Towards dynamic navigational charts for highly automated inland waterway transport

Current inland navigational charts, and by extent the Inland Electronic Chart Display Information System (Inland ECDIS) that adds additional sensor information on top of these charts and subsequently visualizes them, are not dynamically updated. Moreover, the data layered on top of charts, e.g. from Radar sensors, is not shared between various assets. This, together with the absence of an xy-accuracy indication for chart objects, severely limits shared situational awareness and automation on our inland waterways. To this end, this thesis aims to study electronic navigation charts, explore possible extensions in the context of highly automated navigation, and develop a modular, open Inland ECDIS module that facilitates dynamically updating the charts based on shared perception from various sources. A distributed sensor fusion methodology will be investigated and optimized to allow for determination of vessel- and object positions as well as for adding xy-accuracy of the local environment projected on the charts. Furthermore, this research will take place in close collaboration with the Flemish waterway administrator to examine new chart attributes and features, and make suggestions for the International Hydrographic Organization standard.