Doppler‐based navigation for mobile protection system of strategic maritime facilities in GNSS jamming and spoofing conditions

The use of unmanned surface vehicles (USVs) to protect strategic maritime facilities is one of the directions of development of state security systems. The reliable operation of these devices depends on the immunity of their navigation system to targeted interference. This study presents the concept of an autonomous navigation system for the USV. The Doppler effect, which occurs in signals received from radio beacons with known coordinates of position, is the basis for its operation. Analytic expressions that describe the relationship between the coordinates of the current USV position and the frequency Doppler shift of the received signals are presented in this study. The evaluation of the effectiveness of this system is based on simulation tests for the selected research scenario. The navigation error along the entire trajectory of the USV motion is adopted as a measure for this assessment. Obtained results show the possibility of the practical application of the developed navigation procedure.

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