To avoid degradation of navigation performance in the navigation warfare environment,\nthe multi-radio integrated navigation system can be used, in which all available radio navigation\nsystems are integrated to back up Global Navigation Satellite System (GNSS) when the GNSS is not\navailable. Before real-time multi-radio integrated navigation systems are deployed, time and cost\ncan be saved when the modeling and simulation (M&S) software is used in the performance\nevaluation. When the multi-radio integrated navigation system M&S is comprised of independent\nfunction modules, it is easy to modify and/or to replace the function modules. In this paper, the\nM&S software design method was proposed for multi-radio integrated navigation systems as a\nGNSS backup under the navigation warfare. The M&S software in the proposed design method\nconsists of a message broker and function modules. All the messages were transferred through the\nmessage broker in order to be exchanged between the function modules. The function modules in\nthe M&S software were independently operated due to the message broker. A message brokerbased\nM&S software was designed for a multi-radio integrated navigation system. In order to show\nthe feasibility of the proposed design method, the M&S software was implemented for Global\nPositioning System (GPS), Korean Navigation Satellite System (KNSS), enhanced Long range\nnavigation (eLoran), Loran-C, and Distance Measuring Equipment/Very high-frequency\nOmnidirectional Radio range (DME/VOR). The usefulness of the proposed design method was\nshown by checking the accuracy and availability of the GPS only navigation and the multi-radio\nintegrated navigation system under the attack of jamming to GPS.
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