Navigational Charts Research Articles

Methodological proposal for the standardization of the Electronic Navigational Chart scheme in the Caribbean Sea

Since the approval of the use of Electronic Navigational Charts (ENC) as equivalent to paper nautical charts, hydrographic services worldwide began their production following existing cartographic schemes. This paper proposes to standardize ENC production schemes at the regional scale through a regular grid system, which unifies the scale of compilation and cell size by navigational purpose. The implementation of this system requires defining the origin of the grid and facilitates the nomenclature of the ENCs. Additionally, this standardization would help for the harmonized production of ENCs by improving their coverage. The proposed methodology is used to formulate an ENCs scheme in the Caribbean Sea, which is part of the Meso American and Caribbean Sea Regional Hydrographic Commission, in order to show its application and advantages. For this region it is proposed to generate a regular grid scheme with cell sizes and compilation scales (1:K) for Overview, General and Coastal navigational purposes of 24° × 24°, 6° × 6° and 1.5° × 1.5° and 1:3,000, 1:700 and 1:180 respectively, which allows to eliminate irregularities between the ENCs. This proposal contributes to the safety of maritime activities, seeking to enhance the quality of the ENC products in this region and increase trust to Electronic Chart Display and Information System users through enhanced visualization and seamless transition between ENCs of the same compilation scale. Additional serves as input for the modernization of the ENC schemes in the different Regional Hydrographic Commissions of the International Hydrographic Organization.

AIS aided marine radar target tracking in a detection occluded environment

Radar signal occlusion due to islands and large ships occurs frequently in maritime environments, degrading the performance of marine radar target detection and tracking. In order to address the common track breakages and tracking inaccuracies during occlusion, both prior environment knowledge from electronic navigation chart (ENC) and information from automatic identification systems (AIS) are exploited. An AIS-aided integrated probabilistic data association (A-IPDA) algorithm is proposed for maritime target tracking in an occluded environment. It recursively identifies target occlusion based on environmental knowledge and applies a tailored track existence probability transition matrix for track existence estimation during occlusion, meanwhile rich AIS information is exploited to maintain target tracking performance. Experiments based on both simulated data and real data show that A-IPDA has the ability to counter long period target occlusion in complex maritime environments, where track continuity and tracking accuracy can be well maintained.

Chart features, data quality, and scale in cartographic sounding selection from composite bathymetric data

ABSTRACT Cartographic sounding selection is a constraint-based bathymetric generalization process for identifying navigationally relevant soundings for nautical chart display. Electronic Navigational Charts (ENCs) are the premier maritime navigation medium and are produced according to international standards and distributed around the world. Cartographic generalization for ENCs is a major bottleneck in the chart creation and update process, where high volumes of data collected from constantly changing seafloor topographies require tedious examination. Moreover, these data are provided by multiple sources from various collection platforms at different levels of quality, further complicating the generalization process. Therefore, in this work, a comprehensive sounding selection algorithm is presented that focuses on safe navigation, leveraging both the Digital Surface Model (DSM) of multi-source bathymetry and the cartographic portrayal of the ENC. A taxonomy and hierarchy of soundings found on ENCs are defined and methods to identify these soundings are employed. Furthermore, the significant impact of depth contour generalization on sounding selection distribution is explored. Incorporating additional ENC bathymetric features (rocks, wrecks, and obstructions) affecting sounding distribution, calculating metrics from current chart products, and introducing procedures to correct cartographic constraint violations ensures a shoal-bias and mariner-readable output. This results in a selection that is near navigationally ready and complementary to the specific waterways of the area, contributing to the complete automation of the ENC creation and update process for safer maritime navigation.

Multi-functional and Practical Adaptive Collision Avoidance Decision-making System for Autonomous Ships

In the current landscape, autonomous navigation systems face challenges due to incomplete functionality and low integration. They also lack a comprehensive, real-time, and accurate navigation risk assessment, while operating independently from one another. To address these issues, a multi-functional and practical adaptive collision avoidance decision-making system for autonomous ships is developed in this paper. The system primarily relies on the electronic navigational chart (ENC) to effectively display the ship’s navigation situation. It establishes a collision avoidance decision-making model centered around the own ship, offering collision risk analysis, avoidance methods, and optimal timing to ensure safe navigation. The system efficiently integrates and processes multimodal maritime data from various devices, utilizing ontology-based approaches for comprehensive navigation situation understanding, which integration provides invaluable support for intelligent decision-making processes. With a user-friendly interface, excellent portability, and cross-platform interoperability, this system has undergone collaborative efforts and joint debugging with China Shipbuilding Navigation Technology Co., Ltd. during the project’s first and second phases. Notably, the system has been successfully implemented on the “High-performance Integrated Bridge System” platform of China Shipbuilding Navigation, showcasing its potential for advancement from principle prototype development to actual equipment application. By offering accurate collision avoidance decision support, this system significantly contributes to enhancing the safety of ship navigation.

Towards Automated Nautical Chart Compilation and Verification of Output Topology and Safety

Abstract. The compilation of Electronic Navigational Charts (ENCs) requires significant amount of time, labor-intensive efforts, and cost. Despite the advancements in technology and the various research efforts, generalization tasks are still performed manually or semi-manually with expected human errors. The dramatic increase in the amount of data that is collected by modern acquisition systems, in addition to the increasing timeline expected by the end-users, are constantly driving Hydrographic Offices (HOs) toward the investigation and adoption of more advanced and effective ways for automating the generalization tasks to speed up the process, minimize the cost, and improve productivity. Full automation of the nautical chart compilation process has been unreachable due to the strict nautical cartographic constraints (and particularly those of safety and topology) that pose a challenge for most of the available generalization tools, while it remains questionable whether automation can replace human thought processes. In this paper, we discuss a research effort for an Automated Nautical-chart Generalization (ANG) model in the Esri environment. The ANG model builds upon the nautical chart generalization guidelines and practice and utilizes available tools in the Esri environment to perform the generalization of selected ENC features to the target scale. Safety constraints in the marine domain is of utmost importance, however, since most of the readily available tools do not respect safety, the main goal of this effort has been an output with no topological violations. In the current phase of the project, we evaluate safety of soundings and contour for user fixing and while the validation of bathymetry is a well-researched topic, there was the need for an automated process to identify the sections of the generalized contours that have been displaced toward the shallow water side Therefore, this work also presents a safety validation tool that detects the contours’ safety violations in the output. The tool is composed of three main stages that run individually after the ANG model is complete with the aim to highlight the safety violations for fixing by cartographers.

Cartographic support issues in the Arctic Ocean studying and bathymetric investigation objectives in the Russian Arctic

The current state and issues of the bathymetric investigations of the Arctic Ocean are examined in the study. The main sources of bathymetric data in the Central Arctic region and Arctic seas are characterized. The main possibilities to solve these issues in order to improve the efficiency of oncoming bathymetric investigation in the Russian Arctic sector for solving the urgent practical and scientific tasks of the Russian Federation in the Arctic region are discussed. The problem of hydrographic investigation and marine cartography of the new high latitude routes in the Northern Sea Route and bathymetric investigations of the South-Eastern part of Gakkel Ridge which are important for the Russian extended continental shelf submission is covered as one of the main issues. The importance of a new hydrographic investigation at the high latitude routes in the East Siberian Sea in order to provide the possibility of year-round navigation for the large-tonnage Arc7‑class icebreaking liquefied natural gas carriers is especially emphasized. The questions of geoformation and ice satellite support for efficient navigation along the Northern Sea Route are considered. It is concluded that the poor hydrographic knowledge of the new high latitude route in the East Siberian Sea and the lack of electronic navigation charts will prevent the possibility of establishing the year-round navigation for Arc7‑class icebreaking liquefied natural gas carriers during the coming several years. It is stated that hydrographic investigations carried out on the sections of the Northern Sea Route must adhere to the requirements of the International Hydrographic Organization. The urgency of developing the state integrated bathymetric database for the Arctic Ocean including the arctic seas data along with the necessity of providing all Russian bathymetric data acquired in the Arctic region to the assigned national center is discussed. The FKU 280 ZKP VMF is proposed as such national center. The importance of bathymetric maps of the Arctic Ocean is noted. The main role of creating the electronic bathymetric maps using modern technology and analytical geomorphological mapping on the basis of the system-oriented morphological approach in Earth science is emphasised.

Service Quality of Inland Electronic Navigational Charts on the Yangtze River

As a golden waterway in China, the Yangtze River is one of the busiest waterways in the world. The Changjiang Waterway Bureau has made inland electronic navigational charts (I-ENC) of the Yangtze River from Yibin to Liuhekou. It assists ships in safe navigation and provides information on waterway elements for analysis and prediction. Compared with traditional navigation and information methods, ENCs better promote the safety and efficiency of inland waterway navigation, thereby protecting the environment. The primary tool of this study is the questionnaire, including the basic information, business services, data services, available services, and product services of the Yangtze River I-ENC. This study analyzed the questionnaire combined with on-the-spot investigation, focusing on understanding respondents’ current views on the Yangtze River I-ENC to improve service quality. A total of 885 respondents completed the questionnaire from June 2021 to August 2021. The results show that the Yangtze River I-ENC mainly expands related products, such as Electronic Chart Display and Information System (ECDIS), mobile application, WeChat small program, internet online navigational charts, and paper navigational charts. Mobile application is the most popular among respondents. The primary purpose of I-ENC at the present stage is to assist navigation and improve navigation safety.

A Spatial Relation Model of Three-Dimensional Electronic Navigation Charts Based on Point-Set Topology Theory

Spatial relation models are the basis for realising three-dimensional spatial analysis. More researchers are now focusing on models that combine topological relations with distance or directional relations; however, a model that unifies all three relations has not yet been developed. In particular, it is more effective to use different spatial relations between features with different spatial characteristics in three-dimensional electronic navigation charts (3D ENC). Therefore, this paper proposes a 3D ENC feature spatial relation model (3DSRM) based on point-set topology theory, which combines 3D topological relations, distance relations and directional relations, and uses a unified model framework to describe 64 topological relations of 3D ENC features from both horizontal and vertical directions. Through the comparison and derivation of feature topological relations, it is demonstrated that the model can distinguish 3D spatial topological relations more comprehensively, realise the mutual derivation between spatial relations and spatial features, and improve the robustness of spatial relations judgement. The model can be used to judge the topological relations between features, realise 3D topological relation checking and topological creation of complex features, and improve the accuracy and interactivity of 3D ENC.

A Novel Algorithm for Ship Route Planning Considering Motion Characteristics and ENC Vector Maps

Global route planning is a pivotal function of unmanned surface vehicles (USVs). For ships, the safety of navigation is the priority. This paper presents the VK-RRT* algorithm as a way of designing the planned route automatically. Different from other algorithms or studies, this study employs electronic navigation chart (ENC) vector data instead of grid maps as the basis of the search, which reduces data error when converting the vector map into the grid map. In addition, Delaunay triangulation is employed to organize vector data, in which the depth value is taken as a factor to ensure the safety of the planning route. Furthermore, the initial planned route is not suitable for ship tracking as it does not consider the ship motion characteristics. Therefore, the planned route needs to be further optimized. In the final part, we also conducted experiments to verify the effectiveness and advantages of the proposed algorithm. The results show that the proposed algorithm could reduce the lengths of paths by about 23% on average and save planning time; these are largely dependent on the environment.

Optimal Route Generation and Route-Following Control for Autonomous Vessel

In this study, basic research was conducted regarding the era of autonomous vessels and artificial intelligence (deep learning, big data, etc.). When a vessel is navigating autonomously, it must determine the optimal route by itself and accurately follow the designated route using route-following control technology. First, the optimal route should be generated in a manner that ensures safety and reduces fuel consumption by the vessel. To satisfy safety requirements, sea depth, under-keel clearance, and navigation charts are used; algorithms capable of determining and shortening the distance of travel and removing unnecessary waypoints are used to satisfy the requirements for reducing fuel consumption. In this study, a reinforcement-learning algorithm-based machine learning technique was used to generate an optimal route while satisfying these two sets of requirements. Second, when an optimal route is generated, the vessel must have a route-following controller that can accurately follow the set route without deviation. To accurately follow the route, a velocity-type fuzzy proportional–integral–derivative (PID) controller was established. This controller can prevent deviation from the route because overshoot rarely occurs, compared with a proportional derivative (PD) controller. Additionally, because the change in rudder angle is smooth, energy loss by the vessel can be reduced. Here, a method for determining the presence of environmental disturbance using the characteristics of the Kalman filter innovation process and estimating environmental disturbance with a fuzzy disturbance estimator is presented, which allows the route to be accurately maintained even under conditions involving environmental disturbance. The proposed approach can automatically set the vessel’s optimal route and accurately follow the route without human intervention, which is useful and can contribute to maritime safety and efficiency improvement.

Usporedba podataka hidrografskog premjera s podacima o dubinama mora dobivenih iz javnih izvora

A hydrographic survey is a standardized procedure for collecting data for the production of nautical charts and publications. It is a lengthy and costly procedure, so the survey is carried out depending on the capabilities of hydrographic organizations. It is known that relatively large parts of the world's oceans are very poorly covered by hydrographic surveys. To increase the amount of data collected, the International Hydrographic Organization (IHO) has introduced the concept of crowdsourced bathymetry (CSB). Under the CSB concept, all vessels meeting certain minimum technical requirements (carrying a global navigation satellite system and a single beam echo sounder) can participate in voluntary bathymetric data collection. The paper analyzes the method of collecting bathymetric data from CSB. The depth data collected as part of the CSB are compared with official data displayed on electronic navigational charts (ENC) in the United States of America. Four sea areas were selected in which 104 depths were compared at the same positions, and categorization was also made according to the criterion of navigational importance, i.e., the category zones of confidence (CATZOC). By comparing the official depth data from the hydrographic survey with the depth data collected from public sources for the same positions, their mutual relationships were established, from which it can be concluded that the CSB data, despite its limitations, is a very valuable supplement to the existing official data.

Coastal Bathymetric Sounding in Very Shallow Water Using USV: Study of Public Beach in Gdynia, Poland.

The bathymetric surveys executed with a use of small survey vessels in limited water areas, including offshore areas, require precise determination of the geospatial coordinates of the seabed which is a synthesis of, among others, determining the position coordinates and measuring the depth. Inclination of the seabed and the declining depth make manoeuvring of the sounding vessel, e.g., a hydrographic motorboat or Unmanned Survey Vehicle (USV), in shallow water impossible. Therefore, it is important to determine the minimal depth for the survey resulting from the draught of the sounding vessel and the limits of the sounding area. The boundaries also result from the dimensions of the sounding vessel, its manoeuvring parameters and local water level. Type of the echosounder used in the bathymetric survey is a decisive factor for the sounding profile planning and the distances between them and the survey vessel for the possibility performing the measurements in shallow water. Electronic Navigational Chart (ENC) was used to determine the water area's boundaries, and the safety contours were determined on the basis of the built Digital Sea Bottom Model (DSBM). The safety contour, together with the vessel's dimensions, its manoeuvring parameters and the hydrometeorological conditions, limit the offshore area in which the measurement can be performed. A method of determining boundaries of the survey performed by a USV equipped with SingleBeam EchoSounder (SBES) on survey lines perpendicular to the coastal line are presented in the paper in order to cover the water area with the highest amount of measurement data, with the USV's navigational safety taken into consideration. The measurements executed on the municipal beach served verification of the DSBM.

Cavernous Malformations: What They Have Taught Us.

Cavernous Malformations: What They Have Taught Us.

Increasing Efficiency of Nautical Chart Production and Accessibility to Marine Environment Data through an Open-Science Compilation Workflow

Electronic Navigational Chart (ENC) data are essential for safe maritime navigation and have multiple other uses in a wide range of enterprises. Charts are relied upon to be as accurate and as up-to-date as possible by the vessels moving vast amounts of products to global ports each year. However, cartographic generalization processes for updating and creating ENCs are complex and time-consuming. Increasing the efficiency of the chart production workflow has been long sought by the nautical charting community. Toward this effort, approaches must consider intended scale, data quality, various chart features, and perform consistently in different scenarios. Additionally, supporting open-science initiatives through standardized open-source workflows will increase marine data accessibility for other disciplines. Therefore, this paper reviews, improves, and integrates available open-source software, and develops new custom generalization tools, for the semi-automated processing of land and hydrographic features per nautical charting specifications. The robustness of this approach is demonstrated in two areas of very different geographic configurations and the effectiveness for use in nautical charting was confirmed by winning the first prize in an international competition. The presented rapid data processing combined with the ENC portrayal of results as a web-service provides new opportunities for applications such as the development of base-maps for marine spatial data infrastructures.

Analysis and Visualization of Vessels’ RElative MOtion (REMO)

This research is a pilot study to develop a maritime traffic control system that supports the decision-making process of control officers, and to evaluate the usability of a prototype tool developed in this study. The study analyzed the movements of multiple vessels through automatic identification system (AIS) data using one of the existing methodologies in GIScience, the RElative MOtion (REMO) approach. The REMO approach in this study measured the relative speed, delta-speed, and the azimuth of each vessel per time unit. The study visualized the results on electronic navigational charts in the prototype tool developed, V-REMO. In addition, the study conducted a user evaluation to assess the user interface (UI) of V-REMO and to future enhance the usability. The general usability of V-REMO, the data visualization, and the readability of information in the UI were tested through in-depth interviews. The results of the user evaluation showed that the users needed changes in the size, position, colors, and transparency of the trajectory symbols in the digital chartmap view of V-REMO for better readability and easier manipulation. The users also indicated a need for multiple color schemes for the spatial data and more landmark information about the study area in the chartmap view.

Resolving problems in symbol identification in compilation of electronic navigational charts utilising paper charts

AbstractElectronic navigational charts (ENCs) can be compiled using existing paper charts to improve their coverage of the world's oceans. However, in the process of assigning symbols on ENCs, in some cases the software uses the same symbol for different paper chart symbols. This could ultimately compromise maritime safety. Addressing this issue, this paper describes a methodology for developing a new tool that complements the efficient production of ENCs using paper charts. First, the ENC product was produced utilising CARIS S-57 Composer. After considering the difficulties in assigning symbols through the compilation process, a new web application named SYMO EXPERT was introduced. It was developed using Firebase Realtime Database and React app. A questionnaire was prepared to collect data about the time factor and accuracy of using SYMO EXPERT. Results showed that it supports the users in selecting relevant symbols efficiently with an accuracy of up to 98%.

USING ELECTRONIC NAVIGATIONAL CHART FOR 3D BATHYMETRIC MODEL OF THE PORT OF NAPLES

Abstract. Nautical charts generally report fundamental knowledge for the safety of navigation. This information also includes sea depth data reported as depth points or contour lines, which can be used to build a 3D model of the seabed. However, there are different interpolation methods for creating digital depth models, and there is no way to know in advance which of them is the best performing. The aim of this work is to compare different spatial interpolation methods applied on a dataset concerning the seabed of the Port of Naples (Italy) and extracted from the Electronic Navigational Chart (ENC) produced by the Hydrographic Institute of the Italian Navy, in scale 1:10.000. Four deterministic interpolation methods, i.e. Inverse Distance Weighting (IDW), Global Polynomial Interpolation (GPI), Local Polynomial Interpolation (LPI), Radial Basis Function (RBF), and two stochastic interpolation methods, i.e. Ordinary Kriging (OK) and Universal Kriging (UK), are applied using Geographic Information System (GIS) software. Since each method requires to set specific parameters and different options are available, e.g. the order of the polynomial function for GPI and LPI, or semi-variograms for OK and UK, twenty-three models are generated. The result quality is evaluated by Leave-One-Out cross-validation and the statistics of the residuals produced by each interpolation method in the measured points are compared and analysed. The experiments confirm that the stochastic approach is more versatile compared to deterministic approach and can produce better results, as it is testified by the great performance of the Ordinary Kriging, which produces the most accurate 3D models.

Autonomous Machinery Management for Supervisory Risk Control Using Particle Swarm Optimization

Safe navigation for maritime autonomous surface ships (MASS) is a challenging task, and generally highly dependent on effective collaboration between multiple sub-systems in environments with various levels of uncertainty. This paper presents a novel methodology combining risk-based optimal control and path following with autonomous machinery management (AMM) for MASS navigation and supervisory risk control. Specifically, a risk-aware particle swarm optimization (PSO) scheme utilizes “time-to-grounding” predictions based on weather data and electronic navigational charts (ENC) to simultaneously control both the ship’s motion as well as the machinery system operation (MSO) mode during transit. The proposed autonomous navigation system (ANS) is comprised of an online receding horizon control that uses a PSO approach from previous works, which produces a dynamic risk-aware path with respect to grounding obstacles from a pre-planned MASS path, subsequently given as the input to a line-of-sight guidance controller for path following. Moreover, the MSO mode of the AMM system is simultaneously selected and assigned to explicit segments along the risk-aware path throughout the receding horizon, which effectively introduces into the optimization scheme an additional safety layer as well as another dimension for risk or resource minimization. The performance of the resulting ANS is demonstrated and verified through simulations of a challenging scenario and human assessment of the generated paths. The results show that the optimized paths are more efficient and in line with how human navigators would maneuver a ship close to nearby grounding obstacles, compared to the optimized paths of selected previous works.

The Rest Is History

The Rest Is History

Marine protected areas and electronic navigational charts: legal foundation, mapping methods, IHO S-122 portrayal, and advanced navigation services

A strategic instrument for the sustainable conservation of the fragile marine ecosystem is the designation of Marine Protected Areas (MPAs), within which various regulations exist for the protection of highly vulnerable species and habitats. These regulations can be depicted on Electronic Navigational Charts (ENCs) based on the new International Hydrographic Organization (IHO) S-100 series of standards, which support Marine Information Overlays (MIOs) that enrich the portrayed information by including both static and dynamic information, such as vessels traffic, tides, currents, and weather conditions, as well as essential information for the regulation of MPAs. Although, the new IHO S-122 Product Specification introduced specifically for the MPAs has been developed to encapsulate geospatial information for these regulations, the present edition does not specify portrayal. This paper reviews the legal foundation for the protection of marine mammals as well as the mapping methods used in selected study cases and builds upon these to present new, intuitive portrayal symbols for depicting the type of MPAs in combination with the regulations to be enforced on ENCs. Moreover, to support the global efforts for the protection of marine biodiversity, contemporary navigation systems aboard vessels can be used to enforce environmental regulations, and operations centers ashore can also monitor vessels’ passage and activities in MPAs. In that respect, this paper also discusses the concepts of Ecosystem Protection Zones and Environmental Risk Contours that can facilitate environmental risk-based voyage planning and preventive alarm services through Electronic Chart Display and Information Systems (ECDIS).