7
1 Introduction 159
2 Voyage plann ing 162
3 Monitoring and execution of the voyage 167
4 Management of data and reference parameters 175
5 Recording the current situation 178
List of tables
Table 1: State variables to describe position and movement 31
Table 2: State variables to describe the environment 32
Table 3: Definition of the state variables used in the INS 35
Table 4: Characteristic sensors 36
List of figures
Figure 1: Process tasks, task areas and tasks of navigational operation 17
Figure 2: Functionalities of integrated navigation 20
Figure 3: The functionality “Set direction” 28
Figure 4: The functionality “Set speed” 28
Figure 5: Reference systems 30
Figure 6: Degrees of freedom in the cartesian coordinate system 31
Figure 7: Example of the reproduction of measured values in state variables 33
Figure 8: Context diagram for the “integrated navigation” system 98
Figure 9: Graphical symbols in data flow diagrams 99
Figure 10: Top-level diagram of the “integrated navigation” system 99
Figure 11: Model hierarchy 100
Figure 12: Summary of the data flow diagrams of the functional model 103