Multi-user joint simulation test evaluation system and its simulation test method

Abstract

This invention relates to a multi-user joint simulation test evaluation system and its simulation test method. The system includes: a simulation agent unit, used to connect multiple heterogeneous simulation subsystems of other units, which are already fixed in the system, as simulation nodes to the overall unit simulation prototype system, forming a distributed real-time simulation test system; a hybrid architecture middleware, used to provide a data-centric publish / subscribe mechanism, standardizing the interfaces and behaviors of data publishing, transmission, and reception in the distributed real-time simulation test system, and realizing data communication between the overall unit simulation prototype system and the various heterogeneous simulation subsystems of other units; and a spatiotemporal unified service unit, used to keep the time and space information of the various heterogeneous simulation subsystems of other units synchronized. This invention can provide interconnection and spatiotemporal unified support services for joint simulation tests of multiple users and geographically dispersed heterogeneous simulation systems, realizing the sharing and overall management of simulation resources.

Description

Technical Field

[0001] This invention relates to the field of aerospace equipment testing and evaluation simulation technology, and in particular to a multi-user joint simulation testing and evaluation system and its joint simulation testing method. Background Technology

[0002] In aerospace equipment testing and evaluation missions, to assess the operational effectiveness and system applicability of aerospace equipment, various equipment design units, testing units, and related equipment development units have constructed their own simulation systems at different stages, locations, and for different missions. Due to the division of responsibilities, the simulation systems of each testing unit are built around their respective equipment testing and evaluation missions, belonging to "single-equipment level" simulation systems, which are difficult to meet the simulation requirements of aerospace equipment system testing.

[0003] To fully utilize the simulation resources of various units, adopting a multi-user, distributed co-simulation model is an effective solution. However, establishing such a model requires building a co-simulation support environment and designing a test and evaluation system architecture and application process that supports multi-user co-simulation. This will provide support for the independent operation of the simulation system by the testing unit, as well as for joint simulations by the overall unit, the testing unit, and the equipment development unit.

[0004] Regarding the construction of joint simulation systems, both domestically and internationally, the field is still in the exploratory stage. The main shortcomings and deficiencies in current research are: 1) Lack of unified management of shared resources. Conducting aerospace equipment system testing simulations requires comprehensive management of all simulation resources, including software, hardware, models, standards, and systems, from the simulation systems of each testing unit and the equipment development units that may join the joint simulation system. 2) Traditional simulation architectures struggle to meet the demands of aerospace equipment testing and evaluation, which involve numerous testing users, diverse equipment models, numerous testing tasks, large computational loads in simulation tests, and continuous upgrades and expansions of prototype systems. 3) Traditional simulation architectures lack scalability, allowing only "single-installation" level systems to operate independently, and cannot achieve interconnection and interoperability between geographically dispersed and heterogeneous simulation systems. 4) Lack of scheduling and monitoring of joint simulation nodes during the simulation process, and a lack of a unified spatiotemporal mechanism.

[0005] The above four defects and deficiencies are precisely the technical problems that this invention needs to solve. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a multi-user joint simulation test evaluation system and its joint simulation test method.

[0007] To achieve the above-mentioned objectives, the technical solution of this invention is as follows:

[0008] In a first aspect, the present invention provides a joint simulation test evaluation system supporting multiple users, comprising:

[0009] The simulation proxy unit is used to connect multiple heterogeneous simulation subsystems of other units that have been fixed in the system as simulation nodes to the overall unit simulation prototype system, thereby forming a distributed real-time simulation test system.

[0010] Hybrid architecture middleware provides a data-centric publish / subscribe mechanism, standardizing the interfaces and behaviors for data publishing, transmission, and reception in distributed real-time simulation experimental systems, enabling data communication between the overall unit simulation prototype system and various heterogeneous simulation subsystems of other units; and

[0011] The spatiotemporal unified service unit is used to keep the time and space information synchronized between various heterogeneous simulation subsystems of other units.

[0012] According to one aspect of the present invention, the simulation proxy unit is further configured to perform protocol conversion and data forwarding when the accessed simulation node cannot change the system interface to adapt to the communication protocol and data interface requirements of the overall unit simulation prototype system, so as to enable other heterogeneous simulation subsystems of units to access the overall unit simulation prototype system.

[0013] According to one aspect of the invention, the other heterogeneous simulation subsystem includes experimental equipment, simulators, and remotely located heterogeneous systems.

[0014] According to one aspect of the present invention, the simulation agent unit includes:

[0015] Communication middleware is used to load the communication middleware dynamic library to realize the underlying data communication of DDS, enabling simulation nodes to access the overall unit simulation prototype system according to a unified data communication protocol.

[0016] The protocol parsing and conversion module is used to parse and convert the communication protocols of the simulation nodes and map them to the communication protocols of the overall unit simulation prototype system.

[0017] The time synchronization module is used to ensure the time consistency and real-time performance of each simulation node;

[0018] The spatial coordinate transformation module is used to complete the coordinate transformation between the simulation nodes participating in the experiment;

[0019] The resource library access module is used to access the local library that stores simulation experiment data and the model library of simulation nodes;

[0020] The problem handling module is used to handle problems that occur in simulation experiments in a simple way;

[0021] The event synchronization module is used to record key events and interactions that occur during the simulation experiment; and

[0022] The GUI module is used to monitor, display, and analyze various data from simulation node interactions.

[0023] According to one aspect of the invention, the hybrid architecture middleware includes:

[0024] The subscription and distribution relationship editing module is used to realize the on-demand subscription and distribution of interactive information between simulation nodes through a publish-subscribe mechanism. It supports the generation of the master table of interactive information and the publish-subscribe information table of each simulation node, as well as manual editing and modification.

[0025] The communication middleware scheduling module is used to call various communication middleware for distributed information transmission, supporting information transmission between simulation nodes in a distributed real-time simulation test system under local area network and remote networked training conditions.

[0026] According to one aspect of the invention, the plurality of communication middleware includes: a SOCKET and a shared memory interface, an HLA-compliant RTI, and a DDS-compliant DDS.

[0027] Secondly, the present invention also provides a method for supporting multi-user joint simulation experiments using the aforementioned multi-user joint simulation experiment evaluation system, comprising:

[0028] 100. By using simulation proxy units, multiple heterogeneous simulation subsystems of other units that have been fixed in the system are connected to the overall unit simulation prototype system as simulation nodes to form a distributed real-time simulation test system.

[0029] 200 utilizes a hybrid architecture middleware to provide a data-centric publish / subscribe mechanism, standardizes the interfaces and behaviors for data publishing, transmission, and reception in the distributed real-time simulation test system, and enables data communication between the overall unit simulation prototype system and various heterogeneous simulation subsystems of other units;

[0030] 300. The unified spatiotemporal service unit is used to keep the time and space information of various heterogeneous simulation subsystems of other units synchronized.

[0031] According to another aspect of the invention, step 100 includes:

[0032] 101. During the subscription distribution relationship editing phase, customize the data type;

[0033] 102. Edit the SIDF file defining the interaction information of the simulation nodes to enable editing of the implementation object class and object class attributes, interaction class and interaction class parameters;

[0034] 103. Edit the MIDF (Multi-Functional Documentation File) for simulation node interaction information. The MIDF is automatically generated through the visual editing of the publish-subscribe relationship between each simulation node.

[0035] 104. During the simulation initialization phase, MIDF parses the definition file of the simulation node interaction information. The simulation node sequentially calls the interface protocol adaptation unit API and the communication middleware scheduling unit API to complete the declaration of object class and interaction class.

[0036] 105. During the process of receiving information at the simulation node, the communication middleware scheduling unit API responds to the communication middleware API callback, the communication middleware scheduling unit API triggers the interface protocol adaptation unit API callback, and the interface protocol adaptation unit API triggers the simulation node's API callback to complete the information reception.

[0037] 106. During the information transmission process of the simulation node, the simulation node calls the interface protocol adaptation unit API, the interface protocol adaptation unit API calls the communication middleware scheduling unit API, and the communication middleware scheduling unit API calls the communication middleware API to complete the information transmission.

[0038] According to another aspect of the invention, step 200 includes:

[0039] 201. Use the subscription and distribution relationship editing module to edit the simulation node interaction information definition file SIDF and send it to the application module of the simulation node;

[0040] 202. Use the subscription and distribution relationship editing module to edit the simulation node interaction information definition file MIDF and send it to the information protocol adaptation software;

[0041] 203. The communication middleware scheduling module is used to obtain simulation test resource data of heterogeneous simulation subsystems of other units through API calls of the unified simulation interface protocol, and the data is returned through callback.

[0042] 204. The underlying pRT11516 and AppDDS bus information transmission protocol are encapsulated using communication middleware, as well as SOCKET, shared memory interface, HLA-compliant RTI and DDS-compliant DDS transmission data.

[0043] 205. Repeat steps 201 to 204 using the communication middleware scheduling module to complete the information transmission for each step in the simulation process, thereby realizing multi-user, multi-protocol remote joint simulation.

[0044] According to another aspect of the invention, step 300 includes:

[0045] 301. When interconnecting systems in different locations, each test area is equipped with a central time synchronization server, which relies on BeiDou / GPS timing equipment to receive time data sent by satellites at regular intervals, so as to synchronize the time of each test area.

[0046] 302. When the internal systems of each test area are interconnected, the NTP server software of the central time synchronization server reads the reference time information when it receives the synchronization request sent by each simulation node participating in the test.

[0047] 303. Each test area sends data to each simulation node participating in the test via UDP point-to-point method;

[0048] 304. Other servers periodically read the local time and the synchronization requests sent from the local machine to the server, receive NTP packets and perform latency calculation and correction.

[0049] 305. Based on the delay, calculate and correct the local time, and maintain the reference time and frequency counter in shared memory for use by each simulation node participating in the experiment.

[0050] Compared with the prior art, the present invention has the following advantages:

[0051] According to the present invention, by constructing three parts—simulation agent unit, hybrid architecture middleware, and unified spatiotemporal service unit—the heterogeneous simulation subsystems of other units required for multiple simulation experiments are integrated into an organic whole, realizing close interconnection and resource sharing among them. They are also interoperable, reusable, and composable, providing interconnection and interoperability support services and spatiotemporally unified simulation services for joint simulation experiments of multiple users, geographically dispersed, and heterogeneous simulation systems. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0053] Figure 1 This diagram illustrates the architecture of a multi-user joint simulation test evaluation system provided by an embodiment of the present invention.

[0054] Figure 2 This diagram illustrates the logical structure of the hybrid architecture middleware provided in an embodiment of the present invention.

[0055] Figure 3 This diagram illustrates the working principle of the hybrid architecture middleware provided in an embodiment of the present invention.

[0056] Figure 4 This illustration illustrates the workflow of the middleware scheduling module provided in an embodiment of the present invention.

[0057] Figure 5This illustration illustrates the subscription distribution relationship editing workflow provided in an embodiment of the present invention.

[0058] Figure 6 This diagram illustrates the structural composition of the remote joint test interconnection time synchronization service provided in an embodiment of the present invention.

[0059] Figure 7 The diagram illustrates the time synchronization principle provided in the embodiment of the present invention. Detailed Implementation

[0060] The description of the embodiments in this specification should be taken in conjunction with the accompanying drawings, which should form part of the complete specification. In the drawings, the shape or thickness of the embodiments may be exaggerated and may be indicated in a simplified or convenient manner. Furthermore, parts of the various structures in the drawings will be described separately; it is worth noting that elements not shown in the figures or not described in words are in a form known to those skilled in the art.

[0061] The descriptions of the embodiments herein, including any references to directions and orientations, are for ease of description only and should not be construed as limiting the scope of the invention. The following description of preferred embodiments involves combinations of features, which may exist independently or in combination; the invention is not particularly limited to the preferred embodiments. The scope of the invention is defined by the claims.

[0062] In the construction project of aerospace equipment testing and evaluation simulation system, this invention designs a system architecture that supports multi-user joint simulation, such as... Figure 1 As shown, the simulation system built based on this architecture can solve the following problems: the inability to manage simulation nodes in a coordinated manner; the lack of joint simulation scheduling and monitoring functions and unified spatiotemporal simulation service functions; the difficulty of traditional simulation architecture to meet the needs of aerospace equipment testing and evaluation, such as a large number of users, equipment models, test tasks, large simulation test computation volume, and continuous upgrade and expansion of prototype systems; the inability of remote and heterogeneous simulation systems to interconnect; and the difficulty of coordinating and managing simulation resources such as software, hardware, models, standards, and systems.

[0063] according to Figure 1This invention discloses an experimental evaluation system supporting multi-user joint simulation, mainly comprising three parts: a simulation proxy unit, a hybrid architecture middleware, and a spatiotemporal unified service unit (not shown in the figure). The simulation proxy unit connects multiple heterogeneous simulation subsystems from other units, already integrated into the overall unit simulation prototype system, as simulation nodes, forming a distributed real-time simulation experimental system. The hybrid architecture middleware provides a data-centric publish / subscribe mechanism, standardizing the interfaces and behaviors for data publishing, transmission, and reception in the distributed real-time simulation experimental system, enabling data communication between the overall unit simulation prototype system and the various heterogeneous simulation subsystems from other units. The spatiotemporal unified service unit synchronizes the time and space information among the various heterogeneous simulation subsystems from other units. By utilizing the spatiotemporal unified service unit to construct an integrated environment where all simulation nodes are time- and space-consistent, all subsystems participating in the simulation experiment run simulations under a unified spatiotemporal state, achieving multi-user joint simulation and overall management.

[0064] Preferably, when the connected simulation node cannot change the system interface to adapt to the communication protocol and data interface requirements of the overall unit simulation prototype system, the simulation proxy unit can also act as a data interaction bridge, enabling other heterogeneous simulation subsystems participating in the experimental simulation to connect to the overall unit simulation prototype system as simulation nodes through protocol conversion and data forwarding.

[0065] According to some embodiments of the present invention, the aforementioned other heterogeneous simulation subsystems or simulation nodes include experimental equipment, simulators, and remote heterogeneous systems.

[0066] According to some embodiments of the present invention, the simulation proxy unit includes: a communication middleware, a protocol parsing and conversion module, a time synchronization module, a spatial coordinate transformation module, a resource library access module, a problem handling module, an event synchronization module, and a GUI module. The communication middleware is used to load the communication middleware dynamic library to realize the underlying data communication of DDS, enabling simulation nodes to access the overall unit simulation prototype system according to a unified data communication protocol. The protocol parsing and conversion module is used to parse and convert the communication protocols of the simulation nodes and map them to the communication protocol of the overall unit simulation prototype system. The time synchronization module is used to ensure the time consistency and real-time performance of each simulation node. The spatial coordinate transformation module is used to complete the coordinate transformation between the simulation nodes participating in the experiment. The resource library access module is used to access the local library storing simulation experiment data and the model library of the simulation nodes. The problem handling module is used to handle simple problems that occur in the simulation experiment. The event synchronization module is used to record key events and interaction processes that occur during the simulation experiment. The GUI module is used to monitor, display, and analyze various types of data exchanged between simulation nodes, facilitating the monitoring and analysis of data exchanged between heterogeneous simulation subsystems of other units by experimental personnel.

[0067] When other heterogeneous simulation subsystems from other units are connected, such as experimental equipment, simulators, and remote, heterogeneous systems, their system software is already fixed. When the simulation agent unit communicates with these subsystems, it must do so according to the subsystem's communication protocol. Simultaneously, the simulation agent unit needs to transmit subsystem data to the overall unit's simulation prototype system. When the simulation agent communicates with the simulation prototype system, it must adhere to the unified communication protocol of the simulation prototype system. Therefore, the protocol parsing and conversion module parses and converts the subsystem's communication protocol and maps it to the communication protocol of the simulation prototype system.

[0068] According to some embodiments of the present invention, the hybrid architecture middleware includes: a subscription-distribution relationship editing module and a communication middleware scheduling module. The subscription-distribution relationship editing module is used to implement on-demand subscription and distribution of interactive information between simulation nodes using a publish-subscribe mechanism, supporting the generation and manual editing of a master table of interactive information and publish-subscribe information tables for each simulation node; the communication middleware scheduling module is used to invoke multiple communication middleware for distributed information transmission, supporting information transmission between simulation nodes in a distributed real-time simulation experimental system under local area network and remote networked training conditions.

[0069] Preferably, the various communication middleware includes: SOCKET and shared memory interfaces, RTI conforming to the HLA specification, and DDS conforming to the DDS specification.

[0070] On the other hand, embodiments of the present invention also disclose a method for supporting multi-user joint simulation experiments using the aforementioned multi-user joint simulation experiment evaluation system, which mainly includes the following steps:

[0071] Step 100: Using the simulation proxy unit, multiple heterogeneous simulation subsystems of other units that have been fixed in the system are connected to the overall unit simulation prototype system as simulation nodes to form a distributed real-time simulation test system.

[0072] In some embodiments, such as Figure 4 and Figure 5 As shown, the specific implementation process of the simulation agent unit in step 100 (divided into the subscription and distribution relationship editing stage, the simulation initialization stage, and the simulation running stage) includes:

[0073] Step 101: In the subscription-distribution relationship editing stage, customize the data type. This includes operations such as creating, importing, exporting, modifying, and deleting.

[0074] Step 102 involves editing the simulation node interaction information definition file (SIDF) to edit the implementation object class and its attributes, as well as the interaction class and its parameters. This includes operations such as creating, modifying, and deleting.

[0075] Step 103: Edit the simulation node interaction information definition file MIDF. The MIDF is automatically generated through the visual editing of the publish-subscribe relationship between each simulation node.

[0076] Step 104: During the simulation initialization phase, MIDF parses the definition file of the simulation node interaction information. The simulation node sequentially calls the interface protocol adaptation unit API and the communication middleware scheduling unit API to complete the declaration of object classes and interaction classes.

[0077] Step 105: During the information reception process of the simulation node, the communication middleware scheduling unit API responds to the communication middleware API callback, the communication middleware scheduling unit API triggers the interface protocol adaptation unit API callback, and the interface protocol adaptation unit API triggers the simulation node's API callback, thus completing the information reception.

[0078] Step 106: During the information transmission process of the simulation node, the simulation node calls the interface protocol adaptation unit API, the interface protocol adaptation unit API calls the communication middleware scheduling unit API, and the communication middleware scheduling unit API calls the communication middleware API to complete the information transmission.

[0079] Step 200: Utilize hybrid architecture middleware to provide a data-centric publish / subscribe mechanism, standardize the interfaces and behaviors for data publishing, transmission, and reception in the distributed real-time simulation test system, and realize data communication between the overall unit simulation prototype system and various heterogeneous simulation subsystems of other units.

[0080] In some embodiments, such as Figure 2 As shown, the specific implementation process of the hybrid architecture middleware in step 200 includes:

[0081] Step 201: Edit the simulation node interaction information definition file SIDF using the subscription distribution relationship editing module, and send it to the application module of the simulation node.

[0082] Step 202: Edit the simulation node interaction information definition file MIDF using the subscription distribution relationship editing module and send it to the information protocol adaptation software.

[0083] Step 203: Using the communication middleware scheduling module, obtain simulation test resource data of heterogeneous simulation subsystems of other units through API calls of the unified simulation interface protocol, and return the data through callback.

[0084] Step 204: Encapsulate the underlying pRT11516, AppDDS bus information transmission protocol, SOCKET, shared memory interface, HLA-compliant RTI, and DDS-compliant DDS transmission data using communication middleware.

[0085] Step 205: Repeat steps 201 to 204 using the communication middleware scheduling module to complete the information transmission for each step in the simulation process, thereby realizing multi-user, multi-protocol remote joint simulation.

[0086] At the same time, combined Figure 3 This paper elucidates the working principle of the hybrid architecture middleware. A data-centric publish / subscribe mechanism standardizes the interfaces and behaviors for data publishing, transmission, and reception in the distributed real-time simulation experimental system, and provides rich QoS policy support. Based on a unified simulation experimental network environment where multiple simulation nodes coexist, it integrates five major types of interfaces: DDS / HLA / SOCKET / database / memory sharing. Through interface adaptation and mapping, it completes various control commands issued by the simulation engine and executes corresponding actions. Utilizing a universal development interface that supports the coexistence of multiple distributed technologies and is protocol-independent, it achieves the goal of shielding different communication protocols and geographically dispersed, heterogeneous system architectures for joint simulation experiments.

[0087] Step 300: Use the unified spatiotemporal service unit to keep the time and space information of the heterogeneous simulation subsystems of other units synchronized.

[0088] In some embodiments, such as Figure 6 As shown, the specific implementation process of the spatiotemporal unified service unit in step 300 includes:

[0089] Step 301: When interconnecting remote systems, each test area (each participating unit in the test simulation located in a different location) is configured with a central time synchronization server. This server relies on BeiDou / GPS timing equipment to periodically receive time data transmitted by satellites, ensuring time synchronization across all test areas. This achieves time consistency across all test areas.

[0090] Step 302: When the internal systems of each test area are interconnected, the NTP (Network Time Protocol) server software of the central time synchronization server reads the reference time information when it receives the synchronization request sent by each simulation node participating in the test.

[0091] Step 303: Each test area sends data to each simulation node participating in the test via UDP point-to-point method.

[0092] Step 304: Deploy NTP client software on other servers and participating terminals. Other servers periodically read the local time and the synchronization requests sent from the local machine to the server, receive NTP messages, and perform latency calculation and correction.

[0093] Step 305: Calculate and correct the local time based on the delay, and maintain the reference time and frequency counter in the shared memory for use by each simulation node participating in the experiment.

[0094] In the implementation of the distributed real-time simulation test system, each test area uses BeiDou / GPS timing equipment for time synchronization. Within each test area, PTP technology is used to achieve time synchronization between systems at the physical layer. The logical flow based on PTP technology that meets the IEEE 1588 standard is as follows: Figure 7 As shown.

[0095] Time synchronization based on PTP technology employs a "master + slave" approach. The master device runs on a time synchronization computer, using a high-stability crystal oscillator to provide a precise time signal. The master device periodically sends Sync signals and responds to Delay-Req signals from the slave devices. The slave devices correct their clocks based on the time deviation of round-trip messages between the master and slave devices, thus achieving synchronization with the master clock. The time delay and offset are calculated as follows:

[0096] Delay calculation: Delay = [(t2-t1)+(t4-t3)] / 2;

[0097] Offset calculation: Offset = t2 - (t1 + Delay) = [(t2 - t1) - (t4 - t3)] / 2.

[0098] Where: t1 is the time when the synchronization message is sent, t2 is the time when the slave device receives the synchronization message, t3 is the time when the slave device sends the delay request message, and t4 is the time when the master device receives the delay request message (t4 is included in the timestamp by the master device and sent to the slave device as a delay response message).

[0099] The joint simulation test and evaluation system is designed according to the above-described architecture of the present invention. It can interconnect with three other typical aerospace equipment test and evaluation heterogeneous simulation systems using both DDS and Kafka methods to complete joint system tests and has achieved good results.

[0100] The sequence numbers of the various steps involved in the method of the present invention do not imply the order of execution of the method. The execution order of each step should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-user supported joint simulation test qualification system, characterized in that, The application comprises: an emulation agent unit for connecting a plurality of other unit heterogeneous simulation subsystems which have been solidified by the system as emulation nodes to an overall unit simulation prototype system to form a distributed real-time simulation test system; a hybrid architecture middleware for providing a data-centered publish / subscribe mechanism, standardizing the interface and behavior of data publishing, transmission and receiving in the distributed real-time simulation test system, and realizing data communication between the overall unit simulation prototype system and each other unit heterogeneous simulation subsystem; and a space-time unified service unit for keeping the time information and space information between each other unit heterogeneous simulation subsystem in synchronization; the hybrid architecture middleware comprises: a subscription distribution relationship editing module for realizing on-demand subscription and distribution of interactive information between each emulation node by the publish / subscribe mechanism, and supporting generation and manual editing and modification of an interactive information master table and a publish / subscribe information table of each emulation node; a communication middleware scheduling module for calling a plurality of communication middlewares to realize distributed information transmission, and supporting information transmission between each emulation node in the distributed real-time simulation test system under local LAN and remote network training conditions; the plurality of communication middlewares comprise SOCKET and shared memory interface, RTI conforming to HLA specification, and DDS conforming to DDS specification.

2. The system of claim 1, wherein, When the connected emulation node cannot change the system interface to adapt to the communication protocol and data interface requirements of the overall unit simulation prototype system, the emulation agent unit is further used for protocol conversion and data forwarding to connect the other unit heterogeneous simulation subsystem to the overall unit simulation prototype system.

3. The system of claim 1 or 2, wherein, The other unit heterogeneous simulation subsystem comprises experimental equipment, simulators and remote heterogeneous systems.

4. The system of claim 1, wherein, The emulation agent unit comprises: a communication middleware for loading a communication middleware dynamic library, realizing underlying data communication of DDS, and connecting the emulation node to the overall unit simulation prototype system according to a unified data communication protocol; a protocol analysis and conversion module for analyzing and converting the communication protocol of the emulation node and mapping to the communication protocol of the overall unit simulation prototype system; a time synchronization module for ensuring time consistency and real-time performance of each emulation node; a space coordinate conversion module for completing coordinate conversion between each emulation node participating in the test; a resource library access module for accessing a local library storing simulation experiment data and a model library of the emulation node; a problem processing module for simply processing problems occurring in the simulation experiment; an event synchronization module for recording key events and interactive processes occurring in the simulation experiment process; and a GUI module for monitoring, displaying and analyzing various data of emulation node interaction.

5. A multi-user supported co-simulation test method implemented by the multi-user supported co-simulation test identification system according to any one of claims 1-4, characterized in that, The application comprises: 100, connecting a plurality of other unit heterogeneous simulation subsystems which have been solidified by the system as emulation nodes to an overall unit simulation prototype system by using an emulation agent unit to form a distributed real-time simulation test system; 200, using the hybrid architecture middleware to provide a data-centric publish / subscribe mechanism, standardizing the interface and behavior of data publishing, transmission and receiving in the distributed real-time simulation test system, and realizing data communication between the overall unit simulation prototype system and each other unit heterogeneous simulation subsystem; 300, using the space-time unified service unit to keep the time information and space information between each other unit heterogeneous simulation subsystem synchronized.

6. The method of claim 5, wherein, The step 100 comprises: 101, in the subscription distribution relationship editing stage, customizing and editing data types; 102, editing the simulation node interaction information definition file SIDF, and realizing the editing of the implementation object class and object class attribute, the interaction class and interaction class parameter; 103, editing the simulation node interaction information definition file MIDF, and automatically generating the MIDF through the visual editing of the publication and subscription relationship between each simulation node; 104, in the simulation initialization stage, the MIDF completes the definition file parsing of the simulation node interaction information, and the simulation node sequentially calls the interface protocol adaptation unit API and the communication middleware scheduling unit API to complete the object class and interaction class declaration; 105, in the simulation node information receiving process, the communication middleware scheduling unit API responds to the communication middleware API callback, the communication middleware scheduling unit API triggers the interface protocol adaptation unit API callback, the interface protocol adaptation unit API triggers the API callback of the simulation node, and information receiving is completed; 106, in the simulation node information sending process, the interface protocol adaptation unit API is called by the simulation node, the communication middleware scheduling unit API is called by the interface protocol adaptation unit API, the communication middleware API is called by the communication middleware scheduling unit API, and information sending is completed.

7. The method of claim 6, wherein, The step 200 comprises: 201, using the subscription distribution relationship editing module to edit the simulation node interaction information definition file SIDF, and sending it to the application module of the simulation node; 202, using the subscription distribution relationship editing module to edit the simulation node interaction information definition file MIDF, and sending it to the information protocol adaptation software; 203, using the communication middleware scheduling module to obtain the simulation test resource data of the other unit heterogeneous simulation subsystem through the API calling mode of the unified simulation interface protocol, and returning the data through the callback mode; 204, using the communication middleware to encapsulate the underlying pRT11516, the AppDDS bus information transmission protocol, the SOCKET, the shared memory interface, the RTI conforming to the HLA specification, and the DDS transmission data conforming to the DDS specification; 205, using the communication middleware scheduling module to repeat the steps 201-204 to complete the information transmission of each step in the simulation process, and realizing the multi-user and multi-protocol remote joint simulation.

8. The method of claim 7, wherein, The step 300 comprises: 301, when the remote systems are interconnected, the time server of each test area configuration center is configured, time data sent by satellites is received in time by relying on the Beidou / GPS time service equipment, and the time of each test area is synchronized; 302, when the internal system of each test area is interconnected, the NTP server software of the central time service server receives the synchronization request sent by each simulation node participating in the test, and reads the reference time information; 303, each test area sends to each simulation node participating in the test by using the UDP point-to-point mode; 304, other servers read the local time and the synchronization request sent by the local server to the server regularly, receive the NTP message and perform time delay measurement and correction; 305, synchronize the local time according to the time delay measurement and correction, and maintain the reference time and the frequency counter in the shared memory for use by each simulation node participating in the test.

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