The primary problem faced by the integrated navigation system based on the inertial navigation system (INS) and global positioning system (GPS) is providing reliable navigation and positioning solutions during GPS failure. Thus, this study proposes an innovative integrated navigation algorithm to address the limitation of precise positioning when GPS fails. First, for the limitation of noise interference in INS, noise reduction technology based on ensemble empirical mode decomposition (EEMD) is proposed to improve the quality of the INS signal and enhance the noise reduction effect. Second, an INS/GPS integrated framework based on the sparrow search algorithm (SSA) and extreme learning machine (ELM) is proposed. During normal GPS conditions, SSA-ELM is used to develop a high-precision prediction model to estimate differences between INS and GPS. When the GPS signal is interrupted, the difference predicted by SSA-ELM is used as the measurement input and the INS is corrected. To confirm the effectiveness of this method, a real ship experiment is conducted with other commonly used methods. The experimental results demonstrate that the proposed method can improve positioning accuracy and reliability when GPS is interrupted.

Ship fires exhibit the main characteristics of a high possibility of occurrence, large load, fast spreading, high difficulty in extinguishing, and serious losses. Therefore, once a fire occurs, it will cause huge loss in terms of economic and personnel safety. Firstly, a ship fire risk evaluation indicator system was constructed based on the causes and severity of the fires. Secondly, a comprehensive evaluation method for the fuzzy broad learning system (FBLS) was proposed. The fuzzy system was used to implement feature mapping on the input data, and the extracted fuzzy features were further input into the BLS enhancement layer. A fuzzy broad learning neural network structure was constructed by combining fuzzy features, feature nodes, and enhancement nodes. The method was applied to the field of risk assessment for the first time, and is a reference for subsequent studies. Finally, the risk levels of ship fires were classified and compared with evaluation methods such as fuzzy support vector machine (FSVM) and Fuzzy BP neural network (FBPNN) to demonstrate effectiveness and accuracy. The proposed FBLS method was used to predict actual cases, and the results showed consistency with the level determined by the accident investigation report published by the Maritime Bureau Administration.

Electronic charts and marine radars are indispensable equipment in ship navigation systems, and the fusion display of these two parts ensures that the vessel can display dangerous moving targets and various obstacles on the sea. To reduce the noise interference caused by external factors and hardware, a novel radar image denoising algorithm using the concept of Generative Adversarial Network (GAN) using Wasserstein distance is proposed. GAN focuses on transferring the image noise distribution between strong and weak noise, while the perceptual loss approach is to suppress the noise by comparing the perceptual characteristics of the output after denoising. Afterwards, an image registration method based on image transformation is proposed to eliminate the imaging difference between the radar image and chart image, in which the visual attribute transfer approach is used to transform images. Finally, the sparse theory is used to process the high frequency and low frequency subband coefficients of the detection image obtained by the fast Fourier transform in parallel to realizing the image fusion. The results show that the fused contour has a high consistency, fast training speed and short registration time.

Although a USV navigation system is an important application of unmanned systems, combining Inertial Navigation System (INS) with Global Positioning System (GPS) can provide reliable and continuous solutions of positioning and navigation based on its several advantages; the random error characteristics of INS and the instability derived from the GPS signal blockage represent a potential threat to the INS/GPS integration of USV. Under this background, a composition framework based on nonlinear generalization capability of support vector machines (SVM) and multi-resolution ability of wavelet transform is used to solve the difficulty that the INS suffers from the interference of stochastic errors, and the dynamic information of the USV is not influenced. An innovative fuzzy broad learning structure based on the broad learning (BL) method is utilized in the INS/GPS integration of USV, in which the navigation information of INS and GPS are deemed as the input of the Fuzzy Broad Learning System (FBLS) to train the network, and then the trained network of FBLS and navigation information of INS are applied for estimating the optimal navigation solution during the GPS signal blockage. Based on the USV platform, a sea trial was carried out to confirm the validity and feasibility of the proposed method by comparing with existing algorithms for INS/GPS integration. The experimental results show that the proposed approach could achieve the better denoising effect from random errors of INS and provide high-accuracy navigation solutions during GPS signal blockage.