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GSA Contract Number: GS-24F-0014K

Real-Time GPS/IMU Simulator - AGNC2000 RTGIS


This product was developed from the technologies of the following awarded US Patents: 6,127,970; 6,234,799; 6,298,318; 6,473,034 and6,735,523.


The 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 applications:

  • 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 performance.

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:

  1. Simulates various guidance, navigation and control model

  2. Improves the design by executing multiple simulations and comparisons of the simulation results

  3. Permits analysis of the modeled and designed structure for grading and further improvements

  4. Evaluates 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.

System Features:

Real-Time 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 test.

User 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.

Catalog of IMU Models and Signal Configurations.

Real-Time GPS Satellite Vehicle (SV) Constellation Simulation. The effective 24 GPS SV's are simulated in real-time. The atmospheric model is considered.

User Defined Operation Mode
The available operation modes are:
1) C/A code only
2) dual frequency L1/L2
3) differential receiver.

Anti-jamming Simulation Capability. The user can select the jammer simulation models embedded in the GPS simulator and can also select jammer setup parameters.

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