In recent years the transition of marine navigation to the digital era has been gaining momentum. Implementation of e-Navigation solutions varies from country to country in terms of their priorities, goals, levels and effects. Maritime authorities in Poland have been setting the pace in this transition process, not only in Poland but also in general as a global solution. The most recent example is the planned deployment of a variety of e-Navigation tools in the Vistula Lagoon: from GNSS-RTK Ground-Based Augmentation System, to virtual and synthetic aids to navigation, high-resolution bathymetry and advanced navigational software for piloting. The major objectives of this paper are, first, to summarise recent dynamics in the e-Navigation field, and second, to present a practical implementation of the e-Navigation concept in the Vistula Lagoon area.

Developing risk models to predict where collisions between vessels might occur is hindered by the relative sparsity of collisions. To address this, vessel encounters and near-misses have been used as a surrogate indicator of collision risk, referred to as ‘domain analysis’. When constructed empirically, using historical information, previous work is challenged by the multitude of factors which influence the passing distances between vessels. Within this paper, we conduct data mining of big vessel traffic datasets to determine the encounter characteristics across different waterways, vessel types and speeds, weather conditions and other exploratory variables. To achieve this, we utilise a novel approach of machine learning through a random forest algorithm to predict the critical passing distance between vessels in a multitude of conditions. We contribute a far greater range of influencing factors on domain size and shape than previous studies. Finally, we investigate the potential advantages of this approach to assess the spatial risk of collision across a large region. The results help to establish the factors that influence collision risk between navigating vessels and enable empirical maritime risk assessments.

Over the past few decades, the number of liquefied natural gas (LNG) ships and terminals has been increasing, playing an important role in global clean energy transportation. However, the traffic capacity of LNG shipping in port areas is limited because of its high safety requirements. In view of this problem, a novel model is proposed to study the ship traffic in a port area by combining cellular automaton (CA) and multi-agent methods. Taking the CNOOC Tianjin LNG Terminal as an example, the ship traffic in Tianjin Port is simulated. Based on the simulation results, the LNG ship traffic capacity and its impact on the general shipping traffic flow under different special traffic rules are obtained. This model can provide theoretical support for optimising the port traffic organisation for LNG ships.

To solve the problem of identifying ship model parameters quickly and accurately with the least test data, this paper proposes a nonlinear innovation parameter identification algorithm for ship models. This is based on a nonlinear arc tangent function that can process innovations on the basis of an original stochastic gradient algorithm. A simulation was carried out on the ship Yu Peng using 26 sets of test data to compare the parameter identification capability of a least square algorithm, the original stochastic gradient algorithm and the improved stochastic gradient algorithm. The results indicate that the improved algorithm enhances the accuracy of the parameter identification by about 12% when compared with the least squares algorithm. The effectiveness of the algorithm was further verified by a simulation of the ship Yu Kun. The results confirm the algorithm's capacity to rapidly produce highly accurate parameter identification on the basis of relatively small datasets. The approach can be extended to other parameter identification systems where only a small amount of test data is available.

‘Close-quarters situation’ is a term used in the International Regulations for Preventing Collisions at Sea. As the term is not precisely defined, this paper analyses the interpretations and definitions of the term by various authors or courts, based on judicial processes and judgments. In the end, the authors suggest their own definition of the term ‘close-quarters situation’. Knowing the minimum distance from another ship and the time to the closest point of approach at which collision may still be avoided by one's own manoeuvre is information that every ship's officer needs to know. In accordance with the proposed definition of the term ‘close-quarters situation’, minimum distances between ships and time to the closest point of approach in which the ship can still take action to avoid a collision by its own manoeuvring are determined by means of simulations on a navigational simulator. A total of 168 simulations were performed with three fine-form vessel sizes and three full-form vessel sizes. Due to the extensive amount of data, the paper presents the results for one vessel only.

This paper presents a novel estimation method for coarse alignment of a marine strapdown inertial navigation system (SINS) under mooring conditions. The properties of gravitational motion are used to improve the accuracy of coarse alignment. The parametric motion of gravitational apparent is a circle that is on the surface of a sphere. The location of this parametric circle is dependent on the definition of the reference frames and the initial angles of SINS. In the method proposed here the initial direct cosine matrix is calculated only from the location of the gravity motion parametric circle. The novelty of this paper is to provide a new method for estimating the gravity motion trajectory in inertial frame, as well as direct extraction of the initial direct cosine matrix from this estimated trajectory. Simulation and testing show that the proposed method is suitable for coarse alignment in mooring conditions.

The purpose of this study is to test eye tracking in studying the usability of electronic chart display and information systems (ECDIS), one of the major components of ships’ bridge navigation systems. The carriage and adequate use of ECDIS on merchant ships is mandated by international regulations to improve maritime safety. The aim of this study is to test eye tracking as an assessment tool for usability of ECDIS. Eye movement data, collected from experienced port pilots operating on three different models of ECDIS, was analysed for the study. Significant differences were found between time to first fixation measurements among three different ECDIS models, as well as differences in heat map visualisations between the participant port pilots and expert users. The results indicate that eye tracking is an effective tool for assessment of the usability of ECDIS. The study, aiming potentially to improve the effectiveness of bridge navigation systems, proposes the integration of eye tracking in research and development of ECDIS, and contributes scientifically to research on eye tracking in marine transportation.

In busy waterways, spatial-temporal discretisation, safe distance and collision avoidance timing are three of the core components of ship traffic flow modelling based on cellular automata. However, these components are difficult to determine in ship traffic simulations because the size, operation and manoeuvrability vary between ships. To solve these problems, a novel traffic flow model is proposed. Firstly, a spatial-temporal discretisation method based on the concept of a standard ship is presented. Secondly, the update rules for ships’ motion are built by considering safe distance and collision avoidance timing, in which ship operation and manoeuvrability are thoroughly considered. We demonstrate the effectiveness of our model, which is implemented through simulating ship traffic flow in a waterway of the Yangtze River, China. By comparing the results with actual observed ship traffic data, our model shows that the behaviours and the characteristics of ships’ motions can be represented very well, which also can be further used to reveal the mechanism that affects the efficiency and safety of ship traffic.

Both conflict resolution aid (CRA) and vertical situation display (VSD) systems may contribute to air traffic control (ATC) operations. However, their effectiveness still needs to be examined before being widely adopted in ATC facilities. This study aims to examine empirically the use of CRA and VSD as well as the systems’ interaction in ATC operations. It was found that CRA benefited conflict resolution performance by 13⋅7% and lowered workload by 46⋅4% compared with manually performing the task. The VSD could also reduce the air traffic controllers’ (ATCOs) workload and improve their situation awareness. Ultimately, when the first CRA failure occurred, the situation awareness supported by VSD offset the performance decrements by 30%. The findings from this study demonstrate that integrating VSD with CRA would benefit ATC operations, regardless of the CRA's imperfection.

Piloting in the Panama Canal is exceptional as, due to its importance, the functions of the captains of vessels are taken over by pilots. Hence, prior to inauguration of the expanded canal, a limited number of pilots experienced on the existing canal were certified for the transit of Neopanamax vessels by means of planned and innovative individual learning. After this organisational training through operative training, with the implementation of the expanded canal in June 2016, the routine training started. Hence the learning curve in the performance of these manoeuvres will represent the growing skill acquired by both the pilots and the organisation. Given that the learning effect is measurable, this paper has the dual objective of determining two curve models: the organisation operative learning curve model and the routine learning curve model for pilots performing transit manoeuvres in the expanded Panama Canal waterways and the Cocolí and Agua Clara locks. Manoeuvre times in locks and transit in the whole of the canal were followed up continuously in the first 42 months of operation.

The aim of this study is to develop a simulation model which is capable of mimicking actual vessel arrival patterns and vessel entrance decisions (which are made based on expert opinions generally) on congested, narrow waterways. The model is tested on the transit traffic pattern in the Strait of Istanbul. Based on a heuristic scheduling algorithm, this model decides entrance times and vessel types on the strait. The model, with different policies for day and night traffic, is run for a period of seven years with 20 replications for each year. The performance measures of the model are: average interarrival times, number of vessels passed and entrance times for each successive vessel pair in both traffic directions. The model results are congruent with the actual results of performance measures. Therefore, it may be deduced that the proposed algorithm can be a guide for operators regarding scheduling decisions in congested, narrow waterways.

Ship domain is an important theory in ship collision avoidance and an effective collision detection method. First, several classical ship domain models are used in experiments. The results show that the alarm rate is too high in busy waters, leading to greatly reduced practicality of the model. Potential collision risk cannot be detected effectively, especially for a ship with restricted manoeuvrability, which is usually regarded as an overtaken ship due to its navigation characteristics. Therefore, it is necessary to fully consider the interference of other ships to ships with limited manoeuvrability in an encounter situation. A novel ship domain model for ships with restricted manoeuvrability in busy waters is proposed. Considering the navigation characteristics of a ship with restricted manoeuvrability and the influence of the ship–ship effect, an algorithm to determine the boundary of the ship domain model is given by force and moment equations. AIS trajectory data of the North Channel of the Yangtze River Estuary are used to perform a comparative experiment, and four classical ship domain models are employed to perform comparative experiments. The results show that the alarm rates of the novel ship domain model are 7⋅608%, 15⋅131%, 55⋅785% and 7⋅608% lower than those of the other four classical models, and this outcome can effectively reduce the high false alarm rate produced by other models in this environment.

As essential specifications of correlation domain for signal quality evaluation, distortions of the S-curve, including bias and slope distortions of the zero-crossing point, are usually selected as indicators of optimisation in the process of designing the channels of receivers or navigation satellites. Focusing on this issue, we present a detailed analysis of slope distortion in the presence of group delay and amplitude distortions. After validating the theoretical results, we present further discussions about the impacts of different group delay terms on slope distortions. The results indicate that both the odd-order and the even-order terms have impacts on the slope distortion, and higher odd-order terms have less slope distortion compared with the lower odd-order terms. These results are useful for evaluating the slope distortion from the group delay and guiding improvement in design of the channel.

Navigators have been taught for centuries to estimate the location of their craft on a map from three lines of position, for redundancy. The three lines typically form a triangle, called a cocked hat. How is the location of the craft related to the triangle? For more than 80 years navigators have also been taught that, if each line of position is equally likely to pass to the right and to the left of the true location, then the likelihood that the craft is in the triangle is exactly 1/4. This is stated in numerous reputable sources, but was never stated or proved in a mathematically formal and rigorous fashion. In this paper we prove that the likelihood is indeed 1/4 if we assume that the lines of position always intersect pairwise. We also show that the result does not hold under weaker (and more reasonable) assumptions, and we prove a generalisation to $n$ lines.