GPS中频信号和IMU信号模拟及验证

为了研究GPS/INS（Inertial Navigation System）组合导航方案和算法，设计了一种GPS中频信号和IMU（Inertial Measurement Unit）信号的软件模拟器.首先建立了载体的运动模型，然后介绍了信号的仿真方法.根据载体的运动产生IMU信号，载体的典型运动包括平飞运动、横滚运动、俯仰运动和偏航运动.建立了典型的干扰模型，包括欺骗式干扰和压制式干扰（窄带干扰、宽带干扰、连续波干扰和锯齿调频连续波干扰等4种），实现了干扰环境下的场景模拟.GPS/INS组合导航软件接收机对模拟器输出的数据进行解算，结果表明：信号的仿真算法是正确的，模拟器可以为组合导航接收机提供有效的中频信号和IMU信号.

Simulated GPS IF and IMU signals and verification

A software simulator to simulate GPS IF signal and inertial measurement unit(IMU) signal was developed for the research on the GPS/INS integration algorithm. The vehicle trajectory was modeled in kinematics. The method to simulate the signal was put forward. The IMU signal was modeled based on the typical vehicle motions, such as the level motion, the rolling, the pitching, and the yawing. The typical interference signals, including the spoofing signal and the blocking signal (the narrow-band noise interference, the wide-band noise interference, the continuous-wave interference, and the sawtooth frequency modulated continuous wave interference), were modeled and generated to simulate the interference scenarios. The data generated by the simulator were calculated by the GPS/INS integration algorithm. The results prove that the algorithm of the signal simulation is correct and the IF signal and IMU signal provided by the simulator are effective preliminarily.