Journal of Navigation最新文献

英文中文

Sub-meter-level navigation with an enhanced multi-GNSS single-point positioning algorithm using iGMAS ultra-rapid products 使用iGMAS超快速产品的增强型多GNSS单点定位算法的亚米级导航

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/S0373463322000601

Sinan Birinci, M. H. Saka

Abstract Ultra-rapid products have the advantage of being used in real-time positioning with no external connections. In this study, these products provided by the international GNSS Monitoring and Assessment System (iGMAS) for four global constellations (GPS, GLONASS, Galileo and BDS-3) were assessed in terms of service rate and accuracy in navigation. In this regard, a MATLAB-based in-house code solving the problem was developed for all possible combinations of the constellations. To explore the effectiveness of the iGMAS products, the same dataset has been also processed using GFZ rapid products. The results demonstrate that the GPS and Galileo solutions were substantially comparable to the rapid products concerning service rate and accuracy, but that the GLONASS and BDS-3 iGMAS products require some enhancements. In addition, the Galileo solution produced remarkably good results both individually and in combination. The GPS/GLONASS/Galileo/BDS-3 SPP solution generated a mean root mean square (RMS) error of 0 ⋅ 54 m horizontally and 0 ⋅ 89 m vertically. Thus, GPS-only, GLONASS-only, Galileo-only and BDS-3-only solutions were improved by 42%, 79%, 28% and 74% in 3D mean RMS error with the quad system solutions, respectively.

摘要超快速产品具有无需外部连接即可用于实时定位的优点。在这项研究中，国际全球导航卫星系统监测和评估系统（iGMAS）为四个全球星座（GPS、GLONASS、伽利略和BDS-3）提供的这些产品从导航服务率和准确性方面进行了评估。在这方面，针对所有可能的星座组合，开发了一个基于MATLAB的内部代码来解决问题。为了探索iGMAS产品的有效性，同样的数据集也使用GFZ快速产品进行了处理。结果表明，全球定位系统和伽利略解决方案在服务速率和准确性方面与快速产品基本相当，但GLONASS和BDS-3 iGMAS产品需要一些改进。此外，伽利略解决方案无论是单独还是组合都产生了非常好的结果。GPS/GLONASS/Galileo/BDS-3 SPP解决方案产生的均方根（RMS）误差水平为0·54 m，垂直为0·89 m。因此，使用四元系统解决方案，仅GPS、仅GLONASS、仅Galileo和仅BDS-3解决方案的3D平均RMS误差分别提高了42%、79%、28%和74%。

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引用次数: 0

Analysis and Discussion on Ellipsoidal and virtual sphere models used for transverse arrangement INS 横向布置惯性导航系统中椭球和虚球模型的分析与讨论

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/S037346332200056X

Z. Wen, Hongwei Bian, Heng Ma, Rongying Wang

Abstract Transverse arrangement is one of the main methods used in the polar inertial navigation system (INS). In the traditional algorithm, the calculation of using the earth ellipsoid model is complex, while using the earth sphere model cannot satisfy a high-accuracy application. Therefore, an approach based on the virtual sphere model is proposed, which has been proved in simulation experiments to reduce the computational complexity and maintain the same accuracy as the ellipsoid algorithm, but its accuracy has not yet been proved in theory. Starting from the basic principles of the ellipsoid and virtual sphere model algorithm, this paper compares the key formulations of the two. Finally, it is proved that the two arrangements are actually the same.

摘要横向排列是极坐标惯性导航系统的主要方法之一。在传统算法中，使用地球椭球模型计算复杂，而使用地球球体模型无法满足高精度的应用。因此，提出了一种基于虚拟球体模型的方法，该方法在降低计算复杂度的同时保持了与椭球体算法相同的精度，但其精度在理论上尚未得到证实。本文从椭球和虚球模型算法的基本原理出发，对两者的关键公式进行了比较。最后，证明了这两种排列实际上是相同的。

引用次数: 0

A validation study of ISM Code's continual effectiveness through a multilateral comparative analysis of maritime accidents in Korean waters 通过对韩国水域海事事故的多边比较分析对ISM规则持续有效性的验证研究

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/S0373463322000571

Ick-soo Mok, Enrico D'agostini, D. Ryoo

Abstract 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.

摘要本研究通过分析韩国海事安全法庭(Korea maritime Safety Tribunal)过去32年、国际海事组织(IMO)过去24年以及欧洲海事安全局(European maritime Safety Agency)过去7年发布的海上事故统计数据，调查了《国际安全管理规则》(ISM Code)是否仍然是航运业的有效监管工具。为此，将数据分为ism Code前、在途、1期后和2期后四组，通过多边比较分析进行检验。结果表明，韩国商船队在这段时间内没有任何改善，而世界商船队的严重伤亡人数持续下降。这项研究证实了近年来海上事故的趋势:数量减少，但损失更大。最后，结果表明，海事组织和海运业的决策者必须再次审查ISM规则，并寻求解决方案，以实现规则中规定的持续改进的目标。

引用次数: 0

NAV volume 76 issue 1 Cover and Front matter NAV 76卷第1期封面和封面

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/s0373463323000048

引用次数: 0

Improving measurement performance via fusion of classical and quantum accelerometers 通过经典加速计与量子加速计的融合提高测量性能

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/S0373463322000637

Xuezhi Wang, A. Kealy, Christopher Gilliam, S. Haine, J. Close, B. Moran, Kyle Talbot, Simon Williams, K. Hardman, C. Freier, P. Wigley, Angela White, S. Szigeti, S. Legge

Abstract 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.

虽然量子加速度计具有极低的漂移和低偏置，但与传统加速度计相比，其实际传感能力至少面临两个限制:由于冷原子探测时间的限制，其采样率较低;由于信号相位包裹，动态范围减小。本文提出了一种极大似然概率数据融合方法，通过将量子加速度计的实际相位与平台上经典加速度计的输出相融合来解包裹量子加速度计的实际相位。因此，从量子加速度计中恢复的测量值用于估计经典加速度计的偏置和漂移，然后从系统输出中去除。通过模拟一维加速度计精度测试场景，我们证明了所提出的融合方法提高了误差性能。最后，我们讨论了核聚变误差和可能的解决方案。

引用次数: 2

NAV volume 76 issue 1 Cover and Back matter NAV第76卷第1期封面和封底

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/s037346332300005x

引用次数: 0

Cybersecurity risk assessment of VDR VDR的网络安全风险评估

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/S0373463322000595

Ömer Söner, Gizem Kayisoglu, P. Bolat, K. Tam

Abstract The voyage data recorder (VDR) is a data recording system that aims to provide all navigational, positional, communicational, sensor, control and command information for data-driven investigation of accidents onboard ships. Due to the increasing dependence on interconnected networks, cybersecurity threats are one of the most severe issues and critical problems when it comes to safeguarding sensitive information and assets. Cybersecurity issues are extremely important for the VDR, considering that modern VDRs may have internet connections for data transfer, network links to the ship's critical systems and the capacity to record potentially sensitive data. Thus, this research adopted failure modes and effects analysis (FMEA) to perform a cybersecurity risk assessment of a VDR in order to identify cyber vulnerabilities and specific cyberattacks that might be launched against the VDR. The findings of the study indicate certain cyberattacks (false information, command injection, viruses) as well as specific VDR components (data acquisition unit (DAU), remote access, playback software) that required special attention. Accordingly, preventative and control measures to improve VDR cybersecurity have been discussed in detail. This research makes a contribution significantly to the improvement of ship safety management systems, particularly in terms of cybersecurity.

摘要航行数据记录仪（VDR）是一种数据记录系统，旨在为船上事故的数据驱动调查提供所有导航、位置、通信、传感器、控制和指挥信息。由于人们越来越依赖互联网络，在保护敏感信息和资产方面，网络安全威胁是最严重的问题和关键问题之一。考虑到现代VDR可能具有用于数据传输的互联网连接、与船舶关键系统的网络连接以及记录潜在敏感数据的能力，网络安全问题对VDR来说极其重要。因此，本研究采用故障模式和影响分析（FMEA）对VDR进行网络安全风险评估，以识别网络漏洞和可能针对VDR发起的特定网络攻击。研究结果表明，某些网络攻击（虚假信息、命令注入、病毒）以及需要特别关注的特定VDR组件（数据采集单元（DAU）、远程访问、播放软件）。因此，详细讨论了提高VDR网络安全的预防和控制措施。这项研究对改进船舶安全管理系统，特别是在网络安全方面做出了重大贡献。

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引用次数: 4

Low-cost integrated INS/GNSS using adaptive H∞ Cubature Kalman Filter 基于自适应H∞培养卡尔曼滤波的低成本集成INS/GNSS

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2023-01-01 DOI: 10.1017/S0373463322000583

S. Taghizadeh, R. Safabakhsh

Abstract We proposed an adaptive H-infinity Cubature Kalman Filter (AH∞CKF) to improve the navigation accuracy of a highly manoeuvrable unmanned aerial vehicle (UAV). AH∞CKF fuses the Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) measurements. Traditional state estimation filters like extended Kalman filters (EKF) and cubature Kalman filters (CKF) assume Gaussian noises. However, their performance degrades for non-Gaussian noises and system uncertainties encountered in real-world applications. Thus, designing filters robust to noise and distribution is crucial. AH∞CKF combines H∞CKF design with an added adaptive factor to adjust the state estimation covariance matrix according to measurements by exploiting the square root method to yield more numerically stable results (SrAH∞CKF). We conducted multiple dynamically rich flight tests to validate our claims using a UAV equipped with a commercially well-known GNSS solution. Results show that the SrAH∞CKF state estimation outperforms EKF and CKF methods on average by 90% in various statistical measures.

摘要为了提高高机动性无人机的导航精度，我们提出了一种自适应H∞立方卡尔曼滤波器（AH∞CKF）。AH∞CKF融合了惯性导航系统（INS）和全球导航卫星系统（GNSS）的测量。传统的状态估计滤波器，如扩展卡尔曼滤波器（EKF）和容积卡尔曼滤波器（CKF）假设高斯噪声。然而，由于非高斯噪声和现实应用中遇到的系统不确定性，它们的性能会下降。因此，设计对噪声和分布具有鲁棒性的滤波器是至关重要的。AH∞CKF将H∞CKF设计与添加的自适应因子相结合，利用平方根方法根据测量结果调整状态估计协方差矩阵，以获得更稳定的数值结果（SrAH∞CKF）。我们使用配备了商业知名GNSS解决方案的无人机进行了多次动态丰富的飞行测试，以验证我们的说法。结果表明，在各种统计测量中，SrAH∞CKF状态估计的性能平均优于EKF和CKF方法90%。

引用次数: 0

Transcriptional profiling of neuronal ion channels in dorsal root ganglion-derived immortal cell line (F-11) under different culture conditions. 不同培养条件下背根神经节源性永生细胞系（F-11）神经元离子通道的转录谱分析。

IF 1.9 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2022-11-01 Epub Date: 2022-11-03 DOI: 10.1007/s44164-022-00036-7

Erick Orozco Morato, Brittany Knight, Lakshmi S Nair

Pathological pain is a prevalent condition that affects majority of adults with a variety of underlying disease conditions. Current available pharmacological pain treatments have several negative and potentially life-threatening side effects associated with their long-term use. Due to the heterogeneity of pain perception and the diversity of neuronal mechanisms that contribute to pain, high-throughput screening of small molecules that may have underlying analgesic properties is essential for identifying new analgesic treatments that are both effective and safe. The F-11 hybrid immortalized cell line is one of the currently available dorsal root ganglion (DRG) cell lines used for drug screening. While F-11 cells are commonly used as analogs to primary DRG sensory neurons, they differ significantly in physiological properties. The present study investigated the impact of differentiation protocols on the expression of mature neuron ion channels and receptors in F-11 cells. Using a customized gene array of more than eighty neuronal ion channels and receptors including voltage-gated ion channels, transient receptor potential channels, and cannabinoid receptors, we assessed the following groups: control F-11 cells; F-11 cells cultured under different culture conditions, and murine DRG tissue. The expression profiles of majority of the investigated ion channels and receptors in F-11 cells were found to be lower compared to primary mouse DRG neurons. F-11 cells cultured under low serum (LSM) conditions had increased expression of several investigated targets including voltage-gated ion channels and cannabinoid receptors when compared to control F-11 cells. The study showed that the culture conditions significantly modulated the transcriptional expression of studied ion channels and receptors, and that long-term culture (21 days) may adversely affect the expression of many of the studied targets.

病理性疼痛是一种常见病，影响着大多数患有各种潜在疾病的成年人。目前可用的药物止痛治疗方法有几种负面副作用，长期使用可能危及生命。由于疼痛感知的异质性和导致疼痛的神经元机制的多样性，高通量筛选可能具有潜在镇痛特性的小分子对于确定既有效又安全的新镇痛疗法至关重要。F-11 杂交永生化细胞系是目前用于药物筛选的背根神经节（DRG）细胞系之一。虽然F-11细胞通常被用作原发性DRG感觉神经元的类似物，但它们在生理特性上存在很大差异。本研究调查了分化方案对 F-11 细胞中成熟神经元离子通道和受体表达的影响。我们使用了一个定制的基因阵列，其中包括电压门控离子通道、瞬时受体电位通道和大麻素受体等八十多种神经元离子通道和受体，对以下几组细胞进行了评估：对照组 F-11 细胞、在不同培养条件下培养的 F-11 细胞和小鼠 DRG 组织。结果发现，与小鼠原代DRG神经元相比，F-11细胞中大多数被研究的离子通道和受体的表达量都较低。与对照 F-11 细胞相比，在低血清（LSM）条件下培养的 F-11 细胞中电压门控离子通道和大麻素受体等几个研究目标的表达量有所增加。研究表明，培养条件会显著调节所研究离子通道和受体的转录表达，长期培养（21 天）可能会对许多研究靶点的表达产生不利影响。

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引用次数: 0

Ship routing optimisation based on forecasted weather data and considering safety criteria 基于预测天气数据并考虑安全标准的船舶路径优化

IF 2.4 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation

Pub Date : 2022-11-01 DOI: 10.1017/S0373463322000613

Ageliki Kytariolou, N. Themelis

Abstract 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.

摘要:提出了一种基于沿线天气预报数据并考虑安全因素的天气路由工具。该工具旨在确定燃油消耗最小化的最佳路径，确保安全通过。它是在MATLAB中开发的，并考虑了船舶的详细特性。具体地说，估计了船舶在潜在路径中的运动和主机的燃油消耗。对于后者，开发了特定容器的基于物理的模型，其中使用不同细节级别的工具来计算各种阻力分量。指定了沿路线的速度管理策略以及代表船舶反应可接受限度的安全标准。在给定条件和约束条件下，采用遗传算法以船舶航向为变量，或同时考虑航向和船舶动力设置为变量，寻找最优路线，使燃油消耗最小。该算法的搜索空间位于预定义的包络范围内，但使用的进化优化方法仍然没有为任何可能的候选路点预先分配值。

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