ECDIS-GNSS Combined to Improve Marine Traffic Safety

This paper analyses the enhanced GNSS and ECDIS technology in the realm of maritime navigation from the user’s perspective taking into account the latest changes in international regulations and standards. It is through this integration that mariners have the possibility to analyze their own ship’s position related to the chart information for a safer decision-making process and where the best accuracy of the position data can be properly managed. To obtain the maximum advantage of this enhanced technology a different approach by the mariner is required and a specific training program that provides comprehensive instruction on safe equipment operation must be developed.Este artículo analiza la tecnología mejorada del GNSS y del ECDIS en el campo de la navegación marítima, desde la perspectiva del usuario, tomando en cuenta los últimos cambios en los reglamentos y las normas internacionales. Es gracias a esta integración que los navegantes tienen la posibilidad de analizar la posición de sus propios buques con respecto a la información de la carta para un proceso de toma de decisiones más seguro y en el que pueda controlarse adecuadamente la mayor exactitud posible de los datos de posición. Para obtener las máximas ventajas de esta tecnología mejorada, se requiere un enfoque diferente por parte del navegante y tiene que desarrollarse un programa de formación específico que proporcione amplias instrucciones sobre el manejo seguro del equipo.Le présent article analyse la technologie GNSS et ECDIS améliorée dans le domaine de la navigation maritime, selon la perspective de l’utilisateur et en tenant compte des derniers changements intervenus dans les règles et normes internationales. C’est par cette intégration que les navigateurs ont la possibilité d’analyser la position de leur propre navire par rapport aux informations portées sur la carte en vue d’un processus de prise de décision plus sûr et lorsque la plus grande exactitude des données de position peut être gérée efficacement. Pour retirer le plus grand bénéfice de cette technologie améliorée, une différente approche est requise du navigateur et un programme de formation spécifique fournissant des instructions complètes sur le fonctionnement sûr des équipements doit être développé

Risk driven models & security framework for drone operation in GNSS-denied environments

Flying machines in the air without human inhabitation has moved from abstracts to reality and the concept of unmanned aerial vehicles continues to evolve. Drones are popularly known to use GPS and other forms of GNSS for navigation, but this has unfortunately opened them up to spoofing and other forms of cybersecurity threats. The use of computer vision to find location through pre-stored satellite images has become a suggested solution but this gives rise to security challenges in the form of spoofing, tampering, denial of service and other forms of attacks. These security challenges are reviewed with appropriate requirements recommended. This research uses the STRIDE threat analysis model to analyse threats in drone operation in GNSS-denied environment. Other threat models were considered including DREAD and PASTA, but STRIDE is chosen because of its suitability and the complementary ability it serves to other analytical methods used in this work. Research work is taken further to divide the drone system into units based in similarities in functions and architecture. They are then subjected to Failure Mode and Effects Analysis (FMEA), and Fault Tree Analysis (FTA). The STRIDE threat model is used as base events for the FTA and an FMEA is conducted based on adaptations from IEC 62443-1-1, Network and System Security- Terminology, concepts, and models and IEC 62443-3-2, security risk assessment for system design. The FTA and FMEA are widely known for functional safety purposes but there is a divergent use for the tools where we consider cybersecurity vulnerabilities specifically, instead of faults. The IEC 62443 series has become synonymous with Industrial Automation and Control Systems. However, inspiration is drawn from that series for this work because, drones, as much as any technological gadget in play recently, falls under a growing umbrella of quickly evolving devices, known as Internet of Things (IoT). These IoT devices can be principally considered as part of Industrial Automation and Control Systems. Results from the analysis are used to recommend security standards & requirements that can be applied in drone operation in GNSS-denied environments. The framework recommended in this research is consistent with IEC 62443-3-3, System security requirements and security levels and has the following categorization from IEC 62443-1-1, identification, and authentication control, use control, system integrity, data confidentiality, restricted data flow, timely response to events and resource availability. The recommended framework is applicable and relevant to military, private and commercial drone deployment because the framework can be adapted and further tweaked to suit the context which it is intended for. Application of this framework in drone operation in GNSS denied environment will greatly improve upon the cyber resilience of the drone network system

GNSS Related Threats to Power Grid Applications

As power grid environments are moving towards the smart grid vision of the future, the traditional schemes for power grid protection and control are making way for new applications. The advancements in this field have made the requirements for power grid’s time synchronization accuracy and precision considerably more demanding. So far, the signals provided by Global Navigation Satellite Systems have generally addressed the need for highly accurate and stable reference time in power grid applications. These signals however are highly susceptible to tampering as they are being transmitted. Since electrical power transmission and distribution are critical functions for any modern society, the risks and impacts affiliated with satellite-based time synchronization in power grids ought to be examined. This thesis aims to address the matter. The objective is to examine how Global Navigation Satellite Systems are utilized in the power grids, how different attacks would potentially be carried out by employing interference and disturbance to GNSS signals and receivers and how the potential threats can be mitigated. A major part of the research is done through literature review, and the core concepts and different implementations of Global Navigation Satellite Systems are firstly introduced. The literature review also involves the introduction of different power grid components and subsystems, that utilize Global Positioning System for time synchronization. Threat modeling techniques traditionally practiced in software development are applied to power grid components and subsystems to gain insight about the possible threats and their impacts. The threats recognized through this process are evaluated and potential techniques for mitigating the most notable threats are presented.Sähköverkot ovat siirtymässä kohti tulevaisuuden älykkäitä sähköverkkoja ja perinteiset sähköverkon suojaus- ja ohjausmenetelmät tekevät tilaa uusille sovelluksille. Alan kehitys on tehnyt aikasynkronoinnin tarkkuusvaatimuksista huomattavasti aikaisempaa vaativampia. Tarkka aikareferenssi sähköverkoissa on tähän saakka saavutettu satelliittinavigointijärjestelmien tarjoamien signaalien avulla. Nämä signaalit ovat kuitenkin erittäin alttiita erilaisille hyökkäyksille. Sähkönjakelujärjestelmät ovat kriittinen osa nykyaikaista yhteiskuntaa ja riskejä sekä seuraamuksia, jotka liittyvät satelliittipohjaisten aikasynkronointimenetelmien hyödyntämiseen sähköverkoissa, tulisi tarkastella. Tämä tutkielma pyrkii vastaamaan tähän tarpeeseen. Päämääränä on selvittää, miten satelliittinavigointijärjestelmiä hyödynnetään sähköverkoissa, kuinka erilaisia hyökkäyksiä voidaan toteuttaa satelliittisignaaleja häiritsemällä ja satelliittisignaalivastaanottimia harhauttamalla ja kuinka näiden muodostamia uhkia voidaan lieventää. Valtaosa tästä tutkimuksesta on toteutettu kirjallisuuskatselmoinnin pohjalta. Työ kattaa satelliittinavigointijärjestelmien perusteet ja esittelee erilaisia tapoja, kuinka satelliittisignaaleja hyödynnetään sähköverkoissa erityisesti aikasynkronoinnin näkökulmasta. Työssä hyödynnettiin perinteisesti ohjelmistokehityksessä käytettyjä uhkamallinnusmenetelmiä mahdollisten uhkien ja seurausten analysointiin. Lopputuloksena esitellään riskiarviot uhkamallinnuksen pohjalta tunnistetuista uhkista, sekä esitellään erilaisia menettelytapoja uhkien lieventämiseksi

Europe's Space capabilities for the benefit of the Arctic

In recent years, the Arctic region has acquired an increasing environmental, social, economic and strategic importance. The Arctic’s fragile environment is both a direct and key indicator of the climate change and requires specific mitigation and adaptation actions. The EU has a clear strategic interest in playing a key role and is actively responding to the impacts of climate change safeguarding the Arctic’s fragile ecosystem, ensuring a sustainable development, particularly in the European part of the Arctic. The European Commission’s Joint Research Centre has recently completed a study aimed at identifying the capabilities and relevant synergies across the four domains of the EU Space Programme: earth observation, satellite navigation, satellite communications, and space situational awareness (SSA). These synergies are expected to be key enablers of new services that will have a high societal impact in the region, which could be developed in a more cost-efficient and rapid manner. Similarly, synergies will also help exploit to its full extent operational services that are already deployed in the Arctic (e.g., the Copernicus emergency service or the Galileo Search and rescue service could greatly benefit from improved satellite communications connectivity in the region).JRC.E.2-Technology Innovation in Securit

An Integrity Framework for Image-Based Navigation Systems

This work first examines fundamental differences between measurement models established for GPS and those of proposed image-based navigation systems. In contrast to single value per satellite GPS pseudorange measurements, image measurements are inherently angle-based and represent pixel coordinate pairs for each mapped target. Thus, in the image-based case, special consideration must be given to the units of the transformations between the states and measurements, and also to the fact that multiple rows of the observation matrix relate to particular error states. An algorithm is developed to instantiate a framework for image-based integrity analogous to that of GPS RAIM. The algorithm is applied cases where the navigation system is estimating position only and then extended to cases where both position and attitude estimation is required. Detailed analysis demonstrates the impact of angular error on a single pixel pair measurement and comparisons from both estimation scenario results show that, from an integrity perspective, there is significant benefit in having known attitude information. Additional work demonstrates the impact of pixel pair measurement relative geometries on system integrity, showing potential improvement in image-based integrity through screening and adding measurements, when available, to the navigation system solution

Integrity Determination for Image Rendering Vision Navigation

This research addresses the lack of quantitative integrity approaches for vision navigation, relying on the use of image or image rendering techniques. The ability to provide quantifiable integrity is a critical aspect for utilization of vision systems as a viable means of precision navigation. This research describes the development of two unique approaches for determining uncertainty and integrity for a vision based, precision, relative navigation system, and is based on the concept of using a single camera vision system, such as an electro-optical (EO) or infrared imaging (IR) sensor, to monitor for unacceptably large and potentially unsafe relative navigation errors. The first approach formulates the integrity solution by means of discrete detection methods, for which the systems monitors for conditions when the platform is outside of a defined operational area, thus preventing hazardously misleading information (HMI). The second approach utilizes a generalized Bayesian inference approach, in which a full pdf determination of the estimated navigation state is realized. These integrity approaches are demonstrated, in the context of an aerial refueling application, to provide extremely high levels (10-6) of navigation integrity. Additionally, various sensitivities analyzes show the robustness of these integrity approaches to various vision sensor effects and sensor trade-offs

GNSS Integrity Monitoring assisted by Signal Processing techniques in Harsh Environments

The Global Navigation Satellite Systems (GNSS) applications are growing and more pervasive in the modern society. The presence of multi-constellation GNSS receivers able to use signals coming from different systems like the american Global Positioning System (GPS), the european Galileo, the Chinese Beidou and the russian GLONASS, permits to have more accuracy in position solution. All the receivers provide always more reliable solution but it is important to monitor the possible presence of problems in the position computation. These problems could be caused by the presence of impairments given by unintentional sources like multipath generated by the environment or intentional sources like spoofing attacks. In this thesis we focus on design algorithms at signal processing level used to assist Integrity operations in terms of Fault Detection and Exclusion (FDE). These are standalone algorithms all implemented in a software receiver without using external information. The first step was the creation of a detector for correlation distortion due to the multipath with his limitations. Once the detection is performed a quality index for the signal is computed and a decision about the exclusion of a specific Satellite Vehicle (SV) is taken. The exclusion could be not feasible so an alternative approach could be the inflation of the variance of the error models used in the position computation. The quality signal can be even used for spoofinng applications and a novel mitigation technique is developed and presented. In addition, the mitigation of the multipath can be reached at pseudoranges level by using new method to compute the position solution. The main contributions of this thesis are: the development of a multipath, or more in general, impairments detector at signal processing level; the creation of an index to measure the quality of a signal based on the detector’s output; the description of a novel signal processing method for detection and mitigation of spoofing effects, based on the use of linear regression algorithms; An alternative method to compute the Position Velocity and Time (PVT) solution by using different well known algorithms in order to mitigate the effects of the multipath on the position domain

6G Positioning and Sensing Through the Lens of Sustainability, Inclusiveness, and Trustworthiness

6G promises a paradigm shift in which positioning and sensing are inherently integrated, enhancing not only the communication performance but also enabling location- and context-aware services. Historically, positioning and sensing have been viewed through the lens of cost and performance trade-offs, implying an escalated demand for resources, such as radio, physical, and computational resources, for improved performance. However, 6G goes beyond this traditional perspective to encompass a set of broader values, namely sustainability, inclusiveness, and trustworthiness. This paper aims to: (i) shed light on these important value indicators and their relationship with the conventional key performance indicators, and (ii) unveil the dual nature of 6G in relation to these key value indicators (i.e., ensuring operation according to the values and enabling services that affect the values)

An experimental study using a navigation simulator

O sucesso nas operações marítimas apenas pode ser atingido através da interação eficiente e eficaz entre pessoas e tecnologia. Tendo em conta a crescente dependência na última a bordo dos navios, uma das questões mais prementes é a provada falibilidade dos sistemas de radioposicionamento satélite, nomeadamente dos GNSS (Global Navigation Satellite Systems) que, consequentemente, tem levantado preocupações relativamente à resiliência dos mesmos. Os requisitos das fontes de posicionamento, navegação e tempo (PNT) também têm crescido significativamente na última década, portanto, a qualidade e integridade desses três parâmetros tornaram-se cada vez mais um elemento decisivo para o sucesso nas operações marítimas, especialmente na condução da navegação. O objetivo do estudo é identificar quais os fatores de sucesso para uma navegação mais resiliente. A solução proposta passa portanto pela abordagem da resiliência PNT através dos Sistemas Cognitivos Conjuntos, medindo o desempenho das equipas, o cumprimento dos procedimentos e fatores humanos, nomeadamente a interação quer com a tecnologia, quer entre os diferentes membros da equipa, a confiança na automação, assim como o conhecimento situacional e a carga de trabalho, quando confrontados com uma disrupção GNSS. Os participantes do estudo foram equipas de pilotagem da Marinha Portuguesa (MP) e as sessões ocorreram num simulador de navegação. As equipas realizaram um treino de pilotagem padrão dividido em três momentos distintos: com normal disponibilidade de sinal GNSS, sob spoofing e sob jamming. O desempenho foi medido com base em medidas quantitativas de controlo do posicionamento e do tempo, o cumprimento dos procedimentos com o apoio de avaliadores do CITAN e os fatores humanos foram medidos sobretudo recorrendo a questionários. A metodologia FRAM (Functional Ressonance Analysis Method) providenciou o suporte para analisar as diferenças entre o trabalho como prescrito e o trabalho como é realizado. O estudo pretende providenciar um conhecimento extensivo relativamente à capacidade das equipas de pilotagem em efetuarem a condução da navegação face à adversidade de uma disrupção GNSS, efetivamente elevando o nível de conhecimento da função PNT na MP e abrindo caminho para soluções de Sistemas Cognitivos Conjuntos para uma melhor e mais resiliente condução da navegaçãoSuccess in maritime operations can only be achieved through efficient and effective interaction between people and technology. Given the growing dependency on the latter aboard ships, one of the most pressing issues is the proven fallibility of satellite radio positioning systems, namely GNSS (Global Navigation Satellite System), which have raised resilience concerns. The requirements for the position, navigation, and timing (PNT) sources have grown significantly over the past decade. So, the quality and integrity of those three parameters have become a more decisive element for success in maritime operations, especially navigation. Therefore, the proposed solution addresses the PNT resilience through the scope of Joint Cognitive Systems, measuring teams’ performance, procedure compliance, and human factors. The latter includes interactions with technology and other team members, trust in automation, situational awareness, and workload when faced with a GNSS disruption. The study’s participants were piloting teams from the Portuguese navy in a navigation simulator. The teams performed a simple piloting training split into three distinct moments: normal availability of GNSS signal, undergoing spoofing, and undergoing jamming. The performance was measured through quantitative measurements of time and positioning control and procedure compliance with the support of evaluators from CITAN. The human factors were primarily measured using questionnaires. The FRAM methodology (Functional Resonance Analysis Method) provided the support to analyze the differences between Work as Done and Work as Prescribed. The study intends to provide extensive insight into the piloting teams’ ability to navigate in the face of the adversity of GNSS disruption, effectively upraising the knowledge of the PNT function in the Portuguese navy and paving the way to Joint Cognitive Systems solutions for a better, more resilient navigation

Enhancing Road Infrastructure Monitoring: Integrating Drones for Weather-Aware Pothole Detection

The abstract outlines the research proposal focused on the utilization of Unmanned Aerial Vehicles (UAVs) for monitoring potholes in road infrastructure affected by various weather conditions. The study aims to investigate how different materials used to fill potholes, such as water, grass, sand, and snow-ice, are impacted by seasonal weather changes, ultimately affecting the performance of pavement structures. By integrating weather-aware monitoring techniques, the research seeks to enhance the rigidity and resilience of road surfaces, thereby contributing to more effective pavement management systems. The proposed methodology involves UAV image-based monitoring combined with advanced super-resolution algorithms to improve image refinement, particularly at high flight altitudes. Through case studies and experimental analysis, the study aims to assess the geometric precision of 3D models generated from aerial images, with a specific focus on road pavement distress monitoring. Overall, the research aims to address the challenges of traditional road failure detection methods by exploring cost-effective 3D detection techniques using UAV technology, thereby ensuring safer roadways for all users