The paper presents an accuracy evaluation analysis of the ship;s heading measured between two GPS antennas of automatic GPS and code DGPS type. The usefulness of the above mentioned GPS techniques for the vessel's navigation and piloting systems in confined waters has also been evaluated.

PNDS (Pilot Navigation and Docking System) [1] utilizes the range measurement between laser head and ship’s side to determine the ship’s outline presented on the screen. The noisy measurements and dynamic process noise affect the accuracy of determined parameters and propagate to ship’s heading and position. To improve the performance of PNDS system there was a need to apply the data filtering technique. In the paper the theoretical basis and algorithm of discrete Kalman filter designed for range optimal estimation in PNDS were described. The real data collected during berthing operation of motor vessel Navigator XXI were filtered and compared to row unfiltered data. The conclusions contain evaluation of filter capabilities and its potential application in PNDS system

The article presents a method of stochastic modeling of a GNSS position error. Pre-liminary results of DGPS error simulation are presented, a simulation algorithm is de-scribed as well as its application in sea traffic engineering research.

The paper presents an analysis of the current GNSS constellation geometry (comprising 28 active GPS satellites) performed in the Port of Świnoujście. The geome-try disturbances resulting from the harbour infrastructure were taken into consideration and values of mask angles were determined depending on ship’s position in the fairway and GPS antenna location. On this basis the availability of GPS position in the Port of Świnoujście was evaluated. The statistical analysis of satellites locations’ impact on the geometrical quality of GNSS receiver’s position was made after grouping available satellites’ parameters into four main sectors (N, E, S, and W).

The paper presents a method of evaluating navigation safety criteria for the specified waterway by means of two DGPS receivers recording synchronised data. The research experiment was performed in Świnoujście harbour (Poland). Availability of satellites during several 24h periods (cycle of a constellation change) was analysed and its impact on position accuracy and integrity in the critical harbour 's areas was evaluated. Finally a method of ship's swept path at specified confidence level, based on the on-board recorded positions' data, was proposed for verification of the safe manoeuvring area.

Przedstawiono wyniki eksperymentu, mającego określić przydatność różnicowej odmiany systemu GPS do wyznaczenia parametrów ruchu statku w pomiarach dynamicznych. Na podstawie danych zgromadzonych przez odbiornik ruchomy i odbiornik bazowy obliczono pozycją obiektu w czasie nierzeczywistym w trybie kodowym i fazowym Błąd dynamiczny pomiaru określono dla odchyleń pozycji od wzorcowej trajektorii Podano również alternatywną metodą określania btądu w pomiarach dynamicznych uwzglądniającąjego dwuwymiarowość