Augmented Reality devices are about to reach mainstream markets but applications have to meet user expectations in terms of usage and ergonomics. In this paper, we present a real-life outdoor AR application for marine navigation assistance that alleviates cognitive load issues (orientation between electronic navigational devices and bridge view) for vessels and recreational boats. First, we describe the current application and explain the requirements to draw relevant and meaningful objects. Secondly we present the software architecture of our pervasive system, which is compliant with different contexts and applications cases. Then, we detail our Marine Mobile Augmented Reality embedded System (MMARS). Finally, we present implementations on both Embedded system and smartphone.