This paper comprehensively investigates the fault exclusion problem in multi-constellation Global Navigation Satellite Systems (GNSS). In future GNSS, the heightened likelihood of fault detection events will cause more interruptions in the continuity of the navigation operation. The main contribution of this paper is to establish the theoretical basis to quantify the contributions of fault events on continuity risk, therefore allowing us to assess the desired exclusion function performance based on specific continuity requirements. Accordingly, a new real-time exclusion algorithm is developed, for which the upper bounds on integrity risks are rigorously derived. Using the new method, performance is comprehensively investigated for two important civil aircraft navigation operations using various numbers of constellations. We show that high service availability can be achieved for both operations.

As technology continues to develop, information and communication technology and operational technology on board ships are increasingly being networked, and more frequently connected to the Internet. The introduction of cyber systems changes the work environment with the aim of decreasing the workload for the navigator, but at the same time introduces more complexity and vulnerabilities that in turn may alter the competencies needed to perform safe and efficient navigation. Contemporary examples of how cyber-attacks can distort situational awareness and interfere with operations are needed to enhance the navigator's competence through increased system awareness. This paper demonstrates some of the possible attack vectors that a cyber-attack can present to a ship, as well as discussing the plausibility and consequences of such attacks. In this study we provide a practical example to better understand how one can demystify cyber threats in order to enhance the navigators' competence.

In dense urban areas, conventional Global Navigation Satellite Systems (GNSS) positioning can exhibit errors of tens of metres due to the obstruction and reflection of the signals by the surrounding buildings. By using Three-Dimensional (3D) mapping of the buildings, the accuracy can be significantly improved. This paper demonstrates the first integration of GNSS shadow matching with 3D-mapping-aided GNSS ranging. The integration is performed in the position domain, whereby separate ranging and shadow matching position solutions are computed, then combined using direction-dependent weighting. Two weighting strategies are compared, one based on the computation of ranging-based and shadow matching position error covariance matrices, and a deterministic approach based on the street azimuth. Using experimental data collected from a u-blox GNSS receiver, it is shown that both integrated position solutions are significantly more accurate than either shadow matching or 3D-mapping-aided ranging on their own. The overall Root Mean Square (RMS) horizontal accuracy obtained using covariance-based weighting was 6·1 m, a factor of four improvement on the 25·9 m obtained using conventional GNSS positioning. Results are also presented using smartphone data, where shadow matching is integrated with conventional GNSS positioning.

Vulnerability of satellite-based navigation signals to intentional and unintentional interference calls for a high-level overview of Global Navigation Satellite System (GNSS) threats occurring globally to understand the magnitude and evolution of the problem. Therefore, a mechanism needs to be developed whereby disparate monitoring systems will be capable of contributing to a common entity of basic information about the threat scenarios they experience. This paper begins with a literature survey of 37 state-of-the-art GNSS threat monitoring systems, which have been analysed based on their respective operational features - constellations monitored and whether they possess the capability to perform interference-type classification, spoofing detection, and interference localisation. Also described is a comparative analysis of four GNSS threat reporting formats in use today. Based on these studies, the paper describes the Horizon2020 Standardisation of GNSS Threat Reporting and Receiver Testing through International Knowledge Exchange, Experimentation and Exploitation (STRIKE3) proposed integrated threat monitoring demonstration system and related standardised threat reporting message, to enable a high-level overview of the prevailing international GNSS threat scenarios and its evolution over time.

Synchronisation of the received Pseudorandom (PRN) code and its locally generated replica is fundamental when estimating user position in Global Navigation Satellite System (GNSS) receivers. It has been observed through experiments that user position accuracy decreases if sampling frequency is an integer multiple of the nominal code rate. This paper provides an accuracy analysis based on the number of samples and the residual code phase of each code chip. The outcomes reveal that the distribution of residual code phases in the code phase range [0, 1/ns), where ns is the number of samples per code chip, is the root cause of accuracy degradation, rather than the ratio between sampling frequency and nominal code rate. Doppler frequencies, coherent integration periods, front-end filter bandwidths and received Carrier to Noise ratios (C/N0) also influence receiver accuracy. Also provided are a sampling frequency selection guideline and new proposed estimates of the correlation output and the Delay Locked Loop (DLL) tracking error, which can be applied to precisely model GNSS receiver baseband signal processing.

Real-time Precise Point Positioning (PPP) relies on the use of accurate satellite orbit and clock corrections. If these corrections contain large errors or faults, either from the system or by meaconing, they will adversely affect positioning. Therefore, such faults have to be detected and excluded. In traditional PPP, measurements that have faulty corrections are typically excluded as they are merged together. In this contribution, a new PPP model that encompasses the orbit and clock corrections as quasi-observations is presented such that they undergo the fault detection and exclusion process separate from the observations. This enables the use of measurements that have faulty corrections along with predicted values of these corrections in place of the excluded ones. Moreover, the proposed approach allows for inclusion of the complete stochastic information of the corrections. To facilitate modelling of the orbit and clock corrections as quasi-observations, International Global Navigation Satellite System Service (IGS) real-time corrections were characterised over a six-month period. The proposed method is validated and its benefits are demonstrated at two sites using three days of data.

Land masking of Synthetic Aperture Radar (SAR) images is generally accomplished by applying either archived shoreline databases or image segmentation. However, those methods cannot be solely applied to geographical areas complicated with many small islands and exposed rocks. Therefore, we have proposed a new procedure where Sobel edge extraction is applied to detect the edges of all objects from KOMPSAT-5 X-band SAR images, followed by a merging process with the edges from the land objects based on Electronic Navigational Chart (ENC) coastlines. Using the land mask data, geometrically corrected SAR images were masked before applying a ship detection algorithm. This land masking procedure was applied to several images covering different areas of the Korean Peninsula. The results show that land targets such as newly constructed and natural objects were also masked, and thus did not create false alarms during ship detection. Therefore, this method can be used to assist precise ship detection using SAR images in coastal waters.

This paper concentrates on designing an autonomous navigation scheme for Mars exploration. In this scheme, formation flying spacecraft are used to realise absolute orbit determination when orbiting around Mars. Inertial Line-Of-Sight (LOS) vectors from “deputy” spacecraft to the “chief” are measured using radio cross-link, optical devices and attitude sensors. Since the system's observability is closely related to the navigation performance, an analytical approach is proposed to optimise the observability. In this method, the gravity gradient tensor difference is chosen as the performance index to optimise two navigation scenarios. When there is one deputy flying around the chief, optimal parameters are obtained by solving the constrained optimisation problem. When a second deputy is added into the formation, the optimal configuration is also obtained. These results reveal that the observability is mainly determined by the magnitude of the in-track and cross-track distances in the configuration. An Extended Kalman Filter (EKF) is used to estimate the position and velocity of the chief. The results of a navigation simulation confirms that adding more deputies can significantly improve the navigational performance.

We present a method of teaching the basics of celestial navigation, using the Javascript programming interface to Google Maps. This offers the teacher of celestial navigation many highly visual and flexible investigative and presentation options, all using the familiar Google Map system. In this paper, we discuss the programming route to Google Maps, and demonstrate an exercise of correcting the assumed position of a hypothetical lost ship, using sights of the Sun, suitable for classroom use. We also present an analysis of the relationship between the proximity of the assumed to the actual position of the ship, and the outcome of a sight-reduction procedure.

This paper outlines the results of a project to develop and test an augmented reality smart phone application (‘app’) to aid the safety of navigation of leisure sailors with limited navigational skills. The app works in two modes: in the ‘turned off mode’ the app gives an alarm 30 seconds before the boat is predicted to ground. The navigator then immediately stops the boat, picks up the phone and, uses the app to view the surrounding water where NoGo areas less than 3 metres in depth are outlined in red. By panning the smart phone around, safe escape routes with deep water are visible. The prototype app was tested on a group of boat owners in western Norway with very good results, both from technical and usability perspectives. This report outlines the concept of operation of the app, details some of the difficulties encountered in its development and testing, specifies the issues that remain to be resolved to turn the concept into an effective system, and outlines future development plans.

Positioning and Navigation (PN) of Martian rovers still faces challenges due to limited observations. In this paper, the PN feasibilities of Mars rovers based on a Gravity-aided Odometry (GO) system are proposed and investigated in terms of numeric simulations and a case study. Statistical features of the Mars gravity field are studied to evaluate the feature diversity of the background map. The Iterative Closest Point (ICP) algorithm is introduced to match gravity measurements with the gravitational map. The trajectories of Mars Exploration Rovers (MER) and Mars Gravity Map 2011 (MGM2011) are used to complete the experiments. Several key factors of GO including odometry errors, measurement uncertainties, and grid resolution of the map are investigated to evaluate their influences on the positioning ability of the system. Simulated experiments indicate that the GO method could provide an alternative positioning solution for Martian surface rovers.

Tactical monitoring and controlling of air traffic is becoming increasingly difficult to manage for Air Traffic Controllers (ATCOs) owing to an increasingly complex traffic flow. A dynamic tactical complexity model, herein known as Conflict Activity Level (CAL), has been developed and is presented in this paper. This can be achieved either by establishing an overall score for an entire region or sub-regions of interest as specified by user's input location and time. This is done by evaluating the likely aircraft flight shape profile based on its current and projected position and trajectory. From the flight shape profile, CAL values are computed based on instantaneous existing traffic numbers in the overall region or sub-regions of interest. The proposed complexity approach shows good agreement with other methods in terms of ranking the order of complexity of various air traffic scenarios and the key influencing factors contributing to conflict.

In this paper we develop the nonlinear motion equations in terms of the true anomaly varying Tschauner–Hempel equations relative to a notional orbiting particle in a Keplerian orbit, relatively close to an orbiting primary satellite to estimate the position of a spacecraft. A second orbiting body in Earth orbit relatively close to the first is similarly modelled. The dynamic relative motion models of the satellite and the second orbiting body, both of which are modelled in terms of independent relative motion equations, include several perturbing effects, such as the asymmetry of the Earth gravitational field resulting in the Earth's oblateness effect and the third body accelerations due to the Moon and the Sun. Linear control laws are synthesised for the primary satellite using the transition matrix so it can rendezvous with the second orbiting body. The control laws are then implemented using the state estimates obtained earlier to validate the feedback controller. Thus, we demonstrate the application of a Linear Quadratic Nonlinear Gaussian (LQNG) design methodology to the satellite rendezvous control design problem and validate it.

This paper describes a fully autonomous real-time in-motion alignment algorithm for Strapdown Inertial Navigation Systems (SINS) in land vehicle applications. Once the initial position is available, the vehicle can start a mission immediately with accurate attitude, position and velocity information determined within ten minutes. This is achieved by two tightly coupled stages, that is, real-time Double-vector Attitude Determination Coarse Alignment (DADCA) and Backtracking Fine Alignment (BFA). In the DADCA process, the vehicle motion is omitted to roughly estimate the attitude at the very start of the alignment. Meanwhile, attitude quaternions and velocity increments are extracted and recorded. The BFA process utilises the stored data and exploits the Non-Holonomic Constraints (NHC) of a vehicle to obtain virtual velocity measurements. A linear SINS/NHC Kalman filter with mounting angles as extended states is constructed to improve the fine alignment accuracy. The method is verified by three vehicle tests, which shows that the accuracy of alignment azimuth is 0·0358° (Root Mean Square, RMS) and the positioning accuracy is about 15 m (RMS) at the end of the alignment.

The planning of vessel navigation along a tidal river is a complex task that can affect the efficiency of inland ports and intermodal chains. The availability of water may represent a significant restriction to port accessibility, having an impact on waiting times, cost and even safety. This paper presents a heuristic procedure to schedule vessels on a tidal waterway, which seeks to optimise navigation according to a multi-criteria objective function combining the number of vessels serviced, the total waiting time, the waterway occupation time and the number of crossing operations, where the term “crossing” implies inbound and outbound vessels passing each other. The procedure requires a previous step of estimation of real-time water depth, which identifies the critical points or navigation bottlenecks along the waterway, and contemplates the possibility of vessels having to anchor in the middle of their journey and wait for next tide rise. We validate the procedure through its application to a set of real and test problems and show that its results are reliable in terms of performance and solution quality.

Oscillator phase noise has a negative effect on the tracking performance of Global Navigation Satellite System (GNSS) receivers. To provide GNSS software receivers with real test environments, this paper proposes a method to simulate the GNSS Intermediate Frequency (IF) signal, taking the oscillator phase noise effect into consideration. The oscillator parameters are first measured via a pseudolite transmitter and receiver system. According to the measured oscillator parameters, an oscillator-induced frequency fluctuation is then generated, and added to the digital IF signal. Further simulation experiments are conducted that attempt to measure the oscillator phase noise effect on a second-order Phase Lock Loop (PLL) performance. Results indicate that the IF signal simulator considering the oscillator phase noise is able to provide software receivers with real signal dynamics, helping to evaluate the performance of signal processing algorithms on a software platform.

The demand for accurate indoor positioning continues to grow but the predominant positioning technologies such as Global Navigation Satellite Systems (GNSS) are not suitable for indoor environments due to multipath effects and Non-Line-Of-Sight (NLOS) conditions. This paper presents a new indoor positioning system using artificial encoded magnetic fields, which has good properties for NLOS conditions and fewer multipath effects. The encoded magnetic fields are generated by multiple beacons; each beacon periodically generates unique magnetic field sequences, which consist of a gold code sequence and a beacon location sequence. The position of an object can be determined with measurements from a tri-axial magnetometer using a three-step method: performing time synchronisation between sensor and beacons, identifying the beacon field and the beacon location, and estimating the position of the object. The results of the simulation and experiment show that the proposed system is capable of achieving Two-Dimensional (2D) and Three-Dimensional (3D) accuracy at sub-decimetre and decimetre levels, respectively.

Fingerprint-based indoor localisation suffers from influences such as fingerprint pre-collection, environment changes and expending a lot of manpower and time to update the radio map. To solve the problem, we propose an efficient radio map updating algorithm based on K-Means and Gaussian Process Regression (KMGPR). The algorithm builds a Gaussian Process Regression (GPR) predictive model based on a Gaussian mean function and realises the update of the radio map using K-Means. We have conducted experiments to evaluate the performance of the proposed algorithm and results show that GPR using the Gaussian mean function improves localisation accuracy by about 13·76% compared with other functions and KMGPR can reduce the computational complexity by about 7% to 20% with no obvious effects on accuracy.

The Beidou System (BDS) started functioning at the end of 2012. The Yaw-Steering (YS) attitude mode for Inclined Geosynchronous Orbit (IGSO) and Medium Earth Orbit (MEO) satellites in BDS ensures that the solar panels face the Sun. The orbit radial accuracies for IGSO/MEO satellites are 0·5 m and the User Equivalent Range Errors (UERE) are 1·5 m in YS mode. BDS-2 satellites adopt Orbit-Normal (ON) mode to meet the power supply and thermal control requirements of the satellite during deep Earth eclipse periods. In ON mode, long-term orbit ephemeris accuracy monitoring in the Operational Control System (OCS) of BDS indicates that the orbit accuracies for IGSO/MEOs are reduced to a few hundreds of metres, seriously affecting the positioning accuracy and navigation service capability of the BDS system. Solar Radiation Pressure (SRP) is difficult to model in ON mode. Continuous Yaw-Steering (CYS) mode is available for new generation Beidou satellites launched since 2015. The orbit accuracies for these new generation Beidou (BDS-3) satellites were estimated based on BDS monitoring station data and SRP models including ECOM 9/5/3. The evaluation method consisted of four steps, namely, orbit internal consistency analysis, UERE calculation, Satellite Laser Ranging (SLR) data fitting Root Mean Square (RMS) determinations and positioning performance analysis; the data gathering period lasted for more than 60 days and included two CYS periods and one ON period. The experiments showed that the orbit accuracy of the radial component in CYS mode for the BDS-3 satellites degrades by 2 to 3 cm and positioning accuracy degrades only by 1 cm over that in YS mode which is just a small reduction in accuracy compared with the decimetre-level BDS orbit accuracy and the metre-level single point positioning accuracy with BDS pseudorange data. This overcomes declining orbit and positioning accuracy issues in ON mode for BDS-2 satellites. Other results also show that the reliability of BDS has been improved.

This paper discusses the estimation algorithms for Three-Dimensional (3D) displacement and 3D rotation using Two-Dimensional (2D) laser scanners. An efficient outlier detection method is proposed for both algorithms to help protect the integrity of navigation. The algorithms have been evaluated using both simulation and field test results. They are able to produce a robust odometry solution for an autonomous aircraft in an indoor environment.