In his paper ‘Two Mariner's Astrolabes’ (Journal, 9, 338) Dr. D. J. Price stated that hitherto only seven mariner's astrolabes had been found and the details published. He then described two more mariner's astrolabes, the Dundee astrolabe of 1555, discovered some months previously, and the Kronborg astrolabe of 1600, discovered in 1928.

The number of ships involved in collisions in Japanese waters, excluding collisions with fixed or floating objects, increased rapidly in the 1960s, as can be seen in the statistics of the Marine Accidents Inquiry Commission: 1578 in 1955, 3604 in 1960, 6043 in 1965 and 7642 in 1970, while the increase in average tonnage resulted in numerous serious accidents. To cope with this situation, the Maritime Traffic Safety Law (MTSL) was enacted in 1973, defining eleven traffic routes in congested waters. The Tokyo Bay Traffic Advisory Centre was established in 1975 and started operation in 1977. The trend in the number of traffic accidents requiring assistance shows the effect of traffic management in reducing the number of accidents.

Orienteering is a navigational sport using large–scale maps (1: 15000) and a compass to locate, as quickly as possible, a series of control points in a pre–defined order. Orientation of self and map are fundamental skills in the sport of orienteering. The traditional teaching or coaching of this skill is based on a hierarchical model. This model introduces the concept of location of self by initial reference to landmarks, then routes linking individual landmarks followed by configurations of these landmarks and routes. This model quite clearly aligns with the hierarchical model of spatial reference systems suggested by Seigal & White (1975). However, it is proposed that the process-oriented model offered by Downs & Stea (1977) may be more appropriate to orienteering. The model is based on orientation and then develops through route choice, route monitoring and route recognition. Orienteering behaviour, which is based on using map and compass information to select and follow a novel route in a multi-choice route following task, appears to follow this model.

This paper, which was presented at an Ordinary Meeting of the Institute held in London on 19 November 1980 with the President in the Chair, first outlines the arguments for simulators for use in training and research. The technical problems encountered in simulating ship behaviour are discussed, and the various engineering approaches which have been used for actual simulator construction are described. An account is given of experience to date with ship simulators in the UK, and the future prospects for marine application of simulator methods are discussed.

This paper formed the 1990 Anderson Memorial Lecture and was presented to the Bristol Channel Branch on 22 February. In developing his theme, George King concentrated very much on the characters of the navigators concerned with six extraordinary exploits, but without losing sight of the navigation itself. The following version is necessarily much abridged and the editor has reluctantly omitted the detail of fascinating accounts of the expedition commissioned by Thomas Jefferson to explore the American West, the epic open boat voyage by Ernest Shackleton in the Antarctic in 1916, the first solo air crossing of the Atlantic by Charles Lindbergh in 1927, and the spectacularly successful Apollo 11 mission in 1969. The full text of George King's meticulously researched and brilliantly written paper is available to members from the Institute, price £3.

Thomas Hariot's recently discovered manuscript ‘The Doctrine of Nauticall Triangles Compendious’ was the subject of a paper in this Journal by Professor Taylor and D. H. Sadler which poses but leaves unanswered the intriguing question of the method he employed in his computation. Sadler shows that the method depends on the fact that if sequences of meridional parts are in arithmetic progression the corresponding values of tan (45° − ½φ) will be in geometric progression. This is at once obvious from the modern formula for meridional parts:

But how did Hariot, writing before 1596, discover the relationship when neither logarithms nor the integral calculus had yet been invented; and was he able to prove it? It is the purpose of the present paper to supply a proof which requires neither logarithms nor the calculus. It is not claimed that this was necessarily the method that Hariot employed, although the manuscript reveals several points of similarity.

In the July number of the Journal there appeared a series of contributions on the revision of the Collision Regulations, preceded by an introductory note which referred to a number of the more important papers on this subject published in the Journal during the last ten years. Partly as a result of this series of contributions, and of a questionnaire recently circulated by the International Chamber of Shipping, Captain Thompson, Master of the S.S. Magara, after discussion with those concerned with the Rules on board his vessel, has drawn up, for general discussion, draft revised Collision Regulations. Naturally they depend heavily on ideas published in the Journal and elsewhere; indeed their particular value is that they take account of many of these ideas and attempt to express them in a practical and seamanlike fashion. Clearly there are loopholes in the draft: it is the work of seamen, not lawyers. What matters at this stage is the intention, which is to provide rules and a code of conduct which are simple, unambiguous and clear. Commander P. C. H. Clissold made some useful comments on the original draft.

Of those who took part in the discussion on the Collision Regulations published in the Journal (22, 285), some favour amending the present rules. and others refraining them completely. There are grounds for thinking that a similar dissension exists among seamen.

In 1966, in a note in the Forum entitled ‘Longitude without Time’, Francis Chichester described a method of determining longitude, or time (G.M.T.), from observations of the altitude of the Moon; and this gave rise to considerable interest. Recently a number of papers, of varying standards, have been published on the same subject; some, ignoring fundamental principles, have described techniques that are erroneous or misleading. Those principles, which have been well known for centuries, are here restated. In general, techniques of observation, calculation and plotting are not given; they are matters for the choice of the individual.

The tight combination model improves the positioning accuracy of the Global Navigation Satellite System (GNSS) in complex environments by increasing the redundancy of observation. However, the ambiguity cannot be calculated directly because of the correlation between it and the phase difference inter-system bias (DISB) in the model. This paper proposes a method of DISB estimation based on the principle of maximum ratio. From the data analysis, for the standard deviation of code DISB, the improvement of the method can up to 0·179 m with the poor quality data. In addition, compared to the parameter combination method, the standard deviation of all the phase DISB was deceased with the method in the paper. About the phase DISB of GPS L1/Galileo E1, the standard deviation decreased from 0·014/0·022/0·009/0·051 cycles to 0·006/0·015/0·004/0·029 cycles of four baselines, which represents the improvement of 57·14/31·82/55·56/43·14%. About the phase DISB of GPS L1/BDS B1, the standard deviation decreased from 0·014/0·061/0·010/0·052 cycles to 0·002/0·005/0·009/0·004 cycles of four baselines, which represents the improvement of 85·71/91·80/10·00/92·31%.

The positioning technique employing the ubiquitous signals of opportunity of non-cooperative satellites does not send special navigation signals, instead it passively receives satellite signals as noise, presenting advantages of concealment and difficulty for potential attackers. Thus, this study investigates the ranging principle and model using non-cooperative communication satellites and a time difference estimation algorithm. The technology of time difference measurement under non-cooperative observation mode was determined and simulated. A test platform for time difference measurement was built to receive the signal from an unknown geostationary Earth orbit communication satellite and verify the ranging feasibility and performance. The ranging accuracy was found to be smaller than 6 m, as demonstrated by experimental data, which shows the viability of the proposed positioning technique for ranging technology.

The instructor of a full mission marine simulator faces a daunting task, controlling several target ships under varying environmental conditions while responding to a variety of communications. This project applies computer agent technology to an instructor station. Each target ship is controlled by a collision avoidance agent which takes command of the ship and a track-keeping agent which acts as an assistant, sending the collision avoidance agent advisory messages. Experiments have been performed for a number of collision situations in varying environmental conditions. An analysis of the results demonstrates the potential of such a system for producing realistic target ship motion, including track-keeping and some collision avoidance manoeuvres, thus reducing the instructor’s immediate load.

This paper summarizes the current situation on maritime navigation transponders, including those used in the Global Maritime Distress and Safety System (GMDSS) and those installed in Rescue Co-ordination Centres (RCCs) and on board Search and Rescue boats, and discusses the possible future trends. The paper then describes the methods used and conclusions reached during a variety of tests carried out in Tenerife Roads, RCC Tenerife and on board Sociedad Estatal de Salvamento vessels, in order to determine the accuracy and efficiency of various ships' identification, positioning, location, tracking and homing systems in normal and distress situations. The systems tested included Radar/Automatic Radar Plotting Aids (ARPAs), Search and Rescue Transponders (SARTs), Target Enhancers and Radar Reflectors.

This article proposes a novel method to autonomously determine the relative orbits of a small spacecraft formation flying with a slowly rotating near-Earth asteroid for the asteroid mitigation mission. A combined model of spacecraft-to-asteroid measurements with inter-spacecraft communication is built up. The dynamic model accounting for the perturbations is derived to describe the state variables of the Unscented Kalman Filter (UKF). The Lyapunov function approach is used to design a control law to maintain the orbits of the spacecraft formation. Four navigation scenarios are presented based on the different combinations of multiple measurements: two of them are non-collaborative scenarios which only include the spacecraft-to-asteroid measurements in the measurement models, while the other two are collaborative scenarios with the inter-spacecraft communication added into the measurement models. Simulation results are analysed and compared with each other to show the improvements of the filter performance in the aspects of the convergence speed and the accuracy of the estimator.

In this paper, the well-known multiplicative extended Kalman filter (MEKF) is re-investigated for attitude estimation using vector observations. From the Lie group theory, it is shown that the attitude estimation model is group-affine and its error state model should be trajectory-independent. Moreover, with such a trajectory-independent error state model, the linear Kalman filter is still effective for large initialisation errors. However, the measurement model of the traditional MEKF is dependent on the attitude prediction, which is therefore trajectory-dependent. This is also the main reason why the performance of traditional MEKF is degraded for large initialisation errors. Through substitution of the attitude prediction related term with vector observations in the body frame, a trajectory-independent measurement model is derived for MEKF. Meanwhile, MEKFs with reference attitude error definition and with global state formulating on special Euclidean group have also been studied, with the main focus on derivation of the trajectory-independent measurement models. Extensive Monte Carlo simulations of spacecraft attitude estimation implementations demonstrate that the performance of MEKFs can be much improved with trajectory-independent measurement models.

A better understanding of passenger movement in multi-modal transit situations is the major aim of this study. By using a novel Cooperative Positioning (CP) approach, algorithms can be generated which considerably increase the accuracy of person tracking. Smooth transit at stations is enabled, thus the total waiting time for routing at the traffic interchange is reduced. A Location-Based Services (LBS) user is guided by the service and located with the assistance of the whole user group. In addition to the technological developments, the acceptance and end-user needs are considered. End-users of such a service have the right to withdraw their consent for transferring location-based and other personal data at any time. They also receive clear and comprehensive information about when and why they reveal their personal data and location and its further use. In this paper, the concept is introduced followed by a comprehensive discussion of the suitable CP localisation techniques as well as an implementation strategy. Furthermore, ethical and usability aspects are discussed to ensure user-friendly results.

Privacy is an increasingly important aspect surrounding the introduction of road pricing in the Netherlands. Different systems for monitoring vehicles result in different consequences for privacy. This contribution describes the privacy aspects in the different scenarios used by the Dutch government. It is often suggested that privacy is a hindrance for road pricing, but if smart choices are made, this does not necessarily have to be the case. In this contribution, we suggest several concrete technological, legal and organizational (partial) solutions, that could be useful in implementing privacy-friendly road pricing.

Human watch-keeping is necessary to prevent incidents at sea such as groundings and collisions. For many years, electronic aids to navigation have been utilised in watch-keeping but, with electronic marine systems becoming more sophisticated, the part they play in preventing collisions and groundings should become increasingly important. However, this article uses secondary data from the Safety Digest for 2008 compiled by the Marine Accident Investigation Bureau of the United Kingdom; eight case studies are used to show that electronic marine systems, whether integrated or not, are still playing a part in poor watch-keeping resulting in collisions, near misses and groundings. Primary data from fishing skippers of British based vessels have been used to confirm the findings from the secondary data that poor watch-keeping is often the cause of not keeping a proper lookout and that the watch-keeper has a too heavy reliance on the electronic aids. Brief suggestions are made as to how the electronic aids may be adapted to overcome these problems and thus to support the watch-keeper.

The existence of Unexploded Ordnance (UXO) is a serious environmental hazard, especially in areas being converted from military to civilian use. The detection and discrimination performance of UXO detectors depends on the sensor technology as well as on the processing methodology that inverts the data to infer UXO. The detection systems, typically electro-magnetic induction (EMI) devices, require very accurate positioning (or geolocation) in order to discriminate candidate UXO from non-hazardous items. For this paper, a hand-held geolocation system based on a tactical-grade IMU, such as the HG1900, was tested in the laboratory over a small, metre-square area in sweep and swing modes. A camera position system was used to emulate GPS or alternative ground-based external ranging systems that control positioning errors. The proposed integration algorithm is a combination of linear filtering (Extended Kalman Filter) and nonlinear, also non-Gaussian filtering (Unscented Particle Filter) in the form of the Rao-Blackwellized Particle Filter (RBPF). The test results show that the position accuracy was improved by applying nonlinear filter-based smoothing techniques in both the straight and curved sections of the sweep and swing trajectories.

This paper deals with the problem of determining the baseline vector between two GPS receivers in single frequency (L1) using the basic principles of interferometric Differential GPS, therefore using the interferometric relations between the two receivers and the satellites visible to both receivers. As a preliminary step, ambiguity identification was solved using the results provided by the Kalman filter; these results were optimized by evaluating the Dilution Of Precision indexes for satellites in view of the receivers. Results achieved by applying this first procedure to data collected are discussed. To increase the accuracy of the results, a new, computationally fast algorithm for carrier phase ambiguity resolution on data collected from static and dynamics acquisitions was developed, implemented and tested. The new algorithm permitted an increase of accuracy of about two orders of magnitude with respect to results given by filtered Double Difference in the resolution of baseline vector.

Unlike a direct broadcasting satellite navigation system, the transmitting satellite navigation system developed in China uses transponders onboard communication satellites to retransmit navigation signals generated at a ground master station. The transmitting navigation satellite constellation consists of a number of inclined geosynchronous orbit (IGSO) satellites. Considering China's mainland coverage in the northern hemisphere occupies some 62 degrees in longitude, the inclination of the IGSO satellites cannot be too high, or its signals would not be received by the users in the middle and high latitude areas when the IGSO satellite travels over the southern hemisphere. Meanwhile, the latitude of the most southerly station in China mainland that can uplink navigation signals is about 18°N when the IGSO satellite travels to the southern hemisphere. Therefore, there is a need to consider the IGSO inclination to achieve balance between uplinking high-quality navigation signals and covering the high-latitude area. In this work, the navigation performance and availability of the IGSO satellite are examined when navigation signals are uplinked from the stations Lintong and Sanya.