PT  - JOURNAL ARTICLE
AU  - Grundhöfer, Lars
AU  - Rizzi, Filippo Giacomo
AU  - Gewies, Stefan
AU  - Hoppe, Michael
AU  - Bäckstedt, Jesper
AU  - Dziewicki, Marek
AU  - Del Galdo, Giovanni
TI  - Positioning with medium frequency R-Mode
AID  - 10.1002/navi.450
DP  - 2021 Dec 21
TA  - NAVIGATION: Journal of the Institute of Navigation
PG  - 829--841
VI  - 68
IP  - 4
4099  - https://navi.ion.org/content/68/4/829.short
4100  - https://navi.ion.org/content/68/4/829.full
SO  - NAVIGATION2021 Dec 21; 68
AB  - R-Mode is a terrestrial navigation system under development for the maritime domain that provides backup in case of a GNSS outage. This paper describes the first test results for real-time positioning on board a ship using medium frequency R-Mode signals. The estimation and positioning algorithms used are described in detail and it is shown how they are integrated into the R-Mode receiver developed by the German Aerospace Center. Moreover, during two daytime experiments with lower and higher dynamic movements of a ship in the Baltic Sea, we were able to achieve a 95% horizontal positioning accuracy of better then 12 m in the center of three R-Mode transmitters. This demonstrates the first time that the medium frequency R-Mode has provided positioning at sea.