Methods and algorithms in navigation : Marine navigation and safety of sea transportation

225 Pages·2011·4.53 MB·English

by  Adam Weintrit

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METHODS AND ALGORITHMS IN NAVIGATION
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Methods and Algorithms
in Navigation
Marine Navigation and
Safety of Sea Transportation
Editors
Adam Weintrit & Tomasz Neumann
Gdynia Maritime University, Gdynia, Poland
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List of reviewers

Prof. Yasuo Arai, President of Japan Institute of Navigation, Japan,
Prof. Vidal Ashkenazi, FRIN, Nottingham Scientific Ltd, UK,
Prof. Andrzej Banachowicz, West Pomeranian University of Technology, Szczecin, Poland,
Prof. Marcin Barlik, Warsaw University of Technology, Poland,
Prof. Eugen Barsan, Master Mariner, Constanta Maritime University, Romania,
Prof. Tor Einar Berg, Norwegian Marine Technology Research Institute, Trondheim, Norway,
Prof. Jaros(cid:225)aw Bosy, Wroclaw University of Environmental and Life Sciences, Wroclaw, Poland,
Prof. Zbigniew Burciu, Master Mariner, Gdynia Maritime University, Poland,
Prof. Eamonn Doyle, National Maritime College of Ireland, Cork Institute of Technology, Cork, Ireland,
Prof. Andrzej Fellner, Silesian University of Technology, Katowice, Poland,
Prof. Wlodzimierz Filipowicz, Master Mariner, Gdynia Maritime University, Poland,
Prof. Wieslaw Galor, Maritime University of Szczecin, Poland,
Prof. Witold Gierusz, Gdynia Maritime University, Poland,
Prof. Marek Grzegorzewski, Polish Air Force Academy, Deblin, Poland,
Prof. Andrzej Grzelakowski, Gdynia Maritime University, Poland,
Prof. Stanis(cid:225)aw Gucma, Master Mariner, President of Maritime University of Szczecin, Poland,
Prof. Lucjan Gucma, Maritime University of Szczecin, Poland,
Prof. Michal Holec, Gdynia Maritime University, Poland,
Prof. Qinyou Hu, Shanghai Maritime University, China,
Prof. Jacek Januszewski, Gdynia Maritime University, Poland,
Prof. Tae-Gweon Jeong, Master Mariner, Secretary General, Korean Institute of Navigation and Port Research,
Prof. Miros(cid:225)aw Jurdzinski, Master Mariner, FNI, Gdynia Maritime University, Poland,
Prof. Lech Kobylinski, Polish Academy of Sciences, Gdansk University of Technology, Poland,
Prof. Krzysztof Kolowrocki, Gdynia Maritime University, Poland,
Prof. Serdjo Kos, FRIN, University of Rijeka, Croatia,
Prof. Kazimierz Kosmowski, Gda(cid:276)sk University of Technology, Poland,
Prof. Eugeniusz Kozaczka, Polish Acoustical Society, Gdansk University of Technology, Poland,
Prof. Bogumil Laczynski, Master Mariner, Gdynia Maritime University, Poland,
Dr. Dariusz Lapucha, Fugro Fugro Chance Inc., Lafayette, Louisiana, United States,
Prof. Joong Woo Lee, Korean Institute of Navigation and Port Research, Pusan, Korea,
Prof. Andrzej S. Lenart, Gdynia Maritime University, Poland,
Prof. Andrzej Lewinski, Radom University of Technology, Poland,
Prof. Józef Lisowski, Gdynia Maritime University, Poland,
Prof. Vladimir Loginovsky, Admiral Makarov State Maritime Academy, St. Petersburg, Russia,
Prof. Artur Makar, Polish Naval Academy, Gdynia, Poland,
Prof. Boleslaw Mazurkiewicz, Gda(cid:276)sk University of Technology, Poland,
Prof. Janusz Mindykowski, Gdynia Maritime University, Poland,
Prof. Nikitas Nikitakos, University of the Aegean, Greece,
Prof. Wies(cid:225)aw Ostachowicz, Gdynia Maritime University, Poland,
Prof. Stanis(cid:225)aw Oszczak, FRIN, University of Warmia and Mazury in Olsztyn, Poland,
Prof. Zbigniew Pietrzykowski, Maritime University of Szczecin, Poland,
Prof. Jerzy B. Rogowski, MRIN, Warsaw University of Technology, Poland,
Prof. Wladys(cid:225)aw Rymarz, Master Mariner, Gdynia Maritime University, Poland,
Prof. Roman Smierzchalski, Gda(cid:276)sk University of Technology, Poland,
Prof. Leszek Smolarek, Gdynia Maritime University, Poland,
Prof. Jac Spaans, Netherlands Institute of Navigation, The Netherlands,
Prof. Cezary Specht, Polish Naval Academy, Gdynia, Poland,
Cmdr. Bengt Stahl, Nordic Institute of Navigation, Sweden,
Prof. Janusz Szpytko, AGH University of Science and Technology, Kraków, Poland,
Prof. Lysandros Tsoulos, National Technical University of Athens, Greece,
Prof. Waldemar Uchacz, Maritime University of Szczecin, Poland,
Prof. George Yesu Vedha Victor, International Seaport Dredging Limited, Chennai, India,
Prof. Peter Voersmann, President of German Institute of Navigation DGON, Deutsche Gesellschaft für Ortung und
Navigation, Germany,
Prof. Jin Wang, Liverpool John Moores University, UK,
Prof. Ryszard Wawruch, Master Mariner, Gdynia Maritime University, Poland,
Prof. Adam Weintrit, Master Mariner, FRIN, FNI, Gdynia Maritime University, Poland,
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Prof. Bernard Wisniewski, Maritime University of Szczecin, Poland,
Prof. Adam Wolski, Master Mariner, MNI, Maritime University of Szczecin, Poland,
Prof. Hideo Yabuki, Master Mariner, Tokyo University of Marine Science and Technology, Tokyo, Japan,
Prof. Homayoun Yousefi, MNI, Chabahar Maritime University, Iran
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Contents

Navigational Systems and Simulators. Introduction ........................................................................... 9
A. Weintrit & T. Neumann
Methods and Algorithms ......................................................................................................................... 11
1. Fuzzy–neuron Model of the Ship Propulsion Risk ............................................................................ 13
A. Brandowski, A. Mielewczyk, H. Nguyen & W. Frackowiak
2. Kalman-Bucy Filter Design for Multivariable Ship Motion Control ................................................ 21
M. Tomera
3. Method of Evaluation of Insurance Expediency of Stevedoring Company’s Responsibility
for Cargo Safety ................................................................................................................................ 33
M. Ya. Postan & O. O. Balobanov
4. Experimental and Numerical Methods for Hydrodynamic Profiles Calculation .............................. 37
A. Scupi & D. Dinu
5. Asymptotic Stability of a Class of Positive Continuous-Discrete 2D Linear Systems ..................... 41
T. Kaczorek
6. Application of CFD Methods for the Assessment of Ship Manoeuvrability in Shallow Water ....... 45
T. Górnicz & J. Kulczyk
7. Comprehensive Methods of the Minimum Safe Under Keel Clearance Valuation to
the Restricted Tidal Waters ............................................................................................................... 51
G. Szyca
Collision Avoidance ................................................................................................................................. 57
8. Knowledge Base in the Interpretation Process of the Collision Regulations at Sea ......................... 59
P. Bana(cid:286) & M. Breitsprecher
9. A Method for Assessing a Causation Factor for a Geometrical MDTC Model
for Ship-Ship Collision Probability Estimation ................................................................................. 65
J. Montewka, F. Goerlandt, H. Lammi & P. Kujala
10. The Sensitivity of Safe Ship Control in Restricted Visibility at Sea ................................................. 75
J. Lisowski
11. Experimental Research on Evolutionary Path Planning Algorithm with Fitness Function
Scaling for Collision Scenarios ......................................................................................................... 85
P. Kolendo, R. (cid:285)mierzchalski & B. Jaworski
12. A New Definition of a Collision Zone For a Geometrical Model For Ship-Ship
Collision Probability Estimation ....................................................................................................... 93
J. Montewka, F. Goerlandt & P. Kujala
13. Uncertainty in Analytical Collision Dynamics Model Due to Assumptions in Dynamic
Parameters ....................................................................................................................................... 101
K. Stahlberg, F. Goerlandt, J. Montewka & P. Kujala
14. Applied Research of Route Similarity Analysis Based on Association Rules ................................ 109
Zhe Xiang, Ru-ru Liu, Qin-you Hu & Chao-jian Shi
15. An Analysis the Accident Between M/V Ocean Asia and M/V SITC Qingdao in Hanam
Canal (Haiphong Port) ..................................................................................................................... 115
Vinh Nguyen Cong

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Geodetic Problems in Navigational Applications ................................................................................. 121
16. A Novel Approach to Loxodrome (Rhumb Line), Orthodrome (Great Circle) and
Geodesic Line in ECDIS and Navigation in General ...................................................................... 123
A. Weintrit & P. Kopacz
17. Approximation Models of Orthodromic Navigation ....................................................................... 133
S. Kos & D. Br(cid:254)i(cid:252)
18. Solutions of Direct Geodetic Problem in Navigational Applications ............................................. 141
A.S. Lenart
Route Planning in Marine Navigation ................................................................................................. 147
19. Advanced Navigation Route Optimization for an Oceangoing Vessel ........................................... 149
E. Kobayashi, T. Asajima & N. Sueyoshi
20. On the Method of Ship’s Transoceanic Route Planning ................................................................. 157
O. D. Pipchenko
21. Weather Hazard Avoidance in Modeling Safety of Motor-driven Ship for Multicriteria
Weather Routing .............................................................................................................................. 165
P. Krata & J. Szlapczynska
22. Evolutionary Sets of Safe Ship Trajectories: Evaluation of Individuals ......................................... 173
R. Szlapczynski & J. Szlapczynska
23. Development of a 3D Dynamic Programming Method for Weather Routing ................................ 181
S. Wei & P. Zhou
Aviation and Air Navigation ................................................................................................................. 189
24. Position Reference System for Flight Inspection Aircraft .............................................................. 191
M. Kubiš & A. Novák
25. RNAV GNSS Essential Step for the LUN Implementation and the Chance for the Polish
General Aviation ............................................................................................................................. 199
K. Banaszek, A. Fellner, P. Trómi(cid:276)ski & P. Zadr(cid:261)g
26. Aircraft Landing System Utilizing a GPS Receiver with Position Prediction Functionality .......... 207
J. Bia(cid:225)y, J. (cid:251)wiklak, M. Grzegorzewski, S. Oszczak, A. Cie(cid:252)ko & P. Ko(cid:286)cielniak
8
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Navigational Systems and Simulators.
Introduction
A. Weintrit & T. Neumann
Gdynia Maritime University, Gdynia, Poland
PREFACE ty in analytical collision dynamics model due to as-
sumptions in dynamic parameters, Applied research
The contents of the book are partitioned into five of route similarity analysis based on association
parts: methods and algorithms (covering the chap- rules, and Analysis the accident between m/v Ocean
ters 1 through 7), collision avoidance (covering the Asia and m/v SITC Qingdao in Hanam Canal (Hai-
chapters 8 through 15), geodetic problems in naviga- phong Port).
tional applications (covering the chapters 16 through The third part deals with geodetic problems in
18), route planning in marine navigation (covering navigational applications. Last reports and research
the chapters 19 through 23), aviation and air naviga- results in the field of navigational calculations’
tion (covering the chapters 24 through 26). It shows methods applied in marine navigation are surveyed.
the origins of navigation and how techniques, meth- The contents of the third part are partitioned into
ods, and systems have been developed. Certainly, three chapters: A novel approach to loxodrome
this subject may be seen from different perspectives. (rhumb line), orthodrome (great circle) and geodesic
The first part deals with methods and algorithms. line in ECDIS and navigation in general. Approxi-
The contents of the first part are partitioned into sev- mation models of orthodromic navigation, and Solu-
en chapters: Fuzzy-neuron model of the ship propul- tions of direct geodetic problem in navigational ap-
sion risk, Kalman-Bucy observer design for multi- plications.
variable ship motion control, Method of evaluation The fourth part deals with route planning in ma-
of insurance expediency of stevedoring company’s rine navigation. Different kinds of ocean route opti-
responsibility for cargo safety, Experimental and mization, weather routing and route planning meth-
numerical methods for hydro-dynamic profiles cal- ods are presented. The contents of the forth part are
culation, Asymptotic stability of a class of positive partitioned into fifth chapters: Advanced navigation
continuous-discrete 2D linear systems, Application route optimization for an oceangoing vessel, On the
of CFD methods for the assessment of ship manoeu- method of ship’s transoceanic route planning,
vrability in shallow water, and Comprehensive Weather hazard avoidance in modeling safety of mo-
methods of the minimum safe under keel claearance tor-driven ship for muticriteria weather routing, Evo-
valuation to the tidal restricted waters. lutionary sets of safe ship trajectories: evaluation of
The second part deals with collision avoidance. individuals, and Development of a 3D dynamic pro-
The principles of anti-collision, and corresponding gramming method for weather routing.
methods, models and scenarios are described in gen- The fifth part deals with aviation and air naviga-
eral and with some particular samples of applica- tion. The contents of this part are partitioned into
tions. The contents of the second part are partitioned two chapters: Position reference system for flight in-
into eight chapters: Knowledge base in the interpre- spection aircraft, RNAV GNSS essential step for the
tation process of the collision regulations at sea, A LUN implementation and the chance for the Polish
method for assessing a causation factor for a geo- general aviation, and Aircraft landing system utiliz-
metrical MDTC model for ship-ship collision proba- ing a GPS receiver with position prediction func-
bility estimation, The sensitivity of safe ship control tionality.
in restricted visibility at sea, Experimental research
on evolutionary path planning algorithm with fitness
function scaling for collision scenarios, A new defi-
nition of a collision zone for a geometrical model for
ship-ship collision probability estimation, Uncertain-
9
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