KR101537013B1 - Apparatus and method of track generation for global navigation satellite system simulator - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for generating a locus of a satellite navigation simulator that generates a position of a receiver.

An apparatus according to an embodiment of the present invention includes an input unit that receives position information of a receiver at latitude, longitude, and altitude and receives information of a locus to be generated, and an X-axis Y Center coordinate system having the axis and the Z axis, and the coordinate of the first-order converted earth-centered fixed coordinate system is transformed so that the values of the X and Y axes are "0 " A trajectory information generating unit for generating trajectory information by using the local coordinate system and calculating an axial transformation value of the local coordinate system; And a re-transformation unit for re-transforming the transformed coordinate value into the earth-centered fixed coordinate system using the calculated axial transformation value, wherein the numerical value calculation unit A locus coordinate system locator for calculating locus information; and a rotation angle calculator for calculating a rotation angle for rotating the local coordinate system generated by the axial transformation in the earth center fixed coordinate system.

Satellite navigation, location generation, trajectory

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and method for generating a trajectory of a satellite navigation simulator,

The present invention relates to an apparatus and method for generating a trajectory of a satellite navigation simulator, and more particularly, to an apparatus and method for generating a trajectory of a satellite navigation simulator for generating a position of a receiver.

A Global Navigation Satellite System (GNSS) consists of satellites floating at a certain height from the ground and at least one receiver for receiving the signals transmitted by the satellites. In addition, each satellite transmits unique signals for identifying the satellites. The receiver can distinguish and receive unique signals from the respective satellites, and calculate the current position, moving speed and current time of the receiver from the received signal.

Satellite navigation systems are capable of receiving satellite signals regardless of weather conditions and are continuously increasing in use because they can be navigated anywhere in the world. Typical satellite navigation systems include Global Positioning System (GPS) in the United States, GLONASS (Global Navigation System) in Russia, and GALILEO in Europe.

The satellite navigation receiver is a device that can calculate the navigation information using the signal transmitted from the navigation satellite. In order to calculate the navigation information using the received satellite signal, it is necessary to know which satellite the received satellite signal is transmitted from, and extract the satellite navigation message signal required for calculating the navigation information from each satellite signal.

In order to calculate three-dimensional position information, four or more satellite signals must be simultaneously received at the same time. Therefore, the satellite navigation receiver performs various tasks in order to calculate the navigation information by receiving the satellite signals after the power is supplied.

On the other hand, the satellite navigation simulator is used for the development of satellite navigation technology by virtually generating and providing satellite navigation signals, and for generating various satellite navigation data for use in academic and industrial applications.

Satellite navigation simulator technology can be used for satellite navigation receiver technology and navigation algorithm verification and it can be used as a development element of receiver technology. In order to develop a satellite navigation simulator, it is necessary to generate the position of the navigation satellite and to create the position of the receiver virtually to generate the satellite navigation signal according to the position of the receiver. There are many ways to create the location of the receiver and it can be created variously according to the user location generation method supported by the simulator.

The satellite navigation simulator is used for the development of satellite navigation receivers and verification of positioning algorithms. A satellite navigation simulator is a technique in which a user using a simulator sets an arbitrary receiver position and generates a satellite navigation signal according to the position of a receiver based on the position of a virtual navigation satellite.

There are static and dynamic methods for generating the position of the receiver in the satellite navigation simulator. A static method is a method of generating a position of a receiver at a fixed position, and a dynamic method is a method of generating a path point passing through the receiver by passing through the path point according to time.

In the conventional technique, a user sets a path point to create a desired position, and when a path of a specific shape is desired, the user must calculate the path point in advance as a corresponding shape. In addition, There is a problem that a circular trajectory can not be generated.

Therefore, the present invention provides a method for generating a specific trajectory without error from the position of the receiver in a satellite navigation simulator.

In addition, the present invention provides a method for rapidly generating a circular or elliptical trajectory from the position of a receiver in a satellite navigation simulator.

An apparatus for generating a trajectory of a receiver in a satellite navigation simulator includes an input unit for receiving position information of the receiver at latitude, longitude and altitude and inputting information of a trajectory to be generated, The position information is linearly transformed into the coordinates of the earth centered fixed coordinate system having the X axis Y axis and the Z axis whose origin is the center point of the earth, Quot ;, a numerical value calculation unit for calculating the locus information to be generated using the local coordinate system and calculating the axial transformation value of the local coordinate system, And a re-transform unit for re-transforming the locus generated using the information into the earth-centered fixed coordinate system using the axial transform value calculated in the local coordinate system The numerical value calculation unit may include a local coordinate system trajectory generation unit for calculating the locus information to be generated using the local coordinate system, and a rotation angle calculation unit for calculating a rotation angle for rotating the local coordinate system generated by the axis- And a rotation angle calculation unit for calculating a rotation angle.

In addition, the method according to the present invention is a method for generating a trajectory of a receiver in a satellite navigation simulator, the method comprising the steps of: (a) receiving position information of the receiver at latitude, longitude and altitude, And (b) firstly transforming the position information of the receiver into coordinates of an earth-centered fixed coordinate system having an X-axis Y-axis and a Z-axis having a center point of the earth as an origin, and the coordinates of the first- Axis coordinate system to generate coordinates of a local coordinate system by performing an axial transformation on the axis and Y-axis values to be "0 ", (c) calculating the locus information to be generated using the local coordinate system, And (d) re-converting the locus generated using the locus information into the geocentric fixed coordinate system using the axial transformation value calculated in the local coordinate system, The step (c) includes a step of calculating the locus information to be generated using the local coordinate system, and a step of calculating a rotation angle to be rotated to the local coordinate system generated by axial transformation in the earth center fixed coordinate system do.

According to the present invention, it is possible to effectively generate a trajectory of a specific shape that is difficult to generate when generating a receiver position for generating a signal of a satellite navigation simulator.

Also, according to the present invention, it is possible to generate trajectories of various types of receivers, and when a performance test of a receiver is performed using a simulator, the characteristics when the receiver moves according to the trajectory can be grasped.

In addition, the generation of the trajectory can be utilized not only as a satellite navigation simulator but also as a satellite simulator and a program such as a simulator and a game considering effects of motion on the earth.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. It should also be noted that the terms described below are merely used to facilitate understanding of the present invention and that different manufacturers or research groups may use different terms in spite of the same use.

1 is a configuration diagram of a locus generating apparatus according to an embodiment of the present invention.

The locus generation apparatus of the present invention can be implemented by an input unit 101, a coordinate system conversion unit 102, a numerical calculation unit 105, and a re-conversion unit 109.

The input unit 101 converts the information input by the user into a predetermined signal and provides it to the next stage apparatus of the satellite navigation simulator. In general, the input unit 101 may be implemented in various ways according to an interface method, and may be implemented in various forms such as a keyboard, a mouse, a touch screen, and a joystick. Accordingly, the user can input a desired value or information to the satellite navigation simulator according to the implementation method of the input unit 101. Here, the value input by the user through the input unit 101 may be information for generating a circular trajectory. For example, a value inputted by a user may be a radius value or a specific circumference value for forming a circle with the receiver's position as an emphasis, or may be a coordinate value of two foci of the corresponding ellipse when forming an ellipse And if it forms a square, it can be the coordinate value of the four vertices.

For convenience of description, the present invention will be described below with reference to a circular trajectory only.

로 입력할 수 있다. 입력부(101)는 사용자가 입력한 위도, 경도, 고도 정보를 다음 단계인 좌표계변환부(102)로 출력한다.The value input by the user through the input unit 101 is information for generating a circular locus, for example, a center point of a circular locus and a radius of a locus to be generated. The center point of the circular trajectory is the latitude, longitude, altitude

As shown in FIG. The input unit 101 outputs the latitude, longitude, and altitude information input by the user to the coordinate system conversion unit 102, which is the next step.

The coordinate system conversion unit 102 may be implemented by a geocentric fixed coordinate system conversion unit 103 and a local coordinate system generation unit 104.

좌표를 지구의 중심점을 기준으로 하는 좌표계로 변환한다. 이러한 좌표계를 지구중심 고정좌표계라 한다. 지구중심 고정좌표계는 X 축과 Y 축과 Z 축을 가지므로, 지표상의 특정 위치는 위도, 경도 및 고도로 표현할 수 있다. 여기서 고도는 지구중심 고정좌표계에서 지구중심(원점)으로부터 지표까지의 고도를 의미한다. 이러한 지구중심 고정좌표계에 맞춰 사용자가 입력한 수신기의 위치를 표현하기 위해서는 위도, 경도 및 고도의 입력받고, 이 정보들을 지구중심 고정좌표계로 표현하면,

로 변환할 수 있다. 이와 같이 지구중심 고정좌표계로 표현된 지표상의 특정 위치의 좌표는

을 중심으로 소정의 반지름을 가지는 원형궤적을 구하기는 쉽지 않다. 지역좌표계 생성부(104)는 원형궤도의 중심점이 Z축에 일치하도록 축 변환을 한다. 즉, 지구중심과 원형궤적의 중심점을 잇는 직선을 Z 축으로 하는 새로운 좌표계를 생성하고, 이 좌표계를 지역좌표계라 하고,

로 표시한다.The geocentric stationary coordinate system conversion unit 103 converts the latitude, longitude, altitude, and altitude information output from the input unit 101

Converts the coordinates to a coordinate system based on the center point of the earth. This coordinate system is called a geocentric fixed coordinate system. Since the geocentric fixed coordinate system has the X axis, the Y axis, and the Z axis, a specific position on the surface can be expressed as latitude, longitude and altitude. Here, altitude means the altitude from the center of the Earth (origin) to the Earth in the Earth-centered fixed coordinate system. In order to express the position of the receiver inputted by the user in accordance with the earth-centered fixed coordinate system, when receiving the latitude, longitude, and altitude and expressing the information by the earth-centered fixed coordinate system,

. ≪ / RTI > In this way, the coordinates of a specific position on the earth represented by the earth-centered fixed coordinate system

It is not easy to obtain a circular locus having a predetermined radius centering on a circle. The local coordinate system generation unit 104 performs axis conversion so that the center point of the circular orbit coincides with the Z axis. In other words, a new coordinate system is created in which a straight line connecting the center of the earth and the center point of the circular locus is defined as a Z-axis, and this coordinate system is called a local coordinate system,

.

The numerical value calculation unit 105 receives the local coordinate system generated by the local coordinate system generation unit 104 and calculates the circular locus and the rotation angle in the local coordinate system.

The numerical value calculation unit 105 may be implemented by a local coordinate system circular locus generation unit 106 and a rotation angle calculation unit 107. The local coordinate system circular locus generation unit 106 generates a circular locus having a radius R from the center of the circular locus in the area coordinate system that has been axially transformed by the local coordinate generator unit 104. [

The rotation angle calculation unit 107 calculates the rotation angle of the rotation movement moving from the earth center fixed coordinate system to the newly generated local coordinate system. The method of calculating the rotation angle will be described later in detail with reference to FIG.

The re-transformation unit 109 re-converts the generated circular sign information into the earth-centered fixed coordinate system using the axial transformation value calculated in the local coordinate system in the rotation angle calculation unit 107. In other words, the circular locus is generated by rotating the robot using the rotation angle and the circular locus generated in the local coordinate system to the geocentric fixed coordinate system.

과 반지름(R)을 입력받아 지구의 중심점을 기준으로 하는 지구중심좌표계

로 변환한다. 그런 다음, 원형궤도의 중심점이 Z축에 일치하도록 축 변환을 하여 지역좌표계

를 생성한다. 이 지역좌표계에서 원형궤적을 생성하고, 실제 지구중심 고정좌표계로 회전 이동하는 방법으로 경로점의 계산없이 원형궤적을 생성해 내고 경로점 방식으로 생성했을 경우에 비해 오차를 줄여 완벽한 원형궤적을 생성해 내는 장치이다.Therefore, according to the present invention,

And the radius (R) are input to the center-of-gravity coordinate system

. Then, the center point of the circular orbit coincides with the Z axis,

. A circular trajectory is created in this local coordinate system and rotated to an actual earth-centered fixed coordinate system. A circular trajectory is created without calculating the path point, and a perfect circular trajectory is generated by reducing the error compared to the case of generating the circular point trajectory It is a device that emits.

2 is a diagram for explaining a method of generating a circular trajectory around a specific position on the earth according to an embodiment of the present invention.

In order to generate the circular locus, the center-of-gravity fixed coordinate system 212 having the X-axis, the Y-axis, and the Z-axis with respect to the center point 210 of the earth 211, the center point 213 of the circular locus, A local coordinate system 214 having an X 'axis, a Y' axis and a Z 'axis using the center point of the circular locus, and the like are used.

로 입력할 수 있다. 또한, 입력부(101)는 사용자가 입력한 위도, 경도, 고도 정보를 다음 단계인 좌표계변환부(102)로 출력한다.The value input by the user through the input unit 101 to generate the circular locus 215 is the center point 213 of the circular locus and the radius R of the circular locus. The center point 213 of the circular trajectory may be a latitude, longitude, altitude

As shown in FIG. Also, the input unit 101 outputs the latitude, longitude, and altitude information input by the user to the coordinate system conversion unit 102, which is the next step.

를 지구(211)의 중심점(210)을 기준으로 X 축과 Y 축과 Z 축을 가지는 지구중심 고정좌표계(212)로 변환하여

로 계산한다.The geocentric stationary coordinate system conversion unit 103 of the coordinate system conversion unit 102 converts the latitude, longitude, and altitude coordinates

Is converted to a center-of-gravity fixed coordinate system 212 having an X-axis, a Y-axis, and a Z-axis with respect to a center point 210 of the earth 211

.

To create a circular locus, a local coordinate system must be created using the center point of the circular locus. The local coordinate system generation unit 104 generates an area coordinate system 214 by performing an axis transformation so that the center point of the earth and the center point of the circular orbit coincide with the Z axis.

The local coordinate system circular locus generation unit 106, which is a component of the numerical value calculation unit 105, generates a circular locus in the local coordinate system generated by the local coordinate system generation unit 104. In the new local coordinate system, the center point of the circular locus is expressed by Equation (1).

Create a circular locus from the center of the circular locus in the new local coordinate system. When generating a circular locus having a radius of R, the coordinates of the circular locus can be expressed as shown in Equation (2) in the local coordinate system.

이다.here

to be.

는 시뮬레이션 시간이고,

는 시뮬레이션 시작시간,

는 시뮬레이션이 끝나는 시간을 나타낸다. 시뮬레이션이 진행되는 동안 상기 <수학식 2>를 이용하면 원형궤적의 중심점(213)으로부터 R 만큼의 반지름을 갖는 원형궤적(215)이 생성된다.

Is the simulation time,

The simulation start time,

Represents the time at which the simulation ends. Using the above Equation (2), a circular locus 215 having a radius of R from the center point 213 of the circular locus is generated during the simulation.

3 is a diagram for explaining a method of calculating a rotation angle of a rotation movement in which a coordinate transformation from an earth-centered fixed coordinate system to a local coordinate system according to an embodiment of the present invention is performed.

The rotation angle calculation unit 107 of the numerical value calculation unit 105 calculates the rotation angle of the rotation movement moving from the earth center fixed coordinate system to the newly generated local coordinate system.

The rotation angle calculation unit 107 calculates the rotation angle 215 of the circular locus 215 having a radius of R from the center of the circular locus in the local coordinate system in the local coordinate system circular locus generation unit 106, The coordinate points in the coordinate system 212 are calculated. Here, the rotation angle takes into account the rotation angle of rotation from the earth-centered fixed coordinate system 212 to the local coordinate system 214. The setting of the rotation angle should be considered only for the X-axis and Y-axis rotation and not for the Z-axis rotation. This is because the rotation movement of the Z axis is not necessary in the circular trajectory.

(321)과

(322)라고 하면, 원형궤적 중심점을 이용한 지역좌표계로 이동해야 할 각은 도 3에 나타난 것과 같이 회전각을 계산하면 된다. 도 3의 회전각을 각각의 좌표축에 대하여 삼각함수에 의해 계산한다. 여기서 회전이동의 각에 따라 발산하는 경우가 발생하므로 중심점의

,

,

의 좌표에 따라 양수, 음수, 0일 경우를 나누어서 계산하여야 한다. 도 3에 도시된 각을 각각 계산식으로 표현하면 아래와 같다.The rotation angles of the X and Y axes are

(321) and

(322), the angle to be shifted to the local coordinate system using the circular locus center point can be calculated by calculating the rotation angle as shown in FIG. The rotation angles of FIG. 3 are calculated by trigonometric functions with respect to the respective coordinate axes. Here, since divergence occurs depending on the angle of the rotational movement,

,

,

The number of positive values, the number of negative values, and the case of zero. The angles shown in FIG. 3 can be expressed as follows.

경우는 북반구에 해당하여, 이때 X 축의 회전각

이라 하고, Y 축의 회전각을

라 하면, 하기 <수학식 3>과 같이 표시할 수 있다.first,

The case corresponds to the northern hemisphere,

And the rotation angle of the Y axis is

Can be expressed as Equation (3) below.

경우는 적도에 해당하여, 이 경우 X 축과 Y 축의 회전각을 각각

과

라 한다. 이 각각의 회전각은 위도(

)와 경도(

)의 조건에 따라 각각의 X 축의 회전각

과 Y 축의 회전각을

를 산출하는 방법이 틀리다. 이 산출 계산식은 하기 <수학식 4>로 표시할 수 있다.second,

In this case, the rotation angles of the X axis and the Y axis are respectively

and

. Each of these angles of rotation represents the latitude (

) And hardness (

), The rotation angle of each X-axis

And the rotation angle of the Y axis

Is different. This calculation formula can be expressed by Equation (4) below.

1) 경우

1) Case

경우2)

Occation

경우①

Occation

경우②

Occation

경우③

Occation

경우3)

Occation

경우는 남반구에 해당하여, 이때 X 축의 회전각

이라 하고, Y 축의 회전각을

라 하면, 하기 <수학식 5>와 같이 표시할 수 있다.third,

The case corresponds to the southern hemisphere, where the rotation angle of the X axis

And the rotation angle of the Y axis is

Can be expressed as Equation (5) below.

,

,

의 부호에 따라서 계산하면

(321)과

(322)의 회전각을 구할 수 있다.node

,

,

According to the sign of

(321) and

The rotation angle of the rotor 322 can be obtained.

4 is a flowchart of circular locus generation according to an embodiment of the present invention.

로 입력할 수 있다.In step 403, the input unit 101 is a value input by the user to generate a circular trajectory, which corresponds to the center point 213 of the circular trajectory and the radius (R) information of the circular trajectory. The center point 213 of the circular locus may be a latitude, longitude, or altitude

As shown in FIG.

를 지구(211)의 중심점(210)을 기준으로 X 축과 Y 축과 Z 축을 가지는 지구중심 고정좌표계(212)로 변환하여

으로 계산한다. 그리고 원형궤적을 생성하기 위해 원형궤적의 중심점을 이용하여 지역좌표계를 생성해 내야 한다. 지역좌표계 생성부(104)는 지구중심(210)과 원형궤적의 중심점(213)을 잇는 직선을 Z축으로 하는 새로운 지역좌표계를 생성한다.In step 405, the earth-centered fixed coordinate system conversion unit 103 converts the latitude, longitude, and altitude coordinates

Is converted to a center-of-gravity fixed coordinate system 212 having an X-axis, a Y-axis, and a Z-axis with respect to a center point 210 of the earth 211

. To generate the circular locus, a local coordinate system should be created using the center point of the circular locus. The local coordinate system generation unit 104 generates a new local coordinate system having the Z axis as a straight line connecting the center of the earth 210 and the center point 213 of the circular locus.

Then, in step 407, the local coordinate system circular locus generator 106 generates a circular locus in the local coordinate system 214 generated by the local coordinate system generator 104. The local coordinate system 214 generates a circular locus by generating a local coordinate system by a method shown in FIG. 2 as a coordinate system having a straight line connecting the center of the earth and the center point of the circular locus as the Z axis.

In step 409, the rotation angle calculation unit 107 calculates a circular trajectory 215 in which a circular trajectory having a radius R from the center of the circular trajectory in the local coordinate system is generated in the local coordinate system circular trajectory generation unit 106, Coordinate points in the earth-center fixed coordinate system 212 are calculated.

The method of calculating the rotation angle is performed by the method shown in Fig. 3, which is a specific embodiment of the present invention. After the rotation angle is calculated by the rotation angle calculation unit 107, the rotation movement is performed using the calculated rotation angle.

라 하고 지역좌표계를

라 할 때 회전각에 의한 좌표계의 회전이동식은 하기 <수학식 6>와 같다.In operation 411, the re-transform unit 109 transforms the circular locus into a geocentric fixed coordinate system through rotational movement. Earth-centered fixed coordinate system

And the local coordinate system

The rotational movement of the coordinate system by the rotation angle is expressed by Equation (6).

라 할 때, 하기 <수학식 7>와 같이 간단히 표시할 수 있다.Therefore,

, It can be expressed simply as Equation (7) below.

Since the circular trajectory to be obtained is a circular trajectory in the geocentric fixed coordinate system, the inverse matrix of C can be considered as Equation (8).

Also, in step 411, the re-transform unit 111 generates a circular locus in the geocentric fixed coordinate system.

If a circular locus is inserted in the local coordinate system of X ', Y', Z ', the circular locus in the geocentric fixed coordinate system is expressed by the following matrix formula.

In this way, when generating the position of the receiver in the satellite navigation simulator, the circular trajectory from a specific center point can be calculated as a geocentric fixed coordinate system.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Various permutations, modifications and variations are possible without departing from the spirit of the invention.
Therefore, the scope of the present invention should not be construed as being limited to the embodiments described, but should be determined by the scope of the appended claims, as well as the appended claims.

1 is a configuration diagram of a locus generating apparatus according to a preferred embodiment of the present invention;

2 is a view for explaining a method of generating a circular trajectory around a specific position on the earth according to a preferred embodiment of the present invention;

3 is a view for explaining a method of calculating a rotation angle of a rotation movement from a geocentric fixed coordinate system to a newly generated local coordinate system according to a preferred embodiment of the present invention;

4 is a flowchart of circular locus generation according to a preferred embodiment of the present invention.

Claims (8)

An apparatus for generating a trajectory of a receiver in a satellite navigation simulator, An input unit receiving position information of the receiver at latitude, longitude and altitude and receiving information of a locus to be generated; The position information of the receiver is firstly transformed into the coordinates of an earth centered fixed coordinate system having an X axis Y axis and a Z axis having a center point of the earth as an origin and the coordinates of the earth transformed earth center fixed coordinate system are converted into X axis and Y axis values Coordinate system is converted to "0" to generate coordinates of the local coordinate system, A numerical value calculation unit for calculating the locus information to be generated using the local coordinate system and calculating an axial conversion value of the local coordinate system, And a re-transformation unit for re-transforming the locus generated using the locus information into the earth-centered fixed coordinate system using the axial transformation value calculated in the local coordinate system, The numerical value calculation unit may calculate, A local coordinate system trajectory generator for calculating the locus information to be generated using the local coordinate system, A rotation angle calculation unit for calculating a rotation angle that rotates and moves to the local coordinate system generated by axial transformation in the earth- And a locus generator for generating a locus in the satellite navigation simulator. The method according to claim 1, And when the sign information is circular, the sign information is a radius value of the corresponding circular sign. The method according to claim 1, And when the locus information is an ellipse, the locus information is a coordinate value of two foci of the ellipse. The method according to claim 1, Wherein the coordinate system conversion unit comprises: Centered stationary coordinate system transforming unit for transforming the position information of the receiver into coordinates of an earth-centered fixed coordinate system having an X-axis Y-axis and a Z-axis having a center point of the earth as an origin, A local coordinate system generating unit for generating a coordinate of a local coordinate system by performing an axial transformation on the coordinates of the first-order transformed earth-centered fixed coordinate system so that the X-axis and Y- And a locus generator for generating a locus in the satellite navigation simulator. delete A method for generating a trajectory of a receiver in a satellite navigation simulator, (a) receiving location information of the receiver at latitude, longitude and altitude and receiving information of a locus to be generated; (b) transforming the position information of the receiver into the coordinates of an earth-centered fixed coordinate system having an X-axis Y-axis and a Z-axis having a center point of the earth as an origin, Transforming the Y-axis value to be "0" to generate coordinates of a local coordinate system; (c) calculating the locus information to be generated using the local coordinate system and calculating an axial transformation value of the local coordinate system; (d) reconverting the locus generated using the locus information to the geocentric fixed coordinate system using the axial transform value calculated in the local coordinate system, The step (c) Calculating trajectory information to be generated using the local coordinate system; A step of calculating a rotation angle that rotates and moves to the local coordinate system generated by axial transformation in the earth center fixed coordinate system A method for generating a trajectory in a satellite navigation simulator. The method according to claim 6, And when the locus information is circular, the locus information is a radius value of the corresponding locus locus. The method according to claim 6, And when the locus information is an ellipse, the locus information is a coordinate value of two foci of the ellipse.

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