This note on the distribution pattern of some Omega observations is based on a study of the phase differences observed at the Faculty of Fisheries at Hokkaido University (41° 48·4′N., 140° 43·3′E.). The A—D pair was investigated continuously, at half-hourly intervals, from i February 1974 to 31 January 1976, the A—C and C—D pairs from 1 January 1975 t o 31 December 197J and the A—H and D—H pairs from 1 January 1976 to 31 December 1976.

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.

In this paper, which was presented at the Quadripartite Meeting of the Institutes of Navigation in Rome, 11–14. May 1970, the author describes the precise acoustic navigation systems designed for use with submersible vehicles as distinct from typical cruising submarines. With recent technical advances in position finding a whole new range of underwater tasks for the submersible has been opened up.

Recently an electromagnetic method for measuring the velocities of ocean currents for oceanographic purposes has been shown to be reliable enough for the observed velocity of the surface current to be taken into account in dead reckoning navigation in the open ocean. A preliminary test of the electromagnetic method as a navigational aid was made in 1949 on one cruise covering a distance of 1000 miles across the Gulf Stream and back. A total of 52 miles of lateral drift was corrected to produce a straight line of travel through the observed currents, and this correction enabled the ship to return to within 2 miles of the starting point. Seven less formal experiments performed in 1950 indicate that ordinarily, on straight-away courses, the lateral drift component caused by currents can be measured and corrected with the expectation that the undetected drift will be less than 1 percent of the distance travelled.

This paper reviews the history and the evolution of international ship collision avoidance research. The direction which research should take in the Chinese People's Republic is discussed and the authors recognize that new ideas may be needed to take account of the conditions in their country.

It has for some years now almost been folklore that the marine traffic situation in the Dover Strait is one of great potential danger. Very considerable efforts have been made to alleviate the situation. There is a complete traffic separation scheme (the first in the world), there is continuous radar surveillance both from England and France, there are routine broadcasts on v.h.f. to warn mariners of any navigational problems, and there is now a system whereby certain ships report-in. Concurrently with all this activity, the accident rate has dropped significantly over the last decade, especially in fog, and it is a reasonable inference that the reduction in the number and severity of accidents is attributable to this activity.

But patterns of navigation change, and it is necessary for marine administrators to be aware of problem areas as or before they arise so that marine management measures can be introduced when appropriate. Factors to be taken into account are the volume and characteristics of the traffic, the difficulty of navigation and the accident record. One of us has drawn attention to the traffic situation off East Anglia and suggested that a prima facie case for some remedial measures had been made. This paper examines the available evidence in more detail.

First, an account is given of the accident record in the area under consideration (Figs 1, 2) over the last 10 years. Both the numbers and severity of collisions and strandings are discussed.

This paper is concerned with measures which may be used to reduce the effect of echoes from the sea surface and from rain (sea and rain clutter) on radar displays so that targets which give a reflected signal power greater than the reflected clutter power can be detected. It should be noted that a conventional PPI display is fully brightened by signals of amplitude about three times the level of the inherent noise background, so that once the clutter has exceeded this limit it will appear on the display as a fully bright patch in which signals can be lost, even though their amplitude at the receiver input may be many times greater than the amplitude of the clutter.

In June 1955, Canadian Pacific Airlines inaugurated a regular scheduled service between Vancouver and Amsterdam via the polar route. The Company had a wealth of northern experience which was of immense operational value on the polar route. In addition to its overseas services, C.P.A. has operated regular flights for many years to far northern parts of Canada and some of the group of companies which amalgamated to form C.P.A. in 1942 had arctic experience dating from the days when commercial aviation was in its infancy. One aspect of navigational experience which has helped its navigators on many occasions has been the map reading talents of the former bush pilots who show an astonishing ability to locate themselves visually over country which is mostly water, and where one lake looks much like every other lake.

The problems of submarine navigation are entirely distinct from those encountered on the surface. Not only does the medium introduce a third dimension, which is not wholly analagous to that of the air since a definite limit is imposed on depth, but also a great many of the aids to surface navigation are either restricted in their use underwater, or are wholly inappropriate and will not function. The use of the principal aids to submarine navigation is briefly described in this paper, future developments being mentioned where possible. A more detailed examination is then made of the problems of underwater navigation, problems in the main that affect the accuracy of keeping a reliable dead reckoning. An account is also given of a gravity survey carried out in H.M. Submarine Talent, during which the author served as navigating officer. On this operation the requirement for position accuracy was high, and some of the methods used were of considerable interest. The survey also provided the opportunity for current and tidal-stream observations to be made at different depths and an account of these observations is given.

Wing Commander Anderson has drawn attention to the fact that the distribution of the larger navigational errors is frequently observed to be non-gaussian in character. He raises the point whether this can be accounted for by the generation of such errors in succession, rather than simultaneously. The successive generation of navigation errors arises through the error incurred on a particular leg being distributed about a mean which is dependent on the error up to the end of the previous leg.

One method of controlling aircraft is to assign each a given track, the distance between successive tracks being sufficiently great to ensure that the collision risk is very low. Most approaches to the problem of stipulating what this spacing should be, assume that the possible divergences of an aircraft about its preassigned path follow a Gaussian distribution with a standard deviation obtained by considering all the usual sources of navigational error (e.g. compass error and fixing error) together with meteorological errors due to inaccuracies in forecasting.

Improved radar surveillance for air traffic control can be obtained by the integration of radar systems. Integration, however, might cause the delay of radar information, which would hamper the air traffic controllers in their work. To estimate the delay, a mathematical equation to assess the amount of radar information causing this delay has been deduced from the properties of the behaviour of air traffic. The mathematical equation has been tested using results obtained from operational secondary surveillance radar in the Netherlands.

This paper describes the infrastructure and concept of two multi-site reference station differential GPS (DGPS) options being offered to land and marine users by Racal Survey. The infrastructure of the Racal SkyFix system is briefly outlined followed by descriptions of Racal's internetting and network capabilities.

The two systems are compared including infrastructure, differential data management, user coverage, datalinks and positioning performance in various parts of the world. The paper describes the design of each of the systems and the tests undertaken to assess their functionality, before going on to compare their performances under a variety of conditions. Emphasis is placed on the technical issues associated with multi-reference station DGPS including error sources, weighting observations and monitoring of the data. The fundamental approach of the systems is shown to achieve high data integrity which is necessary to develop the systems to their next phase.

Having described the two options, examples of various combinations of reference stations are used to illustrate the potential of the system and to show the increased performance over ordinary, single-station DGPS. The conclusions summarize the paper's findings and make recommendations for the future development of the system. The object of the developments so far have been to improve the quality of real-time offshore DGPS positioning. The internetting and network options are providing real-time results to illustrate the benefits and, together with SkyFix, offer significant developments in the ability of DGPS to provide accurate and reliable positioning over vast areas of the world.

Map-matching is widely used in automotive navigation systems to locate vehicle positions on a given digital road map. Various map-matching algorithms have been developed focusing on different application needs. Within the Ghosthunter project, a weighting-function-based map-matching algorithm has been developed for detecting wrong-way driving in order to improve road safety, particularly in Autobahn entrance and exit areas. This paper aims at exploring the potential use of lane-level attributes and height data in improving the success rate of the previously presented algorithm. This algorithm performs well in entrance and exit areas to the Autobahn, with a high success rate of 99.5% in identifying the road on which the vehicle is actually travelling. In the enhanced algorithm presented in this paper the weight coefficients used for computing the total weighting score of candidate roads are adjusted with the aid of one or both kinds of these precise data. The results confirmed that the usage of these precise data can effectively help to detect and correct mismatches at junctions and overpasses.

A geometric approach to Low Earth Orbiter (LEO) precision orbit determination (POD) based exclusively on triple-differenced GPS carrier phase observables is presented. The algorithm is fast and efficient because there is no ambiguity-resolution requirement, which is a complicated and time-consuming task for long-range kinematic GPS. However, the triple-difference kinematic LEO POD requires careful screening for cycle slips, as the orbit quality depends on the accuracy and the geometry of the observations. It is shown that the signal-to-noise-ratio (SNR) combined with residual screening offers a good approach to data cleaning. Data from a CHAMP (Challenging Minisatellite Payload, altitude ~450 km) mission are used to present the accuracy, speed and efficiency of the processing algorithms. The methods of data screening and the effects of geometry on the orbit quality are discussed and the final achievable accuracy including the limitations and benefits of this method are quantified. It is demonstrated that the triple-difference method offers short processing times and is currently capable of achieving a 3D RMS fit to the dynamic orbit of 15–30 cm and 1 mm/s to the velocity.

The acquisition of modern Global Navigation Satellite System (GNSS) signals may be difficult due to the presence of a secondary code. Indeed, short coherent integration times should be used without non-coherent integration, which implies a low sensitivity; or long coherent integration times should be used, requiring synchronisation with the secondary code and thus a full correlation, which implies a significant computational burden, especially for signals with long secondary codes such as the Galileo E5 signal. A third option that lies between the previous two is to perform a partial correlation using less than one secondary code period as input, however this is less efficient in terms of complexity than using an entire secondary code period, and the code's autocorrelation properties are completely changed. The authors recently proposed a method based on combining secondary code correlations, allowing the use of intermediate coherent integration times with the possibility to do non-coherent integrations, and the method was successfully applied to the Global Positioning System (GPS) L5 signal. This paper studies the application of the method to the Galileo E5 signal, compares it with the partial correlation method, and discusses the case where less than one secondary code period is used as an input

A Laser Scanning aided Inertial Navigation System (LSINS) is able to provide highly accurate position and attitude information by aggregating laser scanning and inertial measurements under the assumption that the rigid transformation between sensors is known. However, a LSINS is inevitably subject to biased estimation and filtering divergence errors due to inconsistent state estimations between the inertial measurement unit and the laser scanner. To bridge this gap, this paper presents a novel integration algorithm for LSINS to reduce the inconsistences between different sensors. In this new integration algorithm, the Radial Basis Function Neural Networks (RBFNN) and Singular Value Decomposition Unscented Kalman Filter (SVDUKF) are used together to avoid inconsistent state estimations. Optimal error estimation in the LSINS integration process is achieved to reduce the biased estimation and filtering divergence errors through the error state and measurement error model built by the proposed method. Experimental tests were conducted to evaluate the navigation performance of the proposed method in Global Navigation Satellite System (GNSS)-denied environments. The navigation results demonstrate that the relationship between the laser scanner coordinates and the inertial sensor coordinates can be established to reduce sensor measurement inconsistencies, and LSINS position accuracy can be improved by 23·6% using the proposed integration method compared with the popular Extended Kalman Filter (EKF) algorithm.

The High-degree Cubature Kalman Filter (HCKF) is proposed as a novel methodology based on the arbitrary degree spherical rule, which can achieve better performance than the traditional Kalman filter. However, it also has a large calculation burden when used in a high-dimension and high-degree of accuracy estimation system. The number of sampling points of an HCKF increases polynomially with increasing state-space dimensions, which further increases the calculation burden. The reduction of the number of the state-space dimensions is the main contribution of this study. A strategy for HCKF based on the partitioning of the state-space and orthogonal principle is introduced, referred to as the Multiple Robust HCKF (MRHCKF). It is shown that this technique can effectively reduce the calculation burden for the high-dimension system with robust performance. Numerical simulations are performed for the example of high-dimension relative position and attitude estimation to show that the proposed method can obtain nearly the same performance as the HCKF, while drastically reducing computational complexity.