Abstract
The geometric distribution of navigational aids is one of the most important elements to be taken into account in the planning of maritime terrestrial navigation systems. It determines to a large extent the capability of vessels to obtain high-precision position coordinates. Therefore, the optimisation of their location is a key element at the planning stage, in particular on port approach fairways. This article attempts to use computer simulation methods to assess the positioning accuracy of a vessel that follows a constant course and speed on a port approach fairway. The analysis uses a technique based on the Extended Kalman Filter (EKF) Two-Dimensional (2D) Range-Bearing Simultaneous Location and Mapping (SLAM) method. In the simulation experiment conducted, the research object determined its position based on bearing and distance to fixed position beacons, which changed their locations in subsequent passages of the vessel. A geometrically optimal configuration of the terrestrial navigation marking system guaranteeing the highest positioning accuracy was identified as a result of the deliberations. The study analysed more than 20,000 cases of different configurations (locations) of the fixed position beacons, demonstrating that the adopted algorithm can be used successfully in the planning of their deployment in the context of ensuring minimum accuracy requirements for the positioning of navigational signs on port approach fairways and under restricted conditions by navigational marking services, as set out in International Maritime Organization (IMO) Resolutions A915 (21) and A953(22).
Highlights
Since the beginning of the twentieth century, work has been carried out on automation of processes in many branches of industry including maritime transport
The analysis presented in this article points to the problem of navigation of ships with the use of Extended Kalman Filter (EKF) Simultaneous Location and Mapping (SLAM)
It has been demonstrated that an appropriate choice of location and number of navigational aids can guarantee the independent, safe passage of the vessel without the support of a satellite positioning system (Table 1)
Summary
Since the beginning of the twentieth century, work has been carried out on automation of processes in many branches of industry including maritime transport. The combination of GNSS and ECDIS allow the planning and monitoring of the position and movement of a vessel during a sea journey Other systems such as the Automatic Identification System, Radar (including Automatic Radar Plotting Aids (ARPA) and Vessel Traffic Services (VTS) are contributing to an increase in the level of automation in maritime navigation processes (Naus and Waz, 2016). SLAM is a technique that allows the creation of a map of a previously unknown environment, which is used for navigation during further operations in the area This positioning method was first recognised in 1986 (Durrant-Whyte and Bailey, 2006). Preliminary attempts were made to implement the elements
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