GPS/SINS integrated navigation system hardware-in-the-loop simulation with GPS receiver

SINS is usually in the existing GPS/SINS integrated navigation hardware-in-the-loop simulation system. However, there isn't any literature about GPS receiver concerned with the hardware-in-the-loop simulation system. GPS still rests on mathematic simulation. Generally, GPS position result is from computer simulation, or the error model of GPS is obtained by some means and added to the normal data during the simulation. Because GPS receiver is not in the loop, the simulation condition is different from reality. The simulation fidelity is not high. The GSS6560 Multi-channel GPS/SBAS Simulator produced by Spirent Communications can be controlled remotely to receive motion data of the vehicle. It can simulate the motion of the vehicle and the signals of GPS satellites. This paper takes advantage of this characteristic of GSS6560 GPS simulator and adds GPS receiver to GPS/SINS integrated navigation hardware-in-the-loop simulation system. Experiment has been done and result shows that the simulation system works quite well and meets the requirement.