Pub Date : 2022-09-01DOI: 10.1017/S037346332200039X
Seojeong Lee, C. Lee, Geon-Yeob Kim, Hwajin Na, Hyoseung Kim, Jeongseok Lee, Minsik Park
Abstract 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.
{"title":"A study of S-100 based product specifications from a software implementation point of view: focusing on data model representation, similar features and symbols, and ECDIS and VTS software","authors":"Seojeong Lee, C. Lee, Geon-Yeob Kim, Hwajin Na, Hyoseung Kim, Jeongseok Lee, Minsik Park","doi":"10.1017/S037346332200039X","DOIUrl":"https://doi.org/10.1017/S037346332200039X","url":null,"abstract":"Abstract 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.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1226 - 1242"},"PeriodicalIF":2.4,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46928036","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 : 2022-09-01DOI: 10.1017/S0373463322000510
K. Aylward, R. Weber, M. Lundh, S. MacKinnon, J. Dahlman
Abstract 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.
{"title":"Navigators’ views of a collision avoidance decision support system for maritime navigation","authors":"K. Aylward, R. Weber, M. Lundh, S. MacKinnon, J. Dahlman","doi":"10.1017/S0373463322000510","DOIUrl":"https://doi.org/10.1017/S0373463322000510","url":null,"abstract":"Abstract 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.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1035 - 1048"},"PeriodicalIF":2.4,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41479305","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 : 2022-09-01DOI: 10.1017/S037346332200042X
Miljenko Petrović
Abstract If the Earth's oblateness is neglected in marine navigation, then the sphere gives a relatively simple solution for course and distance between any two points. The navigation sphere where a span of one minute of arc is equal to nautical mile is used. The primary deficiency of this approach is the lack of a closed-form formula that takes the Earth's eccentricity into account. Considering the Earth as an oblate spheroid, i.e., a rotational ellipsoid with a small flattening, the problem of computing the length of the meridian arc leads to the understanding of elliptic integrals. In this paper, incomplete elliptic integrals of the first, second and third kind are used to find an arbitrary elliptical arc. The results prove an advantage of using geocentric latitude compared to geodetic and reduced latitude.
{"title":"Application of elliptic integrals in marine navigation","authors":"Miljenko Petrović","doi":"10.1017/S037346332200042X","DOIUrl":"https://doi.org/10.1017/S037346332200042X","url":null,"abstract":"Abstract If the Earth's oblateness is neglected in marine navigation, then the sphere gives a relatively simple solution for course and distance between any two points. The navigation sphere where a span of one minute of arc is equal to nautical mile is used. The primary deficiency of this approach is the lack of a closed-form formula that takes the Earth's eccentricity into account. Considering the Earth as an oblate spheroid, i.e., a rotational ellipsoid with a small flattening, the problem of computing the length of the meridian arc leads to the understanding of elliptic integrals. In this paper, incomplete elliptic integrals of the first, second and third kind are used to find an arbitrary elliptical arc. The results prove an advantage of using geocentric latitude compared to geodetic and reduced latitude.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1118 - 1127"},"PeriodicalIF":2.4,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43674529","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 : 2022-09-01DOI: 10.1017/s0373463322000546
{"title":"NAV volume 75 issue 5 Cover and Front matter","authors":"","doi":"10.1017/s0373463322000546","DOIUrl":"https://doi.org/10.1017/s0373463322000546","url":null,"abstract":"","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":" ","pages":"f1 - f2"},"PeriodicalIF":2.4,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46598236","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 : 2022-09-01DOI: 10.1017/S0373463322000480
Don Koks
Abstract The Earth Gravity Model 2008 (EGM2008) is now some years old, and yet information on how to use it to calculate Earth's gravity remains obscure outside the field of geodesy. We describe the mathematics necessary to implement EGM2008, and use this to discuss several points of the model: its sensitivity to the number of spherical harmonics being summed, nuances and a trap for physicists and mathematicians in the normalisation it uses, and a comparison with other work. We conclude that one must not overestimate the precision shown by a global-fit model such as EGM2008.
{"title":"A study of the EGM2008 model of Earth's gravitational field","authors":"Don Koks","doi":"10.1017/S0373463322000480","DOIUrl":"https://doi.org/10.1017/S0373463322000480","url":null,"abstract":"Abstract The Earth Gravity Model 2008 (EGM2008) is now some years old, and yet information on how to use it to calculate Earth's gravity remains obscure outside the field of geodesy. We describe the mathematics necessary to implement EGM2008, and use this to discuss several points of the model: its sensitivity to the number of spherical harmonics being summed, nuances and a trap for physicists and mathematicians in the normalisation it uses, and a comparison with other work. We conclude that one must not overestimate the precision shown by a global-fit model such as EGM2008.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1017 - 1034"},"PeriodicalIF":2.4,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46536187","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}
Abstract Integrated navigation systems made up of a strap-down inertial navigation system (SINS) and global positioning system (GPS) are increasingly being used to improve the position, speed, and attitude information of unmanned surface vessels (USV). However, a GPS outage could occur due to the dependence of GPS performance on the external environment and the number of available satellites. This study uses an innovative combination of Dempster–Shafer (DS) theory and broad learning (BL) method to design a SINS/GPS integrated navigation system. First, the velocity and position information derived from the SINS and their corresponding GPS were fused using DS fusion rules, while the SINS error was modelled using the BL method. A ‘virtual’ GPS was then designed using the proposed DS–BL approach to provide the speed and position information when the GPS signal was interrupted, thereby ensuring the continuous navigation of the USV. The results of both simulation and sea trial demonstrate that the proposed virtual GPS estimation approach is effective, and the navigational accuracy of the proposed method is superior to other methods.
{"title":"Virtual global positioning system construction approach for unmanned surface vessel based on Dempster–Shafer theory and broad learning framework","authors":"Chuang Zhang, Chunyan Cao, Kaihang Kang, Chen Guo, Muzhuang Guo","doi":"10.1017/S0373463322000418","DOIUrl":"https://doi.org/10.1017/S0373463322000418","url":null,"abstract":"Abstract Integrated navigation systems made up of a strap-down inertial navigation system (SINS) and global positioning system (GPS) are increasingly being used to improve the position, speed, and attitude information of unmanned surface vessels (USV). However, a GPS outage could occur due to the dependence of GPS performance on the external environment and the number of available satellites. This study uses an innovative combination of Dempster–Shafer (DS) theory and broad learning (BL) method to design a SINS/GPS integrated navigation system. First, the velocity and position information derived from the SINS and their corresponding GPS were fused using DS fusion rules, while the SINS error was modelled using the BL method. A ‘virtual’ GPS was then designed using the proposed DS–BL approach to provide the speed and position information when the GPS signal was interrupted, thereby ensuring the continuous navigation of the USV. The results of both simulation and sea trial demonstrate that the proposed virtual GPS estimation approach is effective, and the navigational accuracy of the proposed method is superior to other methods.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1144 - 1166"},"PeriodicalIF":2.4,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48350391","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 : 2022-09-01DOI: 10.1017/s0373463322000558
{"title":"NAV volume 75 issue 5 Cover and Back matter","authors":"","doi":"10.1017/s0373463322000558","DOIUrl":"https://doi.org/10.1017/s0373463322000558","url":null,"abstract":"","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":" ","pages":"b1 - b2"},"PeriodicalIF":2.4,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49533716","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 : 2022-08-30DOI: 10.1017/S0373463322000467
R. W. Liu, Nian Liu, Yanhong Huang, Yu Guo
Abstract Benefiting from video surveillance systems that provide real-time traffic conditions, automatic vessel detection has become an indispensable part of the maritime surveillance system. However, high-level vision tasks generally rely on high-quality images. Affected by the imaging environment, maritime images taken under poor lighting conditions easily suffer from heavy noise and colour distortion. Such degraded images may interfere with the analysis of maritime video by regulatory agencies, such as vessel detection, recognition and tracking. To improve the accuracy and robustness of detection accuracy, we propose a lightweight generative adversarial network (LGAN) to enhance maritime images under low-light conditions. The LGAN uses an attention mechanism to locally enhance low-light images and prevent overexposure. Both mixed loss functions and local discriminator are then adopted to reduce loss of detail and improve image quality. Meanwhile, to satisfy the demand for real-time enhancement of low-light maritime images, model compression strategy is exploited to enhance images efficiently while reducing the network parameters. Experiments on synthetic and realistic images indicate that the proposed LGAN can effectively enhance low-light images with better preservation of detail and visual quality than other competing methods.
{"title":"Attention-guided lightweight generative adversarial network for low-light image enhancement in maritime video surveillance","authors":"R. W. Liu, Nian Liu, Yanhong Huang, Yu Guo","doi":"10.1017/S0373463322000467","DOIUrl":"https://doi.org/10.1017/S0373463322000467","url":null,"abstract":"Abstract Benefiting from video surveillance systems that provide real-time traffic conditions, automatic vessel detection has become an indispensable part of the maritime surveillance system. However, high-level vision tasks generally rely on high-quality images. Affected by the imaging environment, maritime images taken under poor lighting conditions easily suffer from heavy noise and colour distortion. Such degraded images may interfere with the analysis of maritime video by regulatory agencies, such as vessel detection, recognition and tracking. To improve the accuracy and robustness of detection accuracy, we propose a lightweight generative adversarial network (LGAN) to enhance maritime images under low-light conditions. The LGAN uses an attention mechanism to locally enhance low-light images and prevent overexposure. Both mixed loss functions and local discriminator are then adopted to reduce loss of detail and improve image quality. Meanwhile, to satisfy the demand for real-time enhancement of low-light maritime images, model compression strategy is exploited to enhance images efficiently while reducing the network parameters. Experiments on synthetic and realistic images indicate that the proposed LGAN can effectively enhance low-light images with better preservation of detail and visual quality than other competing methods.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1100 - 1117"},"PeriodicalIF":2.4,"publicationDate":"2022-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44869773","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 : 2022-08-22DOI: 10.1017/S0373463322000431
Jaehyuck Cha, Jeong Ho Hwang, Chan-Gook Park
Abstract 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.
{"title":"Sea current relative navigation using interacting multiple model filter with adaptive fading technique","authors":"Jaehyuck Cha, Jeong Ho Hwang, Chan-Gook Park","doi":"10.1017/S0373463322000431","DOIUrl":"https://doi.org/10.1017/S0373463322000431","url":null,"abstract":"Abstract 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.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1190 - 1205"},"PeriodicalIF":2.4,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49614424","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 : 2022-08-22DOI: 10.1017/S0373463322000297
Janusz Adamson
Abstract A new method is proposed for determining a ship's position at sea using naturally occurring pulsar signals to provide an alternative to the sextant. Use is made of four distinct pulsar radio signals whose timing stabilities are comparable to atomic clocks and whose characteristic signatures can be used as natural radio navigation beacons. Pulse peak time difference measurements, accurate to within 10−5 and 10−6 s, were generated for a key reference observatory which provides long-term pulsar timing observations and for the unknown ship location. These time differences when multiplied by the velocity of light provide a distance value that is fundamental in calculating the ship's position. Resultant simulations provided a position accuracy to ≈1⋅1 km (≈0⋅6 nm) for the higher timing difference measurement. A single-pulsar-based approach, which gave a position accuracy to ≈2⋅8 km (≈1⋅5 nm), was also investigated for affordable equipment solutions and comparison with NASA space-based navigation experiments.
{"title":"Use of pulsars for ship navigation: an alternative to the sextant","authors":"Janusz Adamson","doi":"10.1017/S0373463322000297","DOIUrl":"https://doi.org/10.1017/S0373463322000297","url":null,"abstract":"Abstract A new method is proposed for determining a ship's position at sea using naturally occurring pulsar signals to provide an alternative to the sextant. Use is made of four distinct pulsar radio signals whose timing stabilities are comparable to atomic clocks and whose characteristic signatures can be used as natural radio navigation beacons. Pulse peak time difference measurements, accurate to within 10−5 and 10−6 s, were generated for a key reference observatory which provides long-term pulsar timing observations and for the unknown ship location. These time differences when multiplied by the velocity of light provide a distance value that is fundamental in calculating the ship's position. Resultant simulations provided a position accuracy to ≈1⋅1 km (≈0⋅6 nm) for the higher timing difference measurement. A single-pulsar-based approach, which gave a position accuracy to ≈2⋅8 km (≈1⋅5 nm), was also investigated for affordable equipment solutions and comparison with NASA space-based navigation experiments.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":"75 1","pages":"1049 - 1068"},"PeriodicalIF":2.4,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42625816","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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