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.

中文翻译：

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中频 R-Mode 定位

R-Mode 是一种正在为海洋领域开发的地面导航系统，可在 GNSS 中断时提供备份。本文介绍了使用中频 R 模式信号在船上进行实时定位的第一个测试结果。详细描述了使用的估计和定位算法，并展示了它们如何集成到德国航空航天中心开发的 R-Mode 接收器中。此外，在波罗的海船舶动态运动越来越低的两个日间实验中，我们能够在三个 R 模式发射器的中心实现 95% 的水平定位精度，优于 12 m。这表明中频 R-Mode 首次提供海上定位。