Underwater Navigation Based on Real-Time Simultaneous Sound Speed Profile Correction

Precise sound speed profile (SSP) information is critical when using sonar for underwater terrain navigation. Nevertheless, acquiring SSP information in real-time is difficult, especially in underwater navigation environment. To account for this problem, this paper presents an underwater navigation method that applies real-time SSP correction to the terrain measurements. The method uses a probe to measure the surface sound speed simultaneously. Meanwhile, redundancy of topographic measurement data is exploited to derive the equivalent SSP information. The acquired equivalent SSP is updated continuously with particle filter algorithm. The terrain measurements can be corrected in real-time with the equivalent SSP to improve the performance of underwater terrain navigation. By removing the impact of inaccurate SSP from the terrain measurements, the proposed method can achieve precise and robust underwater navigation result without using an underway-profiling instrument. Simulated results confirm the good performance of the proposed method.     

A Method for Automatically Selecting Aids to Navigation Based on their Spatial Influence Domains

To address the limitations of manually selecting aids to navigation (AtNs) on charts, a method for automatically selecting AtNs based on their spatial influence domains (SIDs) is proposed. First, the associations between the spatial attributes of an AtN are analyzed. Second, an SID of the AtN is defined, and a model of the SID is constructed based on the associations between the spatial attributes. Third, the importance of the location of the AtN is weighted based on the SID model. Fourth, an algorithm to automatically select AtNs based on the maximum coverage of the SIDS of preselected AtNs is developed. Finally, several AtNs are selected automatically using the algorithm. The experimental results demonstrate that (1) the proposed method can automatically select AtNs and the results comply with the requirements; (2) the automatic selection can eliminate the human-induced errors or the inconsistent results of manual selections from different operators; and (3) the efficiency of the proposed method is higher than that of current manual methods.     

Why GPS makes distances bigger than they are

Global navigation satellite systems such as the Global Positioning System (GPS) is one of the most important sensors for movement analysis. GPS is widely used to record the trajectories of vehicles, animals and human beings. However, all GPS movement data are affected by both measurement and interpolation errors. In this article we show that measurement error causes a systematic bias in distances recorded with a GPS; the distance between two points recorded with a GPS is – on average – bigger than the true distance between these points. This systematic ‘overestimation of distance’ becomes relevant if the influence of interpolation error can be neglected, which in practice is the case for movement sampled at high frequencies. We provide a mathematical explanation of this phenomenon and illustrate that it functionally depends on the autocorrelation of GPS measurement error (C). We argue that C can be interpreted as a quality measure for movement data recorded with a GPS. If there is a strong autocorrelation between any two consecutive position estimates, they have very similar error. This error cancels out when average speed, distance or direction is calculated along the trajectory. Based on our theoretical findings we introduce a novel approach to determine C in real-world GPS movement data sampled at high frequencies. We apply our approach to pedestrian trajectories and car trajectories. We found that the measurement error in the data was strongly spatially and temporally autocorrelated and give a quality estimate of the data. Most importantly, our findings are not limited to GPS alone. The systematic bias and its implications are bound to occur in any movement data collected with absolute positioning if interpolation error can be neglected.     

The terrestrial fauna of the Late Triassic Pant-y-ffynnon Quarry fissures,South Wales,UK and a new species of Clevosaurus (Lepidosauria: Rhynchocephalia)

Pant-y-ffynnon Quarry in South Wales yielded a rich cache of fossils in the early 1950s, including articulated specimens of new species (the small sauropodomorph dinosaur Pantydraco caducus and the crocodylomorph Terrestrisuchus gracilis), but no substantial study of the wider fauna of the Pant-y-ffynnon fissure systems has been published. Here, our overview of existing specimens, a few described but mostly undescribed, as well as freshly processed material, provides a comprehensive picture of the Pant-y-ffynnon palaeo-island of the Late Triassic. This was an island with a relatively impoverished fauna dominated by small clevosaurs (rhynchocephalians), including a new species, Clevosaurus cambrica, described here from a partially articulated specimen and isolated bones. The new species has a dental morphology that is intermediate between the Late Triassic Clevosaurus hudsoni, from Cromhall Quarry to the east, and the younger C. convallis from Pant Quarry to the west, suggesting adaptive radiation of clevosaurs in the palaeo-archipelago. The larger reptiles on the palaeo-island do not exceed 1.5?m in length, including a small carnivorous crocodylomorph, Terrestrisuchus, and a possible example of insular dwarfism in the basal dinosaur Pantydraco.     

TRANSIT: a GIS toolbox for estimating the duration of ancient sail-powered navigation

Cost-surface analysis in Geographic Information System (GIS) environment has been less frequently used in the study of ancient sail navigation than in other studies of the human past. Navigation cost-surface analysis entails the use of GIS tools that are versatile but not very easy to grasp and to put to work. This article describes an ArcGIS toolbox built to facilitate cost-surface analysis of ancient sail navigation. It estimates the navigation time from a start location, considering parameters relevant for the generation of an accumulated anisotropic cost-surface, automating the complex workflow required to meaningfully pre- and post-process the data. Acknowledging the limitations inherent to the tool, and to the modeling of a complex matter such as sail navigation, the toolbox is first described and then used in a worked example. Historically recorded voyages in the Mediterranean during classical antiquity are compared to estimated durations generated by the toolbox. In spite of structural and expected limitations, the results indicate that the proposed toolbox may produce reasonable estimates. These should be thought of as values gravitating around, not matching, likely past durations. The estimated values may prove useful as an indication of the order of magnitude of past voyages’ duration, and as frame of reference in measuring ancient maritime space through time.     

Sea navigation, challenges and potentials in South East Asia: an assessment of suitable sites for a shipping canal in the South Thai Isthmus

This paper discusses the situation of sea navigation in south East Asia focusing on the Strait of Malacca. The strait links the Indian and Pacific oceans, which is considered one of the busiest in several narrow channels around the world. The paper highlights the significance of the strait to global maritime trade, volume of traffic, and rising environmental and social consequences in the strait. A feasibility study of constructing a new shipping canal in the South Thai Kra Isthmus as an alternative option of Malacca route had been studied since 19th century. The paper explores suitable sites for a potential shipping canal in the Kra Isthmus using physiographic spatial data i.e., elevation, sea charts, geology, soils and river systems. Each spatial data was considered as a separate decision variable for site evaluation. Separate evaluation criterions were prepared for each variable based on shipping canal requirements. Overlaying the maps in GIS environment, the variables were carefully evaluated, and five geographic sites for the canal were derived. The length of the shipping canal over sea and land was computed for each site. Site B located in south of Ranong and Chumphon provinces, was the shortest one, whereas site C in Surat Thani, Pangnna and Krabi provinces was the longest. However, each site consisted of benefits and constraints.     

'Driving people crazy': A geography of boy racers in Christchurch, New Zealand

Abstract:   So-called 'boy racers' form a subculture, which is subject to ongoing public scrutiny and media attention, usually negative. This study aimed to deconstruct the term 'boy racer' and to explore the subculture in detail, within the context of Christchurch, New Zealand, using a phenomenological ethnographic approach. This included conducting semistructured interviews and observing the activities of participants. Results show the subculture has a relatively diverse membership and a range of associated behaviours, activities and attitudes. Moreover, performances within the subculture are linked to place, and are seen by other members of the community as threats to normative boundaries.     

GPS/DR组合定位方法研究

当今，诸多部门如公安、交通和银行等都要求在城市环境中对车辆连续跟踪和不间断定位。如何实现车辆在城市中的高精度连续定位是许多车辆监控和指挥系统及ITS（Intelligent Transportation System)的主要研究课题之一。然而，由于城市中的电波传播环境非常复杂，在其中定位要考虑很多方面的因素。本文就城市环境的特殊性，分析了其影响GPS定位精度的主要误差源，并设计了一种经济可行的组合定位方法－GPS／DR组合定位模式。     

SINS／GPS级联组合滤波新算法

针对级联式SINS／GPS导航系统中组合滤波器的测量噪声与系统噪声的相关问题，提出了一种相关程度未知条件下的估计量最优融合算法，并由此得到了一个顾及噪声相关性的的卡尔曼滤波新算法；通过对一套SINS／GPS数据的计算，证明了新算法是成功的。     

车辆GPS自主导航系统及其新动向

叙述了国外车载 GPS自主导航的发展现状、车辆导航系统的技术和功能及其对电子地图的要求 ,并对车辆导航的市场进行了分析 ,同时提出了发展我国车辆 GPS导航系统所应注意的几个问题 ,阐述了车载 GPS系统的最新动向