 The proposed real-time simulator for navigation in GNSS-denied environments includes modules that allow users to test their own algorithms, such as a novel-inertialated SMN, ISMN, algorithm and a relative navigation method based on a camera and UWB. This system can reduce the time and personnel requirements during flight testing by verifying navigation algorithms easily. This article is authored by He Zhang, Tsu Yinxiao, Miao, Linghao Zhang, and others.