Complex sentence: When the Queen is onboard the Royal Standard and Regalia are displayed and Her Majesty is always accompanied by her Bargemaster, along with eight Royal Watermen in full ceremonial dress standing on the fore deck.
Split into simpler sentences: When the Queen is onboard the Royal Standard and Regalia are displayed. The Queen is always accompanied by her Bargemaster, along with eight Royal Watermen in full ceremonial dress standing on the fore deck.