Pub Date : 2023-03-01DOI: 10.1017/S0373463323000103
Szymański Rafał, Specht Cezary
Abstract Due to the exceptional complexity of the propulsion system (sails), square-riggers form a special group of sailing vessels. In modern pleasure and sport sailing, simple Bermuda (triangular) sailing rigging prevails, which is widely discussed in the literature, both in terms of theory and numerous experiments. The literature on the theory on square-riggers is, in turn, limited mainly to the description of good sailing practice developed over the centuries. Its important element was maximising vessel speed, but this discussion has not been documented by scientific research. This paper presents the significant parameters influencing the speed of a square-rigged sailing vessel and selects those which are the most important from the point of view of its maximisation. The paper also proposes methods and measurement systems which optimise selected parameters affecting the achievement of higher speeds. The paper describes the types of speeds of typical sailing vessels, provides a historical synthesis of sailing ships with respect to their speed, and presents a selection and description of the parameters affecting the speed of modern square-rigged vessels. The paper ends with a proposed method and measurement system for experimental research aiming at rigging optimisation in a square-rigged sailing vessel from the point of view of maximising its speed.
{"title":"Selected issues of optimising parameters on square riggers to maximise speed","authors":"Szymański Rafał, Specht Cezary","doi":"10.1017/S0373463323000103","DOIUrl":"https://doi.org/10.1017/S0373463323000103","url":null,"abstract":"Abstract Due to the exceptional complexity of the propulsion system (sails), square-riggers form a special group of sailing vessels. In modern pleasure and sport sailing, simple Bermuda (triangular) sailing rigging prevails, which is widely discussed in the literature, both in terms of theory and numerous experiments. The literature on the theory on square-riggers is, in turn, limited mainly to the description of good sailing practice developed over the centuries. Its important element was maximising vessel speed, but this discussion has not been documented by scientific research. This paper presents the significant parameters influencing the speed of a square-rigged sailing vessel and selects those which are the most important from the point of view of its maximisation. The paper also proposes methods and measurement systems which optimise selected parameters affecting the achievement of higher speeds. The paper describes the types of speeds of typical sailing vessels, provides a historical synthesis of sailing ships with respect to their speed, and presents a selection and description of the parameters affecting the speed of modern square-rigged vessels. The paper ends with a proposed method and measurement system for experimental research aiming at rigging optimisation in a square-rigged sailing vessel from the point of view of maximising its speed.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"153 - 180"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43201790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/S0373463323000152
D. Oliveira, A. Moraes, Moacyr Machado Cardoso Júnior, L. Marini-Pereira
Abstract 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.
{"title":"Safety analysis of RNP approach procedure using fusion of FRAM model and Bayesian belief network","authors":"D. Oliveira, A. Moraes, Moacyr Machado Cardoso Júnior, L. Marini-Pereira","doi":"10.1017/S0373463323000152","DOIUrl":"https://doi.org/10.1017/S0373463323000152","url":null,"abstract":"Abstract 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.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"286 - 315"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46803840","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/S0373463323000073
Mrinal Goswami, Atanu Santra, Sukabya Dan, R. Ghatak, A. Bose
Abstract In missile test ranges, complex missions demand precise trajectory generated by radar. Both the radar and Global Navigation Satellite System (GNSS) signals are affected by atmospheric effects, degrading their accuracy and performance. The Indian Regional Navigation Satellite System/Navigation with Indian Constellation (IRNSS/NavIC) transmits signals in the S-band together with the L-band. This paper presents a novel experimental technique to improve the tracking accuracy of S-band radars using the concurrent NavIC S-band signal. The ionospheric delay using the NavIC S-band signal is calculated first, and the results are used to improve the trajectory data of simultaneously operating S-band radars. This is a unique application of the NavIC S-band signals apart from its conventional usage. During a launch mission, for low elevation angles, the ionospheric error is found to be ~130 m while at higher elevation angles the error values are found to be ~1–3 m. The concept is validated using data from a missile test mission. This report on the use of S-band GNSS signals for the correction of S-band radar range data offers a clear advantage of simplicity and accuracy.
{"title":"Ionospheric correction of S-band tracking radar data using NavIC S-band signals in missile test range applications","authors":"Mrinal Goswami, Atanu Santra, Sukabya Dan, R. Ghatak, A. Bose","doi":"10.1017/S0373463323000073","DOIUrl":"https://doi.org/10.1017/S0373463323000073","url":null,"abstract":"Abstract In missile test ranges, complex missions demand precise trajectory generated by radar. Both the radar and Global Navigation Satellite System (GNSS) signals are affected by atmospheric effects, degrading their accuracy and performance. The Indian Regional Navigation Satellite System/Navigation with Indian Constellation (IRNSS/NavIC) transmits signals in the S-band together with the L-band. This paper presents a novel experimental technique to improve the tracking accuracy of S-band radars using the concurrent NavIC S-band signal. The ionospheric delay using the NavIC S-band signal is calculated first, and the results are used to improve the trajectory data of simultaneously operating S-band radars. This is a unique application of the NavIC S-band signals apart from its conventional usage. During a launch mission, for low elevation angles, the ionospheric error is found to be ~130 m while at higher elevation angles the error values are found to be ~1–3 m. The concept is validated using data from a missile test mission. This report on the use of S-band GNSS signals for the correction of S-band radar range data offers a clear advantage of simplicity and accuracy.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"225 - 237"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48684169","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/s037346332300022x
{"title":"NAV volume 76 issue 2-3 Cover and Back matter","authors":"","doi":"10.1017/s037346332300022x","DOIUrl":"https://doi.org/10.1017/s037346332300022x","url":null,"abstract":"","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"b1 - b2"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43005249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/S0373463323000061
Zhipeng Shen, Ang Li, Li Li, Haomiao Yu
Abstract Concentrating on a surface vessel with input saturation, model uncertainties and unknown disturbances, a path following the adaptive backstepping control method based on prescribed performance line-of-sight (PPLOS) guidance is proposed. First, a prescribed performance asymmetric modified barrier Lyapunov function (PPAMBLF) is used to design the PPLOS and the heading controller, which make the path following position and heading errors meet the prescribed performance requirements. Furthermore, the backstepping and dynamic surface technique (DSC) are used to design the path following controller and the adaptive assistant systems are constructed to compensate the influence of input saturation. In addition, neural networks are introduced to approximate model uncertainties, and the adaptive laws are designed to estimate the bounds of the neural network approximation errors and unknown disturbances. According to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded. Finally, a 76$,{cdot },$2 m supply surface vessel is used for simulation experiments. The experimental results show that although the control inputs are limited, the control system can still converge quickly, and both position and heading errors can be limited to the prescribed performance requirements.
{"title":"Prescribed performance LOS guidance-based dynamic surface path following control of surface vessel with position and heading errors constraint","authors":"Zhipeng Shen, Ang Li, Li Li, Haomiao Yu","doi":"10.1017/S0373463323000061","DOIUrl":"https://doi.org/10.1017/S0373463323000061","url":null,"abstract":"Abstract Concentrating on a surface vessel with input saturation, model uncertainties and unknown disturbances, a path following the adaptive backstepping control method based on prescribed performance line-of-sight (PPLOS) guidance is proposed. First, a prescribed performance asymmetric modified barrier Lyapunov function (PPAMBLF) is used to design the PPLOS and the heading controller, which make the path following position and heading errors meet the prescribed performance requirements. Furthermore, the backstepping and dynamic surface technique (DSC) are used to design the path following controller and the adaptive assistant systems are constructed to compensate the influence of input saturation. In addition, neural networks are introduced to approximate model uncertainties, and the adaptive laws are designed to estimate the bounds of the neural network approximation errors and unknown disturbances. According to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded. Finally, a 76$,{cdot },$2 m supply surface vessel is used for simulation experiments. The experimental results show that although the control inputs are limited, the control system can still converge quickly, and both position and heading errors can be limited to the prescribed performance requirements.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"255 - 285"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46438403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/S0373463323000012
Shaobo Wang, Yingjun Zhang, Feifei Song, Wengang Mao
Abstract Ship collision avoidance has always been one of the classic topics in the field of marine research. In traditional encounter situations, officers on watch (OOWs) usually use a very high frequency (VHF) radio to coordinate each other. In recent years, with the continuous development of autonomous ships, there will be a mixed situation where ships of different levels of autonomy coexist at the same time. Under such a scenario, different decision makers have different perceptions of the current scene and different decision-making logic, so conventional collision avoidance methods may not be applicable. Therefore, this paper proposes a collaborative collision avoidance strategy for multi-ship collision avoidance under mixed scenarios. It builds a multi-ship cooperative network to determine cooperative objects and timing, at the same time. Based on a cooperative game model, a global collision avoidance responsibility distribution that satisfies group rationality and individual rationality is realised, and finally achieves a collaborative strategy according to the generalised reciprocal velocity obstacle (GRVO) algorithm. Case studies show that the strategy proposed in this paper can make all ships pass each other clearly and safely.
{"title":"A collaborative collision avoidance strategy for autonomous ships under mixed scenarios","authors":"Shaobo Wang, Yingjun Zhang, Feifei Song, Wengang Mao","doi":"10.1017/S0373463323000012","DOIUrl":"https://doi.org/10.1017/S0373463323000012","url":null,"abstract":"Abstract Ship collision avoidance has always been one of the classic topics in the field of marine research. In traditional encounter situations, officers on watch (OOWs) usually use a very high frequency (VHF) radio to coordinate each other. In recent years, with the continuous development of autonomous ships, there will be a mixed situation where ships of different levels of autonomy coexist at the same time. Under such a scenario, different decision makers have different perceptions of the current scene and different decision-making logic, so conventional collision avoidance methods may not be applicable. Therefore, this paper proposes a collaborative collision avoidance strategy for multi-ship collision avoidance under mixed scenarios. It builds a multi-ship cooperative network to determine cooperative objects and timing, at the same time. Based on a cooperative game model, a global collision avoidance responsibility distribution that satisfies group rationality and individual rationality is realised, and finally achieves a collaborative strategy according to the generalised reciprocal velocity obstacle (GRVO) algorithm. Case studies show that the strategy proposed in this paper can make all ships pass each other clearly and safely.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"200 - 224"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43182498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/S0373463323000140
Š. Křehlík, M. Vanžura, Adam Skokan
Abstract Autonomous vehicles rely on a combination of sensors for safe navigation around the world. For precise localisation, high-definition (HD) maps are used. These maps are a representation of the world containing information about objects on the road infrastructure. Currently, there are tens of HD map makers, however, no rigorous description of the requirements for the accuracy of HD maps has been published yet. This study fills the gap and offers a mathematical description of the minimum required accuracy for HD maps. In the first part, we identify factors that influence the quality of a map. Based on that, we proceed to present our solution for determining the minimum required accuracy for HD maps, both for static and dynamic models, and present a new formula for the minimum necessary accuracy for HD maps.
{"title":"Minimum required accuracy for HD maps","authors":"Š. Křehlík, M. Vanžura, Adam Skokan","doi":"10.1017/S0373463323000140","DOIUrl":"https://doi.org/10.1017/S0373463323000140","url":null,"abstract":"Abstract Autonomous vehicles rely on a combination of sensors for safe navigation around the world. For precise localisation, high-definition (HD) maps are used. These maps are a representation of the world containing information about objects on the road infrastructure. Currently, there are tens of HD map makers, however, no rigorous description of the requirements for the accuracy of HD maps has been published yet. This study fills the gap and offers a mathematical description of the minimum required accuracy for HD maps. In the first part, we identify factors that influence the quality of a map. Based on that, we proceed to present our solution for determining the minimum required accuracy for HD maps, both for static and dynamic models, and present a new formula for the minimum necessary accuracy for HD maps.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"238 - 254"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44862967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/s0373463323000218
An abstract is not available for this content so a preview has been provided. As you have access to this content, a full PDF is available via the ‘Save PDF’ action button.
{"title":"NAV volume 76 issue 2-3 Cover and Front matter","authors":"","doi":"10.1017/s0373463323000218","DOIUrl":"https://doi.org/10.1017/s0373463323000218","url":null,"abstract":"An abstract is not available for this content so a preview has been provided. As you have access to this content, a full PDF is available via the ‘Save PDF’ action button.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135529199","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/S0373463323000085
Valtteri Kallinen, Steve Barry, A. Mcfadyen
Abstract Complex domestic airspace requires collision risk models and monitoring tools suitable for arbitrary aircraft trajectories. This paper presents a new mathematically based collision risk approach that extends the International Civil Aviation Organisation (ICAO) models to full aircraft encounters based on real trajectory data. A new continuous time intervention model is presented, along with a position uncertainty propagation model that better reflects aircraft behaviour and allows generalisation to all trajectories to eliminate degenerate cases. The proposed risk model is computationally efficient compared to the models it is based on and can be applied to large-scale trajectory data. The utility of the model is demonstrated through a series of case studies using real aircraft trajectories.
{"title":"Collision risk quantification for pairs of recorded aircraft trajectories","authors":"Valtteri Kallinen, Steve Barry, A. Mcfadyen","doi":"10.1017/S0373463323000085","DOIUrl":"https://doi.org/10.1017/S0373463323000085","url":null,"abstract":"Abstract Complex domestic airspace requires collision risk models and monitoring tools suitable for arbitrary aircraft trajectories. This paper presents a new mathematically based collision risk approach that extends the International Civil Aviation Organisation (ICAO) models to full aircraft encounters based on real trajectory data. A new continuous time intervention model is presented, along with a position uncertainty propagation model that better reflects aircraft behaviour and allows generalisation to all trajectories to eliminate degenerate cases. The proposed risk model is computationally efficient compared to the models it is based on and can be applied to large-scale trajectory data. The utility of the model is demonstrated through a series of case studies using real aircraft trajectories.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"181 - 199"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41854671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.1017/S0373463323000188
P.B.A. Fernando, S.N. Lewis, A.N.D. Perera, M. Gunathilaka
Abstract Electronic navigational charts (ENCs) can be compiled using existing paper charts to improve their coverage of the world's oceans. However, in the process of assigning symbols on ENCs, in some cases the software uses the same symbol for different paper chart symbols. This could ultimately compromise maritime safety. Addressing this issue, this paper describes a methodology for developing a new tool that complements the efficient production of ENCs using paper charts. First, the ENC product was produced utilising CARIS S-57 Composer. After considering the difficulties in assigning symbols through the compilation process, a new web application named SYMO EXPERT was introduced. It was developed using Firebase Realtime Database and React app. A questionnaire was prepared to collect data about the time factor and accuracy of using SYMO EXPERT. Results showed that it supports the users in selecting relevant symbols efficiently with an accuracy of up to 98%.
{"title":"Resolving problems in symbol identification in compilation of electronic navigational charts utilising paper charts","authors":"P.B.A. Fernando, S.N. Lewis, A.N.D. Perera, M. Gunathilaka","doi":"10.1017/S0373463323000188","DOIUrl":"https://doi.org/10.1017/S0373463323000188","url":null,"abstract":"Abstract Electronic navigational charts (ENCs) can be compiled using existing paper charts to improve their coverage of the world's oceans. However, in the process of assigning symbols on ENCs, in some cases the software uses the same symbol for different paper chart symbols. This could ultimately compromise maritime safety. Addressing this issue, this paper describes a methodology for developing a new tool that complements the efficient production of ENCs using paper charts. First, the ENC product was produced utilising CARIS S-57 Composer. After considering the difficulties in assigning symbols through the compilation process, a new web application named SYMO EXPERT was introduced. It was developed using Firebase Realtime Database and React app. A questionnaire was prepared to collect data about the time factor and accuracy of using SYMO EXPERT. Results showed that it supports the users in selecting relevant symbols efficiently with an accuracy of up to 98%.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"76 1","pages":"394 - 411"},"PeriodicalIF":2.4,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42118763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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