As consort, the Duke of Edinburgh often lived on board a floating palace in the form of the Royal Yacht Britannia.
The Duke helped to design the interiors of the ship, which he and the Queen used for more than 40 years to tour the world.
Britannia was taken out of commission in 1997 and is now a tourist attraction in Edinburgh.
As our correspondent Dan Rivers reports, it has become a monument for many of the Duke's passions and beliefs.
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