Investigation/Research and Implementation of Trajectory Generation in GNSS Simulation

摘要

GNSS (Global Navigation Satellite System) simulation system is a powerful tool for designing GNSS and researching the related problem of that efficiently. The trajectory and motion information generation of vehicles is an important part of scenario design in GNSS simulation system. In this part, the trajectory generation based on waypoint data is the most complicated. It involves the trajectory planning, vehicle kinematics, solution of geodetic problem and other related research fields. The trajectory generation based on waypoint set by the user is an inverse solution of geodetic problem actually. According to the study and comparison of different solutions of geodetic problem, and taking into account the requirement of the vehicle trajectory accuracy and computation complexity in GNSS simulation system, an inverse solution of geodetic problem based on the local earth reference ellipsoid and partial spherical assumption is put forward in this paper. Compared with the existing algorithms, a certain availability of the inverse solution in this paper within the limits is verified. Given the kinematics characteristics of vehicles, ships and aircrafts, the corresponding method of waypoint trajectory generation is designed. At last, the solution mentioned above is implemented by C#, and it has also been applied to a GNSS simulation platform successfully.