Design of BeiDou Simulator Based on Original Pseudorange Data

Based on the characteristics of Beidou satellite constellation and the calculation process of Beidou receiver, the Beidou simulator is designed. The pseudorange error is divided into deterministic error and random error, and the Beidou receiver CNS200 is used as the reference object. In this paper, the error of the original pseudorange output from CNS200 is analyzed with Allan variance and the characteristics of pseudorange random error are obtained. Its random error is modeled and simulated. The experimental results of trajectory generator driving the Beidou simulator show that the longitude error of Beidou simulator is 10.23589m, the latitude error of Beidou simulator is 3.754908m, the speed error of Beidou simulator is 1.0125m/s. The noise characteristics of Beidou simulator are consistent with the Beidou receiver CNS200. The Beidou simulator can provide data for the algorithm research of Beidou-based integrated navigation.