Backing-Up GNSS with R-Mode: Positioning Performance for Recursive Estimators

Kurzfassung

Global Navigation Satellite Systems (GNSS) constitute the main information supplier for outdoor positioning and timing. Unfortunately unintended and malicious radio-frequency interference constitutes a major concern for GNSS. Within the maritime domain, radio attacks deprive the skippers from navigation and lead to the failure of different interfaces on a vessel’s bridge. Ranging-Mode (R-Mode) is a positioning system which uses signals-of-opportunity and allows to backup GNSS. This paper describes the overall R-Mode architecture and details the types of ranging and velocity observations derived from medium and very high frequency radio signals. This paper contributes with the derivation of recursive estimators, in the form of Cubature Kalman Filters, and the discussion of the particulars required to accommodate R-Mode observations. The theoretical analysis and performance comparison of the proposed filters is addressed via Monte Carlo simulation following a realistic maritime scenario.