Robust naval localization using a particle filter on polar amplitude gridmaps

Maritime navigation heavily relies on global navigation satellite systems and related technologies for positioning. Since these technologies are vulnerable to external threats such as signal spoofing, alternatives are needed to increase reliability and ensure safe navigation. Our proposal is to use radar to construct polar amplitude gridmaps tailored for the intended route, and using a particle filter for position estimation. The proposed approach has been successfully demonstrated on data from a surface vessel in the harbor of Helsinki.