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.

A priori attitude information can improve the success rate and reliability of Global Navigation Satellite System (GNSS) multi-antennae attitude determination. However, a priori attitude information is nonlinear, and integrating a priori information into the objective function rigorously will increase the complexity of an ambiguity domain search, such as the Multivariate Constrained-Least-squares Ambiguity Decorrelation Adjustment (MC-LAMBDA) method. In this paper, a new method based on attitude domain search is presented to make use of the a priori attitude angle information with high efficiency. First, the a priori information of pitch and roll is integrated into the search process to derive the analytic search step for attitude angle, and the integer candidates are determined by traversal search in the three-dimensional attitude domain. Then, the objective function is parameterised with Euler angles, and a non-iterative approximate method is utilised to simplify the iterative computation in calculating objective function values. Experimental results reveal that compared to the MC-LAMBDA method, our new method has the same success rate and reliability, but higher efficiency in making use of a priori attitude information.

Both the code–phase combination and the Geometry-Free (GF) phase combination are widely employed to detect and repair cycle slips for BeiDou Navigation Satellite System (BDS) triple-frequency observations. However, the effect of residual ionospheric delay on Narrow-Lane (NL) or GF observations must be considered to avoid incorrect cycle–slip estimation. To improve the accuracy in repairing cycle slips, a corrective ionospheric delay value predicted from the previous ionosphere sequence is used to amend the NL or GF observations at the current epoch. The main purpose of the work reported here is to evaluate the efficacy of a three-step method proposed to detect and repair cycle slip using two extra-wide-lane code–phase and one GF phase combination observations. BDS triple-frequency data were processed in two stages: separate processing of geosynchronous Earth orbit satellites, and the division of inclined geosynchronous satellite orbit and medium Earth orbit satellites into two groups for processing at 30° elevation thresholds. Results revealed that using the prediction models to correct NL or GF observations could ensure a rounding success rate of cycle slip close to 100%, even under high ionospheric activity.

A high-precision line-of-sight extraction technique is essential for autonomous optical navigation during the Mars approach phase. To support future Mars exploration missions, an optical image simulation system is a necessary ground verification facility for Mars image generation and line-of-sight extraction algorithm tests. In this paper, an optical image generation procedure is first developed according to projection relationships, reference flight profiles and camera parameters. Next, a hybrid image processing and subpixel-level line-of-sight extraction algorithm is proposed through modification of moment-based sub-pixel edge detection and improvement of direct least-square fitting approaches. Finally, an optical image simulation system is established, and the experimental results show that the proposed procedure can effectively simulate the optical image in the field-of-view of a Mars spacecraft, and the hybrid extraction algorithm can obtain high-precision Mars centroid information.

Cooperative hunting with multiple Autonomous Underwater Vehicles (AUVs) not only needs the AUVs to cooperate, but also demands real-time path planning to catch up with evading targets. In this paper a time-based alliance mechanism to form efficient dynamic hunting alliances is proposed. After that, during the active hunting stage, an improved neural network model based on a Glasius Bio-inspired Neural Network (GBNN) is presented for path planning to immediately achieve tracking of an intelligent target. This study shows that the improved GBNN model has good performance in real-time hunting path planning. From the simulation studies as described in this paper, both the hunting alliance formation mechanism and the proposed real-time hunting path planning strategy show their advantages. The results show that the improved GBNN model proposed in this paper can work well in the control of multiple AUVs to hunt for intelligent evading targets in environments containing obstacles.

Connected-Element Interferometry (CEI) is a technique for measuring the phase delay of difference of Time Of Arrival (TOA) of a downlink radio signal to two antennae on a short baseline. This technique can use an atomic clock for time-frequency transmission and achieve intermediate accuracy angular tracking. Owing to the relatively short length of the baseline, the passive reception mode, and near real-time operation, CEI can be used to continuously monitor the orbit variations of both cooperative and non-cooperative satellites. In this paper, a small-scale CEI system of two orthogonal baselines (75 m × 35 m) is investigated to track a Geostationary Earth Orbit (GEO) Television (TV) satellite at 110·5°E. The phases are extracted from correlation results. The results show that the Root Mean Square (RMS) of the phase fitting residuals, if not calibrated, is within 2° at night and up to 10° in the daytime. After applying the calibration signal, the RMS of the phase fitting residuals in the daytime decreases to the same level at night. Comparing the phase delay with the a priori phase delay using Two-Line-Element (TLE) data, the integer ambiguity is successfully resolved. Finally, a batch algorithm is used to estimate the orbit of the GEO satellite, and the orbit determination accuracy is evaluated using the precise orbits provided by the China National Time Service Centre (NTSC). The results show that the accuracies in the radial direction and the cross-track direction are less than 1 km, and the Three-Dimensional (3D) position accuracy reaches the 2 km order of magnitude.

Spherical trigonometry formulae are widely adopted to solve various navigation problems. However, these formulae only express the relationships between the sides and angles of a single spherical triangle. In fact, many problems may involve different types of spherical shapes. If we can develop the different formulae for specific spherical shapes, it will help us solve these problems directly. Thus, we propose two types of formulae for combined spherical triangles. The first set are the formulae of the divided spherical triangle, and the second set are the formulae of the spherical quadrilateral. By applying the formulae of the divided spherical triangle, waypoints on a great circle track can be obtained directly without finding the initial great circle course angle in advance. By applying the formulae of the spherical quadrilateral, the astronomical vessel position can be yielded directly from two celestial bodies, and the calculation process concept is easier to comprehend. The formulae we propose can not only be directly used to solve corresponding problems, but also expand the spherical trigonometry research field.

When ships approach each other, they should keep a minimum area around them clear of other vessels in order to remain safe. The geometrical shape of this area has been studied since the early 1970s and is defined as the ship domain. The progress in computer capacity since then and the introduction of the Automatic Identification System (AIS) provides the potential to further investigate the size and the governing factors of the domain. This investigation revisits and proposes a method using data based on 600,000 ship encounters at 36 locations. It is concluded that the ship domain has the shape of an ellipse with half axis radii of 0.9 and 0.45 nautical miles. However, there are two factors that greatly affect the ship domain: how large the area is that is used to gather vessel intersections and whether they are constrained by water depth. In contradiction to some previous research, it is found that the ship domain is unrelated to the length of the ship.

Although topographic mapping missions and geological surveys carried out by Autonomous Underwater Vehicles (AUVs) are becoming increasingly prevalent, the lack of precise navigation in these scenarios still limits their application. This paper deals with the problems of long-term underwater navigation for AUVs and provides new mapping techniques by developing a Bathymetric Simultaneous Localisation And Mapping (BSLAM) method based on graph SLAM technology. To considerably reduce the calculation cost, the trajectory of the AUV is divided into various submaps based on Differences of Normals (DoN). Loop closures between submaps are obtained by terrain matching; meanwhile, maximum likelihood terrain estimation is also introduced to build weak data association within the submap. Assisted by one weight voting method for loop closures, the global and local trajectory corrections work together to provide an accurate navigation solution for AUVs with weak data association and inaccurate loop closures. The viability, accuracy and real-time performance of the proposed algorithm are verified with data collected onboard, including an 8 km planned track recorded at a speed of 4 knots in Qingdao, China.

Bathymetric Electronic Navigational Charts (bENCs) contain only bathymetry data and can be used in applications such as underwater positioning, dredging and piloting. According to International Hydrographic Organization (IHO) standard S-57, Electronic Navigational Charts (ENCs) contain depth information with pure density of depth contours. Typical depth contours encoded by Hydrographic Offices are limited to 2, 5, 10 and 20 m. Availability of more depth contours in bENCs would allow the visualisation of a safety contour which is closer to users' specific needs, especially in restricted waters such as ports, lakes and rivers. Another problem is non – Global Navigation Satellite System (GNSS) Unmanned Underwater Vehicle (UUV) navigation. bENCs could be used as reference data for UUV comparative navigation. This is called terrain reference navigation. This article presents the results from bathymetric data processing that was performed to convert data contained in bENCs into a reference for underwater comparative navigation. We use data obtained using a multibeam echo sounder to produce depth data with a horizontal spacing of 0·10 m that is suitable for use in restricted waters. The experimental data was collected in and around the Port of Gdansk, Poland.

Seafloor geodetic studies such as Global Positioning System (GPS)-Acoustic experiments often require the measurement platform on the sea surface to be positioned accurately to within a few centimetres. In this paper, we test the utility of Precise Point Positioning (PPP) for this application with two experiments. The first fixed platform experiment is a comparison between three independent processing software packages: Positioning and Navigation Data Analyst (PANDA), Global Navigation Satellite System-Inferred Positioning System and Orbit Analysis Simulation Software (GIPSY-OASIS), and the Canadian Spatial Reference System (CSRS)) and a more accurate solution based on conventional differential processing of a remote GPS station in the Aleutian Islands. The second moving platform experiment is a comparison among the three PPP software packages using 40 hours of ship navigation data collected during the Roger Revelle RR1605 cruise 170 nautical miles southwest of Palau in May 2016. We found the PPP solutions were repeatable to 5·49 cm in the horizontal components and 12·4 cm in the vertical component. This demonstrates not only that PPP is a useful tool for positioning marine platforms in remote locations, but also that modern ship navigation instruments such as the Kongsberg Seapath 330 + are suitable for seafloor geodetic application.