While quantum accelerometers sense with extremely low drift and low bias, their practical sensing capabilities face at least two limitations compared with classical accelerometers: a lower sample rate due to cold atom interrogation time; and a reduced dynamic range due to signal phase wrapping. In this paper, we propose a maximum likelihood probabilistic data fusion method, under which the actual phase of the quantum accelerometer can be unwrapped by fusing it with the output of a classical accelerometer on the platform. Consequently, the recovered measurement from the quantum accelerometer is used to estimate bias and drift of the classical accelerometer which is then removed from the system output. We demonstrate the enhanced error performance achieved by the proposed fusion method using a simulated 1D accelerometer precision test scenario. We conclude with a discussion on fusion error and potential solutions.

This study investigates whether the International Safety Management (ISM) Code remains an effective regulatory tool for the shipping industry by analysing maritime accident statistics published for the last 32 years by the Korea Maritime Safety Tribunal, 24 years by the International Maritime Organization (IMO) and seven years by the European Maritime Safety Agency. For this purpose, the data were divided into four groups: pre-ISM Code, in-transit, post-1 and post-2 periods, and tested by multilateral comparative analysis. The results show that the Korean merchant fleet has no improvement over the periods, whereas the world merchant fleet has a continual decrease in serious casualties. This study confirmed a trend of maritime accidents in recent years: fewer in number but heavier in damage. Conclusively, the results suggest that IMO and decision-makers in the maritime industry must review the ISM Code again and seek solutions to achieve the goal of continual improvement, as specified in the code.

A weather routing tool is presented based on forecasted weather data along the route and considering safety aspects. The tool aims to determine the optimal path for the minimisation of the fuel oil consumption, ensuring a safe passage. It is developed in MATLAB and considers detailed ship characteristics. Specifically, ship's motions and fuel oil consumption of the main engine during a potential path are estimated. For the latter, a physics-based model for a specific vessel is developed where tools of different level of detail are utilised to calculate the various resistance components. A speed management strategy along the route is specified as well as safety criteria representing acceptable limits of ship's responses. When the set criteria and constraints have been set, a genetic algorithm is used to find the optimal route by means of ship's heading or by considering both heading and ship's power settings as variables to minimise the fuel oil consumption. The search space of the algorithm lies within a predefined envelop, but still the evolutionary optimisation approach used has no pre-assigned values to any possible candidate waypoint.

There is an undeniable recognition that maritime cybersecurity risk management should involve process, technology, and people. However, thus far, most studies have focused on the technical and process aspects of maritime cybersecurity, more than on the human element. On a vessel, the Electronic Chart Display and Information System (ECDIS) is, amongst all the electronic devices on the bridge, a complex and indispensable maritime sociotechnical system that must consider both technical and human aspects. In the context of maritime cyber resilience, it is important to note that when developing strategies for maritime cybersecurity, one cannot only consider technical security measures and ignore human error, as this does not adhere to good cybersecurity practice. To address this, this study aims to identify the navigating officers’ responsibilities for ECDIS cybersecurity and find the human error probabilities during these tasks via the SLIM-based human reliability analysis method. The outputs of this study provide an insight for industrial policies and best practices, in ECDIS cybersecurity risk management in terms of the behavioural and cultural aspects of shipping.

Maritime navigation is a complex task involving the acquisition, analysis, and interpretation of information using seamanship, professional knowledge, and technology. As the maritime industry transitions towards maritime autonomous surface ships (MASS), there is an increasing gap between the operator and the technology. This paper explores a collision avoidance decision support system for navigation from the navigator's perspective. The system, developed by Wärtsilä, is called Advanced Intelligent Manoeuvring (AIM) and can generate suggestions for course or speed alterations based on data from surrounding traffic. Nineteen Swedish navigators completed three ship traffic scenarios with and without decision support. Qualitative data were collected using interviews and analysed with thematic analysis. The results show that the participants perceive the decision support system as an advisory tool to visualise how traffic situations could unfold, a task currently difficult for most navigators. This paper discusses the present and near future of maritime navigation, highlighting the benefits of automation, while remaining vigilant about the potential dangers.

E-navigation provides the opportunity to apply modern digital and other electronic enhancements to improve the safety and efficiency of maritime navigation. Under the broad banner of e-navigation, the International Hydrographic Organization's S-100 product specification framework is facilitating the establishment of a standard maritime data structure to enable a free-flowing exchange of navigation information between ships, ship-to-shore and shore-to-ship. There are currently over 30 S-100 based product specifications at various stages of development. For the data standard to be properly used, navigation software products must be capable of reading as well as comprehending the data format and content. To develop robust and stable software, the S-100 data models and product specifications must be consistent, accurate and interoperable in conveying various types of information. This paper describes the results of research on S-100 based product specifications from the viewpoint of developing maritime navigation software. In particular, issues related to software development for Electronic Chart Display Information System (ECDIS) and Vessel Traffic Service (VTS) are discussed, including appropriate data model analysis, processing of features, and symbols overlapping with other product specifications. Proposed solutions for some identified issues are presented.

In this paper, we propose a sea current relative navigation method using an interacting multiple model (IMM) filter with adaptive fading technique that can compensate an inaccurate sea current dynamics model. Due to the marine environment, the underwater vehicles largely depend on inertial navigation. Unfortunately, since its performance deteriorates with time, it is usually aided by another sensor. An electromagnetic-log (EM-log) and a Doppler velocity log (DVL), which are mainly used in marine navigation, provide relative velocity measurements to the sea currents, and hence require an accurate sea current dynamics model to fully utilise them. However, it is difficult to reflect the actual sea current changes with just a single fixed model, resulting in degraded overall navigation performance. Therefore, this paper proposes an IMM filter that can use multiple sea current dynamics models and has sub-filters designed with adaptive fading extended Kalman filter (AFEKF) to compensate for the mismodelling of sea current dynamics. The method is verified by simulation and shows a performance improvement comparable to the optimal filter.

The use of multiple observations near noon with a traditional sextant to determine a fix is common among celestial navigators. A recent invention is the fixed-angle ‘Bris sextant’ that comes with advantages, but imposes constraints due to its invariant nature. We propose a method by which both longitude and latitude can be fixed using only two sightings with such a device, each equidistant from the meridian. By modelling the solution space for the method, we explore some of the potential utility across geography and seasonal variation. Although this method was developed for use with a Bris fixed-angle sextant, it can also be conveniently used with a more traditional marine or level-bubble sextant. Because this method is computationally cumbersome, it is most convenient when used in a computer or tablet application, or with tables.

Electronic navigational charts (ENCs) are specialised geospatial datasets, issued by or on the authority of a government or hydrographic office, in accordance with the International Hydrographic Organisation's (IHO) standards, specifications and symbol sets. The datasets generally comprise encoded information collected from hydrographic surveys, aimed primarily at the safety of navigation. Most ENCs are not openly available, since the encrypted datasets can be acquired through various license schemes via a centralised distribution network coordinated by two organisations operating on behalf of the coastal states that produce them. This paper describes a methodology and an integrated system developed at the National Technical University of Athens Cartography Laboratory for the generation of web-based nautical charts utilising open data and free software. The system compiles nautical charts compliant with IHO's S-101 latest standard; using open hydrospatial data retrieved from marine spatial data infrastructures (MSDI) and other qualified volunteered geographic information (VGI) sources. Open-source geospatial libraries and web-map vector technologies are used to build the system components and software scripts developed to enable automated compilation. The study also discusses how the system can be improved further by leveraging web services for end-to-end process automation and satellite-derived bathymetry for accurate depiction of seabed topography in low-depth areas.

The Autonomous Navigation System (ANS) constitutes a critical key enabling technology required for operating Maritime Autonomous Surface Ships (MASS). To assure the safety of MASS operations, the effective identification of potential objects and target ships interacting with the own MASS is quintessential. This study proposes a systematic method to identify the items interacting with the own MASS. This method is based on a similar approach previously employed for the encountering items’ identification in robotics, which is customised herein for the MASS needs. The developed method is applied to a short-sea shipping MASS. The environmental features, agents and objects related to her navigation are identified and ranked based on the frequency of encounter and the potential collision consequences. The results demonstrate the ability of the method to identify additional items in comparison to Automatic Identification System based data. The interactions with the small ships are considered as the most critical, due to their potential accidental consequences and their exhibited high frequency of encounter. This study results are employed to support the ANS design and testing of the investigated ship.

Indoor/Outdoor (IO) detection (IOD) using Wi-Fi- and smartphone-based technologies is in high demand and interest in both the industrial and research fields. This paper proposes a novel and effective hybrid IOD (HIOD) approach for detecting a smartphone user's IO location. The HIOD approach uses signals received from both Wi-Fi and GPS as well as the latest positioning technologies such as multilateration, fingerprinting and machine learning. This paper proposes and implements two-level signal-to-noise ratio (SNR) threshold parameters for the first time, which are specifically derived from GPS signals through 42 empirical tests at seven test sites with adequate environmental factors considered. Using the newly derived IOD threshold parameters and a set of IO detection rules, the HIOD approach is then tested at 20 test points (TPs) in a city canyon area, where most of the TPs are under semi-indoor or semi-outdoor conditions. The final test results show that a 100% IOD rate is achieved.

Standards IEC 62288:2014 and MSC.191(79) require information on the displays of shipboard navigation systems to be logically grouped, but only provide limited specification for this ‘logical’ criterion. Meanwhile, complex interfaces and information overload remain as major design issues, being connected to several maritime accidents. To address this matter, a three-phase study was conducted to develop a pattern to organise essential information on Radar and Electronic Chart Display and Information System (ECDIS) displays and their equivalent modules on integrated navigation systems and integrated bridge systems. The first phase involved identifying the information most essential for safe navigation using cognitive task analyses, equipment performance standards and frequency of use. The second phase involved a card-sorting experiment with seafarers (n = 63) to develop an initial grouping pattern for the identified essential information. The third phase involved validating the initial grouping pattern with a new sample of seafarers (n = 35). The result is a pattern to group 48 types of information on shipboard navigation displays into 13 groups. The paper details the selected methods and the findings, and provides implications for future research.

Adverse effects of intoxicated driving have been well documented over the years, with clear conclusions. In addition, it is evident that the cognitive and neurological functions and reaction times deteriorate with the consumption of alcohol. Addressing the lack of literature on the subject, this paper focuses on studying the effects of alcohol on manoeuvring, navigational and decision-making ability in ship navigation. Ten participants – five cadets and five experienced navigation officers – volunteered and carried out a standard manoeuvre using a computer-controlled vessel simulator, under three different blood alcohol concentrations (0⋅00%, 0⋅05% and 0⋅08% BAC). Results from the simulations were used to assess the performance and the decision-making ability of participants under the influence of alcohol. In addition, the responses and behaviour of the simulated vessel when the navigators were intoxicated were analysed. Workload experienced by participants during the simulations were also assessed using the NASA Task Load Index. Findings of this preliminary study proved that the ability to make the correct decisions at the right time was drastically deteriorated when the blood alcohol concentration was increased.

The design of new rules on seaways, such as traffic restrictions, requires determining the degree of improvement in marine traffic safety beforehand by considering the occurrence of new hazardous factors. This study proposes a method to predict the future traffic behaviour and ship encounter frequency (EF) with the introduction of a new traffic rule. First, a sensitivity analysis is conducted to identify the factors affecting the EF. A method of predicting future traffic behaviour and EF is presented based on the analysis of changes in the traffic flow in an area with a temporal restriction. Results show that the method appropriately predicts the location and degree of the occurrence of encounters in the sea area. The proposed method contributes to the discussion of future traffic safety, when sailing in a specific area is restricted by new regulations, installations of new offshore wind farms and fishing reefs.

The paper presents the error characteristics of a vehicle dynamic model (VDM)-based integration architecture for fixed-wing unmanned aerial vehicles. Global navigation satellite system (GNSS) and inertial measurement unit measurements are fused in an extended Kalman filter (EKF) which uses the VDM as the main process model. Control inputs from the autopilot system are used to drive the navigation solution. Using a predefined trajectory with segments of both high and low dynamics and a variable wind profile, Monte Carlo simulations reveal a degrading performance in varying periods of GNSS outage lasting 10 s, 20 s, 30 s, 60 s and 90 s, respectively. These are followed by periods of re-acquisition where the navigation solution recovers. With a GNSS outage lasting less than 60 s, the position error gradually grows to a maximum of 8⋅4 m while attitude errors in roll and pitch remain bounded, as opposed to an inertial navigation system (INS)/GNSS approach in which the navigation solution degrades rapidly. The model-based approach shows improved navigation performance even with parameter uncertainties over a conventional INS/GNSS integration approach.

Following substantial progress achieved recently, the Galileo constellation provides a considerable satellite resource for the GNSS applications. In this regard, the performance assessment of real-time single-frequency precise positioning with Galileo satellites is the main objective of this research. For this purpose, several experimental tests were conducted in this study with two single-frequency positioning models, namely single-frequency code-based positioning and code-phase combination. The results show that Galileo presents an adequate number of visible satellites sufficient for single-frequency positioning. Also, the study demonstrates that, in comparison to GPS observations, Galileo observations have a significantly lower noise level. For the single-frequency code-based positioning, Galileo presents a better positioning accuracy than GPS by 25⋅8% on average. When compared with GPS, a 9⋅4% better positioning accuracy is acquired from Galileo for the single-frequency code-phase combination, with its average convergence time shorter than GPS by a ratio of 24⋅4%.

In urban areas, the Global Navigation Satellite System (GNSS) can lead to position errors of tens of meters due to signal obstruction and severe multipath effects. In cases of 3D-positioning, the vertical coordinate is estimated less accurately than are the horizontal coordinates. Multisensor systems can enhance navigation performance in terms of accuracy, availability, continuity and integrity. However, the addition of multiple sensors increases the system cost, and thereby the applicability to low-cost applications is limited. By using the concept of receiver clock modelling (RCM), the position estimation can be made more robust; the use of high-sensitivity (HS) GNSS receivers can improve the system availability and continuity. This paper investigates the integration of a low-cost HS GNSS receiver with an external clock in urban conditions; subsequently, the gain in the navigation performance is evaluated. GNSS kinematic data is recorded in an urban environment with multiple geodetic-grade and HS receivers. The external clock stability information is incorporated through the process noise matrix in a Kalman filter when estimating the position, velocity and time states. Results shows that the improvement in the precision of the height component and vertical velocity with both receivers is about 70% with RCM compared with the estimates obtained without applying RCM. Pertaining accuracy, the improvement in height with RCM is found to be about 70% and 50% with geodetic and HS receivers, respectively. In terms of availability, the HS receiver delivers an 100% output compared with a geodetic receiver, which provides an output 99⋅4% of the total experiment duration.

This paper presents a formulation of snapshot positioning as a mixed-integer least-squares problem. In snapshot positioning, one estimates a position from code-phase (and possibly Doppler-shift) observations of global navigation satellite system (GNSS) signals without knowing the time of departure (timestamp) of the codes. Solving the problem allows a receiver to determine a fix from short radio-frequency snapshots missing the timestamp information embedded in the GNSS data stream. This is used to reduce the time to first fix in some receivers, and it is used in certain wildlife trackers. This paper presents two new formulations of the problem and an algorithm that solves the resulting mixed-integer least-squares problems. We also show that the new formulations can produce fixes even with huge initial errors, much larger than permitted in Van Diggelen's widely-cited coarse-time navigation method.

The objective of this study was to design and evaluate new means of complying to time constraints by presenting aircraft target taxi speeds on a head-up display (HUD). Four different HUD presentations were iteratively developed from paper sketches into digital prototypes. Each HUD presentation reflected different levels of information presentation. A subsequent evaluation included 32 pilots, with varying flight experience, in usability tests. The participants subjectively assessed which information was most useful to comply with time constraints. The assessment was based on six themes including information, workload, situational awareness, stress, support and usability. The evaluation consisted of computer-simulated taxi-runs, self-assessments and statistical analysis. Information provided by a graphical vertical tape descriptive/predictive HUD presentation, including alpha-numerical information redundancy, was rated most useful. Differences between novice and expert pilots can be resolved by incorporating combinations of graphics and alpha-numeric presentations. The findings can be applied for further studies of combining navigational and time-keeping HUD support during taxi.

We investigated the contribution of visual imagination to the cognitive mapping of a building when initial exploration was simulated either visually by using a passive video walk-through, or mentally by using verbal guidance. Building layout had repeating elements with either rotational or mirror symmetry. Cognitive mapping of the virtual building, determined using questionnaires and map drawings, was present following verbal guidance but inferior to that following video guidance. Mapping was not affected by the building's structural symmetry. However, notably, it correlated with small-scale mental rotation scores for both video and verbal guidance conditions. There was no difference between males and females. A common factor that may have influenced cognitive mapping was the availability of visual information about the relationships of the building elements, either directly perceived (during the video walk-through) or imagined (during the verbal walk-through and/or during recall). Differences in visual imagination, particularly mental rotation, may thus account for some of the individual variance in cognitive mapping of complex built environments, which is relevant to how designers provide navigation-relevant information.