The exuberant galley of Emperor Dom João VI is among the offerings at the Espaço Cultural da Marinha maritime museum, an opportunity to explore the naval history of a country with an enormously long coastline to protect. Take a walk along the pier and admire the Riachuelo submarine and a full scale model of a discovery-era ship, or take things more contemporary with a tour of the helicopter museum.

Tours to Ilha Fiscal depart three times a day, setting off between midday and 4pm. It is on this island off the port of Centro that the last ball of the empire was held in 1889 and now home to a museum perfect for those looking to complete their less immediately obvious history of Rio.