One of the most important problems in maritime navigation is that of finding the ship’s position at sea. Nowadays, the ship’s position can be determine using Global Navigation Satellite Systems (GNSSs); however, celestial navigation methods are still taught and can be used as a second line method in case the GNSS fails. In this paper, we present a method proposed by Carl Gauss, in 1809, to determine the ship’s position at sea. The method proposed requires only the observation of two altitudes of the Sun at two different instants of the day and calculates the geographical position of the ship without the need of other information such as assumed position or the use of the Nautical Almanac. This self-contained method was implemented in an Excel spreadsheet and was tested using real observations of the Sun. The results obtained were compared with the GPS (Global Positioning System) coordinates and we concluded that the results are extremely satisfactory. The method proposed represents a good alternative when the electronic systems fail.

This paper focuses on developing a robust control strategy for robotic manipulators, which are widely used in industrial and automation systems due to their flexibility and precision. However, their performance is often affected by factors such as unmodelled dynamics, friction and external perturbations, making accurate trajectory tracking a challenging task. To address these issues, an enhanced active disturbance rejection control (EADRC) scheme is proposed. The method employs an extended state observer (ESO) based on the system dynamics to estimate and compensate for internal uncertainties and external disturbances in real time. To boost the tracking accuracy, a nonlinear feedback control scheme is formulated. To further refine its performance, key controller parameters are tuned using an enhanced particle swarm optimisation (PSO) method, which incorporates elements of chaos theory to improve global search capability and convergence behaviour. The proposed EADRC method is evaluated through comparison with conventional controllers, and the results demonstrate its superior tracking accuracy and robustness.

Underwater acoustic source localisation is essential for marine monitoring, navigation of autonomous underwater vehicles and underwater surveillance. Time Difference of Arrival (TDOA) localisation is attractive because it avoids absolute time synchronisation; however, its accuracy degrades in realistic underwater channels due to multipath, measurement noise and environmental variability (e.g. sound-speed mismatch) as well as sensor geometry limitations. This paper proposes an optimisation-based TDOA localisation framework that integrates: (i) Kalman filtering (KF) for dynamic tracking; (ii) extended Kalman filtering (EKF) to handle nonlinear measurement models; and (iii) nonlinear least-squares (NLS) minimisation to refine the source position. A parametric analysis is also presented by varying key system parameters – primarily noise level and measurement uncertainty – to quantify performance trade-offs in terms of localisation error and convergence behaviour. Simulation results (static and moving source cases) show that LS provides high accuracy for low-noise/static cases, while KF/EKF are more robust for dynamic and high-noise scenarios; EKF achieves the fastest error decay due to explicit nonlinear modelling. These results demonstrate the proposed framework’s effectiveness for robust underwater acoustic source localisation.

Currently, most countries predominantly rely on the knowledge derived from formal education and prior experience when establishing competency standards for marine safety investigators, often overlooking critical training requirements and systemic challenges. To address these shortcomings, this study proposes a comprehensive framework for evaluating and enhancing the capabilities of marine investigators. The research identifies four key dimensions influencing the qualifications of investigation officers: personal conditions, internal limits, external effects and subsequent troubles. This study employs expert interviews and the Decision Analytic Network Process (DANP), a Multiple Criteria Decision Making (MCDM) methodology. Findings reveal that personal conditions are the most influential factor. Moreover, significant causal relationships exist among the four dimensions, underscoring the importance of adopting a more holistic and systematic approach to the training and certification of marine safety investigation personnel. This paper provides actionable recommendations for governments to refine and enhance future training programs for marine safety investigators.

To address the challenges of long voyages and the significant effects of Earth’s curvature on ocean navigation, this paper proposes, for the first time, a guidance and control strategy for great-circle routes based on Mercator projection nautical charts. First, a guidance strategy for great-circle routes is designed by combining the traditional line-of-sight (LOS) algorithm with spherical triangles. Tracking control is subsequently achieved through the integration of a closed-loop gain-scheduling algorithm. Next, the vessel’s position is transformed from a planar map to a Mercator projection nautical chart to better meet the practical needs of maritime engineering. Finally, the effectiveness of the designed guidance and control algorithm is verified through simulations. The experimental results show that the proposed guidance and control strategy can significantly enhance the stability of the vessel along the great-circle route, reduce navigation time and lower fuel consumption, demonstrating high navigation efficiency and economy.

This paper examines the grounding of the Ever Given in the Suez Canal using a hybrid analytical framework integrating Fault Tree Analysis (FTA), Reliability Block Diagram (RBD), and Bowtie Modelling enhanced by the Haddon Matrix. The framework identifies causal pathways leading to loss of navigational control and canal blockage while evaluating barriers for preventing and mitigating similar incidents. FTA structures the causal logic and defines basic events, which are mapped into an RBD to reveal system vulnerabilities and limited redundancy. The Bowtie model organises preventive and mitigative barriers across pre-event, event, and post-event phases, while the Haddon Matrix ensures balanced consideration of human, environmental, and equipment factors. The analysis identifies three dominant vulnerabilities: procedural non-compliance, reduced situational awareness under adverse weather, and navigational challenges in restricted waters. The study demonstrates that the hybrid framework provides a practical method for tracing causation, visualising vulnerabilities, and strengthening safety-barrier design in restricted-water operations.

In maritime transportation, pilotage plays a crucial role in ensuring navigational safety. Marine pilots possess in-depth knowledge of local waters, currents and weather conditions, guiding ships safely through complex waterways. This expertise minimises risks such as collisions and groundings, thereby protecting both the ship and the environment, and promoting safe, efficient maritime traffic management. However, grounding accidents in pilotage waters can still lead to severe environmental, economic and operational damage, including oil spills, ecosystem harm and costly salvage efforts. Continuous improvements in pilotage are therefore vital to minimise these risks. In this study, with the combination of HFACS methodology and Apriori algorithm, factors contributing to grounding accidents in ships navigating with marine pilots and ship features are examined, and strong association rules among factors are achieved. The prominent factors discovered are ‘Ship–Marine Pilot Communication Problems’, ‘Inappropriate Passage Plan’, ‘Ineffective Usage of Bridge Equipment’, ‘Port Authority Resource Management’ and ‘Ineffective Teamwork’. Ship-marine pilot communication problems are the most prevalent factor in these derived rules which is appearing in 8 of 9 rules and exerting a substantial influence on the accidents. Inappropriate passage planning, identified in 6 rules, emerges as another significant and recurrent contributing factor. Based on the association rules, this study provides significant insights and actionable recommendations for stakeholders to prevent grounding accidents in marine pilot-assisted navigation.

This paper proposes an improved power and distortion metrics combination method for detecting spoofing attacks on the Global Navigation Satellite System (GNSS). The proposed Multilayer Auto Switcher Comparator (MLASC) is a multi-metric combination system, each configured to take advantage of the three-input gates for logic synthesis grouped in two sets where different metric monitors are connected to assure the minimised probability of missed detections and maximising the probability of correct spoof detection. The same monitors can be configured differently on each available layer to increase the detection probability. The procedure is also optimised by an algorithm that controls the automatic switching of the operation between the two multi-logic gate sets. This work is implemented by developing a relevant detection software tool on which the conducted experiments show that at least a 91.1% to 98.7% probability of correct detection is achieved, which is significantly higher than its predecessors’ result.

This paper presents several considerations based on the grounding accident of the small Norwegian bulk carrier Kaami in Scotland 2020, a case which shows surprising deviations in the set-up, pre-voyage use, and the way the Electronic Chart Display and Information System (ECDIS) was subsequently used to monitor the voyage. Using Reason’s Swiss cheese safety barrier perspective, we present and analyse eight safety barriers and how they were breached at the time of the accident. It was not possible to determine if these violations were done wilfully or because the navigators were unaware of the status of the chart system. Assuming the latter, we present design advice that we believe could have averted the accident. Using the Kaami case as an illustration, we advocate that the complexity of modern ECDIS possibly has grown to a point where it is evident that something must be done to address this.

Global Navigation Satellite Systems (GNSS) face Common-Mode Errors (CMEs) such as atmospheric delays. While techniques like Differential GNSS (DGNSS) or Precise Point Positioning (PPP) mitigate these errors, Real-Time PPP (RT-PPP) emerges as a promising solution for smart cities and Connected Autonomous Vehicles (CAVs) by enhancing accuracy without reference stations. In Latin America, RT-PPP users benefit from Global Ionospheric Models (GIMs) from the International GNSS Service (IGS) and Vertical Total Electron Content (VTEC) maps from the University of La Plata (MAGN). This work comprehensively compares these products via simulated RT processing, focusing on Single-Frequency (SF) Real-Time Single Point Positioning (RT-SPP), which is crucial for low-cost GNSS-equipped CAV applications. Results demonstrate that MAGN predicts VTEC better across Latin America, showing a 46% average improvement. Consequently, MAGN-based RT-SPP achieves 67% and 21% higher horizontal and total positioning accuracies compared to IGS-based RT-SPP across various test scenarios using extensive observation data.

Global Positioning System (GPS) observables are often affected by non-Gaussian errors caused by multipath propagation and environmental interference. The Extended Kalman Filter (EKF) can account for system nonlinearity, but its minimum mean square error (MMSE) formulation is less suitable when the measurement errors depart from the Gaussian assumption. Among information-theoretic alternatives, the minimum error entropy-based EKF (MEE-EKF) provides greater robustness by reducing uncertainty in the error distribution, yet remains prone to bias owing to the translation invariance of entropy. The maximum correntropy criterion-based EKF (MCC-EKF) improves outlier suppression by concentrating the error probability density around zero, yet its adaptability to varying noise conditions remains limited. This study therefore adopts a centred error entropy EKF (CEE-EKF) to combine the desirable properties of these two information-theoretic criteria. Its performance is compared with the Student’s t-based EKF (ST-EKF) and Variational Bayesian EKF (VB-EKF). The results indicate that the CEE-EKF provides more effective outlier mitigation and consistently improves positioning accuracy under non-Gaussian measurement errors.

This study evaluates the effectiveness of high-fidelity maritime simulators in improving seafarer training, focusing on navigation and emergency response skills. Using Kongsberg Polaris full-mission simulators, 98 participants (students, professionals and instructors) completed structured simulator exercises and were assessed using customised post-exercise questionnaires. Results indicate improved practical skills, with professionals reporting higher confidence and perceived control than students. Emotional engagement was also important: professionals showed more balanced responses, whereas students exhibited higher arousal and more variable perceptions of control. Instructors emphasised real-time feedback and scenario customisation as key to effective training. Limitations included challenges with certain manoeuvres, lack of integrated assessment tools and high simulator costs limiting wider adoption. The study concludes that high-fidelity simulators are valuable in maritime education, although further technological development and adaptation for less experienced trainees are needed.