INS simulator for debugging INS/GNSS data

The Inertial Navigation System's (INS) Simulator models in real-time are a data stream from INS describing a maneuver object's motion along the reference trajectory previously specified - the same trajectory which is used at same time for modeling a radio signal with GNSS Simulator. INS Simulator's specific features are as follows: converting the GNSS Simulator (coordinate and velocities of a rate of 1 Hz) data into the data of the autonomous navigation facility (coordinate and velocities of a rate of 100 Hz) with the addition of a selected model for INS error; possible synchronization of data streams against the external event (with an accuracy of up to 100 us)