgh's lecture is to extend the horizons J. of navigational interest. I shall try to show how modern scientific methods are greatly increasing our understanding of how the oceans themselves work, and, at the same time, do all I can to maintain that this new knowledge is not just a matter of curiosity. If vigorously developed it will be of much practical use to seamen, and of great benefit to us all. The time is opportune. Scientifically inclined nations recently have been making organized all-round exploration of the human environment. As well as major Antarctic operations, and the rush to Space, there is growing realization that the oceans are coming within our grasp for major technical exploitation.

The accuracy in an X-ray pulsar-based navigation system depends mainly on the accuracy of the pulse phase estimation. In this paper, a novel method is proposed which combines an epoch folding process and a cross-correlation method with the idea of “averaging multiple measurements”. In this method, pulse phase is estimated multiple times on the sampled subsets of arriving photons' time tags, and a final estimation is obtained as the weighted average of these estimations. Two explanations as to how the proposed method can improve accuracy are provided: a Signal to Noise Ratio (SNR)-based explanation and an “error-difference trade-off” explanation. Numerical simulations show that the accuracy in pulse phase estimation can be improved with the proposed algorithm.

There is no doubt that visibility influences the probability of collision and stranding and even a full moon, which gives a brightness of only 0·2 lux, seems to reduce the probability compared with a dark night; there is a much greater difference in the brightness by day (several thousand lux even with cloud) and at night. However the number of accidents in a seaway is influenced by many factors, such as traffic density, average speed, encounter condition, visibility, the helmsman's skill, availability of information &c. Of these factors, traffic density has most influence on the probability and this influence must be removed in order to study the influence of brightness. The present writer has shown that the danger of collision is roughly proportional to the square of the traffic density, and therefore proportional to the square of the traffic volume. Diurnal changes in the number of accidents and in traffic volume are therefore used to estimate the ratio of the danger by day and by night.

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.

In recent years, the most striking development in the philosophy of navigation has surely been the change in attitude towards errors. Ten years ago an error was regarded as something that just did not happen in the best navigational circles; today we accept it as the normal concomitant of observation, and we study to reduce it.

This change in philosophy is really nothing more than theory following in the footsteps of the practical man, for the practical man has always regarded a position plotted on a chart with a certain amount of healthy scepticism. It may therefore be of value to discuss the whole business of errors from the point of view of the practical man, avoiding complicated mathematics and dealing in demonstrations rather than in rigid proofs. Navigation has been described as the business of conducting a ship on its way across the sea or an aircraft on its way across the sky. The word conducting implies safety. Indeed, safety is the keyword in navigation.

When planning the replacement of an existing shore-based radar advice chain, which may have admirably served the port area under consideration for the past fifteen or twenty years, a number of basic elements have to be reviewed. The review and the ensuing process of analysis should be steps towards the adoption of a basic philosophy for the eventual development of a replacement system; this is necessary to judge requirements in relation to the many possible solutions, ranging from a simple shore-based radar advice service to sophisticated vessel traffic management systems. Elements for consideration include:

(i) The area to be served, present and future.

(ii) The traffic pattern, present and future.

(iii) The technology available or under development.

(iv) The other operational and administrative services available to shipping.

(v) The quality of manning and manning scales.

(vi) The economics of the shipping industry.

(vii) The cost of the new system.

(viii) The distribution of this cost over shipping and the community in general.

(ix) Legal aspects.

Besides these factual considerations and their analysis we should develop a philosophy regarding the aims of the system, which could be an improvement in port operation efficiency, in traffic safety, or in vessel turn-around time. The realization of these aims will probably result in economic benefits both for the port and for shipping and these will have to be weighed when investigating the distribution of system cost over shipping and the community in general.

One of the main motives for establishing the International Hydrographic Bureau (1921) was: ‘To bring about … the greatest possible uniformity in nautical charts and documents’.

1. INTRODUCTION. Interest in the use of video displays for nautical chart presentation has increased rapidly during the last two years. Eaton et al. at the Second International Hydrographic Technical Conference provided a list of ten different systems already in production. Oshima speaking at a Workshop on the subject in Canada, early in 1985, mentioned that some 4000 Japanese fishing boats and 150 merchant vessels now carry electronic charts of varying degrees of complexity.