The ranging accuracy provided by pseudorange-only techniques is usually no better than a few metres when no differential corrections are applied. Carrier-phase algorithms, on the other hand, yield higher-precision estimates – down to a few millimetres – but are prone to ambiguities difficult to resolve. An easier-to-implement method, using single-frequency pseudorange measurements only, is presented. It allows for a decimetre-level relative positioning accuracy. Results, derived from the GPS Relative Positioning Equations, are validated with actual satellite data from the Gravity Recovery and Climate Experiment (GRACE) mission.

A local positional system (LPS) is proposed, in which particles are launched at given velocities, and a sensor system measures the trajectory of the particles in the platform frame. These measurements allow us to restore the position and orientation of the platform in the frame of the rotating Earth, without solving navigation equations. When the platform velocity is known and if the platform orientation stays the same, the LPS technique allows a navigational accuracy of 100 $\mu$m per one hour to be achieved. In this case, the LPS technique is insensitive to the type of platform trajectory. If there are also velocimeters installed on the platform, then one can restore the platform velocity and angular rate of the platform rotation with respect to the Earth. Instead of navigational equations, it is necessary to obtain the classical trajectory of a particle in the field of a rotating gravity source. Taking into account the gravity-gradient, Coriolis, and centrifugal forces, the exact expression for this trajectory is derived, which can be widely used in atomic interferometry. A new iterative method for restoring the orientation of the platform without using gyroscopes is developed. The simulation allows us to determine the conditions under which the LPS navigation error per hour is approximately $10$ m.

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.

This paper describes three different antenna systems for mobile vehicle applications. The antennas are either patches or derivatives in all cases. The first is a dual-band telephone antenna with a low profile and wide bandwidth. Operating at 900 MHz and 1800 MHz, with a VSWR of better than 1·7, it is a hybrid construction combining a monopole with a top-loading patch shorted to the ground-plane. Extra-shorted pins provide the upper frequency band coverage. It provides monopole radiation characteristics and can be hidden under a plastic panel or mounted on the vehicle roof. The second is a microstrip patch antenna integrated into a laminated glass windscreen for a vehicle. It is fed using a coplanar waveguide feed printed on the innermost layer of the glass, avoiding the need for a contacting feed within the laminate. The patch and ground plane are meshed for manufacturing in the glass to avoid distorting the heat profile when the glass is shaped and laminated. The patch is easily fed from inside the vehicle and is potentially a very low cost design. The final antenna discussed is a dual-band patch antenna specifically designed for the Globalstar satellite telephone system at 1·6 GHz and 2·45 GHz. It also covers the Iridium band at 1·6 GHz. A single circularly polarised patch is used. Dual-band operation results from truncating the corners of the square patch and judiciously placed slots to achieve a band spacing of 1·5.

A dynamic state realization for tightly coupling Global Positioning System (GPS) measurements with an Inertial Navigation System (INS) is described. The realization, based on the direct fusion of GPS and INS systems through Kalman filter state dynamics, explicitly accounts for temporal and spatial decorrelation of GPS measurement errors (such as tropospheric, ionospheric, and multipath errors) through state augmentation, thereby ensuring Kalman filter integrity under fault-free error conditions. Predicted system performance for a Local Area Augmentation System (LAAS) aircraft precision approach application is evaluated using covariance analysis and validated with flight data.

Built-in fault detection mechanisms based on the Kalman filter innovations are also evaluated to help provide integrity under certain fault conditions. It is shown that an algorithm based on the integral of Kalman filter innovations outperforms other existing GPS fault detection methods in the detection of slowly developing ranging errors, such as those caused by ionospheric and tropospheric anomalies.

This paper tackles the Equatorial ionosphere and its effects on Differential Global Positioning System (DGPS) error growth over Malaysia by using a network of GPS Continuously Operating Reference Stations (CORS). Seasonal variation of ionospheric delay has been examined and findings show that the effect of spatial variation of ionospheric errors in DGPS is very significant during the equinoctial seasons. Furthermore, a DGPS regression model was developed and tested during the solar maximum year in 2013 by using internet-based DGPS. The results show that the model is capable of estimating DGPS positional errors for distances of user to reference station less than 680 km.

This and the following six papers were selected from the many papers presented at the 9th World Congress of the International Association of Institutes of Navigation (IAIN) held in Amsterdam, The Netherlands, 17–21 November 1997.

During the past several years, a number of important investigations, policy initiatives and national commitments relating to the future of GPS, GLONASS and their augmentations have occurred. Substantive and on-going studies of the character and configuration of a Global Navigation Satellite System (GNSS) have also been evaluated worldwide, especially by the International Civil Aviation Organization (ICAO). These efforts have been principally directed toward the definition of near- and far-term GNSS implementations that meet the needs and concerns of the international community. This paper briefly reviews some of the investigations and addresses, in particular, the concerns and requirements that may affect the future capabilities and the dual (civil/military) character of GPS. The main issues relating to the modernisation of GPS and its subsequent transition to a component of a GNSS with a viable international character are presented. These include a discussion of new signal structure options, certain changes in operating frequencies, increased signal power levels, other system alternatives and their potential impact on system performance. International issues are briefly addressed, including future performance capabilities, assurance of service, economic participation and benefit, reasonable cost, standards and international participation.

In the field of modernised Global Navigation Satellite System (GNSS) signal design, several Dual-frequency Constant Envelope Multiplexing (DCEM) methods have been recently proposed. However, the existing DCEM methods, such as Alternative Binary Offset Carrier (AltBOC), generalised AltBOC and Asymmetric Constant Envelope Binary Offset Carrier (ACE-BOC), are only applied in some special cases. In this paper, we present a unified DCEM design framework for GNSS signals. The existing DCEM methods can be unified in this framework. First, the signal components at two carrier frequencies are combined into two single-frequency constant envelope signals. Then, the linear sum of dual-frequency signals with non-constant envelopes is obtained. Finally, the linear sum is converted into the corresponding DCEM signal by solving an optimisation problem. The proposed design framework has no strict constraints on the number, power ratio and phase relationship of the signal components. Moreover, some special design cases under this framework are also analysed in detail. The analytical results show that the proposed design method can reach higher multiplexing efficiency compared with the existing methods. Based on the proposed method, we suggest a scheme to multiplex the BeiDou regional signals and global signals at the B2 frequency. The simulation results of correlation functions and Power Spectrum Density (PSD) verify the correctness and effectiveness of the proposed design method.

Digital Selective Calling (DSC) is causing serious problems for Search and Rescue (SAR) providers. Administrations must seriously consider the humanitarian and legal implications of continuing the implementation of DSC. They may be in violation of the Safety of Life at Sea Convention, the International Convention on Maritime Search and Rescue, 1979, and the United Nations Convention on the Law of the Sea, 1982, by knowingly implementing communications technology that may jeopardize lives at sea even though the primary intent of DSC is to establish a suitable distress alerting method. States may very well open themselves to legal liability if loss of life or environmental damage can be linked in any way to the known faults of DSC.

A variety of operational systems are vulnerable to disruption by solar disturbances brought to the Earth by the solar wind. Of particular importance to navigation systems are energetic charged particles which can generate temporary malfunctions and permanent damage in satellites. Modern spacecraft technology may prove to be particularly at risk during the next maximum of the solar cycle. In addition, the associated ionospheric disturbances cause phase shifts of transionospheric and ionosphere-reflected signals, giving positioning errors and loss of signal for GPS and Loran-C positioning systems and for over-the-horizon radars. We now have sufficient understanding of the solar wind, and how it interacts with the Earth's magnetic field, to predict statistically the likely effects on operational systems over the next solar cycle. We also have a number of advanced ways of detecting and tracking these disturbances through space but we cannot, as yet, provide accurate forecasts of individual disturbances that could be used to protect satellites and to correct errors. In addition, we have recently discovered long-term changes in the Sun, which mean that the number and severity of the disturbances to operational systems are increasing.

This paper, and the two following papers, were included in the VTS-96 Symposium held in Rotterdam in April 1996. They are reproduced by kind permission of the Symposium Organizing Committee.

In the Netherlands, inland waterways occupy an important position in the transport of goods to and from the hinterland. To guarantee safety at dangerous junctions, VTS-centres have been introduced since 1952. Some years ago an extra dimension was added to some of these VTScentres, namely the promotion of the optimal use of a limited waterway, to guarantee a smooth traffic flow. This is certainly necessary for the river Waal, which can be considered as the aorta to the German hinterland.

Automatic data exchange between all inland VTS-centres and the German information centres along the Rhine contributes to a great extent to the operation of the VTS-centres. In case of an accident, appropriate measures can be taken immediately, saving human life and respecting the environment.

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.

This paper describes an advanced method, and the corresponding algorithms, which could provide a high precision Wide Area Differential GPS (WADGPS). The service would be suitable for single or dual frequency users, and could be introduced with very few reference stations. The two main components of the service are a precise, near real-time orbit determination of the GPS satellites, and an accurate estimation and modelling of ionospheric and tropospheric effects. Broad principles of the processing algorithms and results of both simulation and real data tests are described. User positioning accuracies of better than 2·5 m (r.m.s.) in plan and 3·0 m (r.m.s.) in height are achieved by both single and dual frequency scenarios.

Wide Area Differential GPS (WADGPS) is being developed to overcome the main drawbacks of conventional or Local Area Differential GPS (LADGPS), where positional accuracy of a user degrades as the reference-to-user separation increases. The spatial decorrelation of the error sources, notably the atmospheric propagation and satellite orbital errors inherent in GPS, are the main causes of this accuracy degradation. Several organizations are involved in WADGPS research, and different conceptual approaches have been suggested. The proposed methods all share a common basic assumption: that the error sources which affect the system are broken down into individual error components and are modelled separately. The variance between the different techniques comes from the way in which the different error components are modelled.

During recent years there has been significant development in several technologies which can contribute to the efficiency and safety of maritime traffic. The most important of these are accurate positioning systems (DGPS), digital data transmission/transponder technology, electronic chart systems (ECDIS), control of ships using electronic passage plans, and ship path prediction. With a widespread implementation of these new techniques, combined with advanced ship-shore and ship-ship data transfer, significant improvements can be achieved in traffic situation awareness both in a VTS and onboard. This paper describes the research carried out at VTT on VTS development, and especially gives an outline of new VTS functions using ship—shore and ship—ship data transfer.

There is no generally accepted definition of the difference between a map and a chart. A widespread feeling probably exists favouring the old saying that maps are to look at and charts to work on. It is true that the term ‘aeronautical chart’ gained a general currency over alternative terms as contact flying gave way to aerial navigation. But, in this paper, the terms ‘map’ and ‘chart’ will be used as seems appropriate to each occasion, without attempt to conform to any particular definition.

We can get an idea of what was available to the earliest aviators by looking at an Ordnance Survey reprint of one of their nineteenth century maps (Fig. 1). They are printed in one colour only, black on white. By far the predominant feature is the hill shading. Quite gentle hills are hachured with a heaviness which tends to obscure both natural features like rivers, lakes and woodlands and man-made constructions such as towns and villages, roads, canals and railways. Hills are, of course, very important features to those on the ground, since they limit the extent to which other features can be seen. To the soldier, the significance of high ground is self-evident, and it was principally for the ordnance requirements of soldiers that these maps had been developed. But when men began to view the ground from the air, the perspective changed. Hills appeared flattened out and, provided that you knew the height of the tallest in the area and were sure none would impede your take-off or landing, were of minor significance. Lakes and woods, though, were spread out before you in their distinctive shapes, while railway lines and canals presented bold straight lines and curves, and rivers their unique courses, to your view. The need was for new kinds of maps which would give due prominence to such features.

A doppler navigation system measures velocity relative to the surface of the Earth. If the surface is moving, as for example when flying over an ocean, the doppler will indicate a false ground-speed and/or drift, according to the direction of surface movement.

Trials carried out by the Experimental Navigation Division of the Aeroplane and Armament Experimental Establishment at Boscombe Down show that there is a positive correlation between doppler system error and the surface wind direction when flying over the sea in an aircraft which has an accurate heading reference system. The analysis of all data is by no means complete, but as the spread of errors is so small it is thought that users of doppler navigation systems may wish to see the trend of results and to accept a few simple rules to compensate for the surface movement.

The value of the surface movement for a doppler equipment having a 1 percent correction for spectrum distortion is about 3 kt. for a surface wind velocity of 10 kt., 4 kt. for a wind velocity of 18 kt., 5 kt. for a wind velocity of 30 kt. and 6 kt. for a wind velocity of 50 kt. or more. The cardinal rule is that the doppler navigation system will indicate a position upwind of the correct position.

Clearly there is little point in applying an across-track correction of say 6 kt.

The use of the required navigation performance (RNP) procedure has been increasing for aircraft navigation, since it allows for better optimisation of the airspace, which is increasingly congested. The present work aims to investigate the application of the functional resonance analysis method (FRAM), combined with the quantitative analysis provided by the Bayesian belief network (BBN), to demonstrate the existing variability in functions that are part of the complex navigation system based on the RNP procedure, specifically when the aircraft approaches the airport (approach phase). As a result, it is possible to analyse the variability that occurs in the studied system and the BBN complemented the study by allowing a quantitative interpretation of the functions considered most important for the execution of an RNP approach procedure.