INTEGRATED NAVIGATION AND POSITIONING SYSTEM

James F. DeMatte and Nazaro Simonelli

Peer Reviewed

Abstract:	A unique integrated navigation and positioning system was developed by Systems Management, a unit of Sperry Division, for control of Saipem’s new semi-submersible pipe laying ship Custoro Sei. Accurate ship’s movement along a pre-surveyed route is provided for precision pipe laying in deep water. The navigation function measures vessel state in six degrees of freedom, and offers several modes of operation. Position reference selections may be made from a complement of microwave, UHF, and MF radio navigation systems; data from these systems are mixed with doppler water speed and gyrocompass information to derive navigation outputs superior to radio data or dead-reckoned data alone. A unique dead-reckoning mode, utilizing data obtained from the vessel’s mooring lines, was designed and incorporated into the navigation function; this dead-reckoning feature is peculiar to a vessel propelled by mooring lines, such as a pipe layer, and significantly enhances the navigation function during chronic prolonged periods of radio navigation unavailability. The ship is controlled automatically with respect to the navigation position and attendant data sources, in six degrees of freedom, by computer generated commands. A control operator, sitting at a specially designed console, and utilizing graphic and alphanumeric navigation and control situation displays, may command a fully automatic ship’s control sequence, or may “drive” the vessel semiautomatically using a joy stick for translation and a heading knob for azimuthal control. The concepts on which the navigation and positioning system were based are discussed, and the performance results of certain navigation at-sea trials are presented.
Published in:	NAVIGATION: Journal of the Institute of Navigation, Volume 29, Number 3
Pages:	221 - 234
Cite this article:	DeMatte, James F., Simonelli, Nazaro, "INTEGRATED NAVIGATION AND POSITIONING SYSTEM", NAVIGATION: Journal of The Institute of Navigation, Vol. 29, No. 3, Fall 1982, pp. 221-234.
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