GNSS Measurements Model in Ship Handling Simulators

Electronic chart display and information system (ECDIS) forms the basis of contemporary and future marine e-navigation, track control, and integrated navigation systems, and is a key navigational aid in maritime ship handling simulators. All the ECDIS information is referred to as positioning, navigation, and timing (PNT) data derived from the global navigation satellite system (GNSS) by default. GNSS data fidelity, its representation, and accurate model of error propagation to ship final position are becoming the key factors enabling ship handling simulators to be utilized in navigators' training and research analyses of vessels' maneuvering. This paper presents an advanced stochastic model of GNSS code pseudorange observations and position-fix calculation based on GPS example. It has been developed for simulated GPS shipborne receivers interconnected to the ECDISs in physical and virtual reality ship simulators.