Received September 15, 2020, accepted September 26, 2020, date of publication October 22, 2020,

date of current version November 4, 2020.

Digital Object Identifier 10.1109/ACCESS.2020.3033215

eLoran: Resilient Positioning, Navigation, and

Timing Infrastructure in Maritime Areas
PYO-WOONG SON , SUL GEE PARK, YOUNGHOON HAN, AND KIYEOL SEO , (Member, IEEE)
Korea Research Institute of Ships and Ocean Engineering, Daejeon 34103, South Korea
Corresponding author: Kiyeol Seo ([email protected])
This work was supported in part by the Development of enhanced Loran (eLoran) System under Grant PMS4020, and in part by the
Development of Integrated R-Mode Navigation System under Grant PMS4440, funded by the Ministry of Oceans and Fisheries, South
Korea.

ABSTRACT Global navigation satellite system (GNSS) and localization technology have become highly
compact and effective. Although GNSS has been proven to be vulnerable to jamming when the signal
strength is weak, most vehicles rely on it for navigation. Compared to GNSS, enhanced Loran (eLoran)
is more resistant to jamming and is recommended as a realistic alternative to GNSS. Therefore, South
Korea embarked on an eLoran testbed development project to provide resilient navigation information for
maritime users. The primary goal of this project was to demonstrate that the system can provide a 20-m
position accuracy to the maritime user within a 30-km coverage of a differential Loran station. In this paper,
we describe the development of the eLoran testbed implementation and the performance of its preliminary
experimental results. To confirm the feasibility of the eLoran testbed performance, we installed an eLoran
transmitter and two differential Loran stations and subsequently conducted a zero-baseline performance test
at the Pyeongtaek differential Loran station with a new eLoran signal. We also conducted a survey to collect
conventional Loran signals along the western and southern coastlines of South Korea. Our experimental
results show that the eLoran system met the performance requirements of this project, as well as that the
signal to noise ratio of the eLoran signals changed over the topographic characteristics of the propagation
path.

INDEX TERMS GNSS backup, eLoran testbed, resilient PNT, maritime navigation.

I. INTRODUCTION rithm using a dual-polarized global positioning system (GPS)

Global navigation satellite systems (GNSSs) have been con- antenna array was developed to mitigate interference sig-
sidered as an integrated source of position, navigation, and nals [8], [9], [10]. Detection algorithms for significantly
timing information for a wide range of industrial applica- fading GPS signals and beam-steering algorithms based on
tions [1]–[3]. Critical infrastructures, such as communica- the software-defined receiver also attempt to address GPS
tions, transportation, emergency services, and finance, rely inadequacies [11].
on GNSSs. There has thus been an increased dependence However, these efforts do not address the vulnerability of
on these systems in recent decades, leading to a growing GPS in the case of weak signal strength. South Korea has been
demand from the international community to respond to the under intentional GPS-jamming attacks from North Korea
vulnerability of GNSSs [4], [5]. since 2010. As presented in Table 1, mobile communication
Various research efforts have attempted to mitigate base stations, as well as aircraft and vessels using satellite
the risks associated with GNSSs. Such efforts include navigation systems have experienced failures when receiving
the development of a geometry screening algorithm that satellite navigation signals. GPS jamming occurs on average
was developed to remove potential ionospheric threats nine days per year, affecting 980 vessels, 2,144 airplanes,
and guarantee the integrity of ground-based augmentation and 2,121 mobile communication base stations [12]. The
systems (GBAS) [6], [7]. An adaptive beam-forming algo- impediment to the use of GPS at airports, including instances
where GPS was unavailable during military training, has not
The associate editor coordinating the review of this manuscript and only occurred in South Korea, but also in other countries
approving it for publication was Venkata Ratnam Devanaboyina . around the world [13], [14].

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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TABLE 1. Cases of GPS/GNSS Disturbance in South Korea [12]. only Loran is a system that has been proven to provide PNT
information over wide areas.
The use of enhanced Loran (eLoran), which has an
improved positioning performance compared with the con-
ventional Loran, is considered to be an effective mitigation
strategy [29]. eLoran can provide resilient PNT information
because it utilizes 100 kHz terrestrial and high-power sig-
nals. Ursanav, a company with the most advanced eLoran
technology, has demonstrated that eLoran can be used as
a timing system for critical infrastructure in the United
States [30].
South Korea implemented the eLoran testbed for a resilient
PNT system in maritime areas. The International Maritime
Organization (IMO) and International Association of Marine
Aids to Navigation and Lighthouse Authorities (IALA) pro-
vide the user requirements for maritime navigation and
define position accuracy and integrity requirements for har-
TABLE 2. Maritime Navigation Systems. bor entrance and approach (HEA) and harbors, as sum-
marized in Table 3 [31], [32]. Therefore, the performance
requirements for our eLoran testbed are that it should meet
the requirements for integrity, availability, continuity, and
position accuracy.
In 2013, the U.K. provided differential Loran services
in testbed areas located on the east coast of the U.K.
They presented an eLoran service capable of providing
10-m horizontal positioning accuracy with differential Loran
(dLoran) services [33]. This provides extremely optimistic
results because the geometric arrangement between the test
area and the transmitter is good, and the propagation path
of the signal only comprises the sea. However, when eLoran
signals are propagated through any other surface, the signal-
to-noise ratio (SNR) attenuation can be significant. In South
Even in the maritime area, the dependence on GNSS Korea, the required position accuracy performance of the
and its threat is more serious [15], [16]. Conventional mar- project can be challenging because most of the potential prop-
itime navigational systems can be distinguished, as listed agation paths of signals pass through mountainous terrain.
in Table 2. Vessel navigation systems obtain the position of Therefore, we adjusted the target position accuracy of the
ships using GPS/GNSS, differential GPS (DGPS)/differential eLoran testbed to 20 m, considering the errors that occur
GNSS (DGNSS), inertial navigation systems (INSs), during signal propagation.
gyro/magnetic-compass, Loran, radar, and echo sounders. For this study, we devised an eLoran testbed with a
Unlike land areas where there are numerous methods avail- new eLoran transmitter and two dLoran stations. An eLo-
able for localization techniques or the assurance of the ran transmitter should be capable of broadcasting Loran
integrity of the navigation systems [17]–[19], there is less Data Channel (LDC) messages and coordinated universal
information in the ocean, such as landmarks, roads, and time (UTC) time-synchronized pulses. This is the most signif-
traffic signals. As such, surface vehicles heavily rely on icant upgrade from the existing Loran-C system. Two dLoran
GNSS as the source of position, navigation, and timing (PNT) stations monitored the Loran measurements and generated
information [20], [21]. corrected information, which is the main context of the LDC
Various approaches to resolve the dependency on GNSS messages [34].
are continuously proposed and developed, including the Furthermore, we discuss the feasibility of the eLoran
ranging-mode (R-mode) of the Automatic Identification Sys- testbed performance via a zero-baseline performance test
tem (AIS) [22], [23] and the R-mode VHF Data Exchange using three Korean Loran signals (9930 chain) at the Pyeong-
System (VDES) [24], [25]. The Baltic Project is also devel- taek dLoran station. We also explain the survey of conven-
oping MF R-Mode using the MF beacon infrastructure that tional Loran signals along the coast of South Korea and
transmits DGNSS information. However, it is in the early discuss the variation in the SNR of the Loran signals over
stages of development, and the effect of skywave interference the propagation path. South Korea is the only country that
occurring at night is a concern [26], [27], [28]. Among these, is preparing eLoran services to support resilient navigation

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TABLE 3. Performance Requirements for Maritime Navigation.

at sea; several countries are observing this progress with

interest.

II. TESTBED IMPLEMENTATION

A. ARCHITECTURE OF THE eLORAN TESTBED
To deliver unmanned marine vessels safely and provide nav-
igation information that is more resilient to threats incurred
by satellite-based navigation, the Korean government piloted
the eLoran testbed in two major ports in the West Sea in 2016.
The eLoran system is robust against jamming due to its strong
signal strength compared with other navigation systems and
has a wide coverage of more than hundreds of kilometers. The
eLoran testbed consisted of a new eLoran transmitter, two
dLoran stations, and a control center, as shown in Fig. 1. The
eLoran transmitter included a time synchronization system,
an eLoran signal generation and modulation unit, high power
amplifier unit and matching network, and an eLoran antenna.
The dLoran station used for generating the differential correc-
tions included a reference station (RS) and monitor station
(MS) system that uses eLoran receivers. The control center
for monitoring the eLoran testbed system included the eLoran
transmitter and dLoran stations, which were comprised of
an operation system, additional secondary factor (ASF) man-
FIGURE 1. Architecture of the eLoran testbed system.
agement system, and database management system (DBMS)
that use eLoran messages (eLMs). The DBMS was designed
to control and monitor the eLoran systems via the Ethernet.
The dLoran station calculated and transmitted each error The new eLoran transmitter was installed in Incheon,
correction within the eLoran signals via eLMs; the eLoran on the west coast of South Korea, as shown in Fig. 2. The
transmitter then broadcasted the corrected information using transmitter consists of a time synchronization system inter-
LDC. faced with atomic clocks, a signal exciter for generating the
eLoran signals based on the group repetition interval (GRI),
B. INSTALLATION OF eLORAN TRANSMITTER an LDC modulator, high power amplifier modules and a
As an eLoran system uses three or more time of combiner, and an antenna matching network. The top-loaded
arrivals (TOAs) to calculate position, it requires more monopole (TLM) antenna was built to a height of 35 m
than three Loran transmitters, including one eLoran with 24 top-loaded elements in a 157 m ground plane. Its
transmitter. Two Loran-C transmitters that can broadcast purpose in this study was to perform the test operation and
UTC time-synchronized Loran pulse are already in opera- provide signals to Pyeongtaek Port, another testbed area. The
tion in South Korea, and hence, only one additional eLoran effective radiated power (ERP) of the new eLoran transmitter
transmitter was required. As the geometric distribution of is ∼800 W, whereas the ERP of Pohang and Gwangju is 150
the three transmitters has a significant effect on eLoran and 50 kW, respectively. Following the completion of this
system performance, the location of the new transmitter was project, higher antenna and high-powered transmitters will
determined by comparing different scenarios to optimize the be transferred to Socheong Island for the coverage of a wider
performance in the testbed area. area.

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FIGURE 3. The composition and configuration of the Pyeongtaek dLoran

station.
FIGURE 2. Installation of the eLoran transmitter, TLM antenna, and
control center at Incheon.

C. IMPLEMENTATION OF A DIFFERENTIAL LORAN

STATION
The eLoran signal propagates along a single path and its prop-
agation time is delayed. There are three types of delayed prop-
agation times: the primary factor (PF) propagates through the
atmosphere, the secondary factor (SF) propagates along the
surface of the sea, and the ASF propagates along ground sur-
faces [35]–[37]. PF and SF are easily modeled and calculated
in the receiver using Brunavs’ equation [38], whereas ASF
varies spatially and temporally [39]. Therefore, monitoring FIGURE 4. SNR plot of the Loran signals from the Korean Loran
ASF and generating ASF corrections for the user is necessary transmitters during a 1-h campaign.
to meet the performance requirements for position accuracy.
Pyeongtaek, which is the main port in western South Korea the 1-h averaged H-field antenna measurement. This was
and a testbed area, was selected for the implementation of immediately applied to the raw measurement to determine
the first dLoran station. The dLoran station monitors ASF, the possible repeatable accuracy if temporal ASF corrections
generates ASF corrections in real time, and then transmits the were not conducted during the campaign. The experimental
corrected information to the eLoran transmitter, which then horizontal position error (HPE) is shown in Fig. 5. Results
broadcasts the correction information to the user via the LDC. indicate that the user can estimate their position at a 20 m
Two sets of Loran antenna and receivers for server signal accuracy when considering ASF map errors, provided the
monitoring, a network device for remote control, and power ASF correction error and man-made noise is less than 10 m.
supplies for surge protection and blackouts were installed at
the dLoran station, as shown in Fig. 3. III. SURVEY AND DISCUSSION FOR THE LORAN SIGNAL
To demonstrate the operation of the dLoran station, ENVIRONMENT OF SOUTH KOREA
we conducted a 1-h campaign of eLoran signal measurement. A survey was conducted on the user environment of Loran
First, we focused on the SNR at the Pyeongtaek dLoran signals to determine the extent of service coverage of an
station from the Korean Loran transmitters, including the eLoran testbed. We attempted to measure the SNR of Loran
new eLoran transmitter in Incheon (9930V) (Fig. 4). Two signals in different regions because the accuracy of the user
conventional Loran signals (9930M, 9930W) showed more position is strongly associated with the SNR. The new eLoran
than 10 dB, which is the minimum level for positioning rec- transmitter at Incheon was not capable of broadcasting signals
ommended by IALA [40]. New eLoran signals carrying LDC at the time of this study; therefore, we only surveyed two
showed SNR of more than 7 dB during most of the campaign, conventional Loran signals in South Korea.
which is also recommended by IALA. Efforts to improve the The Ursanav Loran antenna and receiver and the Novatel
signal environment for the Loran signals are ongoing, and it GPS antenna and receiver were installed on the HANVIT,
is expected that the SNR will soon be enhanced. as shown in Fig. 6. The HANVIT is a vessel operated by
In addition, the zero-baseline performance was evaluated. the Busan Regional Office of Oceans and Fisheries. An
Nominal ASF for each Loran signal was generated using eLoran antenna should be installed in an independent space to

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FIGURE 5. Position accuracy at a 95% level when three Korean Loran

signals were used to calculate the position of an H-field antenna at the
dLoran station (worst case: 14.93 m).

FIGURE 7. GPS positions on the HANVIT; the route includes section A,

which covers the distant sea area, and section B, which provides the
distance from the shoreline and can affect the SNR of the Loran signal.
Section C is the most favorable for receiving two Loran signals.

FIGURE 6. Antenna installation on the HANVIT (eLoran on the top of left

picture, GPS on the bottom).

prevent disruptions caused by electronic equipment, such

as air conditioning, outdoor units, and Long-Term Evolu-
tion (LTE) routers.
FIGURE 8. SNR of the Loran signal collected during the survey.
The survey was conducted from October 16, 2019, to Octo-
ber 31, 2019, with the objective of confirming the following
three main points: 1) to determine if the SNR was adequate Recent studies on the detection of the skywave in the
for providing positioning when far from the shoreline; 2) to eLoran signal have attempted to improve the SNR of the eLo-
confirm if the SNR was affected by travel along the coastline; ran signals at night [47], [48]. Another major factor affecting
and 3) to confirm the SNR level in the best user environment, the eLoran SNR is atmospheric noise. Boyce [49] studied the
which is the area close to both transmitters. effects of atmospheric noise on eLoran signals using external
The entire survey route was divided into three zones, antenna noise statistics provided in the ITU-R P.372-7 doc-
as shown in Fig. 7, to investigate these three points. HANVIT ument, showing that the effects vary seasonally. Rhee [50]
remains at port during the night and on weekends, and sails at conducted a study to simulate seasonal SNR changes of
speeds of 20 to 30 km per h during the day. Figure 8 shows the eLoran signals in Korea.
SNR of signals collected by HANVIT, and the speed of the Results from various studies confirmed that SNRs of more
vessel above the graph to distinguish between day and night than 10 dB can be obtained even in the far South and West
on the time axis. Seas, but signals from Pohang’s transmitter (red) are likely to
Figure 8 shows that the SNR of the Loran signal varies fall below 10 dB during the night. The SNR effects on the
significantly between day and night when located at the error in the TOA estimation at the receiver, as well as the
same position. Previous studies [41]–[43] have found that variance of the TOA according to the SNR, can be expressed
the SNR measured at the receiver decreases as the skywave as follows:
interference increases at night rather than during the day. This 337.52
phenomenon is closely related to the change in the delay σTOA
2
= c1 + , (1)
Npulse · SNR
time, depending on the height of the ionosphere layer and
the amplitude of the skywave, which depends on the electron where c1 is the random error independent of the position,
density change in the D region [44]–[46]. including transmitter jitter and reference station noise, and

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FIGURE 11. Detailed trajectory of the survey in section A. Red dots

FIGURE 9. Detailed trajectory of the survey in section B. Section B is close indicate the GPS position of the vessel and white triangles are Loran
to the Gwangju transmitter (9930W), but Loran signals from the Pohang transmitters. Loran signals from the Pohang transmitter (9930M)
transmitter (9930M) propagate along long ranges of land areas. propagated along the mountainous area.

FIGURE 12. Section A: the SNR of Loran signals for two Loran
FIGURE 10. Section B: the SNR of the Loran signals for two Loran transmitters over the distance to each transmitter: (a) Gwangju (9930W)
transmitters over the distance to each transmitter: (a) Gwangju (9930W) and (b) Pohang (9930M).
and (b) Pohang (9930M).

performance. For example, satellite navigation systems expe-

Npulse is the total number of pulses used in the signal aver- rience signal noise and propagation delays when satellite sig-
aging time at the receiver [43]. In this study, we mea- nals pass through the ionosphere and troposphere. In eLoran
sured the SNR with a 5-s integration time. A comparison systems, time delays and signal noise occur when signals
of the above-mentioned SNR levels with the zero-baseline are propagated along the various topographic paths. The
performance of the dLoran station, as well as the results survey results for section B clearly show the differences in
of this experiment, suggests that users will be able to the SNR when located near the coastline. These results are
calculate their position at a 20 m accuracy if the eLo- not similar to those obtained when driving. Figure 9 shows
ran transmitter signal is powerful enough to cover the the location of the two Loran transmitters and the path in
area. section B in two parts. In route 1, the ships sail northward
In the trilateration based navigation system, propaga- maintaining a certain distance from the coastline and they
tion delay or noise significantly affects the positioning return along the coastline of the same area following route 2.

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However, section C, which is an area close to both trans-

mitters with no major topographical changes in the propa-
gation path (Fig. 13), yields high SNR results. In addition,
when compared with the SNRs in other sections, the SNR
along the path from each transmitter is similar if the terrain
characteristics in the signal propagation path are similar.

IV. CONCLUSION
In this study, we implemented a Korean eLoran testbed and
conducted an initial zero-baseline test at the Pyeongtaek
dLoran station. Our results show that users of the eLoran
testbed area can estimate their position at a 20 m horizontal
accuracy when ASF errors are less than 10 m. In addition,
we surveyed the conventional Loran signals transmitted from
two Korean Loran transmitters. The survey results indicated
that the eLoran service will be available even in a sufficiently
wide area, depending on the effective range of signals trans-
mitted from the new eLoran transmitter. We expanded on the
results by also investigating the factors affecting the SNR of
the eLoran signals, which will help eLoran operations in the
FIGURE 13. Section C: the SNR of the Loran signals for two Loran future. We plan to continuously observe the SNR changes in
transmitters over the distance to each transmitter: (a) Gwangju (9930W) the eLoran signal and attempt to improve the performance
and (b) Pohang (9930M).
of the eLoran system in various environments. We hope that,
after these efforts, the eLoran testbed will be able to provide
The overall SNR difference between the two routes is shown the 10 m position accuracy as required by the IMO for the
in in Fig. 10(a). Except for the 60–80 km section where the maritime navigation system.
two routes overlap, the SNR from the Gwangju transmitter
(9930W) on route 1 is generally higher than that of route 2. ACKNOWLEDGMENT
The same result can be observed in Fig. 10(b), which shows The authors would like to thank the Busan Regional Office
the SNR from the Pohang transmitter (9930M). These results of Oceans and Fisheries, which supported the survey in this
show the difference between the route 1 and 2 SNRs, i.e., study, with special thanks to Y. M. Lim and T. K. Lee.
300–330 km from the transmitter.
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Inst. Navigat., Miami, FL, USA, Oct. 2018, pp. 1736–1764. electrical and electronic engineering from Yonsei
[28] S. Gewies, L. Grundhófer, and N. Hehenkamp, ‘‘Availability of maritime University, Seoul, South Korea, in 2012, and the
radio beacon signals for R-mode in the southern baltic sea,’’ TransNav, Int.
Ph.D. degree in integrated technology from Yonsei
J. Mar. Navigat. Saf. Sea Transp., vol. 14, no. 1, pp. 173–178, 2020.
University–Incheon, South Korea. He is currently
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‘‘An evaluation of eLoran as a backup to GPS,’’ in Proc. IEEE Conf.
a Senior Researcher with the Korea Research Insti-
Technol. Homeland Secur., Woburn, MA, USA, May 2007, pp. 95–100. tute of Ships and Ocean Engineering (KRISO),
[30] G. Offermans, S. Bartlett, and C. Schue, ‘‘Providing a resilient timing and Daejeon, South Korea. His research interests
UTC service using eLoran in the united states,’’ Navigation, vol. 64, no. 3, include complementary positioning, navigation,
pp. 339–349, Sep. 2017. and timing systems, including eLoran. He was a
[31] Revised Maritime Policy and Requirements for a Future Global Navigation recipient of the Graduate Fellowship from the Information and Communi-
Satellite System (GNSS), document Resolution A.915(22), International cations Technology (ICT) Consilience Creative Program supported by the
Maritime Organization (IMO), Jan. 2002. Ministry of Science and ICT, South Korea.

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 P.-W. Son et al.: eLoran: Resilient Positioning, Navigation, and Timing Infrastructure in Maritime Areas

SUL GEE PARK received the B.S. and M.S. KIYEOL SEO (Member, IEEE) received the
degrees in electronic engineering from Chungnam Ph.D. degree in maritime information measure-
National University, Daejeon, South Korea, ment engineering from Mokpo National Maritime
in 2008 and 2010, respectively. She is currently a University, South Korea. He is currently a Prin-
Senior Researcher with the Korea Research Insti- cipal Researcher with the GNSS Research Cen-
tute of Ships and Ocean Engineering (KRISO), ter, Korea Research Institute of Ships and Ocean
Daejeon. Her research interests include pre- Engineering (KRISO). He has been involved in the
cise point positioning systems, navigation, and development of enhanced Loran (eLoran) system.
GPS/INS integrated navigation system design. His research interests include resilient PNT sys-
tems and integrity monitoring, GNSS reflectome-
try (GNSS-R), and precise positioning technology for maritime applications.

YOUNGHOON HAN received the B.S. degree

in electronics engineering and the M.S. degree
in control and GNSS navigation systems from
Chungnam National University, South Korea.
He is currently a Research Engineer with the
Marine Safety and Environmental Research Divi-
sion, Korea Research Institute of Ships and Ocean
Engineering (KRISO). He has been involved in
several PNT research and development projects.
His research interests include high accuracy tech-
nologies and terrestrial navigation systems for maritime safety.

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