Low-cost, single-frequency GPS systems provide economical positioning solutions to many geomatics applications, including GIS and low-accuracy surveying applications. Unfortunately however, the positioning accuracy obtained with those systems is not sufficient for many surveying applications. This is mainly due to the presence of ionospheric delay and multipath. In this research ionospheric delay is accounted for using regional high-resolution ionospheric maps produced by the US National Oceanic and Atmospheric Administration (NOAA). The major remaining constraint and challenging problem is multipath. This is because multipath is environmentally-dependent, difficult to model mathematically and cannot be reduced through differential positioning. This research proposes a new approach to identify multipath-contaminated L1 measurements through wavelet analysis. First, the difference between the code and carrier-phase measurements is estimated, leaving essentially twice the ionospheric delay, multipath and system noise. The ionospheric delay is largely removed by using high-resolution ionospheric delay maps produced by NOAA. The remaining residuals contain mainly low-frequency multipath, if it exists, and high-frequency system noise, which are decomposed using Daubechies family wavelets (db8). A satellite signal is identified as contaminated by multipath based on the standard deviation of the low-frequency part of the residual component. The L1 measurements obtained from the satellites with the lowest multipath are used to compute the final positions using two software packages, namely Trimble Total Control (TTC) and Bernese scientific processing software. The Magellan AC12 low-cost single-frequency GPS receiver was extensively tested in static mode. It is shown that accuracies within 5 cm are routinely obtained for baselines up to 65 km under various multipath environments.

The expedition of Zheng He's fleet to the Western Ocean1 in the first half of the 15th century is an important event in the history of navigation, which has attracted the broad attention of domestic and foreign scholars from different fields2. This paper reveals the relation between Zheng He's voyages and the Asian Monsoon from a geographical perspective. Historical records show that Zheng He's seven voyages to the Western Ocean were precisely organized and successfully carried out due to careful consideration of the conditions and periodical patterns of the Asian tropical and subtropical monsoon. Details such as fleet routes, sailing schedules, wind-waiting points, divergent and rendezvous points were painstakingly planned and arranged in advance by the organizers of the expedition, who all paid close attention to the changing patterns of the Asian Monsoon.

‘There are no charts of any part of the world so accurate and no directions so perfect as not to furnish frequent occasion for revision and amendment.’ (From the title page of the Nautical Magazine, 1832.)

In March 1832 a new monthly was published, the Nautical Magazine. Subsidized at first by the Admiralty and the Mercantile Marine Fund, it was edited by Beecher who was the right-hand man to Admiral Beaufort in the Hydrographic Department. Part of the introduction to this first volume read as follows: ‘The principal feature of the work will consist of the particulars of those hidden maritime dangers which are too often fatal to ships. … Much information, of a nature highly valuable to mariners, is scattered about, destitute of any systematic arrangement by which it can be made available to them; but the pages of the Nautical Magazine will hereafter become the receptacle, in which it will be preserved for their reference.’

This paper commences by outlining the developments expected in en-route navigation capabilities in Western Europe and describes the current provision of surveillance employing monopulse SSRS. Following a brief review of GPS characteristics, it then considers the use of ADS, in conjunction with GPS, as an alternative and/or supplement to these ground-based systems. In the light of a simple cost comparison, it suggests that the space-based system could be very advantageous, particularly where new routes are to be established in areas with little or no ATS infrastructure. A final section discusses the possibility of using GPS for height-monitoring purposes as will be necessary when a reduced vertical separation minimum of iooo ft, is employed above FL290 in Europe, and elsewhere.

On 26 November 1954 The Mathematical Practitioners of Tudor and Stuart England by E. G. R. Taylor was published for the Institute by Cambridge University Press. Dr. Derek Price, of the Whipple Museum of the History of Science at Cambridge, here describes the book for the Journal.

During the last twenty-five years there has been a revolution in writings on the history of science. Now, just as the profits are beginning to materialize, a second great change has occurred.

In 1766 Nevil Maskelyne, fifth Astronomer Royal, compiled and published the first edition of The Nautical Almanac and Astronomical Ephemeris, designed to make practicable the determination of longitude at sea by the method of lunar distances. To mark the occasion of the two-hundredth anniversary of this event the staff of H.M. Nautical Almanac Office presents an objective assessment of the method of determining longitude by the measurement of lunar distances, in terms of modern knowledge, outlook, notation and computing facilities.

Reference to contemporary publications has been deliberately avoided; the story of the development of methods and techniques for the observation and reduction of lunar distances requires, and deserves, a separate study.

In this paper the Lucasian Professor of Applied Mathematics in the University of Cambridge studies the role of ocean science in the service of mankind, and examines the interaction between the many disciplines which make up that science. The paper, which was written in May 1972 (and a version of which was published in the Bulletin of the Institute of Mathematics and its Applications for February 1973), was presented at a conference held in Greenwich on 12–14 September 1973 to celebrate the hundredth anniversary of the Royal Naval College. (Note: the National Institute of Oceanography referred to in the text is now known as the Institute of Oceanographic Sciences.)

When our Norwegian ancestors wished to navigate in the open sea they could find their bearings by the Sun or stars if the sky was not overcast. In foggy weather they used the sólaisteinn or sunstone, ‘a stone with which one could see where the sun was in the heavens’. A knife blade will do equally well as may be seen from Fig. 1. If you place the point of the knife on your thumb nail, as shown in the figure, on a sunny day you can easily see the shadow it casts; turning the blade a little one way or the other the shadow widens, but when the knife edge points towards the sun the shadow is reduced to a narrow line.

The time it takes to acquire a satellite signal is one of the most important parameters for a Global Navigation Satellite System (GNSS) receiver. The Parallel Frequency space search acquisition Algorithm (PFA) runs faster than the Parallel Code phase search acquisition Algorithm (PCA) when the approximate phase of Pseudo-Random Noise (PRN) code and the approximate value of a Doppler shift are known. However, a large amount of data is needed to be dealt with by the Fast Fourier Transform (FFT) in a traditional PFA algorithm because it processes a narrow-band signal with the initial sampling frequency after the PRN code is stripped. In order to reduce the computational complexity of the traditional PFA algorithm, a down-conversion module and a downsampling module were added to the traditional PFA in the work reported here. Experiments demonstrated that this method not only succeeded in acquiring BeiDou B1I signals, but also the time for acquirement was reduced by at least 80% with the modified PFA algorithm compared with the traditional PFA algorithm. The loss in Signal-to-Noise Ratio (SNR) did not exceed 0·5 dB when the number of coherent points was less than 500.

An airport can be a stressful place for passengers. One of the reasons to get stressed might be the result of poor wayfinding. Current wayfinding signs are often static, which makes them difficult to adapt to new situations. In contrast, dynamic signs can be updated and adjusted accordingly. Light projections can be used as dynamic signs. The aim of this study is to understand if the use of animated projections onto the floor can improve the wayfinding experience. Four animations have been developed and tested within a controlled testing environment of which one animation has been tested in a real airport environment. Results indicate that animation for wayfinding purposes should show a clear vertical motion to guide towards a certain direction. Additionally, higher velocity in the animation was perceived as more positive. The observation in the airport showed that a projection in clear daylight and on the floor is not noticed by the passengers walking by.

Traffic separation schemes have been established all over the world with the aim of reducing the danger of collision. Field observations have shown that despite the adoption by IMO and the laying down of the schemes on nautical charts a good many vessels do not comply with the steering and sailing rules applicable at traffic separation schemes. This paper attempts to review the apparent difficulties met. Some suggestions for improving of the situation are made.

The separation of traffic into two streams moving in opposite directions has been introduced with the aim of reducing the incidence of collisions. Such a measure results in a decrease of the rate of encounters and an almost total elimination of head-on or fine crossing meetings which are considered dangerous especially in restricted visibility. Investigations have confirmed the effectiveness of the measure in achieving the purpose provided that the steps taken are reasonable from a practical point of view.

The twelfth Duke of Edinburgh Lecture was presented in London on 15 October 1986 at the Royal Geographical Society to the thirty-ninth Annual General Meeting of the Institute, the President in the Chair. The lecturer, the President said in his introductory remarks, was a geographical scholar who had devoted much of his time to the verification of early voyages by following the paths described in the often legendary accounts:the travels of Marco Polo in 1961 and later the voyages on which the present paper is based, of St Brendan, Sindbad and Jason. In 1976–7 in the medieval leather boat Brendan he followed a route from Ireland across the Atlantic described in the 8/9th century Navigatio. In 1980–81 in the Arabian boom Sohar he sailed over 6000 miles from Oman to Canton in a reconstruction of Sindbad's seven voyages described in One Thousand and One Nights, and finally in 1984 in Argo, a reconstructed Greek vessel of the 13th century B.C., his voyage took him from Greece through the Bosphorus to Georgia in the USSR, following the legendary path of Jason in search of the Golden Fleece. No-one could be better fitted to reflect on the human factor in early navigation.

The orbits of navigation satellites have to be determined very precisely. The Transit broadcast (predicted) ephemeris, which is computed by the US Navy Astronautics Group, has an estimated orbital positional accuracy of the order of 25 m in each direction. By contrast, the precise (post-mission) ephemeris, which is determined by the US Defense Mapping Agency, from tracking data collected by the global TRANET network, reaches accuracies of the order of 10 m. These orbital precisions affect the navigation and (static) positioning accuracies which can be achieved by users of the system. The same is true of the GPS system which will become fully operational some time during 1988—89. However, unlike Transit, GPS will allow quasi-instantaneous absolute positioning (i.e. real-time navigation) as well as very high relative positioning accuracies. The latter will be obtained by using special operational and processing techniques (e.g. ‘differential GPS’ and ‘GPS interferometry’).

State-of-the-art avionics achieves very good reliability, and the electronics in the current generation of communication and navigation satellites is sufficiently good to allow a design-life of around 10 years. Nevertheless, failures will arise. The purpose of failure analysis is to identify the consequences if a particular module does encounter a failure, and to ensure that, by system redundancy or through operational procedures, the effect and/or its probability of occurrence will be acceptably safe. This paper is a contribution to the discussion on the strength and weakness of redundancy in satellite-based Communication, Navigation and Surveillance (CNS) systems as envisaged by the International Civil Aviation Organization (ICAO) to be an integral part of the future air navigation system. This particular paper makes a comparison with today's terrestrial-based systems.

A mainly theoretical study has been undertaken to demonstrate how the extent of cover from a hyperbolic navigation system chain can be evaluated. The impetus for the study was the need to assess how Loran-C could be extended over Western Europe, particularly in the South western Approaches, North Sea, English Channel and Bay of Biscay sea areas.

The technique described in this article leads to an accurate determination of the electric field strength at a distance from each transmitting site and takes into account the complexities of the ground-wave propagation path. This field-strength contour is combined with the geometric effects of station siting (expansion factors) to yield a constant S/N contour (–10 dB) which defines the ¼n.m. error and hence the limit of cover for the hyperbolic chain under study.

In order to exercise the analytical methods a hypothetical Loran-C chain was studied comprising a master station at Lessay (France), with secondary stations at Soustons (also in France), at Sylt (dual rated; off the North Sea coast of Germany, near the Danish border) and at a fourth station located in north-west Britain on the Hebridean island of Barra. The study indicated that such a hypothetical chain would significantly improve Loran-C cover over much of western Europe.

Magnetic sensors have been used in navigation for many centuries. During this time the effects of magnetic interference from ferromagnetic materials used in vehicle construction have become an increasing problem, and correction techniques have evolved progressively to allow the continued use of magnetic heading detection. The advent of the microprocessor has made it possible to take a fresh look at the problems of compass operation in vehicles and to devise more accurate processes for the correction of the indicated heading. The compass system described in this paper uses a mathematical representation of the magnetic environment based on fundamental physical principles to supply accurate heading information even in the most magnetically hostile land vehicles.

This note provides some qualitative impressions of the need for precise navigation in the S.S.T. operation having due regard to performance and noise. It highlights the increased signific ance of the vertical plane, but quantitative conclusions as to horizontal ability cannot be made in the absence of knowledge of traffic amounts. It suggests that any tactical ‘chasing’ of noise reduction through performance variations not planned before flight is impracticable.

In common with other aircraft types, the S.S.T. has three distinct phases of flight apart from take-off and landing: climb to cruise altitude, cruise and descent. The S.S.T. climb is characterized by an acceleration phase dividing the subsonic portion of flight from the supersonic. Similarly, the descent profile includes a deceleration phase which restores flight to the subsonic region. Contained in these three phases of flight unique to the S.S.T.—acceleration, supersonic flight and deceleration—are some of the special factors affecting aircraft navigation.

The heart of an inertial navigation system is the Inertial Measuring Unit (I.M.U.) as this carries out the fundamental tasks of measuring the vehicle acceleration and providing a spatial reference. The I.M.U. thus determines the system performance and accuracy; it also accounts for about two thirds of the initial cost of the system and is a major factor in the cost of ownership.

Up to now the majority of IN systems have used a stable platform I.M.U. where the gyros and accelerometers are mounted on a gimbal suspended platform which is servo controlled from the gyros. This has greatly eased the task of developing suitable gyros of the required accuracy, as the gimbal stabilization system isolates the gyros from the angular motion of the vehicle and greatly simplifies the subsequent computation in terms of axis transformations; it provides a direct read out of the euler angles—heading, pitch and roll. However such a system is inevitably mechanically complex and its ultimate reliability is constrained by such components as slip rings, servo motors, synchros, resolvers, encoders, gimbal bearings &c.

There are now radar installations which track ships automatically, and these radars can provide the researcher with statistics on collision-avoidance manoeuvres. The extraction, by hand, is laborious and time consuming. This paper describes a mathematical model which automatically detects collision-avoidance manoeuvres. The model operates on an adaption of the Range to Domain Over Range Rate (RDRR) principle, which enables ships to be identified for analysis shortly before they are expected to initiate a collision-avoidance manoeuvre. The model has been computerized and results presented.