Keyword: navigation


Cyber-resilience for marine navigation by information fusion and change detection

Dimitrios Dagdilelis*, Mogens Blanke, Rasmus Hjorth Andersen, Roberto Galeazzi

Cyber-resilience is an increasing concern for autonomous navigation of marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor information fusion, diagnosis of not-normal behaviours, and change detection. It proposes a two-stage estimator for diagnosis and mitigation of sensor signals used for coastal navigation. Developing a Likelihood Field approach, the first stage extracts shoreline features from radar and matches them to the electronic navigation chart. The second stage associates buoy and beacon features from the radar with chart information. Using real data logged at sea tests combined with simulated spoofing, the paper verifies the ability to timely diagnose and isolate an attempt to compromise position measurements. A new approach is suggested for high level processing of received data to evaluate their consistency, which is agnostic to the underlying technology of the individual sensory input. A combined generalized likelihood ratio test using both parametric Gaussian modelling and Kernel Density Estimation is suggested and compared with a detector using only either of two. The paper shows how the detection of deviations from nominal behaviour is possible when the navigation sensor is under attack or defects occur.

Ocean Engineering / 2022
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Digitalization & Publication of Historical Sea Charts of the Danish Straits

Thomas T. Nielsen

The waterways and high seas in and around Denmark have been more or less systematically mapped since the renaissance. However, old naval and maritime charts are rarely the precise instruments of navigation and orientation we are used to, and often many other aspects of the coastline are included in the maps. These old maps also do not concur to contemporary navigational grids and coordinate systems which makes comparisons with modern information difficult.

In this video, Associate Professor Thomas T. Nielsen (Roskilde University) will explain about a project where the Maritime Museum of Denmark, The Royal Danish Library and RUC collaborated on scanning, geometrically rectifying and finally publishing old naval charts at

The session was developed in collaboration with MARLOG.

April / 2021
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Navigation safety and risk assessment challenges in the High North

Marchenko, N.A.; Borch, O.J.; Andreassen, N.; Kuznetsova, S.Y.; Ingimundarson, V.; Jakobsen, Uffe.

The sea ice in the Arctic has shrunk significantly in the last decades. Partly as a result, the transport pattern has changed with more traffic in remote areas. This change may increase the risk of accidents. The critical factors are harsh weather, ice conditions, remoteness and vulnerability. In this paper we look into the risks of accidents in the Atlantic Arctic based on previous ship accidents and the changes in maritime activity. The risk has to be assessed to ensure a proper level of response in emergency situations. As accidents are rare, there are limited statistics available for Arctic marine accidents. Therefore, in this study a mostly qualitative analysis and expert judgement is the basis for the risk assessments. Implications for the emergency preparedness system of the region are discussed. The consequences of incidents depend on the incident type, scale and location,

Book chapter in in the High North. in A Weintrit (ed.), Marine Navigation and Safety of Sea Transportation / 2017
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