Time delays caused by ground wave propagation are the primary source of systematic error limiting the performance of the medium-frequency R-Mode radionavigation system. To achieve the desired ranging accuracy and compensate these delays, we have conceived a comprehensive correction scheme based on the prediction and application of the Atmospheric and Ground wave Delay Factor (AGDF). The AGDF was computed and mapped in 2D for a number of MF R-Mode transmitters in the Baltic Sea that were embedded into the receiver and evaluated during a large-scale measurement campaign. Our results show that the proposed AGDF approach is valid for the MF R-Mode system and provides accurate corrections of ground wave propagation delays within the performance requirements.
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