Integrated Navigation Test 2 Practice

These questions are part of the practice quiz. Start practicing

• Why do Doppler speed logs use a Janus configuration transducer assembly?
• A faulty GPS position presents what risk to navigation with ECDIS?
• Why is quaternion normalization applied after attitude updates?
• What is necessary to convert ECEF coordinates to geodetic coordinates (lat, lon, h)?
• Your vessel is underway and approaching port. Your drafts are 28 ft forward and aft draft is 34 ft 6 inches. What is your current deep draft?
• Which method identifies and excludes faulty measurements to maintain integrity?
• In GNSS/INS integration, what is the lever-arm effect?
• The safety frame must be shown to analyze and sound anti-grounding.
• In shallow water, as depth under keel decreases, what happens to the diameter of the vessel's turning circle?
• Which of the following is not a typical GNSS pseudorange error source?
• Which statement about the Navi-sailor 4000 ECDIS display capabilities is true?
• In the context of navigation integrity, which statement best describes RAIM status and protection levels?
• Which statement about AIS targets on the Navi-sailor 4000 ECDIS is true?
• Define velocity aiding in GNSS/INS integration and how it improves performance during updates.
• The change in mean draft when moving from deep to shallow water is called what?
• What are the common process and measurement noises in INS/GNSS EKF, and how are they chosen?
• Which factors influence the swing circle radius for a vessel at anchor?
• Outline a basic 6-DOF dynamic model suitable for a vessel navigation Kalman filter.
• Which statement accurately distinguishes filtering and smoothing in navigation data processing?
• If you see a person fall overboard, what action should be taken first?
• What is TTFF and how can it be reduced?
• Turning on the autoscale feature for charts has what effect on chart scaling?
• Which statement is true about non-type approved ECS with respect to chart requirements?
• Which of the following is NOT a typical GNSS error source?
• A transducer with a dual axis janus configuration allows for speed calculation in which of the following?
• An electronic echo sounder operates on the principle that
• The quickest type of turn to recover a MOB is which maneuver?
• What is fault detection and exclusion (FDE) in integrated navigation, and how does it preserve integrity?
• Vessels subject to SOLAS requirements must carry charts for which voyage?
• Which of the following may be used to satisfy the EPFS requirement of an ECDIS?
• How can you estimate INS bias drift from GNSS position residuals?
• Which coordinate frame is typically used for expressing positions relative to a known reference point in the local area?
• What constitutes navigation integrity, and what are typical integrity metrics (e.g., protection levels, RAIM)?
• If Scale Minimum is enabled when zooming out with vector chart data, the statement 'Scale Minimum is enabled when zooming out' is true or false?
• In echo sounding, which factor most affects the gain required to obtain a reading?
• Non-type approved ECS is NOT intended to comply with the up-to-date chart requirements.
• Which type of dilution of precision relates to vertical positioning accuracy?
• Describe how you would perform an outage analysis to determine how long the integrated navigation solution remains within a given position error bound during GNSS loss.
• A Doppler speed log indicates speed through the water in which mode?
• Which statement correctly describes GNSS atmospheric delays and common mitigation methods?
• What is a strapdown inertial navigation system and how does it differ from a gimballed INS?
• A transducer with a dual axis Janus configuration allows for speed calculation in which of the following?
• Radar is required to be integrated with an ECDIS that is certified to be used as a primary navigation display.
• What is a key property of UKF sigma points in handling nonlinearities?
• In GNSS/IMU fusion, what is the difference between tightly-coupled and loosely-coupled fusion?
• A Class A AIS Transceiver is capable of sending and receiving text messages.
• What two marine band channels are reserved for AIS transmission?
• Which testing approach involves deliberately injecting faults into the system to study robustness and failure modes?
• How does carrier-phase ambiguity resolution enable centimeter-level positioning?
• What is the consequence of misalignment between the body-to-navigation frame orientation in an inertial navigation system?
• In GNSS outages, what is the role of the INS?
• What is the role of a star tracker in integrated navigation?
• What is holdover in GNSS outage scenarios, and how should the system behave?
• Statement: When making a Williamson turn, the ship should always be steadied up 60 degrees from her initial course. True or False?
• Which representations are commonly used for vehicle attitude in a 3D EKF?
• What depth does the echo sounder indicate in the given scenario?
• What is holdover mode in an INS, and when is it activated?
• Turning this feature off causes the ECDIS to display the current chart loaded only.
• How does GNSS Doppler velocity measurement complement INS integration?
• What is the name of the maneuver used to search for a missing crew member at sea?
• Which class of AIS transceivers is required on SOLAS vessels?
• In a Kalman filter fused GNSS/INS system, what do the process noise covariance Q and the measurement noise covariance R represent?
• Define quaternion representation for attitude and its advantages over Euler angles.
• In Doppler speed log operation, the volume reverberation mode is also known as water track.
• In a sensor fusion Extended Kalman Filter, the innovation is defined as the difference between the actual measurement and the predicted measurement. What symbol represents this difference?
• ARPA stands for Automatic Radar Plotting Aid and is used to?
• If a vessel has a draft of 39 feet and the echo sounder reads 27 feet depth, what is the difference in feet between draft and depth reading?
• Including misalignment as a fixed parameter in the EKF helps mitigate what?
• What GNSS measurement types can be included in a tightly-coupled EKF GNSS/INS integration?
• How do you evaluate navigation solution accuracy in a testing scenario?
• What best describes the selection of appropriate and unambiguous data on the ECDIS?
• Holdover drift during GNSS outage: what is the expected behavior?
• An ARPA Target is displayed on an ECDIS screen as which symbol?
• Define Closest Point of Approach (CPA) and Time to CPA (TCPA) in radar navigation, and how they guide collision avoidance.
• Time synchronization importance in integrated navigation?
• Which device most directly provides the input to satisfy EPFS on an ECDIS?
• What color is used to indicate the primary position on the Navi-sailor 4000 display?
• What is typically required to ensure radar overlay on ECDIS is accurate?
• Describe the update step in an EKF for navigation.
• What is a Line of Position (LOP) and how are multiple LOPs used to fix a position without a GPS fix?
• Explain the local ENU frame and its typical uses in ship or aircraft navigation plotting.
• The increase in the ship's deep draft when moving into shallow water is known as what?
• What unit is used to express depth in the anchoring example?
• What is the purpose of integrity monitors like RAIM and Fault Detection and Exclusion (FDE) in GNSS navigation?
• What are the main function blocks of an INS/GNSS integrated navigation system?
• What is GNSS outage detection, and how should the navigation system behave when it occurs?
• Which statement correctly describes a feature of navigation data interfaces?
• Which bias source can drift with temperature?
• When a ship is 'fetching up' at anchor, what happens to the anchor chain tension?
• One knot of current exerts the same force on a surface area as how many knots of wind?
• How does RAIM help ensure GNSS integrity and how does it operate in logic terms?
• Why should quaternions used to represent attitude be kept normalized in EKF updates?
• How is bias modeled mathematically in an INS filter?
• What is the minimum number of minutes you should wait until utilizing a newly acquired fix?
• Why is time synchronization important in INS/GNSS integration?
• How does stationary vs moving initial alignment differ for IMUs, and what are the practical implications?
• What is the difference between RMS and maximum error metrics in estimator evaluation?
• Which term describes the effect that increases the apparent water depth under the hull due to forward speed in shallow water?
• What is a tightly-coupled GNSS/INS integration?
• How is bias modeled in an INS filter?
• What determines the accuracy when intersecting two or more Lines of Position?
• In the context of the material, what is the equivalent wind speed to the force of 1 knot of current on a surface area?
• How does the EKF differ from the UKF in navigation applications?
• Which statement correctly describes the SENC database in relation to ENC data and updates?
• Which color is used to indicate the primary DGPS position on the display?
• In EKF navigation, which factor most directly governs how strongly a measurement influences the state update?
• In Attitude Update using small angle approximation in an INS EKF, how is the attitude updated?
• When approaching an anchorage, which statement is NOT TRUE?
• Which term describes the change in the vessel's front-to-back balance or attitude when moving into shallow water?
• In EKF navigation, which matrix relates the predicted state to the measurement via the measurement function h(x)?
• What is the role of the sensor fusion filter in an INS/GNSS system?
• How is nonlinearity in attitude kinematics handled for quaternions in an EKF?
• What is the purpose of Monte Carlo simulations in navigation performance evaluation?
• The advantage of displaying radar overlay on an ECDIS is that it allows for what?
• How does time-tagging support multi-sensor fusion?
• Which are common bias sources in accelerometers and gyroscopes in an INS?
• What is the primary objective of an integrated navigation system (INS/GNSS) on surface or air platforms?
• Which factor has the greatest effect on the amount of gain required to obtain an echo sounder reading?
• Describe the standard GNSS measurement model used in navigation filters.
• If the Navi-sailor 4000 is configured with a primary DGPS and secondary DGPS and an offset exists, which position is displayed?
• In tightly coupled GNSS/INS systems, which information is used that is not used in loosely coupled systems?
• What is the control button that sets the ship symbol in the position of the cursor?
• Convert 15 fathoms to feet.
• Which statement best defines deep draft?
• In the ENU frame, why is it described as a local tangent plane?
• Which statement reflects SOLAS chart carriage requirements?
• What does the Kalman gain control in the filter update?
• If GNSS signals are unavailable and the navigation solution relies entirely on the inertial sensors, this mode is commonly referred to as:
• What is the effect of misalignment between INS sensors and the body frame?
• What is multipath, and how does it affect pseudorange and carrier-phase measurements?
• What is the difference between dead-reckoning and full-state estimation in navigation?
• Describe the process for handling outlier GNSS measurements within a Kalman filter?
• Describe the WGS84, ECEF, and ENU coordinate systems, and how do you convert between them?
• What is Differential GNSS (DGNSS) and how do SBAS and RTK differ in terms of coverage and accuracy?
• How do you handle GNSS outages in INS/GNSS integration?
• ECDIS can directly improve the efficiency of navigational tasks such as track keeping by providing which advantage?
• How does barometric altitude complement GNSS/INS for vertical navigation robustness?
• What is the role of the Jacobian F in the EKF prediction step?
• When anchoring, the best moment to drop the anchor is when the vessel is moving slowly astern over the ground.
• You are preparing to anchor in 15 fathoms of water. How many shot of anchor chain should you use?
• What is the difference between deterministic and stochastic error models in navigation?
• Which monitoring feature triggers an alarm if the primary and secondary position sources exceed a set distance?
• The last shot on an anchor chain is attached to the bottom of the chain...
• Distinguish GNSS time from UTC and explain why time synchronization is critical in navigation.
• The increasing pressure drop under a hull and the corresponding increase in velocity is described by which principle?
• How is multipath in GNSS measurements typically detected and mitigated?
• What term indicates your GPS receiver is using satellites with the best positional dilution of precision?
• Why is antenna PCV calibration often site-specific?
• Holdover time in GNSS outage analysis depends on which factors most?
• A 700 LOA containership with a forward house and bridge located 60 from the circle on the chart and ECDIS. What is the radius of the swing circle?
• In GNSS geometry, what does PDOP quantify?
• Explain zero-velocity update (ZUPT) concept and when it's used.
• In GNSS outage holdover analysis, which quantity primarily governs how quickly the position error grows?
• In GNSS, what is ephemeris data used for?
• AIS transmission operates in which frequency range?
• Which data interface is a high-reliability avionics data bus used to transport navigation data like position, velocity, and attitude?
• How is Course Made Good (CMG) distinguished from Track Made Good (TMG) in navigation planning?
• What best describes integral drift in an INS and how is it mitigated in a fused navigation system?
• How do PDOP, HDOP, and VDOP reflect satellite geometry, and what range indicates good geometry?
• Which statement best describes an advantage of UKF over EKF in navigation?
• Which statement correctly describes the processing of ENC data and updates for ECDIS?
• What is a loosely-coupled GNSS/INS integration?
• Which hydrodynamic effects become more pronounced when approaching a pilot station?
• In evaluating navigation estimators, which metric captures average error magnitude across many trials?
• Which integrity monitoring technique uses redundancy to detect outliers in navigation measurements?
• To adjust the display category, you would start by using which task?
• Which best describes a cycle slip in GNSS?
• Explain the resection technique (intersection of lines of position) for determining a position and its practical requirements.
• List the main GNSS error sources that degrade positioning accuracy.
• DOP stands for what, and what does it indicate?
• How does GNSS/INS integration improve performance during partial signal loss?
• In frame terminology for navigation, what does the Earth-Centered Earth-Fixed (ECEF) frame represent?
• Explain the concept of leveraging multi-antenna or multiple GNSS constellations.
• The change in forward and aft drafts due to the hull attitude when moving into shallow water is called what?
• What is heading wraparound, and how should you handle wraparound when computing differences between headings?
• What is a Kalman filter in navigation, and what are its state, process model, and measurement model?
• In INS algorithms, which representations are commonly used for attitude?
• In resection, how does landmark geometry affect accuracy?
• What is a key benefit of integrating barometric altitude with GNSS/INS beyond redundancy?
• In ENU coordinates, which axes correspond to East, North, and Up?
• Compare tightly-coupled vs loosely-coupled GNSS/INS integration; what are the practical benefits of tight coupling?
• The Navi-sailor 4000 ECDIS is capable of displaying which of the following targets?
• For a vessel navigation Kalman filter, which state variables are typically included?
• Regardless of how you configure units on an ECDIS, ENC sounding data is always expressed in which unit?
• Which reference systems affect the information displayed on the ECDIS?
• How does IMU misalignment influence ENU position estimates, and what alignment corrections are typically performed?
• Why is quaternion normalization important in an EKF used for attitude estimation?
• Explain the difference between real-time processing and batch processing in navigation data analysis and its impact on latency and accuracy.
• When anchoring in deep water (50 m or more) and circumstances permit, which action is recommended?
• In integrated navigation, an integrity breach scenario refers to a fault or anomaly in sensor data. Which techniques are used to detect such breaches?
• Zero-velocity updates (ZUPT) are used in INS to:
• Why might you prefer an UKF for navigation in highly nonlinear scenarios?
• Explain Doppler effect usage in GNSS to estimate velocity.
• The statement 'Scale Minimum is enabled when zooming out on an ECDIS with vector chart data' is:
• What is observability in INS/GNSS fusion, and why is it important?
• How do bias states differ from measurement noise in INS calibration?
• What is the purpose of the observation model Jacobian H in an EKF navigation filter?
• Differentiate carrier-phase and pseudorange measurements in GNSS; why is carrier-phase essential for high-precision positioning?
• How do antenna phase center variations (PCV) affect GNSS position, and how can calibration mitigate them?
• In GNSS/INS integration, what does holdover mean when GNSS is partially unavailable?
• What is carrier-smoothed code processing, and why is it beneficial for GNSS positioning?
• Compare Speed Over Ground (SOG) with Speed Through Water (STW) and how currents influence track planning.
• An echo sounder error due to turbulence on water is called what?
• Which of the following statements about AIS information such as destination and ETA is true?
• Which data aid can reduce TTFF in GNSS receivers?
• Describe the prediction step in an EKF for navigation.
• Information derived from a contact vessel's AIS, such as a destination and ETA, can be trusted with 100% accuracy.
• The Navi-sailor 4000 ECDIS will display a tracked ARPA target as a
• ENC data and official updates are transformed into which database?
• How should you select the process noise covariance Q in an INS/GNSS EKF?
• What is GDOP and why is it important in navigation?
• Which of the following is a typical test method for evaluating an Integrated Navigation system?
• What does DOP measure and how do HDOP/VDOP relate?
• What happens to the navigation solution when a satellite signal is temporarily lost in a tightly-coupled GNSS/INS?
• Which action should you take first when you notice a MOB?
• HDOP and VDOP indicate which directional components of positioning error?
• The turning circle of a vessel making a 360-degree turn is the path followed by which point?
• Which statement about radar overlay on ECDIS is true?
• With radar overlay on ECDIS, what can be the causes of radar echoes not matching the overlay?
• Define PDOP, HDOP, and VDOP and explain how satellite geometry affects them.
• What is the typical state vector in an INS/GNSS EKF for navigation?
• Why is time synchronization between sensors crucial in a navigation system?
• On the Navi-sailor 4000 ECDIS, a tracked ARPA target is depicted as which symbol?
• In nautical terms, a 'shot' refers to what?
• What indicators would alert you to a GNSS spoofing attempt in an integrated navigation system?
• Which statements best describe the frames used in integrated navigation and how they relate?
• Which of the following best defines bias, scale factor, and misalignment errors in inertial sensors and their effects on navigation estimates?
• Define DOP and differentiate PDOP, TDOP, HDOP, VDOP.
• What is the default Safety Contour on an ECDIS?
• What is the main purpose of including the lever-arm offset in GNSS/INS state modeling?
• What is the primary purpose of the Extended Kalman Filter in navigation applications?
• What are typical states in a 3D EKF navigation filter for a vehicle?
• Which condition triggers an alarm related to position sources?
• Which maneuver is described as the quickest method to recover a MOB?
• Describe the concept of the local tangent plane (ENU) and a practical use in navigation plotting.
• How does clock bias modeling affect GNSS/INS integration?
• Which set of coordinates represents a location expressed as latitude, longitude, and height above the reference ellipsoid?