The Duke was closely involved with every aspect of the design of the Royal Yacht Britannia.

Emergency services had to pump water out of the Royal Yacht Britannia after she began listing while being moved for repair work.

The Royal Yacht Britannia was the royal residence during the games.

The Royal Yacht Britannia was decommissioned after one last journey in late 1997.

An earlier version of this article gave an incorrect length for the Royal Yacht Britannia.

The Royal Yacht Britannia is one of Scotland's biggest tourist attractions.

The Royal Yacht Britannia, said the duke, was a physical statement of the grandeur of the monarchy.

This was the first official royal cruise since the decommissioning of the Royal Yacht Britannia.

Many of The Queen's official tours were undertaken on the Royal Yacht Britannia.

That same blue colour was later used for the hull of the Royal Yacht Britannia.