INTERNATIONAL MARITIME ORGANIZATION E IMO SUB-COMMITTEE ON SAFETY OF NAVIGATION 50th session Agenda item 13 2 April 2004 Original: ENGLISH WORLD-WIDE RADIONAVIGATION SYSTEM (WWRNS) GALILEO receiver performance standards Submitted by the European Commission SUMMARY Executive summary: GALILEO will be the European contribution to the Global Navigation Satellite System (GNSS). GALILEO is a global, civil-controlled system that will provide position, velocity and timing information to multimodal users. The GALILEO program is moving ahead to the development of the final system, deployment and operation, expected in 2008. It is the intention that GALILEO will be offered to IMO for recognition as part of the world-wide radionavigation system in due course. This document proposes to initiate the development of GALILEO receiver performance standards to facilitate the use of GALILEO by the maritime sector at the earliest opportunity following the declaration that the system is operational and its recognition as part of the WWRNS. The document also presents, for consideration by the Sub-Committee, the first draft preliminary performance standard for receivers utilising the GALILEO Open Service. Action to be taken: Paragraphs 12, 13 and 14 Related documents: NAV 49/13, MSC 76/INF.4, Res. A.815(19), Res. A.915(22), MSC 78/11/5 INTRODUCTION 1 As reported at MSC 76 and subsequently at MSC 78, the GALILEO program, developed by the European Commission in conjunction with the European Space Agency, is moving ahead to the development of the final system. GALILEO will be a civil-controlled satellite system that provides global position, velocity and timing information to multimodal users. The maritime community is expected to form a small but extremely important section of the overall GALILEO user base. Initial analyses, reported at NAV 49, indicate that GALILEO, standalone, will meet For reasons of economy, this document is printed in a limited number. Delegates are kindly asked to bring their copies to meetings and not to request additional copies.
- 2 - the maritime requirements for general navigation in the ocean, coastal, port approach and restricted waters operations, as specified in resolution A.915(22). 2 The overall program is being managed by the GALILEO Joint Undertaking (GJU) which was established as a joint undertaking (an international organisation) under Article 171 of the EC Treaty. The European Community, represented by the European Commission, and the European Space Agency are the GJU s founding members. The GJU is acting as the single management structure of the development phase of GALILEO program. 3 The first phase of the development and implementation of Galileo infrastructure is well underway. This phase, which will run from 2003 to 2005, aims to validate the technical options for the system and to create the conditions necessary for the rapid deployment of the infrastructure. This first phase will include the launch of two test satellites, as well as the consolidation of the mission requirements, and the development of a limited number of operational satellites and ground-based infrastructure. 4 The final two phases of the GALILEO program are:.1 the deployment and validation phase, which will run from 2006 to 2007, wherein the operator will construct and launch the GALILEO satellites and install and test the ground infrastructure; and.2 the operational phase which will run from 2008 onwards, when GALILEO services will be available for use. Validation and certification will allow the use of GALILEO for safety of life applications. 5 In parallel to the system development itself, there are a number of ongoing activities vital to enable the use of the system and to ensure its acceptability to the relevant international institutions, States and users alike. These activities include: the development of standards for each of the potential user sectors, within the wellestablished structures set-up for this purpose; establishment of a framework for the certification of the system, services and equipment; and work to ensure the interoperability of GALILEO with the other global and regional components of GNSS GPS,GLONASS and SBAS systems. GALILEO SERVICES 6 The satellite-only services planned for GALILEO will be provided worldwide and will be independent of other systems. These services, which will require the broadcast of ten signals in the lower L-band (E5a and E5b), in the middle L-band (E6) and in the upper L-band (E2-L1-E1), are:.1 The Open Service (OS) - providing positioning, navigation and timing services, free of direct user charge, for mass market navigation applications and competitive to the GPS Standard Positioning Service and its evolutions. The OS can be used on one (L1), two (L1 and E5a) or three (L1, E5a and E5b) frequencies;.2 A Safety of Life Service (SoL) compliant to different standards in the aeronautical, maritime and rail domains. The SoL includes Integrity and
- 3 - Authentication capabilities. The SoL includes service guarantees. The SoL service will require use of at least two frequencies (L1 and E5b) and may be augmented by the use of a third frequency at E5a;.3 A Commercial Service (CS) - generates commercial revenue by providing added value over the Open Service, such as by dissemination of encrypted navigation related data (0.5 kbps), ranging and timing for professional use - with service guarantees. The CS will be based on the OS plus two encrypted signals on the E6 band;.4 A Public Regulated Service (PRS) - for applications devoted to European/National security, regulated or critical applications and activities of strategic importance. The PRS will provide robust and encrypted signals, under Member States control. PRS will be a dual frequency services using the L1 and E6 bands; and.5 A Search and Rescue Support Service (SAR) - provides assistance to the COSPAS-SARSAT system by detecting Emergency Beacons and forwarding Return Link Messages to the Emergency Beacons. 7 For marine navigation purposes, the Open Service and the Safety of Life service will be of most interest. 8 Noting that GALILEO satellite-only services will not meet fully all application requirements, it will be possible to enhance these satellite-only services on a local-basis using local components to augment the signals to provide improved performance and/or additional functionality to meet the requirements of more demanding applications. In the maritime sector, one potential local component could be based on an extension of the IALA DGNSS system to provide differential corrections and integrity messages for GALILEO signals in addition to those provided for GPS. As well as enhancement of the systems themselves, this would require development of the relevant standards, such as RTCM SC-104 and ITU M.823-2. Such an approach could be termed DGALILEO. In addition to the MF beacon system, other delivery mechanisms could also be considered such as the automatic identification system (AIS). GALILEO FOR MARITIME APPLICATIONS In parallel with the GALILEO system development activities, a number of contracts have been launched by the European Commission and ESA to promote the use of GALILEO for different types of applications in the Maritime domain. The main projects are as follows : -GALILEI (EC 5 th Framework Programme) : Studies were performed to identify the possible use of GALILEO services for Fisheries Monitoring Systems and for Long range AIS in the area of surveillance of dangerous goods transportation. The studies highlights the potential Galileo contributions in terms of service guarantees and authentication possibilities. -EGNOS TRAN (ESA) deals with EGNOS and AIS integration for Maritime navigation in northern latitudes
- 4 - -GALEWAT (ESA) aims at establishing an operational platform for inland waterways navigation based on EGNOS and AIS -LOPOS (ESA) aimed at demonstrating the attractiveness of integrity and accuracy for harbour operations -NAUPLIOS (EC 5 th Framework Programme). The main objective is to demonstrate the added value of the GALILEO positioning and SAR services for maritime transportation of goods and hazardous materials. -MARGAL (EC 6 th Framework Programme) The proect addresses the issue of the utilisation of GNSS (GPS, EGNOS, Galileo) in various maritime applications including; Vessel Transport Systems (VTS) - both in oceans and inland waterways, AIS, utilisation of IALA beacons for new services and seamless navigationthe contract was launched on Feburary 2004 for a duration of 2 years and consists of requirements consolidation, design, implementation and demonstration /dissemination activities. -MarNIS (EC - 6th Framework Programme). The project aims at the development of a mandatory systematic use of modern localisation and telecommunication techniques for all the operators of the maritime sector. This use shall allow both a better observance of all the legislation of all sorts that rules the sector and an easier communication between ship and shore to solve a vast array of issues related to the handling of the ship, its cargo or its passengers and its crew. Given the range of applications possibly benefiting from the introduction of GALILEO service, it is important that some work is initiated towards the production of relevant IMO standards enabling the use of Galileo as discussed in the last part of the present paper. MARITIME STANDARDIZATION 9 It is the intention to offer GALILEO Open Service and Safety of Life service to IMO for consideration as components of the WWRNS. It is anticipated that the procedures for the recognition of these services will be similar to those followed for the GPS and GLONASS systems, except that the performance baseline is now expected to be based on the requirements specified in resolution A.915(22). Proposals will be made to IMO, together with the relevant supporting information, in due course. 10 In parallel, it is the intention of the GJU to support the development of receiver performance standards for GALILEO services, using the process followed by GPS and GLONASS as a model. A project with this objective, called GEM, has been initiated by the GJU. Three tiers of receiver performance standards are proposed:.1 a standard for standalone GALILEO open service receivers (combinations of L1, E5a and E5b frequencies);.2 a standard for standalone GALILEO safety of life service receivers (both L1 and E5b frequencies with an option for E5a); and.3 at a later stage, a standard for DGALILEO receivers as an extension of the current DGPS/DGLONASS receiver standard.
- 5-11 The initial draft of the first tier standard is provided in the Annex for consideration by the Sub-Committee as the starting point in the standard development process. The initial draft of the second tier standard is in preparation and will be available in the near future. ACTION REQUESTED OF THE SUB-COMMITTEE 12 The Sub-Committee is invited to note the intention to offer GALILEO for consideration as a component of the WWRNS and the intention of the GJU to develop standards to support this offer. 13 The Sub-Committee is invited to note the preliminary draft receiver performance standard for the GALILEO open service and the GALILEO safety of life service provided at annexes 1 and 2 as a starting point for the work. 14 The Sub-Committee is also invited to consider the most appropriate mechanism to establish a working group to develop GALILEO receiver performance standards for the GALIEO Open Service and GALILEO Safety of Life Service. 15 The GJU, through the GEM Project, requests to participate in the working group and undertakes to provide preliminary draft standards as input to the working group and to provide technical support to the working group in the further development and completion of those standards. ***
ANNEX 1 PRELIMINARY DRAFT RECOMMENDATION FOR PERFORMANCE STANDARDS FOR SHIPBORNE GALILEO RECEIVER EQUIPMENT UTILISING THE OPEN SERVICE 1 INTRODUCTION 1.1 GALILEO is the European satellite positioning, velocity and timing system currently under development. GALILEO is being designed as a wholly civil system, operated under public control. The GALILEO space segment will comprise 30 medium earth orbit (MEO) satellites in 3 circular orbits at an altitude of 23616km. Each orbit will have an inclination of 56 and will contain 9 operational satellites plus one operational spare. Thios geometry will ensure that a minimum of TBD satellites will be in view to users world-wide with a position dilution of precision (PDOP) TBD. 1.2 GALILEO will transmit 10 navigation signals and 1 search and rescue (SAR) signal. The SAR signal will be broadcast in one of the frequency bands reserved for the emergency services (1544-1545 MHz) whereas the 10 navigation signals will be provided in the radionavigation satellite service (RNSS) allocated bands: 4 signals will occupy the frequency range 1164-1215 MHz (E5a-E5b) 3 signals will occupy the frequency range 1260-1300 MHz (E6) 3 signals will occupy the frequency range 1559-1591 MHz (L1). 1.3 The GALILEO Open Service will provide positioning, navigation and timing services, free of direct user charges. The Open Service can be used on one (L1), two (L1 and E5a or L1 and E5b) or three (L1, E5a and E5b) frequencies. Each frequency carries two signals; the first is a tracking signal the so-called pilot signal that contains no data but increases the tracking robustness at the receiver whereas the other carries a navigation data message. 1.4 GALILEO receiver equipment intended to use the Open Service for navigation purposes on ships of speeds not exceeding 70 knots, in addition to the general requirements specified in resolution A.694(17), shall comply with the following minimum performance requirements. 1.5 These standards cover the basic requirements of position fixing only, either for navigation purposes or as input to other functions. The standards do not cover the other computational facilities which may be in the equipment nor cover the requirements for any other systems that may take input from the GALILEO receiver. 2 GALILEO OPEN SERVICE RECEIVER EQUIPMENT 2.1 The words GALILEO Open Service receiver equipment as used in these performance standards include all the components and units necessary for the system properly to perform its intended functions relating to the GALILEO Open Service. The equipment shall include the following minimum facilities:.1 antenna capable of receiving GALILEO Open Service signals;.2 GALILEO Open Service receiver and processor;.3 means of accessing the computed latitude/longitude position;.4 data control and interface; I:\NAV\50\13.DOC
ANNEX 1 Page 2.5 position display and, if required, other forms of output. 2.2 The antenna design should be suitable for fitting at a position on the ship which ensures a clear view of the satellite constellation. 3 PERFORMANCE STANDARDS FOR GALILEO OPEN SERVICE RECEIVER EQUIPMENT The GALILEO Open Service receiver equipment shall:.1 be capable of receiving and processing the GALILEO Open Service positioning and velocity, and timing signals on: i) for a single frequency receiver, the L1 frequency alone. The receiver shall use a simple ionospheric model broadcast to the receiver by the constellation to generate ionospheric corrections; ii) for a dual frequency receiver, either the L1 and E5b frequencies or the L1 and E5a frequencies. The receiver shall use dual frequency processing to generate ionospheric corrections; iii) for a triple frequency receiver, all of the L1, E5a and E5b frequencies. the receiver shall use dual frequency processing to generate ionospheric corrections;.2 provide position information in latitude and longitude in degrees, minutes and thousandths of minutes in the International Terrestrial Frame System (ITRF TBD) datum. Means may be provided for transforming the computed position into data compatible with the navigational chart in use. Where this facility exists, the display shall indicate that the coordinate conversion is being performed and should identify the coordinate system in which the position is expressed;.3 provide time referenced to universal time coordinated (UTC) (TBD);.4 be provided with at least one output from which position information can be supplied to other equipment. The output of position information should be based on the TBD datum and should be in accordance with international standards;.5 have static accuracy such that, for a horizontal dilution of precision (HDOP) 4 or a PDOP 6, the position of the antenna is determined to within: i) 15m horizontal (95%) and 35m vertical (95%) for single frequency operations on the L1 frequency; ii) 10m horizontal (95%) and 10m vertical (95%) for dual frequency operations on L1 and E5a or L1 and E5b frequencies; iii) 10m horizontal (95%) and 10m vertical (95%) for triple frequency operations on the L1, E5a and E5b frequencies;.6 have dynamic accuracy under the conditions of sea states and motion likely to be experienced in ships such that, for a HDOP 4 or a PDOP 6, the position of the ship is determined to within:
ANNEX 1 Page 3 i) 15m horizontal (95%) and 35m vertical (95%) for single frequency operations on the L1 frequency; ii) 10m horizontal (95%) and 10m vertical (95%) for dual frequency operations on L1 and E5a or L1 and E5b frequencies; iii) 10m horizontal (95%) and 10m vertical (95%) for triple frequency operations on the L1, E5a and E5b frequencies;.7 have position resolution equal or better than 0.001 minutes of latitude and longitude;.8 have timing accuracy such that time is determined within 50ns of UTC;.9 have velocity accuracy of better than 50ms-1 for the single frequency service and TBD for the dual and triple frequency services;.10 be capable of selecting automatically the appropriate satellite-transmitted signals to determine the ship s position and velocity, and time with the required accuracy and update rate;.11 be capable of acquiring satellite signals with input signals having carrier levels in the range of 128dBm to 118dBm (TBD). Once the satellite signals have been acquired, the equipment should continue to operate satisfactorily with satellite signals having carrier levels down to 131dBm (TBD);.12 be capable of operating satisfactorily under normal interference conditions;.13 be capable of acquiring position, velocity and time to the required accuracy within 100 seconds when there is no valid almanac data (cold start);.14 be capable of acquiring position, velocity and time to the required accuracy within 30 seconds when there is valid almanac data (warm start);.15 be capable of re-acquiring position, velocity and time to the required accuracy within 1 second when there has been a service interruption of 60 seconds or less;.16 be capable of re-acquiring position, velocity and time to the required accuracy within 100 seconds when there has been a service interruption of 24 hours or more but power to the receiver has not been lost;.17 generate and output to a display and digital interface a new position solution at least once every 1 second for conventional craft and at least once every 0.5 seconds for high speed craft;.18 generate and output to the digital interface course over the ground (COG), speed over the ground and UTC. Such outputs should have a validity mark aligned with that on the position output. The accuracy requirements for COG and SOG should not be inferior to the relevant performance standards for heading (Resolution A.424 (XI) for conventional craft and resolution A.821(19) for high speed craft) and speed and distance measuring equipment (SDME) (resolution A.824(19)). I:\NAV\50\13.DOC
ANNEX 1 Page 4 4 INTEGRITY CHECKING, FAILURE WARNINGS AND STATUS INDICATIONS 4.1 The equipment shall also indicate whether the performance of GALILEO is outside the bounds of requirements for general navigation in the ocean, coastal, port approach and restricted waters, and inland waterway phases of the voyage as specified in Appendix 2 to Resolution A.915(22). The GALILEO receiver shall as a minimum:.1 provide a warning within 5 seconds if a new position has not been calculated for more than 1 second for conventional craft and 0.5 seconds for high speed craft;.2 provide a warning of loss of position;.3 use receiver autonomous integrity monitoring (RAIM) to provide an alarm within 10 seconds if an alert limit of 25m is exceeded for a period of longer than TBD with a probability of detection of better than 99.999% over any three hour period. Under such conditions the last known position and the time of last valid fix, with the explicit indication of the state so that no ambiguity can exist, should be output until normal operation is resumed. 5 PROTECTION Precautions should be taken to ensure that no permanent damage can result from an accidental short circuit or grounding of the antenna or any of its input or output connections or any of the GALILEO receiver equipment inputs or outputs for a duration of 5 minutes or less. ***
ANNEX 2 PRELIMINARY DRAFT RECOMMENDATION FOR PERFORMANCE STANDARDS FOR SHIPBORNE GALILEO RECEIVER EQUIPMENT UTILISING THE SAFETY OF LIFE SERVICE 1 INTRODUCTION 1.1 GALILEO is the European satellite positioning, velocity and timing system currently under development. GALILEO is being designed as a wholly civil system, operated under public control. The GALILEO space segment will comprise 30 medium earth orbit (MEO) satellites in 3 circular orbits at an altitude of 23616km. Each orbit will have an inclination of 56 and will contain 9 operational satellites plus one operational spare. This geometry will ensure that a minimum of TBD satellites will be in view to users world-wide with a position dilution of precision (PDOP) TBD. 1.2 GALILEO will transmit 10 navigation signals and 1 search and rescue (SAR) signal. The SAR signal will be broadcast in one of the frequency bands reserved for the emergency services (1544-1545 MHz) whereas the 10 navigation signals will be provided in the radionavigation satellite service (RNSS) allocated bands: 4 signals will occupy the frequency range 1164-1215 MHz (E5a-E5b) 3 signals will occupy the frequency range 1260-1300 MHz (E6) 3 signals will occupy the frequency range 1559-1591 MHz (L1). 1.3 The GALILEO Safety of Life Service will monitor the integrity of all of the signals broadcast on the L1, E5a (TBC) and E5b signals. In addition to the position, navigation and timing services provided on the L1, E5a and E5b signals, the GALILEO Safety of Life Service will provide integrity an integrity services on the L1 and E5b frequencies. 1.4 The Safety of Life Service can be used on one (L1 or E5b), two (L1 and E5b or L1 and E5a (TBC)) or three (L1, E5a and E5b) frequencies. Each of the L1 and E5b frequencies carries two signals; the first is a tracking signal the so-called pilot signal that contains no data but increases the tracking robustness at the receiver whereas the other carries a navigation data message together with an integrity message. The E5a frequency carries the tracking signal and the navigation data message but does not include integrity data. 1.5 GALILEO receiver equipment intended to use the Safety of Life Service for navigation purposes on ships of speeds not exceeding 70 knots, in addition to the general requirements specified in Resolution A.694(17), shall comply with the following minimum performance requirements. 1.6 These standards cover the basic requirements of position fixing only, either for navigation purposes or as input to other functions. The standards do not cover the other computational facilities which may be in the equipment nor cover the requirements for any other systems that may take input from the GALILEO receiver. 2 GALILEO OPEN SERVICE RECEIVER EQUIPMENT 2.1 The words GALILEO Safety of Life Service receiver equipment as used in these performance standards include all the components and units necessary for the system properly to perform its intended functions relating to the GALILEO Safety of Life Service. The equipment shall include the following minimum facilities:.1 antenna capable of receiving GALILEO Safety of Life Service signals; I:\NAV\50\13.DOC
ANNEX 2 Page 2.2 GALILEO Safety of Life Service receiver and processor;.3 means of accessing the computed latitude/longitude position;.4 data control and interface; and.5 position display and, if required, other forms of output. 2.2 The antenna design should be suitable for fitting at a position on the ship which ensures a clear view of the satellite constellation. 3 PERFORMANCE STANDARDS FOR GALILEO OPEN SERVICE RECEIVER EQUIPMENT The GALILEO Safety of Life Service receiver equipment shall:.1 be capable of receiving and processing the GALILEO Safety of Life Service positioning, velocity and timing signals on: i) for a single frequency receiver, the L1 frequency or the E5b frequency alone. This receiver shall also be capable of receiving the GALILEO integrity message on either the L1 or E5b frequency corresponding to its frequency of operation. The receiver shall use a simple ionospheric model broadcast to the receiver by the constellation to generate ionospheric corrections; ii) for a dual frequency receiver, either the L1 and E5b frequencies or the L1 and E5a frequencies (TBC). The receiver shall be capable of receiving the GALILEO integrity message on either both the L1 and E5b or the L1 frequency-alone corresponding to its frequencies of operation. The receiver shall use dual frequency processing to generate ionospheric corrections; iii) for a triple frequency receiver, all of the L1, E5a and E5b frequencies. The receiver shall also be capable of receiving the GALILEO integrity message on both the L1 and E5b frequencies. The receiver shall use dual frequency processing to generate ionospheric corrections;.2 provide position information in latitude and longitude in degrees, minutes and thousandths of minutes in the International Terrestrial Frame System (ITRF TBD) datum. Means may be provided for transforming the computed position into data compatible with the navigational chart in use. Where this facility exists, the display shall indicate that the coordinate conversion is being performed and should identify the coordinate system in which the position is expressed;.3 provide time referenced to universal time coordinated (UTC) (TBD);.4 be provided with at least one output from which position information can be supplied to other equipment. The output of position information should be based on the TBD datum and should be in accordance with international standards;.5 have static accuracy such that, for a horizontal dilution of precision (HDOP) 4 or a PDOP 6, the position of the antenna is determined to within: i) 15m horizontal (95%) and 35m vertical (95%) for single frequency operations on the L1 or the E5b frequency;
ANNEX 2 Page 3 ii) 10m horizontal (95%) and 10m vertical (95%) for dual frequency operations on either the L1 and E5a or the L1 and E5b frequencies; iii) 10m horizontal (95%) and 10m vertical (95%) for triple frequency operations on the L1, E5a and E5b frequencies;.6 have dynamic accuracy under the conditions of sea states and motion likely to be experienced in ships such that, for a HDOP 4 or a PDOP 6, the position of the ship is determined to within: i) 15m horizontal (95%) and 35m vertical (95%) for single frequency operations on the L1 frequency; ii) 10m horizontal (95%) and 10m vertical (95%) for dual frequency operations on the L1 and E5a or the L1 and E5b frequencies; iii) 10m horizontal (95%) and 10m vertical (95%) for triple frequency operations on the L1, E5a and E5b frequencies;.7 have position resolution equal or better than 0.001 minutes of latitude and longitude;.8 have timing accuracy such that time is determined within 50ns of UTC;.9 have velocity accuracy of better than 50cms -1 for the single frequency service and TBD for the dual and triple frequency services;.10 be capable of selecting automatically the appropriate satellite-transmitted signals to determine the ship s position and velocity, and time with the required accuracy and update rate;.11 be capable of acquiring satellite signals with input signals having carrier levels in the range of 128dBm to 118dBm (TBD). Once the satellite signals have been acquired, the equipment should continue to operate satisfactorily with satellite signals having carrier levels down to 131dBm (TBD);.12 be capable of operating satisfactorily under normal interference conditions;.13 be capable of acquiring position, velocity and time to the required accuracy within 100 seconds when there is no valid almanac data (cold start);.14 be capable of acquiring position, velocity and time to the required accuracy within 30 seconds when there is valid almanac data (warm start);.15 be capable of re-acquiring position, velocity and time to the required accuracy within 1 second when there has been a service interruption of 60 seconds or less;.16 be capable of re-acquiring position, velocity and time to the required accuracy within 100 seconds when there has been a service interruption of 24 hours or more but power to the receiver has not been lost;.17 generate and output to a display and digital interface a new position solution at least once every 1 second for conventional craft and at least once every 0.5 seconds for high speed craft; I:\NAV\50\13.DOC
ANNEX 2 Page 4.18 generate and output to the digital interface course over the ground (COG), speed over the ground and UTC. Such outputs should have a validity mark aligned with that on the position output. The accuracy requirements for COG and SOG should not be inferior to the relevant performance standards for heading (resolution A.424 (XI) for conventional craft and resolution A.821(19) for high speed craft) and speed and distance measuring equipment (SDME) (resolution A.824(19)). 4 INTEGRITY CHECKING, FAILURE WARNINGS AND STATUS INDICATIONS 4.1 The equipment shall also indicate whether the performance of GALILEO is outside the bounds of requirements for general navigation in the ocean, coastal, port approach and restricted waters, and inland waterway phases of the voyage as specified in Appendix 2 to Resolution A.915(22). The GALILEO Safety of Life receiver shall as a minimum:.1 provide a warning within 5 seconds if a new position has not been calculated for more than 1 second for conventional craft and 0.5 seconds for high speed craft;.2 provide a warning of loss of position;.3 use a combination of the GALILEO integrity message and receiver autonomous integrity monitoring (RAIM) to provide an alarm within 10 seconds if an alert limit of 25m is exceeded for a period of longer than TBD with a probability of detection of better than 99.999% over any three hour period. Under such conditions the last known position and the time of last valid fix, with the explicit indication of the state so that no ambiguity can exist, should be output until normal operation is resumed. 5 PROTECTION Precautions should be taken to ensure that no permanent damage can result from an accidental short circuit or grounding of the antenna or any of its input or output connections or any of the GALILEO receiver equipment inputs or outputs for a duration of 5 minutes or less.