Analysis of Satellite Compass Error’s Spectrum

Felski, Andrzej; Jaskólski, Krzysztof; Zwolak, Karolina; Piskur, Paweł

doi:10.3390/s20154067

Cited by 15 publications

(19 citation statements)

References 10 publications

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“…For safety, valves are installed in the reservoirs to discharge the air in over-pressure cases. L. Gyro compass: The gyroscope is an essential tool used for navigation, providing an indication of the true north with deviations as a function of the direction and the speed of the vessel ( [87,88]). The most important feature of this component is the total ineffectiveness of external magnetic fields.…”

Section: Fuel Oil System (Fos)mentioning

confidence: 99%

Cyber Security in the Maritime Industry: A Systematic Survey of Recent Advances and Future Trends

et al. 2022

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The paper presents a classification of cyber attacks within the context of the state of the art in the maritime industry. A systematic categorization of vessel components has been conducted, complemented by an analysis of key services delivered within ports. The vulnerabilities of the Global Navigation Satellite System (GNSS) have been given particular consideration since it is a critical subcategory of many maritime infrastructures and, consequently, a target for cyber attacks. Recent research confirms that the dramatic proliferation of cyber crimes is fueled by increased levels of integration of new enabling technologies, such as IoT and Big Data. The trend to greater systems integration is, however, compelling, yielding significant business value by facilitating the operation of autonomous vessels, greater exploitation of smart ports, a reduction in the level of manpower and a marked improvement in fuel consumption and efficiency of services. Finally, practical challenges and future research trends have been highlighted.

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Section: Fuel Oil System (Fos)mentioning

confidence: 99%

Cyber Security in the Maritime Industry: A Systematic Survey of Recent Advances and Future Trends

et al. 2022

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“…A different category is the equipment of unconventional and conventional vessels with compasses using the technique, including the use of artificial navigation system satellites, particularly satellite compasses. The above-mentioned compasses are a source of numerous studies and experiments aimed at the elimination of operational errors and the characterization of the source of their origin [ 4 , 5 , 6 , 7 ]. In [ 4 ], simulations of the operation of a classical gyrocompass were presented.…”

Section: Introductionmentioning

confidence: 99%

“…This task was carried out from the moment the gyrocompass was activated, through the observation of the behavior of the main axis of the gyroscope. The articles [ 5 , 7 ] present a different approach and analyze compass errors in the frequency domain. In contrast to that, Ref.…”

Section: Introductionmentioning

confidence: 99%

“…It is also worth noting that this process is not defined as a normal distribution. This process requires knowledge of the sensors’ error spectrum [ 5 , 7 , 8 ]. In article [ 8 ], the reference heading from the GPS-RTK system was used to determine the error of the gyro and magnetic compass.…”

Section: Introductionmentioning

confidence: 99%

“…In article [ 8 ], the reference heading from the GPS-RTK system was used to determine the error of the gyro and magnetic compass. In contrast to [ 7 ], the reference heading was determined based on the heading estimated from three compasses.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Methodology for Verifying the Indication Correctness of a Vessel Compass Based on the Spectral Analysis of Heading Errors and Reliability Theory

Jaskólski

2022

Sensors

Self Cite

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This article presents a novel method for validating compass devices. To this end, the post-processing method was used, i.e., the previously recorded vessel’s heading from three compass devices was applied. A spectral analysis of the recorded heading in the frequency domain was conducted by applying the fast Fourier transform method. Based on a synthetic summary of the results of spectral analysis in the heading error frequency domain, the factors causing errors of low-frequency compass device indications, manifested by the vessel’s yawing due to the vessel steering errors on the pre-determined course and the external factors causing total drift of the vessel, were eliminated. To this end, the convolution functions in the form of the sum of input signals with an impulse response, i.e., the filter with a finite impulse response (FIR) and with an infinite impulse response (IIR), were used to compare the effectiveness of the methods estimating the vessel’s heading. The final stage of the research process in the methodology applied was the use of state- and time-discrete Markov processes whose task is to determine the matrices of the intensity of transitions between the states of individual compass systems.

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Implementation of a human‐aware robot navigation module for cooperative soft‐fruit harvesting operations

Guevara

Hanheide

Parsons

2023

Journal of Field Robotics

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In the last decades, robotic solutions have been introduced in agriculture to improve the efficiency of tasks such as spraying, plowing, and seeding. However, for a more complex task like soft‐fruit harvesting, the efficiency of experienced human pickers has not been surpassed yet by robotic solutions. Thus, in the immediate future, human labor will probably be still necessary for picking tasks while robotic platforms could be used as collaborators, supporting the pickers in the transportation of the harvested fruit. This cooperative harvesting strategy creates a human–robot interaction (HRI) that requires significant further development in human‐aware safe navigation and effective bidirectional communication of intent. In fact, although agricultural robots are considered small/medium size machinery, they still represent a risk of causing injuries to human collaborators, especially if people are not trained to work with robots or robot operations are not intuitive. Avoiding such injury is the aim of this work which contributes to the development, implementation, and evaluation of a human‐aware navigation (HAN) module that can be integrated into the autonomous navigation system of commercial agricultural robots. The proposed module is responsible for the detection and monitoring of humans working around the robot and uses this information to activate safety actions depending on whether the human presence is considered at risk or not. Apart from ensuring a physically safe HRI, the proposed module deals with the comfort level and psychological safety of human coworkers. The latter is possible by using an explicit human–robot communication strategy that lets both know of the other's intentions, increasing the level of trust and reducing inefficient pauses triggered by unnecessary safety actions. The proposed HAN solution was integrated into a commercial agricultural robot and tested in several situations that are expected to happen during cooperative harvesting operations. The results of an usability assessment illustrated the benefits of the proposal in terms of safety, efficiency, and ergonomics.

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Analysis of Satellite Compass Error’s Spectrum

Cited by 15 publications

References 10 publications

Cyber Security in the Maritime Industry: A Systematic Survey of Recent Advances and Future Trends

Cyber Security in the Maritime Industry: A Systematic Survey of Recent Advances and Future Trends

Methodology for Verifying the Indication Correctness of a Vessel Compass Based on the Spectral Analysis of Heading Errors and Reliability Theory

Implementation of a human‐aware robot navigation module for cooperative soft‐fruit harvesting operations

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