“…The proposed solution has higher accuracy in comparing to historical maritime navigation systems like the Decca [42], Loran‐C, and its Polish equivalent – the Jemioluszka [43, 44], which were based on signal phase measurements. In the spoofing or jamming conditions, using a differential GNSS [45] does not allow the autonomous USV control. Whereas, a new Polish system concept called the AEGIR [44, 46], which is based on a time difference of arrival (TDOA) method, requires a significantly wider bandwidth than the proposed method.…”