This paper proposes a solution to determine the position of the vessel through the signals of the AIS system. The process of locating a ship is calculated based on the reception of AIS signals from at least three shore stations by the next time method (TOA). The error of the TOA method was assessed by the lower limit of Cramer-Rao (CRLB). The simulation results show the factors affecting the performance of TOA method with AIS signal | Time-of-arrival estimation method for marine vessel positioning based on AIS signals
