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To simulate synthetic aperture radar (SAR) raw data of extended scenes in the presence of arbitrary trajectory deviations, an efficient simulation scheme based on parallel computation in hybrid domain is proposed. We firstly present a novel target-to-antenna distance model which takes the three-dimensional components of the trajectory deviations into consideration. Then a general and compact hybrid domain formulation of the SAR raw data in the presence of arbitrary trajectory deviations is obtained. Based on the formulation, a simulation scheme which relies on 1D range Fourier domain processing followed by azimuth time domain integration is proposed. Then a parallelized implementation is introduced to solve the problem that the hybrid domain method becomes less efficient with the increase of the sampling number of the extended scene in the azimuth direction. Some simulation results are finally presented to verify the validity and effectiveness of the proposed simulation scheme.