Marine navigation and safety of sea transportation: navigational problems

341 Pages·2013·13.115 MB·English

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MARINE NAVIGATION AND SAFETY OF SEA TRANSPORTATION
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Marine Navigation and
Safety of Sea Transportation
Navigational Problems
Editor
Adam Weintrit
Gdynia Maritime University, Gdynia, Poland
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List of reviewers

Prof. Roland Akselsson, Lund University, Sweden
Prof. Yasuo Arai, Independent Administrative Institution Marine Technical Education Agency,
Prof. Michael Baldauf, Word Maritime University, Malmö, Sweden
Prof. Andrzej Banachowicz, West Pomeranian University of Technology, Szczecin, Poland
Prof. Marcin Barlik, Warsaw University of Technology, Poland
Prof. Michael Barnett, Southampton Solent University, United Kingdom
Prof. Eugen Barsan, Constanta Maritime University, Romania
Prof. Milan Batista, University of Ljubljana, Ljubljana, Slovenia
Prof. Angelica Baylon, Maritime Academy of Asia & the Pacific, Philippines
Prof. Christophe Berenguer, Grenoble Institute of Technology, Saint Martin d'Hères, France
Prof. Heinz Peter Berg, Bundesamt für Strahlenschutz, Salzgitter, Germany
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, Gdynia Maritime University, Poland
Sr. Jesus Carbajosa Menendez, President of Spanish Institute of Navigation, Spain
Prof. Andrzej Chudzikiewicz, Warsaw University of Technology, Poland
Prof. Frank Coolen, Durham University, UK
Prof. Stephen J. Cross, Maritime Institute Willem Barentsz, Leeuwarden, The Netherlands
Prof. Jerzy Czajkowski, Gdynia Maritime University, Poland
Prof. Krzysztof Czaplewski, Polish Naval Academy, Gdynia, Poland
Prof. Daniel Duda, Naval University of Gdynia, Polish Nautological Society, Poland
Prof. Alfonso Farina, SELEX-Sistemi Integrati, Rome, Italy
Prof. Andrzej Fellner, Silesian University of Technology, Katowice, Poland
Prof. Andrzej Felski, Polish Naval Academy, Gdynia, Poland
Prof. W(cid:225)odzimierz Filipowicz, Gdynia Maritime University, Poland
Prof. Börje Forssell, Norwegian University of Science and Technology, Trondheim, Norway
Prof. Alberto Francescutto, University of Trieste, Trieste, Italy
Prof. Jens Froese, Jacobs University Bremen, Germany
Prof. Wies(cid:225)aw Galor, Maritime University of Szczecin, Poland
Prof. Jerzy Ga(cid:296)dzicki, President of the Polish Association for Spatial Information; Warsaw, Poland
Prof. Witold Gierusz, Gdynia Maritime University, Poland
Prof. Dorota Grejner-Brzezinska, The Ohio State University, United States of America
Prof. Marek Grzegorzewski, Polish Air Force Academy, Deblin, Poland
Prof. Lucjan Gucma, Maritime University of Szczecin, Poland
Prof. Vladimir Hahanov, Kharkov National University of Radio Electronics, Kharkov, Ukraine
Prof. Jerzy Hajduk, Maritime University of Szczecin, Poland
Prof. Micha(cid:225) Holec, Gdynia Maritime University, Poland
Prof. Stojce Dimov Ilcev, Durban University of Technology, South Africa
Prof. Toshio Iseki, Tokyo University of Marine Science and Technology, Japan,
Prof. Jacek Januszewski, Gdynia Maritime University, Poland
Prof. Tae-Gweon Jeong, Korean Maritime University, Pusan, Korea
Prof. Miros(cid:225)aw Jurdzi(cid:276)ski, Gdynia Maritime University, Poland
Prof. John Kemp, Royal Institute of Navigation, London, UK
Prof. Andrzej Królikowski, Maritime Office in Gdynia; Gdynia Maritime University, Poland
Prof. Pentti Kujala, Helsinki University of Technology, Helsinki, Finland
Prof. Jan Kulczyk, Wroclaw University of Technology, Poland
Prof. Krzysztof Kulpa, Warsaw University of Technology, Warsaw, Poland
Prof. Shashi Kumar, U.S. Merchant Marine Academy, New York
Prof. Andrzej Lenart, Gdynia Maritime University, Poland
Prof. Nadav Levanon, Tel Aviv University, Tel Aviv, Israel
Prof. Andrzej Lewi(cid:276)ski, University of Technology and Humanities in Radom, Poland
Prof. Józef Lisowski, Gdynia Maritime University, Poland
Prof. Vladimir Loginovsky, Admiral Makarov State Maritime Academy, St. Petersburg, Russia
Prof. Miros(cid:225)aw Luft, University of Technology and Humanities in Radom, Poland
Prof. Evgeniy Lushnikov, Maritime University of Szczecin, Poland
Prof. Zbigniew (cid:224)ukasik, University of Technology and Humanities in Radom, Poland
Prof. Marek Malarski, Warsaw University of Technology, Poland
Prof. Boyan Mednikarov, Nikola Y. Vaptsarov Naval Academy,Varna, Bulgaria
Prof. Jerzy Mikulski, Silesian University of Technology, Katowice, Poland
Prof. Józef Modelski, Warsaw University of Technology, Poland
Prof. Wac(cid:225)aw Morga(cid:286), Polish Naval Academy, Gdynia, Poland
Prof. Janusz Narkiewicz, Warsaw University of Technology, Poland
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Prof. Nikitas Nikitakos, University of the Aegean, Chios, Greece
Prof. Gabriel Nowacki, Military University of Technology, Warsaw
Prof. Stanis(cid:225)aw Oszczak, University of Warmia and Mazury in Olsztyn, Poland
Prof. Gyei-Kark Park, Mokpo National Maritime University, Mokpo, Korea
Prof. Vytautas Paulauskas, Maritime Institute College, Klaipeda University, Lithuania
Prof. Jan Pawelski, Gdynia Maritime University, Poland
Prof. Zbigniew Pietrzykowski, Maritime University of Szczecin, Poland
Prof. Francisco Piniella, University of Cadiz, Spain
Prof. Jerzy B. Rogowski, Warsaw University of Technology, Poland
Prof. Hermann Rohling, Hamburg University of Technology, Hamburg, Germany
Prof. Shigeaki Shiotani, Kobe University, Japan
Prof. Jacek Skorupski, Warsaw 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
Prof. Andrzej Stateczny, Maritime University of Szczecin, Poland
Prof. Andrzej Stepnowski, Gda(cid:276)sk University of Technology, Poland
Prof. Janusz Szpytko, AGH University of Science and Technology, Kraków, Poland
Prof. El(cid:298)bieta Szychta, University of Technology and Humanities in Radom, Poland
Prof. Wojciech (cid:285)l(cid:261)czka, Maritime University of Szczecin, Poland
Prof. Roman (cid:285)mierzchalski, Gda(cid:276)sk University of Technology, Poland
Prof. Henryk (cid:285)niegocki, Gdynia Maritime University, Poland
Prof. Vladimir Torskiy, Odessa National Maritime Academy, Ukraine
Prof. Lysandros Tsoulos, National Technical University of Athens, Greece
Prof. Mykola Tsymbal, Odessa National Maritime Academy, Ukraine
Capt. Rein van Gooswilligen, Netherlands Institute of Navigation
Prof. František Vejražka, Czech Technical University in Prague, Czech
Prof. George Yesu Vedha Victor, International Seaport Dredging Limited, Chennai, India
Prof. Vladimir A. Volkogon, Baltic Fishing Fleet State Academy, Kaliningrad, Russian Federation
Prof. Ryszard Wawruch, Gdynia Maritime University, Poland
Prof. Adam Weintrit, Gdynia Maritime University, Poland
Prof. Bernard Wi(cid:286)niewski, Maritime University of Szczecin, Poland
Prof. Jia-Jang Wu, National Kaohsiung Marine University, Kaohsiung, Taiwan (ROC)
Prof. Min Xie, National University of Singapore, Singapore
Prof. Lu Yilong, Nanyang Technological University, Singapore
Prof. Homayoun Yousefi, Chabahar Maritime University, Iran
Prof. Janusz Zieli(cid:276)ski, Space Research Centre, Warsaw, Poland

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TABLE OF CONTENTS

Navigational Problems. Introduction .......................................................................................................................................... 9(cid:3)
A. Weintrit
Chapter 1. Ship Control ................................................................................................................................................................ 11(cid:3)
1
1.1. The Course-keeping Adaptive Control System for the Nonlinear MIMO Model of a Container Vessel ................................. 13(cid:3)
M. Brasel & P. Dworak(cid:3)
1.2. The Multi-step Matrix Game of Safe Ship Control with Different Amounts Admissible Strategies ....................................... 19(cid:3)
J. Lisowski(cid:3)
1.3. Catastrophe Theory in Intelligent Control System of Vessel Operational Strength ................................................................. 29(cid:3)
E.P. Burakovskiy, Yu.I. Nechaev, P.E. Burakovskiy & V.P. Prokhnich(cid:3)
1.4. Concept of Integrated INS/Visual System for Autonomous Mobile Robot Operation ............................................................. 35(cid:3)
P. Kicman & J. Narkiewicz(cid:3)
Chapter 2. Decision Support Systems ......................................................................................................................................... 41(cid:3)
2
2.1. Functionality of Navigation Decision Supporting System – NAVDEC ................................................................................... 43(cid:3)
P. Wo(cid:225)ejsza(cid:3)
2.2. A Study on the Development of Navigation Visual Supporting System and its Sea Trial Test ............................................... 47(cid:3)
N. Im, E.K. Kim, S.H. Han & J.S. Jeong(cid:3)
2.3. Application of Ant Colony Optimization in Ship’s Navigational Decision Support System ................................................... 53(cid:3)
A. Lazarowska(cid:3)
2.4. Issue of Making Decisions with Regard to Ship Traffic Safety in Different Situations at Sea ................................................ 63(cid:3)
J. Girtler(cid:3)
2.5. Ship Handling in Wind and Current with Neuroevolutionary Decision Support System ......................................................... 71(cid:3)
M. (cid:224)(cid:261)cki(cid:3)
Chapter 3. Marine Traffic ............................................................................................................................................................. 79(cid:3)
3
3.1. Development and Evaluation of Traffic Routing Measurements .............................................................................................. 81(cid:3)
R. Müller & M. Demuth(cid:3)
3.2. (cid:285)winouj(cid:286)cie – Szczecin Fairway Expert Safety Evaluation ...................................................................................................... 87(cid:3)
P. Górtowski & A. B(cid:261)k(cid:3)
3.3. Expert Indication of Dangerous Sections in (cid:285)winouj(cid:286)cie - Szczecin Fairway ......................................................................... 95(cid:3)
P. Górtowski & A. B(cid:261)k(cid:3)
3.4. Traffic Incidents Analysis as a Tool for Improvement of Transport Safety ........................................................................... 101(cid:3)
J. Skorupski(cid:3)
3.5. Vessel Traffic Stream Analysis in Vicinity of The Great Belt Bridge .................................................................................... 109(cid:3)
K. Marcjan, L. Gucma & A. Voskamp(cid:3)
Chapter 4. Search and Rescue ................................................................................................................................................... 115(cid:3)
4
4.1. Search and Rescue of Migrants at Sea .................................................................................................................................... 117(cid:3)
J. Coppens(cid:3)
4.2. Ergonomics-based Design of a Life-Saving Appliance for Search and Rescue Activities ..................................................... 125(cid:3)
H.J. Kang(cid:3)
4.3. The Signals of Marine Continuous Radar for Operation with SART ..................................................................................... 131(cid:3)
V.M. Koshevoy & D.O. Dolzhenko(cid:3)
4.4. Risk Analysis on Dutch Search and Rescue Capacity on the North Sea ................................................................................ 135(cid:3)
Y. Koldenhof & C. van der Tak(cid:3)
4.5. The Operational Black Sea Delta Regional Exercise on Oil Spill Preparedness and Search and Rescue –
GEODELTA 2011 .................................................................................................................................................................. 143(cid:3)
A. Gegenava & I. Sharabidze(cid:3)
Chapter 5. Meteorological Aspects and Weather Condition ................................................................................................. 151(cid:3)
5
5.1. Operational Enhancement of Numerical Weather Prediction with Data from Real-time Satellite Images ............................. 153(cid:3)
(cid:224). Markiewicz, A. Chybicki, K. Drypczewski, K. Bruniecki & J. D(cid:261)browski(cid:3)
5.2. Analysis of the Prevailing Weather Conditions Criteria to Evaluate the Adoption of a Future ECA
in the Mediterranean Sea ........................................................................................................................................................ 161(cid:3)
M. Castells, F.X. Martínez de Osés & J.J. Usabiaga(cid:3)
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5.3. Monitoring of Ice Conditions in the Gulf of Riga Using Micro Class Unmanned Aerial Systems ........................................ 167(cid:3)
I. Lešinskis & A. Pavlovi(cid:254)s(cid:3)
5.4. Global Warming and Its Impact on Arctic Navigation: The Northern Sea Route Shipping Season 2012 ............................. 173(cid:3)
E. Franckx(cid:3)
5.5. Unloading Operations on the Fast Ice in the Region of Yamal Peninsula as the Part of Transportation Operations
in the Russian Western Arctic ................................................................................................................................................. 181(cid:3)
A.A. Skutin, N.V. Kubyshkin, G.K. Zubakin & Yu.P. Gudoshnikov(cid:3)
Chapter 6. Inland, Sea-River, Personal and Car Navigation Systems ................................................................................. 187(cid:3)
6
6.1. The Method of the Navigation Data Fusion in Inland Navigation .......................................................................................... 189(cid:3)
A. Lisaj(cid:3)
6.2. PER Estimation of AIS in Inland Rivers based on Three Dimensional Ray Tracking ........................................................... 193(cid:3)
F. Ma, X.M. Chu & C.G. Liu(cid:3)
6.3. Analysis of River – Sea Transport in the Direction of the Danube – Black Sea and the Danube - Rhine River -
River Main .............................................................................................................................................................................. 199(cid:3)
S. Šoški(cid:252), Z. (cid:264)eki(cid:252) & M. Kresojevi(cid:252)(cid:3)
6.4. Study of the Usage of Car Navigation System and Navigational Information to Assist Coastal Navigational Safety ........... 209(cid:3)
S. Shiotani, S. Ryu & X. Gao(cid:3)
6.5. Remote Spatial Database Access in the Navigation System for the Blind.............................................................................. 217(cid:3)
K. Drypczewski, (cid:224). Kami(cid:276)ski, (cid:224). Markiewicz, B. Wi(cid:286)niewski & A. Stepnowski(cid:3)
6.6. Integration of Inertial Sensors and GPS System Data for the Personal Navigation in Urban Area ........................................ 223(cid:3)
K. Bikonis & J. Demkowicz(cid:3)
Chapter 7. Air Navigation .......................................................................................................................................................... 229(cid:3)
7
7.1. Accuracy of GPS Receivers in Naval Aviation ...................................................................................................................... 231(cid:3)
W.Z. Kaleta(cid:3)
7.2. Comparative Analysis of the Two Polish Hyperbolic Systems AEGIR and JEMIOLUSZKA .............................................. 237(cid:3)
S. Ambroziak, R. Katulski, J. Sadowski, J. Stefa(cid:276)ski & W. Siwicki(cid:3)
7.3. The Analysis of Implementation Needs for Automatic Dependent Surveillance in Air Traffic in Poland ............................. 241(cid:3)
M. Siergiejczyk & K. Krzykowska(cid:3)
Chapter 8. Maritime Communications ..................................................................................................................................... 247(cid:3)
8
8.1. Multiple Access Technique Applicable for Maritime Satellite Communications ................................................................... 249(cid:3)
S.D. Ilcev(cid:3)
8.2. Classification and Characteristics of Mobile Satellite Antennas (MSA) for Maritime Applications ..................................... 261(cid:3)
S.D. Ilcev(cid:3)
8.3. Development of Cospas-Sarsat Satellite Distress and Safety Systems (SDSS) for Maritime and Other Mobile
Applications ............................................................................................................................................................................ 269(cid:3)
S.D. Ilcev(cid:3)
8.4. The Propagation Characteristic of DGPS Correction Data Signal at Inland Sea – Propagation Characteristic
on LF/MF Band Radio Wave .................................................................................................................................................. 279(cid:3)
S. Okuda, M. Toba & Y. Arai(cid:3)
8.5. Communication Automation in Maritime Transport .............................................................................................................. 287(cid:3)
Z. Pietrzykowski, P. Bana(cid:286), A. Wójcik & T. Szewczuk(cid:3)
8.6. Audio Watermarking in the Maritime VHF Radiotelephony .................................................................................................. 293(cid:3)
A.V. Shishkin & V.M. Koshevoy(cid:3)
8.7. Enhancement of VHF Radiotelephony in the Frame of Integrated VHF/DSC – ECDIS/AIS System ................................... 299(cid:3)
V.M. Koshevoy & A.V. Shishkin(cid:3)
8.8. Modernization of the GMDSS ................................................................................................................................................ 305(cid:3)
K. Korcz(cid:3)
8.9. A VHF Satellite Broadcast Channel as a Complement to the Emerging VHF Data Exchange (VDE) System ..................... 313(cid:3)
F. Zeppenfeldt(cid:3)
Chapter 9. Methods and Algorithms ......................................................................................................................................... 317(cid:3)
9
9.1. Overview of the Mathematical Theory of Evidence and its Application in Navigation ......................................................... 319(cid:3)
W. Filipowicz(cid:3)
9.2. A New Method for Determining the Attitude of a Moving Object ......................................................................................... 327(cid:3)
S.M. Yakushin(cid:3)
9.3. Simulation of Zermelo Navigation on Riemannian Manifolds for dim(R×M)=3 ................................................................... 333(cid:3)
P. Kopacz
Author index ............................................................................................................................................................................339
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Navigational Problems
Introduction
A. Weintrit
Gdynia Maritime University, Gdynia, Poland

The monograph is addressed to scientists and evaluation of traffic routeing measurements,
professionals in order to share their expert (cid:285)winouj(cid:286)cie– Szczecin fairway expert safety
knowledge, experience and research results evaluation, expert indication of dangerous sections
concerning all aspects of navigation, safety at sea in (cid:285)winouj(cid:286)cie–Szczecin fairway, traffic incidents
and marine transportation. analysis as a tool for improvement of transport
The contents of the book are partitioned into nine safety, and vessel traffic stream analysis in vicinity
separate chapters: Ship control (covering the of the Great Belt Bridge.
chapters 1.1 through 1.4), Decision Support Systems The fourth chapter deals with Search and Rescue
(covering the chapters 2.1 through 2.5), Marine (SAR) problems. The contents of the fourth chapter
Traffic (covering the chapters 3.1 through 3.5), are partitioned into five subchapters: search and
Search and Rescue (covering the chapters 4.1 rescue of migrants at sea, ergonomics-based design
through 4.5), Meteorological aspect and weather of a life-saving appliance for search and rescue
condition (covering the chapters 5.1 through 5.5), activities, the signals of marine continuous radar for
Inland, sea-river, personal and car navigation operation with SART, risk analysis on dutch search
systems (covering the chapters 6.1 through 6.6), Air and rescue capacity on the North Sea, and the
navigation (covering the chapters 7.1 through 7.3), operational Black sea delta regional exercise on oil
Maritime communications (covering the chapters 8.1 spill preparedness and search and rescue –
through 8.9), and Methods and algorithms (covering GEODELTA 2011.
the chapters 9.1 through 9.3). The fifth chapter deals with meteorological aspect
In each of them readers can find a few chapters. and weather conditions. The contents of the fifth
Chapters collected in the first chapter, titled ‘Ship chapter are partitioned into five: operational
control’, concerning the course-keeping adaptive enhancement of numerical weather prediction with
control system for the nonlinear MIMO model of a data from real-time satellite images, analysis of the
container vessel, the multi-step matrix game of safe prevailing weather conditions criteria to evaluate the
ship control with different amounts admissible adoption of a future ECA in the Mediterranean Sea,
strategies, catastrophe theory in intellectual control monitoring of ice conditions in the Gulf of Riga
system of vessel operational strength, and concept of using micro class unmanned aerial systems, global
integrated INS/visual system for autonomous mobile warming and its impact on Arctic navigation: the
robot operation Northern Sea Route shipping season 2012, and
In the second chapter there are described unloading operations on the fast ice in the region of
problems related to decision support systems: Yamal Peninsula as the chapter of transportation
functionality of navigation decision supporting operations in the Western Arctic.
system – NAVDEC, a study on the development of In the sixth chapter there are described problems
navigation visual supporting system and its sea trial related to inland, sea-river, personal and car
test, application of ant colony optimization in ship’s navigation systems: the method of the navigation
navigational decision support system, issue of data fusion in inland navigation, PER estimation of
making decisions with regard to ship traffic safety in AIS in inland rivers based on three dimensional ray
different situations at sea, and ship handling in wind tracking, analysis of river – sea transport in the
and current with neuroevolutionary decision support direction of the Danube – Black Sea and the Danube
system. - Rhine River - River Main, study of the usage of car
Third chapter is about marine traffic. The readers navigation system and navigational information to
can find some information about development and assist coastal navigational safety, remote spatial
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