Physics Driven Digital Twin Model for Evaluation of GNSS User Receiver Equipment

TL;DR

This paper introduces a physics-based digital twin framework for GNSS receiver evaluation, integrating satellite dynamics, signal synthesis, and hardware-in-the-loop testing for high-fidelity analysis.

Contribution

It presents a novel, physics-consistent digital twin model that enables end-to-end GNSS receiver testing with real-time signal synthesis and hardware integration.

Findings

Close agreement between simulated and measured signals and positions.

Effective validation across various dynamic scenarios, including high-dynamics trajectories.

High-fidelity, repeatable platform for GNSS receiver development and testing.

Abstract

This paper presents a physics-consistent digital twin framework for end-to-end modeling and evaluation of Global Navigation Satellite Systems (GNSS) user receiver equipment. In contrast to conventional GNSS simulations that rely on predefined signal models, the proposed framework enforces dynamic consistency between satellite ephemerides, user motion, and received signal observables through trajectory-driven injection of code-phase and Doppler dynamics. The GPS L1 C/A signal is synthesized in accordance with the IS-GPS-200 Rev. N specification, with motion-induced effects derived directly from orbital and user kinematics, and augmented by ionospheric and tropospheric delay models. The resulting complex baseband signal is converted to radio frequency using a software-defined radio platform disciplined by an external reference clock, enabling seamless hardware-in-the-loop integration with commercial and software receivers. Validation across static, moderate-motion, and high-dynamics scenarios, including projectile-like trajectories, demonstrates close agreement between truth-model and receiver-estimated code phase, Doppler, and position, as well as strong correspondence between simulated and measured intermediate frequency spectra. The results establish the proposed digital twin as a high-fidelity, repeatable, and physically consistent platform for GNSS receiver evaluation, tracking-loop stress testing, and development of robust navigation algorithms.