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The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance improvement on both stand-alone OTF Locata and INS is shown. The Locata/INS integration can achieve centimetre-level accuracy for position solutions, and centimetre-per-second accuracy for velocity determination.

A good port management system must be able to perform safe, predictable and efficient execution of transport processes. In order to improve the quality of the port management, a robust navigation system is required, which enables to provide the positions of vessels 24/7 on either open or impeded environment. This paper describes a robust georeferencing system that could satisfy centimetre-level accuracy requirements in port environments. The design is based on the loosely-coupled integration of Global Navigation Satellite System (GNSS) technology, a terrestrial radio frequency ranging system known as "Locata", and an inertial navigation system (INS). GNSS observations are processed using the precise point positioning (PPP) approach instead of the conventional differential approach. To satisfy both accuracy and reliability requirements, three integration algorithms -centralised Kalman filtering (CKF), federated Kalman filtering (FKF) and global optimal filtering (GOF) -are investigated and implemented into a "triple-integrated" PPP-GNSS/Locata/INS system. A preliminary performance assessment, which is based on the analysis of real data, concludes that all the three integration algorithms are able to provide centimetre-level positioning solutions. The results show that the FKF and CKF algorithms have similar performance, whereas the GOF solution has higher accuracy. Moreover, outlier simulation is conducted and the result verifies the outlier fault-tolerant capability of the GOF based PPP-GNSS/Locata/INS integrated system.

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This paper presents the results of a new multipath mitigating antenna "V-Ray" for use with terrestrial ranging signals in severe multipath indoor environments. The V-Ray antenna -as used in the Locata positioning system -forms tight beams that provide line-of-sight range measurements as well as azimuth measurements. To take advantage of these two types of measurements a new navigation algorithm -Position and Attitude Modelling System (PAMS) -is proposed for processing carrier phase and azimuth measurements via an unscented Kalman filter. The PAMS can output the complete navigation parameters of position, velocity, acceleration and attitude simultaneously. The indoor test was conducted in a metal warehouse and the results confirmed that the horizontal positioning solutions had an accuracy of better than four centimetres and an orientation accuracy of better than 1°.2. Locata positioning. 3. Attitude determination. 4. Multipath environment.