A simulation method and system for inertial integrated navigation measurement data

Abstract

The invention discloses a simulation method and system for inertial integrated navigation measurement data, and specifically relates to the field of simulation. The invention first divides a 1553B bus network into two parts, realizes data processing and conversion through an optical fiber device, and simulates the interaction between real flight control and inertial integrated navigation; subsequently, a frequency standard signal is transmitted to a flight control device through a simulation device, and it is confirmed that the inertial integrated navigation pseudo device receives the signal; at the same time, the flight control device constructs a BCRT message and sends it to the inertial integrated navigation pseudo device to complete data verification and transmission; the flight control device and the flight control pseudo device obtain data by adopting the same method, and request and receive measurement data through an RTBC message; finally, the inertial integrated navigation measurement data is compared with the actual flight data of a rocket, and the accuracy and reliability of the simulation result are verified by drawing a comparison chart and performing error analysis, and the simulation model is adjusted and optimized according to the analysis result.

Description

Technical Field

[0001] The present invention relates to the field of simulation technology, and more specifically, to a simulation method and system for inertial integrated navigation measurement data. Background Art

[0002] With the continuous development of China's aerospace industry, semi-physical simulation experiments have become an indispensable and important experiment in the development stage of launch vehicles. During the semi-physical simulation experiment, the launch vehicle's flight control process needs to simulate the actual flight control process in the ground test environment. Among them, inertial combined navigation provides important flight data such as position data, velocity data, attitude data, acceleration data, etc. during the rocket's flight control process. These data are used to calculate the rocket's motion trajectory, velocity, attitude and other information, so as to achieve accurate navigation and positioning of the rocket's flight process. In the conventional rocket semi-physical simulation environment, it is difficult to simulate the rocket's inertial combined navigation measurement data during the flight control process, such as the rocket's acceleration data;

[0003] At present, in the rocket simulation environment, the more common practice is to complete the simulation process in advance by binding data in advance according to the simulation purpose and expected results.

[0004] However, it still has some shortcomings in actual use. For example, this method is not flexible enough and is a static data simulation method based on purpose and expectation. It is difficult to simulate the data of the rocket during the actual flight process. The inability to simulate inertial combined navigation data in the semi-physical simulation environment of the rocket will seriously affect the rocket's research and development and testing process, increase research and development risks and costs, and may pose a threat to the rocket's flight safety and success. Summary of the invention

[0005] In order to overcome the above defects of the prior art, the present invention provides a simulation method for inertial integrated navigation measurement data to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] Step A1: Divide the single 1553B bus network in the rocket semi-physical simulation environment;

[0008] Step A2: transmitting the frequency mark signal to the flight control device through the simulation device, wherein the frequency mark signal is generated in real time by the inertial integrated navigation device;

[0009] Step A3: Transmitting the data to the inertial integrated navigation device through the simulation device;

[0010] Step A4: Acquire inertial integrated navigation measurement data using flight control equipment;

[0011] Step A5: Compare the inertial integrated navigation measurement data with the actual flight data of the rocket to verify the accuracy and reliability of the simulation results.

[0012] Preferably, in step A1, in the semi-physical simulation environment network, the inertial combined navigation is fixed on a three-axis turntable, and the inertial combined navigation data during the actual flight of the rocket cannot be measured; the 1553B network is divided into two 1553B networks, and optical fiber equipment is used in the middle to realize data processing and conversion; the entire network is divided into three parts, namely, the flight control device and the inertial combined navigation pseudo-device part, the optical fiber reflection memory device interconnection part, and the flight control pseudo-device and the inertial combined navigation device part.

[0013] Preferably, the step A2 comprises the following steps:

[0014] Step A21: setting a dedicated optical fiber reflection memory address for storing the status information of the frequency mark signal; when the flight control pseudo device receives the frequency mark signal from the inertial integrated navigation device, writing specific data 1 to the address;

[0015] This address is also used for feedback after the inertial navigation pseudo device confirms receipt of the frequency marker signal. When the inertial navigation pseudo device receives the fiber event notification and processes the frequency marker signal, it will write the corresponding data 0 to this address to indicate confirmation;

[0016] The measurement data generated by the inertial integrated navigation device sets one or more fiber optic reflection memory addresses. These addresses are used to store key measurement data such as the rocket's attitude, speed, and position;

[0017] Step A22: The flight control pseudo device and the inertial navigation pseudo device address read the measurement data for further processing and analysis.

[0018] Step A23: the inertial integrated navigation device generates measurement data and frequency standard signals in real time; the measurement data is directly written into a predetermined optical fiber reflection memory address;

[0019] Step A24: The frequency mark signal is sent to the flight control pseudo device, and is also recorded and processed inside the inertial combined navigation device; after receiving the frequency mark signal, the flight control pseudo device immediately writes data 1 into the frequency mark signal address; the flight control pseudo device sends a fiber optic event notification to the inertial combined navigation pseudo device, informing it that a new frequency mark signal has arrived.

[0020] Step A25: The flight control pseudo-device waits for half the frequency mark signal cycle to ensure that the inertial navigation pseudo-device has enough time to process the fiber optic event notification; after the waiting time is over, the flight control pseudo-device clears the data in the frequency mark signal address, that is, writes 0, to prepare for receiving the next frequency mark signal.

[0021] Step A26: After receiving the fiber optic event notification, the inertial group navigation pseudo-device reads data from the frequency mark signal address to confirm the arrival of the frequency mark signal; based on the confirmation information, the inertial group navigation pseudo-device generates its own inertial group frequency mark signal 1 and sends it to the flight control device.

[0022] Step A27: The inertial group navigation pseudo-device waits for half a frequency mark signal cycle to ensure that the flight control device has enough time to process the inertial group frequency mark signal 1; after the waiting time, the inertial group navigation pseudo-device generates the inertial group frequency mark signal 0 and sends it to the flight control device to complete a round of frequency mark signal interaction.

[0023] Preferably, the step A3 comprises the following steps:

[0024] Step A31: The flight control device constructs a BCRT message containing necessary information according to system requirements; the message may include the current status of the rocket, control instructions or other key data; the flight control device sends the BCRT message to the inertial combined navigation pseudo-device through a dedicated communication interface.

[0025] Step A32: the inertial integrated navigation pseudo device receives a BCRT message from the flight control device through its communication interface;

[0026] Step A33: The inertial integrated navigation pseudo-device verifies the received BCRT message to ensure the integrity and accuracy of the data. The verification process may include checking the format, length, check code, etc. of the message;

[0027] If the verification passes, the inertial integrated navigation pseudo-device writes the content of the BCRT message into the data address of the optical fiber device;

[0028] Step A34: After writing the BCRT message into the optical fiber device data address, the inertial integrated navigation pseudo device sends an optical fiber signal to the flight control pseudo device through the optical fiber communication interface;

[0029] Step A35: The flight control pseudo device receives the optical fiber signal from the inertial integrated navigation pseudo device through its optical fiber communication interface; the flight control pseudo device confirms, based on the received optical fiber signal, that the BCRT message has been successfully received and processed by the inertial integrated navigation pseudo device.

[0030] Step A36: The BCRT message received by the flight control pseudo device is sent to the inertial integrated navigation device.

[0031] Preferably, in step A4, the flight control device can synchronously acquire inertial integrated navigation measurement data in real time, and the flight control device and the flight control pseudo device adopt the same data acquisition method to perform data acquisition operation, and further comprises the following steps:

[0032] Step A41: The high-precision clock inside the inertial integrated navigation device generates a stable frequency standard signal; this signal is the time reference of the system and is used to ensure data synchronization between all devices; the frequency standard signal is sent to the flight control device through a specific communication interface; this interface needs to have high stability and low latency to ensure the accuracy of the signal;

[0033] Step A42: The flight control device receives the frequency mark signal from the inertial integrated navigation device through its communication interface; the received frequency mark signal is converted into a format suitable for optical fiber transmission; the converted frequency mark signal is continuously transmitted to the next device or system component through the optical fiber link;

[0034] Step A43: After receiving the RTBC message, the inertial integrated navigation device parses it to obtain the requested data type and source address information. According to the requirements of the RTBC message, read the current measurement data from the internal sensor and perform preprocessing; encapsulate the prepared measurement data into a specific data packet format and send it to the flight control pseudo device through the optical fiber interface;

[0035] Step A44: the flight control pseudo device receives the measurement data from the inertial integrated navigation device through its communication interface; the received measurement data is converted into a format for optical fiber transmission; the converted measurement data is encapsulated into an optical fiber event notification and sent to the simulator and the inertial integrated navigation pseudo device; the notification includes information such as the type, length and storage address of the data;

[0036] Step A45: The simulator receives the fiber event notification from the flight control pseudo device; and processes and analyzes the received measurement data according to simulation requirements;

[0037] Step A46: the inertial integrated navigation pseudo device receives the optical fiber event notification from the flight control pseudo device; reads the received measurement data from the optical fiber memory, and saves the read data to the specified RT sub-address;

[0038] Step A47: The flight control device receives the frequency standard signal from the inertial combined navigation device through its communication interface; according to system requirements, the flight control device generates and sends an RTBC message to the pseudo-inertial combined navigation device, requesting to read the measurement data in the specified RT subaddress; receives the measurement data sent by the pseudo-inertial combined navigation device, and starts the control algorithm for processing.

[0039] Step A48: The flight control device calculates corresponding control instructions based on the received measurement data and control algorithm; and outputs the calculated control instructions to the actuator.

[0040] Preferably, in step A5, a comparison chart of the inertial integrated navigation measurement data and the actual flight data, such as a line chart, a scatter plot, etc., is drawn; the accuracy and reliability of the inertial integrated navigation measurement data are intuitively evaluated by observing the trends and changes in the chart; the sources and influencing factors of the calculated errors are analyzed; and the simulation model is adjusted and optimized according to the error analysis results.

[0041] The present invention also provides a simulation system for inertial integrated navigation measurement data, using the simulation method for inertial integrated navigation measurement data as described above, the simulation system comprising:

[0042] Grid partitioning module: used to partition the single 1553B bus network in the rocket semi-physical simulation environment;

[0043] Frequency standard signal transmission module: used to transmit the frequency standard signal to the flight control device through the simulation device;

[0044] BCRT message transmission module: used to transmit BCRT messages to the inertial integrated navigation device through the simulation device;

[0045] Data acquisition module: used to acquire data using the same data acquisition method used by the flight control device and the flight control pseudo device;

[0046] Simulation verification module: used to compare the inertial integrated navigation measurement data with the actual flight data of the rocket to verify the accuracy and reliability of the simulation results.

[0047] Technical effects and advantages of the present invention:

[0048] 1. The single 1553B network is divided into two 1553B networks using the optical fiber reflective memory network, so that the simulator can intervene to process data, improving the flexibility of the semi-physical simulation system; making the simulation process more focused on real flight data simulation and algorithm processing;

[0049] 2. The present invention utilizes the optical fiber reflection memory network to improve the real-time performance and data reliability of data transmission;

[0050] 3. The present invention utilizes the time difference of multi-device transmission of frequency standard signals to complete the parallel signal transmission of two 1553B bus networks and the reading, processing, handling and notification of the measurement data of the inertial combined navigation device, thereby reducing the system data transmission time. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the method flow of the present invention.

[0052] Figure 2 It is a schematic diagram of the ground simulation network of the present invention.

[0053] Figure 3 This is a schematic diagram of obtaining data in step A4 of the present invention.

[0054] Figure 4 It is a schematic diagram of module connection of the present invention.

[0055] Figure 5 It is a schematic diagram of the arrow-carrying connection network of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] See also Figure 1 As shown, the present invention provides a simulation method for inertial integrated navigation measurement data, and the method is:

[0058] Step A1: Divide the single 1553B bus network in the rocket semi-physical simulation environment;

[0059] See also Figure 2 As shown, it is a schematic diagram of the ground simulation network of the present invention. In the step A1, in the semi-physical simulation environment network, the inertial integrated navigation is fixed on the three-axis turntable, and the inertial integrated navigation data during the actual flight of the rocket cannot be measured; the 1553B network is divided into two 1553B networks, and optical fiber equipment is used in the middle to realize data processing and conversion; the entire network is divided into three parts, namely, the flight control device and the inertial integrated navigation pseudo device part, the optical fiber reflection memory device interconnection part, and the flight control pseudo device and the inertial integrated navigation device part;

[0060] Among them, the inertial integrated navigation pseudo-device in the flight control device and the inertial integrated navigation pseudo-device part realizes the function of the real inertial integrated navigation, and its data comes from the real inertial integrated navigation and the simulation device;

[0061] In the fiber optic reflective memory device interconnection part, the interconnection between two 1553B networks and the emulator is completed;

[0062] The flight control pseudo device in the flight control pseudo device and inertial integrated navigation device part completes the data reading logic of the real flight controller device in real time.

[0063] Step A2: Transmitting the frequency standard signal to the flight control device through the simulation device;

[0064] The step A2 comprises the following steps:

[0065] Step A21: setting a dedicated optical fiber reflection memory address for storing the status information of the frequency mark signal; when the flight control pseudo device receives the frequency mark signal from the inertial integrated navigation device, writing specific data 1 to the address;

[0066] This address is also used for feedback after the inertial navigation pseudo device confirms receipt of the frequency marker signal. When the inertial navigation pseudo device receives the fiber event notification and processes the frequency marker signal, it will write the corresponding data 0 to this address to indicate confirmation;

[0067] Set one or more fiber optic reflection memory addresses for the measurement data generated by the inertial integrated navigation device. These addresses are used to store key measurement data such as the rocket's attitude, speed, and position;

[0068] Step A22: The flight control pseudo device and the inertial navigation pseudo device address read the measurement data for further processing and analysis.

[0069] Step A23: the inertial integrated navigation device generates measurement data and frequency standard signals in real time; the measurement data is directly written into a predetermined optical fiber reflection memory address;

[0070] Step A24: The frequency mark signal is sent to the flight control pseudo device, and is also recorded and processed inside the inertial combined navigation device; after receiving the frequency mark signal, the flight control pseudo device immediately writes data 1 into the frequency mark signal address; the flight control pseudo device sends a fiber optic event notification to the inertial combined navigation pseudo device, informing it that a new frequency mark signal has arrived.

[0071] Step A25: The flight control pseudo-device waits for half the frequency mark signal cycle to ensure that the inertial navigation pseudo-device has enough time to process the fiber optic event notification; after the waiting time is over, the flight control pseudo-device clears the data in the frequency mark signal address, that is, writes 0, to prepare for receiving the next frequency mark signal.

[0072] Step A26: After receiving the fiber optic event notification, the inertial group navigation pseudo-device reads data from the frequency mark signal address to confirm the arrival of the frequency mark signal; based on the confirmation information, the inertial group navigation pseudo-device generates its own inertial group frequency mark signal 1 and sends it to the flight control device.

[0073] Step A27: The inertial group navigation pseudo-device waits for half a frequency mark signal cycle to ensure that the flight control device has enough time to process the inertial group frequency mark signal 1; after the waiting time, the inertial group navigation pseudo-device generates the inertial group frequency mark signal 0 and sends it to the flight control device to complete a round of frequency mark signal interaction.

[0074] Step A3: Transmitting the data to the inertial integrated navigation device through the simulation device;

[0075] The step A3 comprises the following steps:

[0076] Step A31: The flight control device constructs a BCRT message containing necessary information according to system requirements; the message may include the current status of the rocket, control instructions or other key data; the flight control device sends the BCRT message to the inertial combined navigation pseudo-device through a dedicated communication interface.

[0077] Step A32: the inertial integrated navigation pseudo device receives a BCRT message from the flight control device through its communication interface;

[0078] Step A33: The inertial integrated navigation pseudo-device verifies the received BCRT message to ensure the integrity and accuracy of the data. The verification process may include checking the format, length, check code, etc. of the message;

[0079] If the verification passes, the inertial integrated navigation pseudo-device writes the content of the BCRT message into the data address of the optical fiber device;

[0080] Step A34: After writing the BCRT message into the optical fiber device data address, the inertial integrated navigation pseudo device sends an optical fiber signal to the flight control pseudo device through the optical fiber communication interface;

[0081] Step A35: The flight control pseudo device receives the optical fiber signal from the inertial integrated navigation pseudo device through its optical fiber communication interface; the flight control pseudo device confirms, based on the received optical fiber signal, that the BCRT message has been successfully received and processed by the inertial integrated navigation pseudo device.

[0082] Step A36: The BCRT message received by the flight control pseudo device is sent to the inertial integrated navigation device.

[0083] Step A4: using the flight control device and the flight control pseudo device to acquire data using the same data acquisition method;

[0084] See also Figure 3 FIG. 1 is a schematic diagram of data acquisition in step A4 of the present invention. In step A4, the flight control device can synchronously acquire inertial integrated navigation measurement data in real time, and the flight control device and the flight control pseudo device use the same data acquisition method to acquire data, and the following steps are also included:

[0085] Step A41: The high-precision clock inside the inertial integrated navigation device generates a stable frequency standard signal; this signal is the time reference of the system and is used to ensure data synchronization between all devices; the frequency standard signal is sent to the flight control device through a specific communication interface; this interface needs to have high stability and low latency to ensure the accuracy of the signal;

[0086] Step A42: The flight control device receives the frequency mark signal from the inertial integrated navigation device through its communication interface; the received frequency mark signal is converted into a format suitable for optical fiber transmission; the converted frequency mark signal is continuously transmitted to the next device or system component through the optical fiber link;

[0087] Step A421: The flight control device generates a real-time block transfer command (RTBC) message according to the system protocol and the type of data to be read. This message contains information such as the type of data requested to be read, the data length, and the source address.

[0088] Message sending: The generated RTBC message is sent to the inertial integrated navigation device through the optical fiber or electrical interface, requesting it to send the corresponding measurement data.

[0089] Step A43: After receiving the RTBC message, the inertial integrated navigation device parses it to obtain the requested data type and source address information. According to the requirements of the RTBC message, read the current measurement data from the internal sensor and perform preprocessing; encapsulate the prepared measurement data into a specific data packet format and send it to the flight control pseudo device through the optical fiber interface;

[0090] Step A44: the flight control pseudo device receives the measurement data from the inertial integrated navigation device through its communication interface; the received measurement data is converted into a format for optical fiber transmission; the converted measurement data is encapsulated into an optical fiber event notification and sent to the simulator and the inertial integrated navigation pseudo device; the notification includes information such as the type, length and storage address of the data;

[0091] Step A45: The simulator receives the fiber event notification from the flight control pseudo device; and processes and analyzes the received measurement data according to simulation requirements;

[0092] Step A46: the inertial integrated navigation pseudo device receives the optical fiber event notification from the flight control pseudo device; reads the received measurement data from the optical fiber memory, and saves the read data to the specified RT sub-address;

[0093] Step A47: The flight control device receives the frequency standard signal from the inertial combined navigation device through its communication interface; according to system requirements, the flight control device generates and sends an RTBC message to the pseudo-inertial combined navigation device, requesting to read the measurement data in the specified RT subaddress; receives the measurement data sent by the pseudo-inertial combined navigation device, and starts the control algorithm for processing.

[0094] Step A48: The flight control device calculates corresponding control instructions according to the received measurement data and control algorithm; and outputs the calculated control instructions to the actuator;

[0095] According to step A41 to step A48, one cycle of data transfer is completed.

[0096] Step A5: Compare the inertial integrated navigation measurement data with the actual flight data of the rocket to verify the accuracy and reliability of the simulation results;

[0097] In step A5, a comparison chart of the inertial integrated navigation measurement data and the actual flight data is drawn, such as a line chart, a scatter plot, etc.; the accuracy and reliability of the inertial integrated navigation measurement data are intuitively evaluated by observing the trend and changes of the chart; the source and influencing factors of the calculated error are analyzed; and the simulation model is adjusted and optimized according to the error analysis results.

[0098] See also Figure 4 As shown, the present invention also provides a simulation system for inertial integrated navigation measurement data, using the simulation method for inertial integrated navigation measurement data as described above, the simulation system comprises:

[0099] Grid partitioning module: used to partition the single 1553B bus network in the rocket semi-physical simulation environment;

[0100] Frequency standard signal transmission module: used to transmit the frequency standard signal to the flight control device through the simulation device;

[0101] BCRT message transmission module: used to transmit BCRT messages to the inertial integrated navigation device through the simulation device;

[0102] Data acquisition module: used to acquire inertial integrated navigation measurement data using flight control equipment;

[0103] Simulation verification module: used to compare the inertial integrated navigation measurement data with the actual flight data of the rocket to verify the accuracy and reliability of the simulation results

[0104] See also Figure 5 As shown, the "rocket-borne connection network" demonstrates the 1553B bus connection and frequency standard connection between the flight control equipment and the inertial combined navigation equipment in the actual flight environment of the rocket.

[0105] Finally: 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 in the protection scope of the present invention.

Claims

1. A method for simulating inertial integrated navigation measurement data, characterized in that: include: Step A1: Divide the single 1553B bus network in the rocket semi-physical simulation environment; Step A2: transmitting the frequency mark signal to the flight control device through the simulation device, wherein the frequency mark signal is generated in real time by the inertial integrated navigation device; Step A3: Transmitting the data to the inertial integrated navigation device through the simulation device; The step A3 comprises the following steps: Step A31: The flight control device constructs a BCRT message containing information according to system requirements; the flight control device sends the BCRT message to the inertial integrated navigation pseudo device through the communication interface; Step A32: the inertial integrated navigation pseudo device receives a BCRT message from the flight control device through its communication interface; Step A33: the inertial integrated navigation pseudo-device verifies the received BCRT message; Step A34: After writing the BCRT message into the optical fiber device data address, the inertial integrated navigation pseudo device sends an optical fiber signal to the flight control pseudo device through the optical fiber communication interface; Step A35: the flight control pseudo device receives the optical fiber signal from the inertial integrated navigation pseudo device through its optical fiber communication interface; the flight control pseudo device confirms, based on the received optical fiber signal, that the BCRT message has been successfully received and processed by the inertial integrated navigation pseudo device; Step A4: Acquire inertial integrated navigation measurement data using flight control equipment; Step A5: Compare the inertial integrated navigation measurement data with the actual flight data of the rocket to verify the accuracy and reliability of the simulation results.

2. The method for simulating inertial integrated navigation measurement data according to claim 1, characterized in that: In the step A1, in the semi-physical simulation environment network, the inertial combined navigation is fixed on a three-axis turntable, and it is impossible to measure and generate inertial combined navigation data during the actual flight of the rocket; the 1553B network is divided into two 1553B networks, and optical fiber equipment is used in the middle to realize data processing and conversion; the entire network is divided into three parts, namely, the flight control device and the inertial combined navigation pseudo-device part, the optical fiber reflection memory device interconnection part, and the flight control pseudo-device and the inertial combined navigation device part.

3. The method for simulating inertial integrated navigation measurement data according to claim 1, characterized in that: The step A2 comprises the following steps: Step A21: setting an optical fiber reflection memory address for storing the status information of the frequency mark signal; when the flight control pseudo device receives the frequency mark signal from the inertial integrated navigation device, writing data 1 to the address; Step A22: The flight control pseudo device and the inertial navigation pseudo device address read the measurement data for further processing and analysis; Step A23: the inertial integrated navigation device generates measurement data and frequency standard signals in real time; the measurement data is directly written into a predetermined optical fiber reflection memory address; Step A24: the frequency mark signal is sent to the flight control pseudo device, and is also recorded and processed inside the inertial integrated navigation device; after receiving the frequency mark signal, the flight control pseudo device immediately writes data 1 into the frequency mark signal address; the flight control pseudo device sends a fiber optic event notification to the inertial group navigation pseudo device, informing it that a new frequency mark signal has arrived; Step A25: the flight control pseudo device waits for half a frequency mark signal cycle to ensure that the inertial navigation pseudo device has enough time to process the optical fiber event notification; after the waiting time is over, the flight control pseudo device clears the data in the frequency mark signal address, that is, writes 0 to prepare for receiving the next frequency mark signal; Step A26: After receiving the optical fiber event notification, the inertial navigation pseudo-device reads data from the frequency marker signal address to confirm the arrival of the frequency marker signal; based on the confirmation information, the inertial navigation pseudo-device generates its own inertial frequency marker signal 1 and sends it to the flight control device; Step A27: The inertial group navigation pseudo-device waits for half a frequency mark signal cycle to ensure that the flight control device has time to process the inertial group frequency mark signal 1; after the waiting time is over, the inertial group navigation pseudo-device generates the inertial group frequency mark signal 0 and sends it to the flight control device to complete a round of frequency mark signal interaction.

4. The method for simulating inertial integrated navigation measurement data according to claim 1, characterized in that: In step A4, the flight control device can synchronously acquire inertial integrated navigation measurement data in real time, and the flight control device is used to acquire data, and the following steps are also included: Step A41: The high-precision clock inside the inertial integrated navigation device generates a stable frequency standard signal; the frequency standard signal is sent to the flight control pseudo device through the communication interface; Step A42: The flight control pseudo device receives the frequency mark signal from the inertial integrated navigation device through its communication interface; the received frequency mark signal is converted into a format suitable for optical fiber transmission; the converted frequency mark signal is continuously transmitted to the next device through the optical fiber link; Step A43: After receiving the RTBC message, the inertial integrated navigation device parses it to obtain the requested data type and source address and other information; reads the current measurement data from the internal sensor according to the requirements of the RTBC message and performs preprocessing; encapsulates the prepared measurement data into a data packet format and sends it to the flight control pseudo device through the optical fiber interface; Step A44: the flight control pseudo device receives the measurement data from the inertial integrated navigation device through its communication interface; the received measurement data is converted into a format for optical fiber transmission; the converted measurement data is encapsulated into an optical fiber event notification and sent to the simulator and the inertial integrated navigation pseudo device; Step A45: The simulator receives the fiber event notification from the flight control pseudo device; and processes and analyzes the received measurement data according to simulation requirements; Step A46: the inertial integrated navigation pseudo device receives the optical fiber event notification from the flight control pseudo device; reads the received measurement data from the optical fiber memory, and saves the read data to the specified RT sub-address; Step A47: the flight control device receives the frequency standard signal from the inertial integrated navigation device through its communication interface; according to system requirements, the flight control device generates and sends an RTBC message to the pseudo-inertial integrated navigation device, requesting to read the measurement data in the specified RT subaddress; receives the measurement data sent by the pseudo-inertial integrated navigation device, and starts the control algorithm for processing; Step A48: The flight control device calculates corresponding control instructions according to the received measurement data and control algorithm; and outputs the calculated control instructions to the actuator; According to step A41 to step A48, one cycle of data transfer is completed.

5. The method for simulating inertial integrated navigation measurement data according to claim 4, characterized in that: In step A42, the flight control pseudo device generates an RTBC message according to the system protocol and the type of data to be read; the message includes the type of data requested to be read, the data length and the source address information; the generated RTBC message is sent to the inertial integrated navigation device via an optical fiber or electrical interface, requesting it to send the corresponding measurement data.

6. The method for simulating inertial integrated navigation measurement data according to claim 1, characterized in that: In step A5, a comparison chart of the inertial integrated navigation measurement data and the actual flight data is drawn; the accuracy and reliability of the inertial integrated navigation measurement data are intuitively evaluated by observing the trend and changes of the chart; the source and influencing factors of the calculated error are analyzed; and the simulation model is adjusted and optimized according to the error analysis results.

7. A simulation system for inertial integrated navigation measurement data, using the simulation method for inertial integrated navigation measurement data according to any one of claims 1 to 6, characterized in that: The simulation system comprises: Grid partitioning module: used to partition the single 1553B bus network in the rocket semi-physical simulation environment; Frequency standard signal transmission module: used to transmit the frequency standard signal to the flight control device through the simulation device; BCRT message transmission module: used to transmit BCRT messages to the inertial integrated navigation device through the simulation device; Data acquisition module: used to acquire inertial integrated navigation measurement data using flight control equipment; Simulation verification module: used to compare the inertial integrated navigation measurement data with the actual flight data of the rocket to verify the accuracy and reliability of the simulation results.

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