Using the Particle Filter as Mitigation to GPS Vulnerability for Navigation at Sea

A map-aided navigation method for positioning at sea is proposed, as a supplement to satellite navigation based on the Global Positioning System (GPS). The proposed Bayesian navigation method is based on information from a radar and information from databases. For the described system, the fundamental navigation performance expressed as the Cramer-Rao lower bound (CRLB) is analyzed and an analytic solution as a function of the position is derived. As a solution to the recursive Bayesian navigation problem, the particle filter is proposed. In an extensive Monte Carlo simulation performance equals a GPS system