Methods and algorithms in navigation :  marine navigation and safety of sea transportation / 
Adam Weintrit, Tomasz Neumann 
 - Boca Raton :  CRC Press,  c2011 
 - 217 p. :  ill. ;  25 cm. 
<br/><br/>Includes bibliographical references and index 
<br/><br/><label>ISBN: </label>9780415691147 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Navigation--Methodology<br/>Navigation--Mathematical models<br/>Collisions at sea--Prevention