The term ‘dead reckoning’, so the Admiralty Navigation Manual (1938) says, is a corruption of the old ‘ded-uced reckoning’ or ‘position by account’, and is used to cover all positions that are obtained from ‘the course the ship steers and her speed through the water, and from no other factors.’ (The last italics are ours.) Had Master William Borough, Chief Pilot of the Muscovy Company, and presently to be appointed to Queen Elizabeth's Navy Board, come across this definition, he would have picked a two-fold quarrel with their present Lordships at Whitehall. For his use and explanation of the term is the earliest of which we have knowledge, although it does not appear even then to have been new.

Early in 1967, a few months before the restored Meridian Building of the Old Royal Observatory was opened to the public by Sir Richard Woolley, the Astronomer Royal, I received a visitor in my office then in the Meridian Building — later, I was to move to the west summer house of Flamsteed House. My visitor was Colonel Humphrey Quill, Royal Marines, Master of the Worshipful Company of Clockmakers that same year and author of the hook John Harrison, the Man who Found Longitude, which has become a standard work. He brought with him some manuscripts written by the subject of this lecture — Nevil Maskelyne, fifth Astronomer Royal, who lived in Flamsteed House for 46 years from 1765, making most of his important astronomical observations in the very building in which Col. Quill and I were sitting.

Global navigation satellite system (GNSS) receivers meet numerous challenges in a high-orbit environment, including weak and discontinuous signal, and time-varying strength. To resolve these issues and enhance reliability, an innovative adaptive vector tracking loop (VTL) scheme is proposed. Non-linear models of the VTL filter are established to calculate code phase and carrier frequency errors accurately. Based on this, a deep analysis has been developed on the measurement noise. To reduce the impact of the interdependent noises among channels in VTL, an adaptive VTL algorithm assisted by the variational Bayesian (VB) learning network is proposed to estimate the measurement noise and maintain the error convergence in the time-varying noise or signal outage conditions. Further, the implementation steps of the adaptive algorithm have been designed in detail. In particular, the carrier-to-noise power ratio (C/N0) estimation method is further employed to update the a prior probability density in case of change of tracking satellite. The simulation results indicate that the proposed VTL scheme with VB algorithm is a promising method to improve the accuracy and reliability of GNSS receivers significantly under a high-orbit degraded signal environment.

‘The Earth is an ellipsoid’, says the Admiralty Navigation Manual firmly, although in a later volume the expression is softened to ‘approximately ellipsoidal’, For in fact, as was implied by Captain Topley, the exact shape of the Earth is not yet known. Nevertheless, for nautical purposes it appears sound teaching practice to consider it a perfect sphere and then explain the departures of the nautical mile or minute of arc from its mean value. Nor need one quarrel with the Manual's statement that ‘to regard certain small triangles as plane is not to disregard the initial decision to regard the Earth as a sphere’. But the writer next indulges in an historical aside which cannot be allowed to pass. ‘This assumption (he says) gives rise to the expression plane sailing, which is popularly referred to as if plane were spelt plain and the sailing were free from difficulty’. But this is to put the cart before the horse. ‘Plain sailing’ was the original term, and it was only sophisticated into ‘plane sailing’ during the eighteenth century by teachers of navigation among whom John Robertson was the chief. Robertson was master at the Mathematical School of Christ's Hospital towards the middle of the century, and afterwards taught at the Portsmouth Naval College, finally becoming Librarian to the Royal Society. His Elements of Navigation was considered authoritative and ran into many editions, a later master at the Hospital, James Wilson, prefixing to it a Dissertation on the history of navigation which was also accepted as definitive. It is in this volume that we read: ‘Plane sailing is the art of navigating a ship upon principles deduced from the notion of the Earth's being an extended Plane. On this supposition the meridians are esteemed as parallel right lines…’, and the author goes on to what he terms the Plane Chart, with its equally-spaced meridians. There is little doubt that his passage is the source of the theory taught to modern sailors that ‘Plain Chart’ is a corruption of ‘Plane Chart’, while the latter was drawn by people who believed the Earth was flat. Actually we have only to go back a generation from Robertson to find an almost identical description of the chart—actually an equal-spaced conventional cylindrical projection of the sphere—but with the addition of the words ‘The rectangle formed by these meridians and parallels they (i.e. mariners) call the Plain Chart’. This was said in 1714 by John Wilson, a teacher in Edinburgh.

In the first six months of 1979 there were six collisions in the area of the Dover Strait (extending from the Greenwich meridian to 2° 30′ E and from 50° 30′ N to 51° 30′ N) that involved at least one vessel of 500 grt or more. (Two further collisions took place during the next four months.) Collisions have not occurred in these waters at a rate of one a month since 1969. Yet since then there have been several notable changes that should have led to greater safety. The IMCO traffic separation scheme has been made compulsory for ships of all nations through the coming into force of the new Collision Regulations on 15 July 1977. Secondly, the Channel Navigation Information Service was established in England in 1972, and it and its counterpart in France have been monitoring the traffic by radar and making regular broadcasts for more than five years. Finally, traffic discipline has steadily improved, as measured by the number of ‘rogue’ vessels that are held to contravene the routing scheme (Fig. 1).

To decide whether this spate of collisions represents a marked deterioration in navigational standards it is necessary to do rather more than merely count occurrences (Fig. 2). In the first place, any evaluation must take account of the amount of damage to the ships involved and to the environment, and of deaths and injuries to personnel.

This report summarizes a study of signals for indicating course alterations conducted by the Course Signal Committee of The Mercantile Marine Institute of Japan (President Captain Inazo Ara) as part of the 1995 project entitled ‘Research on Improving Course Signals etc’ sponsored by The Japan Foundation for Shipbuilding Advancement.

Every collision situation implies the existence of a sector within which any course steered will lead to a dangerously close approach and a sector within which the danger of collision will be avoided. The definition of these sectors may be said to constitute the structural aspect of the collision problem. The appropriate manœuvre in a given situation constitutes the operational aspect. The structural aspect is fundamental to the problem itself, the operational aspect offers possible solutions. The Steering and Sailing Rules involve the structural aspect because this is the only basis for legal rules.

In proposing a Sector Rule for use with radar in conditions of bad visibility, it is intended to establish a structural basis for legislation. In its most general terms, the Sector Rule is based on the principle that if the radar echo of another ship is always at an angle to one's own course determined by the speeds of the two vessels, their distance apart and the safe passing distance, then one's course lies within the safe sector for collision avoidance.

The principal purposes of this introductory paper are to identify and describe the main aspects of marine traffic engineering, and to suggest ways in which traffic engineering principles and methods developed for land and air transport systems may be applied to marine problems. Traffic engineering is a relatively new branch of engineering science, but it was quickly and widely recognized as essential in ensuring that all forms of land and air transport operate safely and efficiently. However, although sea transport is a long established activity, it is only during the past few years that marine traffic engineering has begun to emerge as a separate aspect of this broader scientific discipline.

Even today much time is lost in bringing effective help when an accident with a truck carrying dangerous goods occurs. The location of the accident is often not well described by the people reporting it. Often it is difficult to determine what sort of freight a lorry is carrying, for example when the vehicle is burning, and sometimes the fire brigade does not bring the appropriate extinguishing equipment for the first help approach. Now an emergency location system is under development which will remove all these disadvantages. For immediate help on car accidents, an automatic alert message is transferred from the crashed vehicle via the emergency call centre to the fire brigade, the police station or the headquarters of an ambulance. The alert is initiated by a crash sensor within the car or the truck. The data channel between vehicle and base can be a radio link or, for longer distances, a mobile telephone connection using CNET or GSM. AS help is faster and more effective with this system, environmental damage caused by dangerous goods can be reduced.

In Stuttgart the mobile part of the DGPS-based emergency location system has been integrated in several vehicles. The full system is being tested within a field trial of a pilot project called STORM (Stuttgart Transport Operation by Regional Management), which is part of a programme of the European Community. The results of these tests are summarized in this paper. The integration of the system into fleet management applications is also considered.

The following discussion took place at an open session of the Technical Committee held at the Royal Aeronautical Society in London on 19 January 1972 with Mr. H. E. Smith in the Chair.

The Chairman: Relative navigation has a wide connotation, but for the purpose of our discussion it may be applied firstly to aircraft management in the positive or passive sense, arising from an air-to-air navigational interrogation capability, and secondly to the means whereby this capability may be realized.

The fact that the de Havilland Comet cruises at nearly double the flying speed and nearly double the flight altitude of comparable piston-engined airliners is a measure of the great leap forward in air transport which the introduction of gas-turbine engines has brought about. It also illustrates an inherent feature of jet aircraft, for only at high speed and high altitude do turbo-jet engines, and to a less critical extent turbo-prop engines, operate at their maximum efficiency, expressed in distance flown per gallon of fuel consumed. With reduction of altitude and speed, however, the fuel consumption does not fall off proportionately and efficiency decreases rapidly. For example, even when taxying on the ground the Comet's fuel consumption is about 70 per cent of that at cruising altitude, and when flying at sea level the still-air distance flown on a given quantity of fuel is less than half of that at cruising altitude. In other words you get the best out of a jet aircraft when you are going somewhere fast, and when the length of the flight is sufficient for the aircraft to climb to its optimum cruising altitude and remain there for a considerable proportion of the flight time.

In a book entitled The Black Tide, Richard Petrow presents a panoramic view of the events concerning the loss of the Torrey Canyon on the Seven Stones on 18 March 1967. The massive spillage of oil made it into a world disaster which called for a complete revision of many of the principles on which maritime transport is based. For seamen, however, the really important part comes before the spillage, when the ship stranded in apparently ideal navigational conditions. The Liberian Commission of Inquiry threw little light on the subject and criticism of the master does little to satisfy those with a professional knowledge of the sea. Here Commandant Oudet, relying heavily on the facts disclosed in Petrow's book, examines the circumstances of the disaster and comes out with strong criticisms of the Commission of Inquiry. If the subject is not exclusively navigational, it must be of great concern to all navigators.

Mr. Petrow's book contains what professionals need, even though the author recognizes that many questions must still remain unanswered. He has had access to the record of the Commission's investigations, but not to the report of the observer whose presence at the inquiry was secured by the British Government in spite of the owners' protests. While Mr. Petrow was able to spend four days interviewing Captain Rugiati, six months after the accident, he was unable to pursue his investigation by speaking with eye-witnesses, either those whose evidence was received by the Commission or those whom they failed to question.

The year 1932 was one which had no great apparent significance for navigators, and yet it saw the commencement of two new lines of research which today, after an interval of more than a quarter-of-a-century, promise important contributions to the safety of navigators both at sea and in the air.

The two lines of research were superficially quite unrelated, but fundamentally they relied upon the same principle—the detection of radiant energy emitted by objects solely as a result of their temperature. The first of these small beginnings was the discovery by K. G. Jansky that radio waves could be detected from extra-terrestrial sources: the second was the commencement by the U.S. Signal Corps Engineering Laboratories of an intensive study of infra-red devices with the object of obtaining night vision without illumination of the field of view.

From Jansky's discovery has sprung the whole science of radio astronomy, which has revolutionized our ideas about the universe, and brought in its wake, as one practical benefit, the radio sextant. From the work of the U.S. Signal Corps there resulted a number of very useful infra-red components, including the pneumatic detector, better known as the Golay cell.

Most professional navigators would agree that navigation could play a useful role in general education. How are teachers to be convinced of this and how are they to be persuaded that its introduction is desirable ? If navigation is to be introduced as an academic subject into the school curriculum we must endeavour to remove the mystique with which it is often surrounded and dispel the suggestion that it is an art rather than a science. The notion that successful sailormen must have a seafaring background has been proved wrong time and again; let us also dispense with the misconception that good navigators are born with a gift similar to that of a homing pigeon. Man has a natural instinct to explore and find his way; the purpose of navigation in education should be to exploit and develop this natural instinct to the full.

These two notes are the first of a series which will suggest to mariners the causes of collision at sea when radar is in use, by showing against each apparent cause an accumulation of court evidence and judgment, by isolating certain kinds of action which seem to have led to collision but have not been so regarded in every judgment and by examining certain judgments against a technically informed background.

In the articles which follow, a particular judgment is examined in the light of a more precise study of true motion as a direct source of intelligence at slow speeds, of plotting when courses and speeds are changing and of the suggestion that the Crossing Rules may be applied in fog after ‘ascertainment’.

We present a deep learning approach for near real-time detection of Global Navigation Satellite System (GNSS) radio frequency interference (RFI) based on a large amount of aircraft data collected onboard from the Global Positioning System (GPS) and Attitude and Heading Reference System (AHRS). Our approach enables detection of GNSS RFI in the absence of total GPS failure, i.e. while the receiver is still able to estimate a position, which means RFI sources with low power or at larger distance can be detected. We demonstrate how deep one-class classification can be used to detect GNSS RFI. Furthermore, thanks to a unique dataset from the Swiss Air Force and Swiss Air-Rescue (Rega), preprocessed by Swiss Air Navigation Services Ltd. (Skyguide), we demonstrate application of deep learning for GNSS RFI detection on real-world large scale aircraft data containing flight recordings impacted by real jamming. The approach we present is highly general and can be used as a foundation for solving various automated decision-making problems based on different types of Communications, Navigation and Surveillance (CNS) and Air Traffic Management (ATM) streaming data. The experimental results indicate that our system successfully detects GNSS RFI with 83$\,\cdot\,$5% accuracy. Extensive empirical studies demonstrate that the proposed method outperforms strong machine learning and rule-based baselines.

There is a fast growing realization that the Steering Rules in the Regulations for Preventing Collisions at Sea should be attuned to the use of radar. The principle underlying the suggested rules which follow is to stick to the idea of Rule 18—that in case of risk of collision both vessels should take avoiding action. In order to make these rules practicable, a universal system has been thought out. Thus, the rules are meant to apply to vessels in sight of one another, as well as to vessels in radar-contact, or to a vessel in radar-contact with another vessel which is unaware of her presence. Secondly, there will be one and the same rule for power-driven vessels and sailing vessels.