Forero, DavidEsteban San Román, SegundoRodríguez Polo, Óscar2023-06-222023-06-222023-01-121424-822010.3390/s23020885https://hdl.handle.net/20.500.14352/73260© 2023 by the authors. Licensee MDPI This research received no external funding This 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.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.engAtribución 3.0 Españahttps://creativecommons.org/licenses/by/3.0/es/journal articlehttp://dx.doi.org/10.3390/s23020885https://www.mdpi.com/open access004.8Navigation systemSatellite orbital simulationSatellite orbital determinationGlobal navigation satellite system (GNSS)Software defined radio (SDR)Hardware in the loop (HIL)Inteligencia artificial (Informática)1203.04 Inteligencia Artificial