Positioning with medium frequency R?Mode

Abstract R-Mode is a terrestrial navigation system under development for the maritime domain that provides backup in case of GNSS outage. This paper describes first test results real-time positioning on board ship using medium frequency signals. The estimation and algorithms used are described detail it shown how they integrated into receiver developed by German Aerospace Center. Moreover, during two daytime experiments with lower higher dynamic movements Baltic Sea, we were able to achieve 95% horizontal accuracy better then 12 m center three transmitters. demonstrates time has provided at sea.