GPS/IMU REALTIME SIMULATOR is designed to dramatically reduce the
need to perform expensive and time-consuming field trials for testing,
evaluating and qualifying vehicles, such as air, space, ground,
water, and underwater vehicles. Parametric inputs allow the system
under test to accommodate the specific configuration of interest,
including motion description, vibration model, environmental model,
sensor and system error model and parameter estimation considerations.
Real-time hardware-in-the-loop evaluations and general purpose off-line
simulations are readily accommodated.
It is the most economic way for the following
6DOF motion editor and generation
Ground test of installed systems
Laboratory hardware-in-the-loop dynamic simulation
GNC system analysis and development
Real-time differential GPS positioning
Time-tagged data packets generation for off-line
simulation and analysis
Used as Installed System Test Equipment,
it generates IMU and GPS signals on the ground, under static conditions,
identical to what would be encountered if the vehicle was flying,
or driving, or sailing. Its design features support the final integration
of a developmental Guidance, Navigation, or Control (GNC) system
installed in a vehicle. It assures testers that GNC avionics on-board
the vehicle works properly before and during a real flight/driving/sailing
test. It also helps to debug on-board GNC avionics and verify system
The RTGIS receives real-time data
from the 6DOF trajectory generator and simulates IMU and GPS electronic
signals according to the GPS/IMU measurement models and error models
defined by the user. Simulated electronic signals are injected into
the installed avionics system, which causes the on-board GNC system
computer into "thinking" that the vehicle is actually
flying, or driving, or sailing. The RTGIS also simulates a nearby
reference site and performs real-time differential GPS positioning
for the vehicle.
In the engineering field basically
all of our work involves MDASE (Modeling, Design, Analysis, Simulation,
Evaluation); the RTGIS is designed to circumvent the need to repeatedly
execute field tests. For example it:
various guidance, navigation and control model
the design by executing multiple simulations and comparisons
of the simulation results
of the modeled and designed structure for grading and further
system performance in order to prevent expending resources in
field testing (field tests for guidance, navigation and control
systems are very costly and complex)
The RTGIS provides an extensive
software emulation of GPS and IMU signals with derived signals related
to variables, such as, position, velocity, acceleration, attitude
and angular rates, and with flexibility for interfacing to open
or closed-loop hardware-in-the-loop configurations.
Electronic Signal Generation.
Five types of signals can be produced: analog, pulse, digital serial,
digital parallel and time-tagged data packets. The generated IMU
and GPS signals are injected into the installed system to excite
the navigation or guidance system electronics and computers during
the emulated ground test or the hardware-in-the-loop laboratory
Defined Simulator Configuration and Operation Mode.
The intelligent graphic user interface (GUI)
allows the user to select the connection for the 6DOF trajectory
generator, choose the IMU signal type and format, set the IMU error
models, and assign the signals to be displayed.
of IMU Models and Signal Configurations.
GPS Satellite Vehicle (SV) Constellation Simulation.
The effective 24 GPS SV's are simulated in real-time. The atmospheric
model is considered.
Defined Operation Mode
The available operation modes are:
1) C/A code only
2) dual frequency L1/L2
3) differential receiver.
user can select the jammer simulation models embedded in the GPS
simulator and can also select jammer setup parameters.