Positioning with interactice navigational structure implementation

The most essential outcome of theoretical studies and selected numerical analyses, presented in this work, are the suggestions related to the technology of producing and working out the results of observations, carried out in the Interactive Navigational Structures. Implementing such a Structure into navigation practice will enable supporting the positioning process by taking use of objects, which until present, in classic navigation, have been omitted due to a lack of information about their coordinates. Establishing and dynamic developing the Interactive Navigational Structures is of special importance, in case the available positioning systems appear insufficient (e.g. in submarine navigation or any work of special character). IANS can be based on various systems and navigational observations, including the satellite GPS systems. Selection of an observational model, accommodated to any current navigational situation, is simplified owing to the decisive functions, recommended in the work; applying the above functions, in conjunction with the functions of attenuation, has resulted in making more efficient the process of estimation, robust for out-lying observations. Due to diversity of the observations sets and the "by stages" way of working them out, the estimation is of sequential character (sequential robust estimation). The adjustment task, formulated and resolved in this work, has been related to the method and adjusted to the IANS chain being under development. The fundamental elements of this task's function of target are, the suggested in the work, the equivalent-decisive covariance matrix and equivalent-decisive weights matrix, both connected by statistical model. The method of identification of not only out-lying observations but also out-lying adjustment points and neutralization of an influence thereof is also advised in the work; the method has been resulted from free adjustment and M-estimation principles. The method, named hybrid M-estimation, can make a great difference specially in extreme navigation conditions, carried out basing intensely on points of the set R. The numerical tests, described in Chapter 6, refer to simulation of elementary navigational situations, connected with developing IANS and using thereof. They are to illustrate principal properties of the suggested conceptions. The results of the first of the tests have confirmed a possibility of taking use of the recommended structures in some special tasks of navigation at sea. Extremely interesting properties (the second test), first of all those of robust character, were revealed by hybrid M-estimation. The obtained results have proved that there is a chance to carry out reliable navigation, being compelled only to applying of IANS. The presented conceptions have been basically completed in respect of the theory concerning establishing, developing and mathematical working out the Interactive Navigational Structures. However, the work is incomprehensive in regard to practical implementation of the displayed models. For example, there is a possibility to use the described structures in submarine navigation. A lack of any classic navigational systems in sea depth has been forcing to seek new solutions, as the Interactive Navigational Structure is. The above solutions may also be extensively employed in radar navigation. Radar observations are often biased with gross errors, caused by radar echo generation technique. The robust estimation, if applied in the version presented in this work, may significantly improve final determinations' standard. The recommended mathematical models and methods of their parameters evaluation are applicable to maritime navigation under a certain condition. The available at present nautical information about navigational signing elements should be complemented. All the suggested solutions may not be in today's situation fully exercised (especially hybrid M-estimation) due to a lack of information about covariance matrixes or at least about errors of determining coordinates of stable and floating navigational signs, embraced by any optional navigational system.