RT Journal Article T1 Framework to emulate spacecraft orbital positioning using GNSS hardware in the loop A1 Forero, David A1 Esteban San Román, Segundo A1 Rodríguez Polo, Óscar AB The paper presents a framework to emulate spacecraft orbits using GNSS hardware in the loop that enables the evaluation of new orbital positioning algorithms. The framework software generates the spacecraft orbit and the GNSS signals, including the most common perturbations. These signals are modulated and transmitted by a software-defined radio and received by a commercial GPS receiver. The system is validated using a test orbit, where the GPS receiver accurately determines the spacecraft positions. Moreover, using raw data provided by the receiver, the spacecraft positions have also been determined by software for a low earth orbit, in which civil GPS receivers do not work. PB MDPI SN 1424-8220 YR 2023 FD 2023-01-12 LK https://hdl.handle.net/20.500.14352/73260 UL https://hdl.handle.net/20.500.14352/73260 LA eng NO © 2023 by the authors. Licensee MDPIThis research received no external fundingThis research has been carried out in the laboratories of the Universidad Complutense de Madrid and the Universidad de Alcalá, for which the authors would like to thank both institutions for the use of their institutional resources. DS Docta Complutense RD 22 may 2025