Most previous research has handled the task of ship type recognition by exploring hand-craft ship features, which may fail to distinguish ships with similar visual appearances. This situation motivates us to propose a novel deep learning based ship type recognition framework which we have named coarse-to-fine cascaded convolution neural network (CFCCNN). First, the proposed CFCCNN framework formats the input training ship images and data, and provides trainable input data for the hidden layers of the CFCCNN. Second, the coarse and fine steps are run in a nesting manner to explore discriminative features for different ship types. More specifically, the coarse step is trained in a similar manner to the traditional convolution neural network, while the fine step introduces regularisation mechanisms to extract more intrinsic ship features, and fine tunes parameter settings to obtain better recognition performance. Finally, we evaluate the performance of the CFCCNN model for recognising the most common types of merchant ship (oil tanker, container, LNG tanker, chemical carrier, general cargo, bulk carrier, etc.). The experimental results show that the proposed framework obtains better recognition performance than the conventional methods of ship type recognition.

Navigational accidents (collisions and groundings) account for approximately 85% of mari-time accidents, and consequence estimation for such accidents is essential for both emergency resource allocation when such accidents occur and for risk management in the framework of a formal safety assessment. As the traditional Bayesian network requires expert judgement to develop the graphical structure, this paper proposes a mutual information-based Bayesian network method to reduce the requirement for expert judgements. The central premise of the proposed Bayesian network method involves calculating mutual information to obtain the quantitative element among multiple influencing factors. Seven-hundred and ninety-seven historical navigational accident records from 2006 to 2013 were used to validate the methodology. It is anticipated the model will provide a practical and reasonable method for consequence estimation of navigational accidents.

The Iterated Closest Contour Point (ICCP) algorithm is widely used in geomagnetic navigation. In order to enhance the anti-interference performance of the ICCP, an improved algorithm is proposed. First, the principle of delta modulation is introduced to generate a geomagnetic matching sequence according to the magnetic fluctuations, this assists finding the optimal quantitative step and matching length; thus, the algorithm's accuracy and real-time performance are improved. Second, in order to solve the problem of geomagnetic matching under an interference environment, a Probability Data Association (PDA) algorithm based on regenerated measurements is adopted. The ideal magnetic value is regarded as a target, and the measured values within the confidence region are taken as the effective measurements of the target. Each of them will give an estimation of the vehicle's position. Considering the constraints of a vehicle's kinematic performance, its final position can be obtained by fusing all effective estimations with the PDA algorithm. Simulation and semi-physical experiments have verified the feasibility and effectiveness of the proposed algorithm. The Regenerated Measurements (RM)-PDA algorithm shows better performance and can be used in practical applications.

Inter-system code double differencing is an effective method for improving the positioning accuracy of low-cost receivers in complex environments. Due to the adoption of Frequency Division Multiple Access (FDMA), Globalnaya Navigazionnaya Sputnikovaya Sistema (GLONASS) code observations are affected by the Inter-Frequency Code Biases (IFCBs), which makes it difficult to calculate the Differential Inter-System Code Biases (DISCBs) between GLONASS and the Code Division Multiple Access (CDMA) systems directly. In this contribution, the focus is on the performance of tightly combined Global Positioning System (GPS) and GLONASS code Double Difference (DD) positioning. After analysing the relationship between IFCBs and GLONASS channel numbers, an IFCB correction model and an inter-system code differencing model between GLONASS and GPS are proposed. Results show that even if there is no obvious relationship between IFCBs and channel numbers, the long-term stable IFCB values of each satellite can be obtained by using the proposed model. In addition, the GPS + GLONASS DISCB is also stable. Therefore, compared with the intra-system model, the inter-system model can benefit from prior IFCBs and DISCBs parameters and thus can significantly improve the positioning accuracy in obstructed environments.

In maritime search and rescue (SAR), commanders need to understand the task execution efficiency of each SAR unit in real time to improve the overall efficiency of SAR efforts. This study proposes a method to evaluate the progress of maritime SAR missions using automatic identification system (AIS) data. First, the positioning accuracy of the AIS data was improved according to the relationship between position, speed, and course. Second, the historical track of the SAR ship was used to generate the SAR completion area based on a line buffer algorithm. The SAR completion area and SAR mission area were then superimposed to determine the overall progress of the SAR mission. The proposed method has been deployed within the SAR software on-board Haixun01 (China's largest and most advanced large-scale cruise rescue ship) since 2017 and has played an important role in devising SAR strategies and tracking mission progress, during several SAR actions.

Signal-in-space (SIS) continuity and availability are important indicators of performance assessment for Global Navigation Satellite Systems (GNSSs). The BeiDou Navigation Satellite System (BDS) Open Service Performance Standard (BDS-OS-PS-1.0) has been released, and the corresponding public performance indicators have been provided, but the actual SIS performance is uncertain to users. SIS continuity and availability are primarily related to unscheduled outages (failures). Therefore, based on the existing failure classification system and actual operation modes, four types of failure modes are first analysed: long-term failure related to satellite service period, maintenance failure related to satellite manoeuvring, short-term failure associated with random repairable anomalies and equivalent failure corresponding to a combination of the above three types of failures. Second, based on the failure classification and selected precise and broadcast ephemerides from 2015–2016, the Mean Time Between Failure (MTBF) and Mean Time To Repair (MTTR) of each failure type are obtained using appropriate detection methods. Finally, using a corresponding assessment model, the SIS continuity and availability of BeiDou are calculated for individual and equivalent failure cases, and these are compared with the provided index in the BDS Open Service Performance Standard.

A ship's grounding appears to be a significant threat to the safety of its crew, marine environment and the local ports economy. The risk of such incidents is higher in rivers since weather conditions can significantly alter the depths of channels from those shown on navigation charts. By means of a fuzzy analytic hierarchy process, a new methodology is proposed, capable of evaluating the hazards of a ship's grounding in a river. The proposed method contributes to safe navigation in rivers. Navigators are able to assess grounding risk in a river passage based on local information of past incidents. The proposed methodology is used to evaluate commercial risks from groundings in the Parana River. A case study was carried out using data from 118 cases, as provided by local agencies for the period 2008–2017.

The objective of this study is to propose a methodology for assessing waterway traffic capacity in the Shanghai estuary of the Yangtze River. To achieve this objective, we first put forward the estimation method which utilises the minimum collision distance taking the dynamic ship domain into consideration. Considering possible effects caused by unknown external factors, the waterway traffic capacity is then represented by a probability distribution. Finally, we quantify the equivalent units of ships with various ship sizes as well as the effects of large-sized ships on the waterway traffic capacity. Results show that a large-sized ship is equivalent to more small-sized ships during the daytime period than at night. In addition, the deployment of large-sized ships could increase the waterway traffic capacity and such an increment highly depends on the increased proportion of large-sized ships in the waterway traffic.

A spoofing attack on a global navigation satellite system (GNSS) receiver is a threat to a significant community of GNSS users due to the high stakes involved. This paper investigates the use of slope based metrics for the detection of spoofing. The formulation of slope based metrics involves monitoring correlators along with tracking correlators in the receiver's channel, which are slaved to the prompt tracking correlator. In this study, using some candidate metrics, detectors have been formed through the analysis of simulated spoofing attacks. A theoretical variance of each metric has also been calculated as a reference for the threshold. A threshold is estimated using the measured variance from the clean signals, for specific false alarm rate. By using the measured threshold, detectors are formed based on slope metrics. These detectors have been tested using TEXBAT data. The results show that the differential slope metrics have good performance. The results have also been compared with some other techniques of spoofing detection.

Heading errors caused by gyroscope drift affect the positioning precision of pedestrian dead reckoning, and these errors are even greater for smartphone-based reckoning. In this study, an optimised improved heuristic drift elimination (O-iHDE) method is proposed to correct the heading errors on a smartphone gyroscope. Based on an analysis of the improved heuristic drift elimination (iHDE) and enhanced improved heuristic drift elimination (E-iHDE) algorithms, the quaternion method is used to update the attitude and angle threshold judgement conditions, and a method for correcting the quaternion is added to eliminate the heading errors caused by random gyro errors. The analysis of multiple sets of experiments shows that the new method improves the ability to discern and correct the walking route, and the heading accuracy is improved by more than 90%, which extends the effective operation time of pedestrian dead reckoning positioning based on the step-by-step system.

The bacterial foraging optimisation (BFO) algorithm is a commonly adopted bio-inspired optimisation algorithm. However, BFO is not a proper choice in coping with continuous global path planning in the context of unmanned surface vehicles (USVs). In this paper, a grid partition-based BFO algorithm, named AS-BFO, is proposed to address this issue in which the enhancement is contributed by the involvement of the A* algorithm. The chemotaxis operation is redesigned in AS-BFO. Through repeated simulations, the relative optimal parameter combination of the proposed algorithm is obtained and the most influential parameters are identified by sensitivity analysis. The performance of AS-BFO is evaluated via five size grid maps and the results show that AS-BFO has advantages in USV global path planning.

The aim of this study is to provide a balanced distribution of air traffic controller workload (ATCW) across airspace sectors taking into account the complexity of airspace sectors and the factors affecting ATCW, both objective and perceived. Almost all the studies focusing on the airspace sectorisation problem use heuristic or metaheuristic algorithms in dynamic simulation environments instead of a mathematical modelling approach. The paper proposes a multi-objective mixed integer mathematical model for airspace sectorisation. The model is applied to the upper, en-route level of Turkish airspace. Geographical information systems (GIS) are used to advantage for airspace analysis. The multi-objective model developed in this paper is scalarised by using the conic scalarisation method. For solving the scalarised problem, the CPLEX and DICOPT solvers of GAMS software are implemented. Finally, the optimal sector boundaries of Turkish airspace are defined.

As one of the key enabling technologies for automated driving, High Definition (HD) Maps have become a major research focus in recent years. While increasing research effort has been directed toward HD Map development, a comprehensive review of the overall conceptual framework and development status is still lacking. In this study, we start with a brief review of the highlights of navigation map history, and then present an extensive literature review of HD Map development for automated driving, focusing on HD Map structure, functionalities, and accuracy requirements as well as standardisation aspects. In addition, this study conducts an analysis of HD Map-based vehicle localisation. The numerical results demonstrate the potential capabilities of HD Maps. Some recommendations for further investigation are made.

The Very High Frequency (VHF) Data Exchange System (VDES) is a new radio communication system being developed by the international maritime community, with the principal objectives to safeguard existing Automatic Identification System (AIS) core functions and enhance maritime communication applications, based on robust, efficient and secure data transmission with wider bandwidth than the AIS. VDES is also being considered as a potential component of the R-mode concept, where the same signals used for communication are also used for ranging, thus mitigating the impact of disruptions to satellite positioning services. This paper establishes statistical performance bounds on the ranging precision of VDES R-mode, assuming an additive white Gaussian noise propagation channel. Modified Cramér-Rao bounds on the pseudorange estimation error are provided for all waveforms currently proposed for use in terrestrial VDES communications. These are then used to estimate the maximum usable ranges for AIS/VDES R-mode stations. The results show that, under the assumed channel conditions, all of the new VDES waveforms provide better ranging performance than the AIS waveform, with the best performance being achieved using the 100 kHz bandwidth terrestrial VDE waveforms.

The main objective of the European Geostationary Navigation Overlay System (EGNOS) is to improve the positioning accuracy by correcting several error sources affecting the Global Positioning System (GPS) and to provide integrity information to GPS signals for users in real time. This research presents analysis used to investigate improvement in the performance of single-frequency GPS positioning using EGNOS corrections in Algeria. In this study, we performed position measurements with two calculation approaches, the first based on GPS single-point positioning and the second using EGNOS differential corrections. Positioning accuracy was determined by comparison with the known precise coordinates of the sites; and then the improved ionospheric correction using EGNOS was investigated. The results revealed that GPS + EGNOS performance was significantly improved compared with GPS alone, when measurements of horizontal and vertical accuracy were taken into account, and that the EGNOS corrections improved east and north components slightly, and the up component significantly.

Considering unobserved spatial-temporal interaction effects, this study proposes a Bayesian spatial-temporal interaction model for predicting economic loss from fishing boat collisions using 10-year (2004–2014) collision records from six different areas in the waters of Fujian, China. Results show strong spatial heterogeneity and correlation effects in fishing boat collisions, while the economic loss from boat collisions gradually decreases with the time trend. Collision time, collision location, visibility and the involvement of LNG/LPG/chemical-carrying ships show similar marginal effects on the economic loss for the two collision types: fishing boat collisions and collisions involving no fishing boats. Navigational status and the involvement of cargo ships exhibit much bigger effects in fishing boat collisions compared with collisions involving no fishing boat. Unlike collisions involving no fishing boat, fishing boat collisions are associated with reduced economic loss in poor weather conditions characterised by strong wind/waves because in Fujian waters additional safety measures are adopted for fishing boats in such conditions. The proposed model is useful for policymakers in adopting safety enhancement strategies to decrease the economic loss resulting from fishing boat collisions.

This paper describes a method to determine global navigation satellite systems (GNSS) satellite orbits and clocks for advanced receiver autonomous integrity monitoring (ARAIM). The orbit and clock estimates will be used as a reference truth to monitor signal-in-space integrity parameters of the ARAIM integrity support message (ISM). Unlike publicly available orbit and clock products, which aim to maximise estimation accuracy, a straightforward and transparent approach is employed to facilitate integrity evaluation. The proposed monitor is comprised of a worldwide network of sparsely distributed reference stations and will employ parametric satellite orbit models. Two separate analyses, covariance analysis and model fidelity evaluation, are carried out to assess the impact of measurement errors and orbit model uncertainty on the estimated orbits and clocks, respectively. The results indicate that a standard deviation of 30 cm can be achieved for the estimated orbit/clock error, which is adequate for ISM validation.

The satellite constellation with automatic dependent surveillance-broadcast on-board is of great importance for air traffic surveillance due to its multiple advantages compared with traditional methods. Although some research has been conducted on satellite constellation design based on coverage performance, the findings cannot entirely satisfy all the requirements of air traffic surveillance owing to the lack of analysis on inter-satellite links and network transmission. This paper presents a novel design of a low earth orbit satellite constellation network to solve this problem. Based on the requirements of space-based surveillance, an evaluation model of constellation performance is proposed concerning coverage, link and transmission. The simulation results show that the evaluation model can reflect the performance of a satellite constellation network designed for a space-based surveillance system, and a 55-satellite constellation design scheme with fairly good performance can fulfil the function of global real-time air traffic surveillance.

The third generation of the BeiDou navigation satellite system (BDS-3) is a global navigation system, and is expected to be in full operation by 2020. High-precision orbits are a precondition for BDS-3 to provide a highly accurate service, which needs a global tracking and monitoring capability for the operational satellites. However, it is difficult for BDS to construct global ground monitoring stations. Fortunately, Ka-band Inter-Satellite Link (ISL) antennae fitted to the BDS-3 satellites can be used to extend the visible arc of the Medium Earth Orbit (MEO) satellites and to enhance the ground stations for orbit determination. This paper analyses the ISL-enhanced orbit determination for eight BDS-3 satellites, using the data from ten Chinese domestic stations and 13 international Global Navigation Satellite System (GNSS) Monitoring and Assessment System (iGMAS) overseas stations. The results show that the Three-Dimensional (3D) position Root Mean Square (RMS) error of the Overlapping Orbit Differences (OODs) is approximately 1 m when only ten regional stations are used. When the ISL measurements are added, the 3D position RMS error is decreased to 0·5 m, and the accuracy of the 24-hour orbit prediction can also be improved from 2 m to 0·7 m, which is even better than that of the orbits determined using globally distributed stations. It can be expected that with the subsequent launch of BDS-3 satellites and the increasing number of ISLs, the advantage of the ISL enhanced orbit determination will become more significant.

In the first aerial crossing of the South Atlantic, by Gago Coutinho and Sacadura Cabral in 1922, several methods of astronomical maritime navigation were used with adaptions to aerial navigation. In order to apply these methods, the navigator needed to know the approximate altitude of the aircraft so that its position could be determined. The instrument available at that time, the altimeter, did not give reliable values for altitude. Therefore, Coutinho had to devise a method that enabled the navigator to determine the altitude quickly and efficiently. The method Coutinho devised is based on a mathematical and geometrical procedure. In this paper, we study in detail Coutinho's method to determine altitude, with diagrams to aid understanding of the deductions and calculations. We also present a real example of how this method would be used during the flight.