*Kornyanat Hozumi¹, Ryo Nakao², Hiroyuki Nakata², Susumu Saito³, Takuya Tsugawa¹, Chihiro Tao¹, Hidekatsu Jin¹, Masato Nagahara¹, Mamoru Ishii¹ (1.National Institute of Information and Communications Technology (NICT), Tokyo, Japan, 2.Graduate School of Engineering, Chiba University, Chiba, Japan, 3.National Institute of Maritime, Port and Aviation Technology, Electronic Navigation Research Institute (ENRI), Tokyo, Japan)