Robust surface vessel navigation using terrain navigation

Terrain navigation has been used extensively by underwater vehicles the last decade. By comparing bathymetric measurements with a digital terrain model, it estimates a global position of the vehicle underwater, where Global Positioning System (GPS) signals are unavailable. With the increasing threat of GPS signal jammers and spoofers to marine vessels, GPS independent techniques are becoming more interesting for surface vessels as well. This paper explores the idea of using terrain navigation to detect GPS spoofing, and as a substitute position source during GPS jamming. The results from an experiment simulating GPS jamming of a surface vessel indicate the feasibility of such a system.