Jamming and spoofing of GNSS signals have become major issues in recent years, so it is important to take measures to protect against them and ensure the safe navigation of ships. This paper focuses on terrestrial navigation as one of the technologies required for the safe operation of Maritime Autonomous Surface Ships. Terrestrial navigation is a method of accurately determining a ship's position by measuring its location relative to landmarks on land. Visual information captured around the ship is used to implement terrestrial navigation. Compared to GNSS, visual information is difficult to interfere with, making it effective in preventing accidents caused by positioning errors.
Shimizu et al. (Wed,) studied this question.