Direct numerical simulations of the two-dimensional unsteady compressible Navier-Stokes equations are performed to study the acoustic field generated by an infrasonic source in a realistic atmosphere. Some of the main phenomena affecting the propagation of infrasonic waves at large distances from the source are investigated. The effects of thermal and wind-related refraction on the signals recorded at ground level are highlighted, with particular emphasis on the phase shift induced by the presence of caustics in the acoustic field. Nonlinear waveform steepening associated with harmonic generation, and period lengthening, both of which are typical of large source amplitudes, are illustrated, and the importance of thermoviscous absorption in the upper atmosphere is clearly demonstrated. The role of diffraction in the shadow zone, around caustics and at stratospheric altitudes is also pointed out. The Navier-Stokes equations are solved using high-order finite-differences and a Runge-Kutta time integration method both originally developed for aeroacoustic applications, along with an adaptive shock-capturing algorithm which allows high-intensity acoustic fields to be examined. An improvement to the shock detection procedure is also proposed in order to meet the specificities of nonlinear propagation at long range. The modeling as well as the numerical results are reported in detail and discussed.