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Low Cost Integrated Navigation System for Unmanned Vessel

flowaided navigation for UAV: A novel information fusion of integrated MEMS navigation system. Optik, (127), 447-451. 7. M. Morgado, P. Oliveira, and C. Silvestre, 2010. Design and experimental evaluation of an integrated USBL/INS system for AUVs. In: IEEE International Conference on Robotics and Automation, Alaska, pp.4264-4269. 8. Y. Geng, R. Martins, J. Sousa, 2010. Accuracy Analysis of DVL/IMU/Magnetometer Integrated Navigation System using Different IMUs in AUV. In: IEEE International Conference on Control and Automation, Xiamen, pp

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Safety Evaluation of Ship's Maneuvers Carried Out on the Basis of Integrated Navigation Systems (INS) Indications

References Tomczak A.: Analytical model of position uncertainty of ship's plan geometry in integrated navigation system; 7 th International Navigational Symposium "Trans-Nav", Gdynia 2007. Tomczak A.: Effect of the Visualization of Position Uncertainty of Ship's Plan Geometry on the Safety of Navigation in Integrated Navigation Systems , XII Międzynarodowa Konferencja Naukowo-Techniczna Inżynierii Ruchu Morskiego, Świnoujście 2007. Gucma S. Navigation risk assessment as

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Concept of AHRS Algorithm Designed for Platform Independent Imu Attitude Alignment

. Groves, D. (2008). Principles of GNSS, inertial, and multisensory integrated navigation systems. Artech House. Henriksson, M. (2013). Estimation of heading using magnetometer and GPS. Li, Z., Wang, J., & Gao, J. (2016). An enhanced GPS/INS integrated navigation system with GPS observation expansion. Journal of Navigation, 69(5), 1041-1060. doi: 10.1017/S0373463315001083 Nakath David, J. C., & Rachuy, C. (2017). Rigid body attitude control based on a manifold representation of direction cosine matrices. Journal of Physics

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Causes of Ships Groundings in Terms of Integrated Navigation Model

Abstract

The paper presents an influence of the navigational model change on the structural and qualitative changes of the ships groundings in international shipping. Data was analyzed based on reports of 75 seagoing vessels in international shipping in the 2000–2014. This study is an attempt to assess the causes of ships groundings in the new integrated navigation model.

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Low-Cost Navigation and Guidance Systems for Unmanned Aerial Vehicles — Part 1: Vision-Based and Integrated Sensors

Abstract

In this paper we present a new low-cost navigation system designed for small size Unmanned Aerial Vehicles (UAVs) based on Vision-Based Navigation (VBN) and other avionics sensors. The main objective of our research was to design a compact, light and relatively inexpensive system capable of providing the Required Navigation Performance (RNP) in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN were compared and the Appearance-Based Approach (ABA) was selected for implementation. Feature extraction and optical flow techniques were employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we addressed the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, as well as the aiding from Aircraft Dynamics Models (ADMs). In particular, by employing these sensors/models, we aimed to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) was developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UAV platform in real-time. Two different integrated navigation system architectures were implemented. The first used VBN at 20 Hz and GPS at 1 Hz to augment the MEMS-IMU running at 100 Hz. The second mode also included the ADM (computations performed at 100 Hz) to provide augmentation of the attitude channel. Simulation of these two modes was accomplished in a significant portion of the AEROSONDE UAV operational flight envelope and performing a variety of representative manoeuvres (i.e., straight climb, level turning, turning descent and climb, straight descent, etc.). Simulation of the first integrated navigation system architecture (VBN/IMU/GPS) showed that the integrated system can reach position, velocity and attitude accuracies compatible with CAT-II precision approach requirements. Simulation of the second system architecture (VBN/IMU/GPS/ADM) also showed promising results since the achieved attitude accuracy was higher using the ADM/VBS/IMU than using VBS/IMU only. However, due to rapid divergence of the ADM virtual sensor, there was a need for frequent re-initialisation of the ADM data module, which was strongly dependent on the UAV flight dynamics and the specific manoeuvring transitions performed

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Operability Guidelines For Product Tanker In Heavy Weather In The Adriatic Sea

Abstract

This paper presents operability guidelines for seafarers on a product tanker which navigates in the Adriatic Sea during heavy weather. Tanker route starts from the Otranto strait in the south to the island Krk in the north of Adriatic Sea. Heavy weather is caused by south wind called jugo (blowing from E-SE to SS-E, sirocco family). Operability guidelines are given based on an operability criteria platform for presenting ship seakeeping characteristics. Operability criteria considered in this paper are propeller emergence, deck wetness and bow acceleration of a product tanker. Limiting values of mentioned criteria determine sustainable speed. Heavy weather is described by extreme sea state of 7.5 m wave height. Wave spectrum used in this paper is Tabain spectrum which is developed specifically for Adriatic Sea. Seafarer's approach of decisions making in extreme weather is also shown and servers as a guideline for further research of the authors.

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Integration of the Short-Range Hyperbolic System Jemioluszka and DGPS

References Banachowicz A.: Variants of Structural and Measurement Models of an Integrated Navigational System. Annual of Navigation No 3, Gdynia, 2001. Banachowicz A., Kamiński R.: Analysis Accuracy Integrated Position of Hyperbolic System JEMIOLUSZKA and Satellite Navigation System GPS. GEOINFORMATICS 2004. 12 th International Conference on Geoinformatics "Geospatial information Research: Bridging the Pacific and Atlantic". Sweden, Gävle 7-9 June 2004. Farrell J. A., Barth M

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Analysis of Steering Gear Under the Requirements of Modern Navigation

://www.marineinsight.com/guidelines/procedure-of-testing-steering-gears-on-ship/ [5] Integrated navigation system- www.pfri.uniri.hr/-bopri/documents/31-ME-tal.pdf [6] Integrated navigation system - www.raytheon-anschuetzcom/productssolutions/integrated-bridge-system/synapsis-ins-ibs/ [7] Samoilă C Instalatii navale-Elemente de calcul numeri şi proiectare, 2017 [8] Lundberg Eric Karlsson. P-Enhanced auto pilot for marine applications with adaptive speed control, Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden, 2017 [9] Frisk, D, A

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Simulation Analysis of ECDIS’ Route Exchange Funcionality Impact on Navigation Safety

Abstract

Modern Integrated Navigation Systems (INS) integrate information obtained from various sensors and functions. Processed data are presented on the computer display generally with the aim to increase navigator’s situation awareness and to reduce his/her workload. The investigations described in the paper were carried out to assess the advantages of the new functionality of the test INS (e-Navigation enhanced Integrated Navigation System ee-INS), developed in the EU financed EfficienSea Project, that looks and works like a standard ECDIS. This new functionality implements ‘Exchange of Intended Route’ service. The experiment was conducted in a full mission ship simulator environment with 20 experienced mariners. The bridge layout without ECDIS ‘Exchange of Intended Route’ functionality, and bridge layout with this functionality implemented, was applied in research and its results enabled to carry out their comparison. The navigators’ workload was measured by NASA-TLX method. Navigators’ situation awareness in respect to other ship’s state and the final passing distance were utilized to evaluate safety of navigation process.

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The Availability Of Automatic Identification System (AIS) Based On Latency Position Reports In The Gulf Of Gdansk

Abstract

The problem of determining geographic position considered only in terms of measurement error, seems to be solved on a global scale. In view of the above, from the nineties, the operational characteristics of radio-navigation systems are equally important. The integrated navigation system operate in a multi-sensor environment and it is important to determinate a temporal validity of data to make it usable in data fusion process. In the age of digital data processing, the requirements for continuity, availability, reliability and integrity information are already grown. This article analyses the problem of time stamp discrepancies of dynamic position reports. For this purpose, the statistical summary of Latency Position Reports has been presented. The navigation data recordings were conducted during 30 days of March 2014 from 19 vessels located in area of Gulf of Gdansk. On the base of Latency Position Reports it is possible to designate the availability of AIS system.

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