Efficient, High-Fidelity Modeling and Simulation of Global Navigation Satellite System Constellations

This paper presents a method for modeling and simulation of Global Navigation Satellite System (GNSS) constellations by the use of Chebyshev polynomials fit to publicly available precision data. The Global Positioning System (GPS) is used to demonstrate the method, but the method applies to all GNSS with precise ephemeris data including Galileo and GLONASS. The method facilitates highly accurate satellite orbit and clock modeling, including relativistic effects, with mean fit differences of the order 10(-4) m in position, 10(-8) m/s in velocity, and 10(-4) microseconds in clock offset. The method also improves simulation run time by using a fast technique for evaluating the Chebyshev polynomials. Runtime comparisons demonstrate the polynomial method reduces runtime by up to 72% of more traditional methods. The speed of the method makes it well suited for practical, accurate Monte Carlo simulation techniques. The method can be used in simulations for the verification and validation of GNSS receivers embedded in autonomous aerospace navigation systems, for uncertainty analysis, and for other purposes. Details for validating the precision data are given. Pseudocode algorithms are provided for fitting and evaluating Chebyshev polynomials. Also provided are high-level concepts of one approach for integrating the method into larger, multisystem aerospace simulations, including the effects of signal propagation delay and Earth blockage.