Zone of Confidence Impact on Cross Track Limit Determination in ECDIS Passage Planning

Kristić, Miho; Žuškin, Srđan; Brčić, David; Valčić, Sanjin

doi:10.3390/jmse8080566

Cited by 21 publications

(11 citation statements)

References 19 publications

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“…To obtain the highest possible accuracy of an USV's path following along the profile, the vessel must navigate as close as possible to the transverse distance from the indicated path line. This is defined by the XTE parameter [45]. When executing hydrographic surveys using a manned vessel, the vessel is maintained on a path by an experienced helmsman.…”

Section: Xte Parameter Of the Usvmentioning

confidence: 99%

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Marchel

Specht

2020

Energies

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Unmanned Surface Vehicles (USV) are increasingly used to perform numerous tasks connected with measurements in inland waters and seas. One of such target applications is hydrography, where traditional (manned) bathymetric measurements are increasingly often realized by unmanned surface vehicles. This pertains especially to restricted or hardly navigable waters, in which execution of hydrographic surveys with the use of USVs requires precise maneuvering. Bathymetric measurements should be realized in a way that makes it possible to determine the waterbody’s depth as precisely as possible, and this requires high-precision in navigating along planned sounding profiles. This paper presents research that aimed to determine the accuracy of unmanned surface vehicle steering in autonomous mode (with a Proportional-Integral-Derivative (PID) controller) along planned hydrographic profiles. During the measurements, a high-precision Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) positioning system based on a GNSS reference station network (positioning accuracy: 1–2 cm, p = 0.95) and a magnetic compass with the stability of course maintenance of 1°–3° Root Mean Square (RMS) were used. For the purpose of evaluating the accuracy of the vessel’s path following along sounding profiles, the cross track error (XTE) measure, i.e., the distance between an USV’s position and the hydrographic profile, calculated transversely to the course, was proposed. The tests were compared with earlier measurements taken by other unmanned surface vehicles, which followed the exact same profiles with the use of much simpler and low-cost multi-GNSS receiver (positioning accuracy: 2–2.5 m or better, p = 0.50), supported with a Fluxgate magnetic compass with a high course measurement accuracy of 0.3° (p = 0.50 at 30 m/s). The research has shown that despite the considerable difference in the positioning accuracy of both devices and incomparably different costs of both solutions, the authors proved that the use of the GNSS RTK positioning system, as opposed to a multi-GNSS system supported with a Fluxgate magnetic compass, influences the precision of USV following sounding profiles to an insignificant extent.

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Section: Xte Parameter Of the Usvmentioning

confidence: 99%

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Marchel

Specht

2020

Energies

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“…Accordingly, to fulfil the above requirements, the manoeuvring simulation data was analysed in three stages. During the first stage of analysis, to ensure that the developed ATMM complied with the mandatory rules and regulations, the data was analysed by comparing the XTD results from the ATT and ATMM with the requirements of the XTL as specified by the International Maritime Organisation [47] and following the guidance given by Kristić et al (2020) [48]. This stage's purpose was to determine which method produced better compliance with the international or national regulations, which was defined by the XTL.…”

Section: Fig 6 Research Methodology Fl Owmentioning

confidence: 99%

“…For the first analysis, the data was analysed by comparing the XTD resulting from the ATT and ATMM to the requirements of the XTL as specified by the International Maritime Organisation [7] with the guidance given by Kristić et al (2020). The XTL was calculated according to the vessel specifications [48]. The XTL used for this study was established using the following formula: Therefore, the XTL for this particular ship was calculated as follows.…”

Section: Data Collectionmentioning

confidence: 99%

Development of WOP Mathematical Model for Optimum Track-Keeping. A Ship Simulation Study Using VLCC, Focusing on Hard Over Rudder Turning Circle with Three Stages of Validation Analysis

Kamis

Fuad

Ashaari

et al. 2021

Polish Maritime Research

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Navigational safety necessitates careful route monitoring, which includes staying on the planned course. For a ship to achieve effective route monitoring while changing course, a wheel over point (WOP) must be precisely calculated and marked on a charted course. The reason is to warn the watchkeeping officer that the ship must make a course alteration to prevent overshooting the intended route. One of the techniques for appraising the WOP is the advance transfer technique (ATT). During a practical review by means of an electronic and paper chart work exercise of the ATT, this study discovered two research gaps related to the technique. Following that, this study created an improved advance transfer mathematical model (ATMM) by restructuring the use of the ship’s turning circle to overcome the limitations discovered. To validate the improvement of the ATMM over the ATT, data were collected by evaluating both methods using a ship simulator and performing a manoeuvring analysis. The data, specifically the reduction in the cross-track distance (XTD), was validated in three verification stages: compliance with XTL, percentage change, and Mann‒Whitney U test using IBM SPSS. In comparison to the ATT, the ATMM produces better results in terms of the course-keeping capability and it can be implemented as an algorithm in an integrated bridge navigation system for autonomous ship navigation safety.

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“…Information in nautical charts is highly accurate and essential for navigation [24]. As shown in Figure 1, the twoway channel is approximately 2 NM long, 0.38 NM wide, and 50 m deep.…”

Section: Problemmentioning

confidence: 99%

A Novel Ship-Ship Distance Model in Restricted Channel via Gaussian-TRR Identification

Zhang

2021

Mathematical Problems in Engineering

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Very large ships are crucial cargo ships that are relatively difficult to manoeuvre, and ship-ship distance is a vital manoeuvring parameter in restricted channel. To ensure ship safety and improve scheduling efficiency, this study established a ship-ship distance model in restricted channel by ship manoeuvring motion simulation, collision detection, and identification modelling. Firstly, the ship manoeuvring model calculated the forces and moments of ship-ship interaction and ship-bank interaction. Then, the collision detection was applied to calculate the intersection area of ship collision. Secondly, the discrete numerical simulation approach was employed with varying speed and distance, and the intersection area was counted. Finally, the 3D Gaussian models of encountering and overtaking were identified by the trust-region-reflective (TRR) algorithm, and ship-ship distance and prohibited zone were proposed. The results show that the minimum ship-ship distance for encountering and overtaking is 1.50 and 2.4 ship beam, respectively, which is consistent with Japan’s standard. The numerical results revealed that the prohibited zone is an elliptical shape. The ship-ship distance and prohibited zone serve as ship safety domain for collision avoidance during harbor approaching.

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Zone of Confidence Impact on Cross Track Limit Determination in ECDIS Passage Planning

Cited by 21 publications

References 19 publications

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Development of WOP Mathematical Model for Optimum Track-Keeping. A Ship Simulation Study Using VLCC, Focusing on Hard Over Rudder Turning Circle with Three Stages of Validation Analysis

A Novel Ship-Ship Distance Model in Restricted Channel via Gaussian-TRR Identification

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