Celestial Navigation in 60 mins Introduction

The principles of celestial navigation are simple. The harder mathematics come in details of calculations, and a com like ASNAv will take care of this for you, so don't be afraid to read this page. It's pleasant to understand how it is po position on arth !ust be looking at a few stars" The principles of celestial navigation are simple. The harder mathematics come in details of calculations, and a com like ASNAv will take care of this for you, so don't be afraid to read this page. It's pleasant to understand how it is po position on arth !ust be looking at a few stars"

The celestial mechanics is precision mechanics. It is possible to calculate the e#act position of a heavenly body $star sun% in the sky at any given time. &nowing the position of the star in the sky, the measure of the angle between the h observer and the star, using a se#tant, is enough to determine the observer position in latitude and longitude $in fact, at least two measures are needed%.

The celestial mechanics is precision mechanics. It is possible to calculate the e#act position of a heavenly body $star sun% in the sky at any given time. &nowing the position of the star in the sky, the measure of the angle between the h observer and the star, using a se#tant, is enough to determine the observer position in latitude and longitude $in fact, at least two measures are needed%.

(et's show this by the e#ample of another situa imagine you observe a lighthouse from a certai the se#tant, you measure the angle alpha corres height of the lighthouse seen from your positio If you know the height h, you can find your dis lighthouse. +n a chart, you can draw a circle ce lighthouse with a radius d. ,ou are somewhere This is your circle of position.

A second observation gives you a second circle of position. ,ou are at the intersection of the circles of position. In fact, there is most often - intersections but your estimated position or a third observation will help you to choose you don't observe a lighthouse but the angle between your hori'on and a star, you are doing celestial navigation. Tha observation gives you a second circle of position. ,ou are at the intersection of the circles of position. In fact, there is most often - intersections but your estimated position or a third observation will help you to choose you don't observe a lighthouse but the angle between your hori'on and a star, you are doing celestial navigation. Tha

+f course, at this stage we need to look a little bit closer at the celestial mechanics to understand how we can calculate the e#act position of a heavenly body $star, planet, moon, sun% in your local sky at any given time and which mathematical relation is linking the altitude of a body to a circle of position. /nfortunately, it is not as simple as tan$alpha% 0 h 1 d.

Celestial mechanics

Imagine the arth in space surrounded by a celestial sphere on which all the heavenly bodies are moving. This is a representation of the universe, but this is enough for our purposes. *e are !ust poor seamen $correction, I am%. The c centred on arth with the celestial e2uator passing through the arth e2uator and the a#is arth centre 3 to North 4o a#is of reference of the celestial sphere. A plan of reference defined on arth is also used on the celestial sphere) the meridian. +n the celestial sphere, we show a star S and its hour circle. The star in the sky is like the lighthouse of your previous e#ample.

(et's put an observer on the arth. The point Z on the celestial sphere, which is directly above the head of the observ 'enith. The distance on the celestial sphere between the 'enith 6 and the star S is the 'enith distance z. The 'enith di

distance d from the lighthouse of the previous e#ample. *e can draw a circle centred on the star S with a radius z. * on the projection of this circle on the Earth. This is our new circle of position. (et's put an observer on the arth. the celestial sphere, which is directly above the head of the observer, is called his 'enith. The distance on the celestia the 'enith 6 and the star S is the 'enith distance z. The 'enith distance is like the distance d from the lighthouse of th e#ample. *e can draw a circle centred on the star S with a radius z. *e are somewhere on the projection of this cir This is our new circle of position. The position of the pro!ection of the star on the arth $latitude, longitude% and the position of the star S itself on the are identical $same angles, same reference plans) the celestial e2uator and the 5reenwich meridian%. The position of the pro!ection of the star on the arth $latitude, longitude% and the position of the star S itself on the are identical $same angles, same reference plans) the celestial e2uator and the 5reenwich meridian%.

The position of the star on the celestial sphere is given by its declination delta $789N : 789S% and its 5reenwich ;our Angle $5;A, 89 : <=89%.

*e can find both values for any given time in the Nautical Almanac $or with the kind help of ASNAv%. &nowing de measuring the 'enith distance z, we can find our circle of position and finally our position. *e can find both values in the Nautical Almanac $or with the kind help of ASNAv%. &nowing delta > 5;A and measuring the 'enith distan our circle of position and finally our position. *ell, very nice... :-) (et's enter into the details now. :-(

*ell, very nice... :-) (et's enter into the details now. :-( Take the previous figure and wipe:off the surplus. Note the latitude and co:latitude $789 : lat%, the declination delta and polar distance ?elta $789 : delta%. Take the prev wipe:off the surplus. Note the latitude and co:latitude $789 : lat%, the declination delta and polar distance ?elta $789 : delta%.

The figure is using the equatorial coordinate system $the reference is the celestial e2uator%. @ut what we need in fa to our local coordinate system) the horizontal coordinate system $the reference is the local apparent hori'on%.

The figure is using the equatorial coordinate system $the reference is the celestial e2uator%. @ut what we need in fa to our local coordinate system) the horizontal coordinate system $the reference is the local apparent hori'on%.

At our position $+bserver% on the arth, we can imagine the plan of our hori'on with the A cardinal points. If we move this plan to the centre of the arth and redraw the figure using this plan as reference, we get the ne#t drawing.

The

reference

is

now

the

horizontal

coordinate

*hen we observe a star from our local hori'on, we can define its position in the sky by its Azimuth $89 : <=89% $89 : 789%. The reference is now the horizontal coordinate

*hen we observe a star from our local hori'on, we can define its position in the sky by its Azimuth $89 : <=89% $89 : 789%. The 'enith distance z is 789 : h. In practice, we are only measuring the altitude h of the star, its a'imuth is calculated. The 'enith distance z is 789 : h. In practice, we are only measuring the altitude h of the star, its a'imuth is calculated.

Aha. Interesting. *e already seen that our circle of position is centred on $delta, 5;A% with a radius z. Thanks to the Nautical Almanac, we can define the position of the star S on the celestial sphere $declination delta, 5 Angle 5;A%. Thanks to our local observation of the star, we can measure its altitude and deduce its 'enith distance Interesting. *e already seen that our circle of position is centred on $delta, 5;A% with a radius z. Thanks to the Nautical Almanac, we can define the position of the star S on the celestial sphere $declination delta, 5 Angle 5;A%. Thanks to our local observation of the star, we can measure its altitude and deduce its 'enith distance Interesting. *e already seen that our circle of position is centred on $delta, 5;A% with a radius z. Thanks to the Nautical Almanac, we can define the position of the star S on the celestial sphere $declination delta, 5 Angle 5;A%. Thanks to our local observation of the star, we can measure its altitude and deduce its 'enith distance

*e !ust need to find a mathematical relation between what we know $delta, 5;A, h% and what we are looking for $l 5w % and we can solve the problem of the celestial navigation. *e !ust need to find a mathematical relation between $delta, 5;A, h% and what we are looking for $latitude, longitude 5w % and we can solve the problem of the celestial n !ust need to find a mathematical relation between what we know $delta, 5;A, h% and what we are looking for $latitu and we can solve the problem of the celestial navigation.

The hatched triangle on the top of the celestial sphere is the one we will use to solve the celestial navigation problem The < sides of the triangle are) col, the co:latitude $789 : latitude%B z, the 'enith distance $789 : altitude h%B Delta, $789 : declination delta%. The angle of the triangle opposite to the side z is called the polar angle ? at the ;ere) 4 0 g w : 5;AF

$CD89* : CD89 %. This angle is also the a celestial

It's a spherical triangle, not a plane triangle. *e all remember $aren't weG% the formula to solve a triangle in plane g is the one in case of spherical geometryG

The triangle in plane geometry, for old times' sake)

The cosinus rule for the spherical geometry in the general case.

The application of the general case to our problem)

*e found a mathematical relation between what we know $delta, 5;A, h% and what we are looking for $latitude, longitude%. *ith - observations, we get a system of ! equations with ! un"nowns that we are able to solve. The celestial navigation problem is thus resolved. What? You don't like my equation? *ell, I agree that its resolution is not so simple... Hor a computer, the process is 2uite straightforward) solving the system by an iterative method using the estimated latitude and longitude as starting values. *ith more than - observations, it's even possible to improve the traditional method and to perform a statistical analysis, in other words) to give a certain weight to each observation according to its reliability in the normal law modelB

to compute and eliminate the possible systematic error of the observerB

to correct the assumed course and speed if enough observations are provided $e#actly the same way the 54S is able to give the course and speed of the vessel if enough satellites are visible%. To do this, ASNAv is using the least:s2uare method with iterative weighting ad!ustment by the @iweight function on a system of e2uations given by the differential correction method. ach e2uation i looks like)

Hor a no human b solving celestial navigati e2uation will tak

To check manually the results of ASNAv, we can use the traditional method of the #ines of osition (#$ s). ;owever, this traditional method is not able to correct errors in the estimated course and speed. See an e#ample of th skills to understand the differences between the ASNAv method and the traditional method. To check manually the ASNAv, we can use the traditional method of the #ines of osition (#$ s). ;owever, this traditional method is not able to correct errors in the estimated course and speed. See an e#ample of th skills to understand the differences between the ASNAv method and the traditional method.

Traditional method : lines of position (LOPs) and intercepts

This method was invented in CDIJ by the admiral Karc2 de Saint:;ilaire $some other sources say ,. Lillarcau and A. de Kagnac%. The true line of position A, tangent to the circle of position, can be merged into the line of position @ because the estimated position e is close to the true position +. +n the line of position @, the intercept is the difference between the true $observed% altitude and the calculated altitude)

ractically% the procedure is as follow: C. find the estimated position with an accuracy of J8 nautical miles $in order to get a fi# with C nautical mile ma#imum error due to the method itself%B -. observe with the se#tant a star altitude ;s at the time 3 $5KT%B <. correct the se#tant altitude ;s with the instrumental error, the dip of the apparent hori'on, the terrestrial refraction, the astronomic refraction, the paralla#, the semi:diameter of the star $if needed% to get &o $observed altitude%B A. compute the a'imuth of the star using the estimated position and the data's of the Nautical Almanac at the time 3B J. =. I. compute the calculated altitude &cB compute the intercept '() 0 ;o : ;cB plot the line of *earing $a'imuth of the star% from the estimated positionB

D. plot the line of position perpendicular to the line of bearing, at a distance '() from the estimated position, away if ;c M ;oB 7. start over again the steps -:D, at least once, to get the drawing below)

$ is the observer true $astronomic% position. Note: '() is used in this te#t as foreshortening for 'n(er)ept and is not an abbreviation. ?on't confuse the intercept IT3 with '( : the Intercept Terminal 4oint. '( is the point through which the circle of position passes. The (+4 is tangent to the circle of position at this point.

LOPs, cocked hat and common sense

Common sense is judgment without reflection, shared y an entire class, an entire nation, or the entire human race !"iam attista #ico !$%&&'$())*, +talian philosopher* The observer astronomic position + is at the intersection of the - (+4s. *ith < se#tant observations, you get < (+4s and if you are very good and very lucky at the same time, you could end up with (+4s intersecting like this)

Kost often, however, you will get (+4s intersecting like this)

This triangle is known as a coc"ed hat hat of the times

after its resemblance to the common three:cornered

when these navigation techni2ues were developed. *here is e#actly the observer astronomic position +G *ell, the common sense is telling us that + is e#actly in the middle of the triangle)

+nfortunately% the common sense is seriously misleading here,,, If $and only if% the observations a'imuths are spread over more than CD89, then the most probable position $K44% is inside the coc"ed hat, but with a pro*a*ility of only !-..

Errors... and how to li e with them

The reason why the < (+4s don't intersect as a point but as a triangle is the o*ser/ations errors. The observations errors are)

systematic error random errors

The systematic error is the algebraic sum of the uncorrected inde# error of the se#tant and the observer personal error. If not e2ual to 'ero, a personal error shows the observer inclination to always overestimate or underestimate the stars altitudes of a definite value. The random errors depend on the observer e#perience and the observation conditions $bad hori'on, rolling ship, abnormal atmospheric refraction, ...%. If you are really e#perienced $and lucky% and there are no random errors, then the systematic error can *e eliminated *y ta"ing the coc"ed hat centre as (rue osition $0#1 '2 the o*ser/ations azimuths are spread o/er more than 3456.

'f the o*ser/ations azimuths are not spread o/er 3456% the (rue osition is 0$( the )oc"ed &at )entre.

In this second case, to say that the True 4osition is the cocked hat centre, you need to correct - (+4s by moving them backwards and C (+4 by moving it forward. This is impossible because the systematic error is a constant of the same sign. *e have here an 'outside' fi#) the (rue osition is outside the coc"ed hat. &nowing his own personal error $inclination to always overestimate or underestimate the stars altitudes of a definite value% is the only way to find the True 4osition. If there are random errors $and there will be, no matter how good observer you are%, then the situation is even worse...

!andom errors and common sense

Nandom errors are inevitable... *e can find in the @owditch chapter C= $Nathaniel @owditch, The American 4ractical Navigator, an pitome of Navigation, pub. n97 NIKA, /SA, C77J% C7 possible errors when observing the celestial body height and <8 possible errors until the (+4 can be drawn on the chart. In case of random errors, without further statistical analysis, the True 4osition can be on the left or on the right of each (+4,

with an e2ual probability. ach (+4 divides the world in - areas and the True 4osition has e#actly J8O of chance to be in one of them. (et's call $arbitrarily% the 'one inside the triangle P P P. The names of the other 'ones follow directly)

There is no : : : 'one. The True 4osition !ust cannot be in the - area of each (+4 and the cocked hat still be shaped as drawn. So we know that the True 4osition is in the 7 area of at least C position line. The True 4osition can be found by flipping a coin twice $head side is P, reverse side is : and each occurrence has a J8O probability%. C% If the True 4osition is in the P P P 'one, it needs to be in < 7 areas)

we know that we are in C 7 area flip the coin, there is C chance among - to be in a second 7 area flip the coin again, there is also C chance among - to be in a third 7 area so there is C1- # C8- 0 C1A chance to be in the PPP 'one 0 -JO probability we know that we are in C 7 area flip the coin, we are in C 7 area or C - area flip the coin again, there is now C chance among - to be in the remaining 7 or - area so there is C1- chance $J8O% to be in a :PP 'one as there are < :PP 'ones, J8O divided by < 0 C=.=IO probability we know that we are in C 7 area flip the coin, there is C chance among - to be in a : area

-% If the True 4osition is in a : P P 'one, it needs to be in - 7 areas and C - area)

<% If the True 4osition is in the :: P 'one, it needs to be in C 7 area and - - areas)

flip the coin again, there is also C chance among - to be in a second - area so there is C1- # C8- 0 C1A chance $-JO% to be in a ::P 'one as there are < ::P 'ones, -JO divided by < 0 D.<<O probability

So by C, - and <, we can draw)

Conclusion
The True 4osition is the cocked hat centre if there are no random errors and the observations a'imuths are spread over more than CD89. If there are random errors, then the most probable position $K44% is inside the cocked hat but with a probability of only -JO. 'n plain English% this means that there is a 9-. pro*a*ility for (rue osition to *e outside the coc"ed hat,,,

!andom errors " a solution

Nandom errors are inevitable. *ith random errors, there is a IJO probability for True 4osition to be outside the cocked hat. ;ow to trust the ship position drawn on the chart, thenG Kore helpful than the cocked hat or the K44 $Kost 4robable 4osition% by itself is the confidence ellipse. The confidence ellipse defines the area within which the True 4osition lies with a given probability $7JO or 77O for instance%. A statistical analysis is needed to be able to draw this ellipse. 3onfidence ellipse characteristics)

its centre is the K44 its si'e depends on the si'e of the random errors and on the chosen probability its shape depends on the number of observations and distribution of the a'imuths.

The confidence ellipse will normally overlap the cocked hat partly. Another advantage of the confidence ellipse is that this ellipse can be drawn for any number of (+4s and therefore give a visual representation where the cocked hat fails to do so. :ee the confidence ellipse

ASNAv is able to draw the confidence ellipse around the K44. It gives also the radius of the circle of equi/alent pro*a*ility $as this is easier to plot on the chart%.