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Dead reckoning for GNSS denied scenarios – an introduction

Dead-reckoning is a term coined in the 1600s by ship navigators to estimate course and distance when no landmarks or stars could be seen. The history behind the term dead-reckoning reputes that a log or other floating object would be thrown overboard at the bow of the ship and observed as the ship passed it by to estimate velocity (speed). Using velocity, a compass and the directional effects of current and wind, ship navigators could plot or estimate a course with a reasonable degree of accuracy for the time, especially over short distances.

Traditional maritime navigators used a variety of tools and techniques to traverse the high seas

Imagine exploring a cave system, slowly heading through it by map and torchlight. You make turns and move forward then enter different tunnels and so on. Suddenly, your torch batteries decide to die and you are left in total darkness without any navigation aids or devices. You might immediately panic and start shouting for help, but the echoes only serve to heighten your panicked state. Or, you remember where you were on the map when the light went out – your last known position; then attempt to retrace your steps by estimating your position. You go back to what you estimate to be your previous straight line direction and distance, then turn in the reverse direction where you think you last turned and by the same amount and travel an estimated distance and so on. Effectively, you are dead-reckoning. Hopefully you remember your initial route well and your estimates of distance by steps and orientation are accurate until you see the glimmering saviour of light. Better still, your torch batteries decide to rescue you.

Interestingly, there are a great many creatures of land, air and sea that can innately dead-reckon with incredible accuracy. Many of them rely on dead-reckoning to quickly and reliably return to a safe haven in the face of danger. Survival often depends on it. Humans, on the other hand, are not particularly adept at dead-reckoning. So we invent things that can help us do it.

We will use the animation below to illustrate a dead-reckoning being applied to a vehicle using an inertial navigation system (INS).  Watch the entire animation. To keep things simple, the vehicle is able to rotate on its Z-axis. The blue variant shows the perfect trajectory. That is, where we actually want to go by distance, time and heading. The vehicle accelerates from standstill (zero velocity) and back to zero over a period between each change of direction.

The red vehicle is an attempt to follow the trajectory of the blue vehicle using dead-reckoning by an INS (Inertial Navigation System) only. That is, the INS accelerometers and gyroscopes are estimating linear acceleration and rate of rotation, with an internal timing clock reference. As you can see, there are discrepancies between the two trajectories due to limitations in sensor accuracy and a tendency for sensors to drift. Note that inaccuracy and drift is exaggerated for illustrative purposes. 

The trajectory for the blue vehicle is:

• Move straight ahead from ( A ) 7.5 m to ( B ) in 3 s.
• Rotate 45° counterclockwise, move straight ahead from ( B ) 22.5 m to ( C ) in 5 s.
• Rotate 135° clockwise, move straight ahead from ( C ) 42.5 m to ( D ) in 9.5 s.
• Rotate 30° clockwise, move straight ahead from ( D ) 15.8 m to ( E ) in 5 s. 

At the end of the journey, the blue vehicle should have travelled 88.3 m over 22.5 s (not including time required for rotation). T he red vehicle is close to the blue vehicle, however, some distance away in terms of position and heading.

Global navigation satellite system (GNSS) and dead-reckoning today

On-earth navigation, with the exception of underwater applications, typically rely on global navigation satellite systems (GNSS) to provide a reliably accurate position for location. Note that “GPS”, which is probably the most well known satellite constellation, was the first such satellite positioning system to be developed and deployed. The GPS constellation is operated by the United States. Timing signals from satellites in GNSS constellations are constantly emitted towards the Earth. Part of the signal includes the exact time that the signal was sent.

GNSS receivers (any smartphone has one) require a minimum of 4 observable satellites to determine position to approximately 5 m accuracy. The GNSS receiver calculates its position based on the time each observable satellite signal was sent and received as well as the position of the observed satellite. With the aid of ground base stations providing correction information for satellite signals, high performance antennas and processors, and point-to-point geometry processing (kinematics), this accuracy can be improved to <1 cm (<½”).

There are several GNSS satellite constellations orbiting the Earth. Each providing data for positioning across various continental areas

GNSS is great until your equipment can no longer “see” enough satellites to provide position. What causes degraded GNSS reception or non-availability of GNSS?

• Underground and tunnels
• Areas with tall buildings
• Ravines, canyons and valleys
• Areas of insufficient GNSS coverage
• Amongst dense vegetation
• Jammed or compromised/spoofed GNSS signals
• Failure of GNSS reception equipment

This is when dead-reckoning is required to maintain movement tracking until such time as a GNSS fix is attained. Dead-reckoning today, using modern equipment, is a far cry from its humble roots. Sure, many of the skills of compass, charts, rules and protractors are increasingly lost to technology, but this has also made dead-reckoning a technology that we can rely on when, figuratively speaking, the satellites go out.

Illustration depicting some scenarios that may impair or deny GNSS signal reception. ( A ) Tall buildings and urban canyons; ( B ) dense and tall vegetation; ( C ) underground mines and tunnels; ( D ) canyons, gorges and mountainous terrain; ( E ) indoor and undercover use; ( F ) underwater

The need for dead-reckoning in the modern age has stemmed largely from the needs of military forces across the world due to location and the need to be less prone to GNSS signal jamming and manipulation (spoofing). The market for dead-reckoning equipment, however, is broadening in the commercial and civilian sectors, particularly in surveying, as necessary for “filling in the gaps” between GNSS fixes as well as for redundancy applications. Examples include:

• Aerial and ground vehicle navigation
• Building-bound/interior automated vehicles and robots
• Mining and underground
• Scientific and environmental research

Enter the inertial navigation system (INS). INS applies the principle of dead-reckoning to estimate position when GNSS positioning information is unavailable. It can also be used in conjunction with active GNSS to assist in improving position accuracy by providing a secondary source for input data that can be used in position computations. As an example, Advanced Navigation inertial navigation systems constantly fuse INS and GNSS data as part of a sophisticated AI-based method of internal verification. Using GNSS as a source of reference, the INS is able to “learn” sensor drift and other errors that it can then apply to inertial calculation when performing actual dead-reckoning.

There are several major technologies that are popular in inertial navigation systems. Each type has a bearing on how accurate the system is, how robust it is against shock, vibration, noise and interference, how much it costs, how bulky or heavy it is and so on. These factors basically determine its end use.

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Dead Reckoning (video)

Written by Endeavour Sailing on 04 December 2014 .

Your GPS does not appear to be functioning correctly, you need to plot your position quickly on the chart... How do you do it?  The simplest and quickest technique is dead reckoning.

Dead Reckoning is plotting your position using the direction and distance you have travelled through the water.  See our video which explains and demonstrates this technique. 

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Restaurant-Yacht Chaika

Ratings and reviews, location and contact.

Pleasantly surprised, service is good so is the food. Great selection of Fusion food, a mixture of Italian, Japanese, European, Asian etc. A pleasantly nice dining experience, highly recommended, a must try!

Thank you for your feedback and invite you to have lunch or dinner again aboard the ship in an atmosphere of high standards of yacht hospitality.

everything was perfect - the food, the service, the desserts were the best, nice atmosphere and the location - magical

Best food, best view in Moscow. absolutely faultless from arrival to finish. Best risotto i had for many years absolutely perfectly cooked. The view on Ukrainian hotel and the white house by night is amazing

Had to wait for the food for 1.5 hours and then another 20 minutes for the check. Finally called for the manager and he offered... a 10% discount as a compensation. Simply pathetic! The food is mediocre at best. Not bad per se, but one... would expect something better considering the prices. There are many places to eat in area that are much better. Avoid this one at all costs. More

Hello, Alexander Your comment is extremely important for us, thank you a lot for it. We are terribly sorry for your time that you`ve spent waiting your order and we have already taken actions to improve quality of our service and it would be realy... More

Food is very expensive,very pretentious, doesn't worth that money. Portions are very small. We ordered ravioli and there were 4! Four raviolis! For almost 15 euros. Then we asked to bring us dessert menu but nothing, they didn't even bothered, so we payed and left... without dessert. Very poor service for that price. More

This is a very good restaurant. The food is really good, maybe the best in Moscow. The service is also good. The view from the restaurant is great. The prices are very high.

I often visit this restaurant and must say it’s one of the best in Moscow in terms of quality and service. Staff really try hard to make sure that you are happy and satisfied. Customer service is a huge problem in Moscow but Chaika sets... a great example for others in the industry! Food is delicious and the menu has lots of options for everyone! Atmosphere is great and view is beautiful on the embankment. Special thanks to German & Oleg! More

Thank you for your feedback! Again aboard the yacht restaurant "Chaika" in accordance with the high standards of yacht hospitality.

Highly recommended, great location in the city center of Moscow with a superb atmosphere. Too many menu choices, though all delicious!

Thx a lot for your review! We are looking forward to see you in our restaurants.

Visited this lovely restaurant with a friend of mine. It was relaxingly warm August evening - so the place on the river seemed like a good idea. We came quite early and the restaurant was not full. The hostesses kindly offered several places to sit... and we chose to sit on the sofas. We had some wine, which was good. We struggled a bit when deciding about the food as few options (scallops) were not available. Fish on ice on display did not look very fresh. To be honest it was an unusually hot August and it is probably understandable that some see food options were not available. However, we did manage to order something and sat waiting and looking onto the river. My long-legged friend struggled sitting at the low sofa and the manager noticed that, offering as a very good, proper table beside the open window. It was nice touch and I was very pleased by their polite observations and immediate reaction to solve the problem. Food was quite good and presentation was perfect. Perhaps I can something about the food, but 1 visit is not enough to criticize or make a definitive opinion. Overall, quality place, which of course, does not come cheap. I would recommend this restaurant without hesitation. More

Good afternoon! Thank you for your detailed feedback! We are looking forward to seeing you again, we are sure that you will be delighted with our dishes!

I've been here several times during two business trip in Moscow. The overall quality for both service and food is absolutely top-notch, plus the location is very unique.

Hello! Thank you for your feedback! We are looking forward to visiting again!

Located on a boat at Krasnopresenskaya River Bank this 5 Star Restaurant transforms into a party location due to multiple groups hosting events. Impressive wine selection, Asian and European kitchen...

Thx a lot! We are waiting for you!

It is a nice place to gather specially at the lounge The service and staff very good I like the river view The food is almost like all restaurants in Russia they serve different cuisine. Staring Russian appetizer till Asian dishes Presentation and taste amazing... I consider it overpriced little bit More

Good location. Nice views. Good choice of food and drinks. European and Asian menu. Nice service. Pricey enough.

Had a large group dinner here. Food was above average and service quite good. The real attraction is the view of Moscow from the river on a nice night. Great place for a larger group dinner. More

Hello, John We are really pleased by reading that you and your friends were satisfied by our service, client`s experience is the highest value for us. We will be happy to see you again, come and enjoy some new dishes from our chef and nice... More

The luxurious atmosphere of this place, the view and the location make it quite outstanding. We had dinner here with friends and the dishes were amazing, accompanied by a chilled bottle of Chablis, it really made me feel as if it was a part of... the classic Russian movie. More

RESTAURANT-YACHT CHAIKA, Moscow - Presnensky - Menu, Prices & Restaurant Reviews - Tripadvisor

• Service: 4.5
• Atmosphere: 4.5

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8 Yacht Clubs and Marinas in the Philippines to Moor Your Boat In

FoodfindsAsia.com | 8 Yacht Clubs and Marinas in the Philippines to Moor Your Boat In | Filipinos’ history as a maritime people date back to prehistoric times. In fact, the Philippines’ basic sociopolitical unit today, the barangay, traces its etymological origins to the balangay , the ancient outrigger boats that were used by precolonial Filipino communities to explore and conquer islands this side of the Pacific. As a people belonging to a seafaring culture, it’s no wonder that modern Filipinos are taking a retrospective look at their glorious past as Austronesian mariners and are developing a renewed love for the ocean and marinas as present-day yachtsmen.

Today, Philippine marinas look to accommodate more and more yachts and other pleasure watercrafts as the years go by. In 2017, an ASEAN Briefing op-ed piece named the Philippines as a country with high potential in yacht industry growth. The natural beauty of the Philippine islands and its fantastic bays, combined with a growing interest in leisurely sea travel, can explain the spike in yachting activities throughout the country.

Are you part of the demographic that’s become enamored of the yachting lifestyle? Do you want to know where in the country you can berth your watercraft? Leading sailboat and motorboat authority Europa Yachts is happy to enter the conversation, and recommends the following locations for discovering the Philippines through yachting. Here is a short list of clubs and marinas in the country, organized by island region.  

Manila Yacht Club and Marina, Manila, Metro Manila

Established in 1927, the Manila Yacht Club and Marina is one of the oldest yacht clubs in all of Asia, and is nestled in the scenic Manila Bay. It is also near other well-known landmarks in the city, such as the Cultural Center of the Philippines (CCP), the headquarters of the Philippine Navy, and the US Embassy. Facilities in the marina include a launching ramp and a fueling center, and the club itself is host to a restaurant and gorgeous function rooms. The Manila Yacht Club only welcomes visitors who arrive by boat, and it charges an initial security deposit of USD 750 upon arrival. Club membership is mandatory for medium and long-term mooring of boats.

Subic Bay Yacht Club, Zambales

The Subic Bay Yacht Club, which was founded in 1998, upholds itself as the country’s premier yacht club. It operates in the deepest bay in the country, and can host vessels well beyond 50 meters in length. Already benefitting from the innate beauty of the Zambales mountains surrounding it, the club hosts a number of other attractions, including its luxury accommodations, swimming pools, and its own movie theater, bowling alley, and nightclub. Those who venture outside of the club’s premises can also shop for well-priced imported goods at the Subic Freeport Zone, engage in water sports , or sign up for diving excursions.

Punta Fuego Yacht Club, Batangas

Peaceful Punta Fuego is a mecca for those who love the sport of sailing. As per its official website, the Punta Fuego Yacht Club aims to serve “a dynamic and vibrant community of boat enthusiasts and yacht owners.” This it does by playing host to a diverse population of watercrafts, from large catamarans and mono-hull yachts to small boats. Non-members of the club may use the berths for up to 3 weeks, and can refuel at the marina’s fueling station. The yacht club offers other amenities such as locker rooms, shower rooms, Internet facilities, a chart room, and a restaurant called Barracuda Bar, which serves delicious fares. Outside of the yachting crowd, Punta Fuego Yacht Club also caters to those wishing to celebrate weddings, conferences, and corporate events in their opulent quarters.

Puerto Galera Yacht Club, Oriental Mindoro

Further south, yachtsmen may moor at the Puerto Galera Yacht Club in Oriental Mindoro, an island location that’s home to tourist attractions like the Sabang Wreck dive site, lively beachfront resorts, and the Malasimbo Music Festival. Puerto Galera Yacht Club has been in operation for almost thirty years and lends services such as refueling provisions and yacht repairs from its marina. Boat owners also enjoy optimal convenience if mooring here, as they can also shop for spare parts in the nearby Batangas port.

Busuanga Yacht Club, Puerta del Sol Bay Marina, Palawan

Beautiful Palawan is a bucket-list destination for many, especially those who dream of cruising its crystalline waters. Accommodating the yachting community in this island province is the Busuanga Yacht Club, which promises secure mooring amidst breathtaking white-sand beaches. Here, each vessel will benefit from a typhoon-safe harbor, easy refueling, and direct access to transportation hubs like the New Busuanga Airport. Adjoining this marina is the Puerta del Sol Bay Resort, which offers luxurious accommodations to visitors. When not atop the deck of a boat, travelers can also explore the lagoons and freshwater lakes of Coron, go shipwreck diving, or relax in the hot springs of Maquinit.

Iloilo Sailing Club, Arevelo, Iloilo City, Iloilo

Iloilo Province is home to some of the country’s most beautiful old-world architecture, a flourishing ecotourism industry, and delectably fresh seafood cuisine. What will round off an unforgettable visit to Iloilo, however, is an excursion to the Iloilo Sailing Club on a leisure watercraft. The club accepts visitors and encourages membership in the case of medium and long-stay mooring. It also hosts a number of amenities and activities, including a dinghy storage, a beach bar and restaurant, and classes for those who want to learn about sailing. In recent months, the Iloilo Sailing Club has also been a convenient meet-up point for big maritime events, such as the Iloilo-Guimaras Paraw Regatta and the Seafarers’ Job Fair.

Cebu Yacht Club, Mactan Island, Cebu

The historic Mactan Island in Cebu was the site of Portuguese explorer Ferdinand Magellan’s arrival in the Philippines. Now known as a commercial hub that hosts a prolific furniture and musical instruments industries, Mactan is also the location of the Cebu Yacht Club, an institution that is beloved by the locals. Aside from being an ideal spot to restock on much-needed fuel and supplies, the Cebu Yacht Club is also a trusted club to commission for boat repairs. There’s a good vibe in this club for everybody, as it sports both luxury accommodations and a waterfront strip of restaurants that laid-back diners can frequent. MINDANAO

Holiday Oceanview Marina, Samal Island, Davao del Norte

The Holiday Oceanview Marina is a major attraction of Samal Island in Davao del Norte Province, one that welcomes Filipino and foreign yachtsmen alike to moor within its premises. The space is quite roomy, in fact, with 56 berths that can fit vessels up to 15 meters in length. The club also has a boat ramp that can accommodate boats up to 18 meters in length. The well-guarded and weather-safe marina is a gateway to some of Mindanao’s finest attractions, such as the Pearl Farm, Hagimit Falls, and Giant Clam Sanctuary.  

There’s no better way to discover the Philippines from end to end than getting onboard a seaworthy vessel and going on a long cruise, with stops in some of the most beautiful places in the country. Find a safe harbor in any of these major clubs and marinas, and participate in the renaissance of sailing in the Philippines.

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Is it possible to pay for an order with Visa and MasterCard payment cards?

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Is it possible to pay by credit card?

What payment methods exist in your company, can i return the product after purchase, how do i use a promotional code, what is the validity period of the gift certificate, what if the prepaid goods are not delivered, where and how can i exchange or refund.

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