Signal source single-station passive positioning semi-physical simulation test system and test method

Abstract

The invention discloses a signal source single-station passive positioning semi-physical simulation test system and method, and the system employs the relative movement of a motion simulation platform and a target simulation platform, builds a simulation flight test scene on the ground, compares a positioning result outputted by a tested positioning system with the actual coordinate of a simulation target, and achieves the simulation of the simulation target. The accuracy of single-station passive positioning of the signal source of the tested system is verified, and data recorded in the process is beneficial to error analysis. The method has data storage and repeated test capabilities, and is beneficial to problem analysis and iterative upgrade of a positioning system; the test system has maneuverability, can select a test site according to test requirements, integrates an oil engine and wireless communication equipment, and can work independently.

Description

Technical Field

[0001] The invention belongs to the field of passive positioning, and in particular relates to a signal source single-station passive positioning semi-physical simulation test system and a test method. Background Art

[0002] The signal source single-station passive positioning mainly utilizes the relative motion between the platform and the target to obtain continuous information on the incoming wave direction, signal phase, and Doppler frequency change. By establishing a suitable positioning model and selecting the corresponding filtering algorithm, the target state estimation is achieved.

[0003] The performance verification and testing of single-station passive positioning of signal sources is generally carried out through software simulation combined with flight tests. Among them, it is difficult for software simulation to combine the hardware performance of the positioning system to make a system performance evaluation, and the software simulation results are difficult to use as a basis for acceptance. Although flight tests can fully verify the actual positioning performance of the positioning system, the cost of organizing flight tests is too high. The carrier aircraft needs to be modified to adapt to the installation and operation of the tested positioning system. The carrier aircraft itself needs to have the ability of positioning navigation and attitude measurement. Secondly, a high-power analog signal source needs to be set up on the ground as a test equipment. The test area and planned flight track are restricted by terrain and aviation control, and the application process is relatively lengthy. The test organization planning and on-site support are relatively difficult. Therefore, the flight test repeatability is poor, and it is difficult to guide system debugging and verification during the development stage. Summary of the invention

[0004] The present invention proposes a semi-physical simulation test system and test method for single-station passive positioning of a signal source, which effectively reduces the cost of acceptance testing of the performance of single-station passive positioning of a signal source, and fully verifies and iteratively improves the positioning performance through repeated tests in the development stage.

[0005] The technical solution to realize the present invention is: a signal source single-station passive positioning semi-physical simulation test system, including a target simulation platform and a motion simulation platform. The target simulation platform and the motion simulation platform have the ability to maneuver on the road, can change the test site, integrate generators and communication equipment, and have independent working capabilities.

[0006] The target simulation platform and the motion simulation platform both include a time-space reference device and a wireless communication device. The time-space reference device can report the position, direction and time information of the target simulation platform or the motion simulation platform and provide a time signal. The wireless communication device can establish a wireless communication link between the target simulation platform and the motion simulation platform to realize data instruction interaction.

[0007] The target simulation platform includes a simulation signal source, a signal source turntable and a transmitting antenna. The simulation signal source and the transmitting antenna can transmit the simulation signal source signal in a preset direction, and the signal source turntable can rotate to change the direction of the simulation signal source signal.

[0008] The analog signal source can simulate typical radar and common signal source targets in the communication field. The signal parameters are adjustable and the power adjustment capability is also provided. The signal power of the transmitted analog signal source can be adjusted according to the distance of the target during the semi-physical simulation test.

[0009] The motion simulation platform includes a test piece turntable and a universal cabinet. The test piece turntable is used to install the test piece antenna array, and the universal cabinet is used to install the test piece functional components. The test piece turntable can continuously adjust the test piece antenna array direction according to the relative position relationship between the test piece and the target during the semi-physical simulation test to achieve continuous trajectory tracking.

[0010] The target simulation platform and the motion simulation platform are integrated with an industrial computer, which is used for three functions: pre-test planning, test process control and test data analysis.

[0011] The signal source single-station passive positioning semi-physical simulation test system can be used for semi-physical simulation testing of a test piece with a signal source direction finding and positioning function. The test piece consists of a test piece antenna array and a test piece signal receiving and signal processing extension.

[0012] The target simulation platform is used to simulate a target and radiate electromagnetic signals.

[0013] A test method for a signal source single-station passive positioning semi-physical simulation test system, using the signal source single-station passive positioning semi-physical simulation test system, the test steps are as follows:

[0014] Step 1) According to the receiving performance and parameters of the test device, combined with the equivalent radiation power range of the signal transmitted by the simulated signal source through the transmitting antenna, a corresponding test distance and test site are selected.

[0015] Step 2) formulating a simulated trajectory of relative motion between the target and the test piece, and performing pre-test motion simulation by the industrial computer.

[0016] Step 3) Develop a complete test and assurance plan based on the above information.

[0017] Step 4) The signal source single-station passive positioning semi-physical simulation test system goes to a preset test site, is set up, and its position and direction are calibrated, and the equipment is timed to ensure that the test piece works normally and that the target simulation platform and the motion simulation platform have smooth wireless communication.

[0018] Step 5) setting the test parameters according to the test plan, the industrial computer controls the signal source turntable to point to the motion simulation platform to ensure that the simulated radiation signal points to the antenna array of the test piece, and then controls each device to automatically perform the signal source single-station passive positioning semi-physical simulation test.

[0019] Step 6) After the test, save the data and remove the equipment.

[0020] Step 7) Review the test process and analyze the test data.

[0021] Compared with the prior art, the present invention has the following significant advantages:

[0022] (1) Effectively reduce test costs compared to flight tests.

[0023] (2)Higher accuracy and reliability compared to software simulation.

[0024] (3) It has the ability to store data and repeat tests, which helps to locate system problem analysis and iterative upgrades.

[0025] (4) The test system is mobile and can select the test site according to the test requirements. It integrates the oil engine and wireless communication equipment and can work independently. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the target simulation platform composition.

[0027] Figure 2 Schematic diagram of the motion simulation platform composition.

[0028] Figure 3 Schematic diagram of the test scenario.

[0029] Figure 4 Schematic diagram of simulated motion. DETAILED DESCRIPTION

[0030] 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.

[0031] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, in the present invention, the descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0035] The following will further introduce the specific implementation method, as well as the technical difficulties and inventive points of this invention in combination with this design example.

[0036] The present invention utilizes the relative motion of the motion simulation platform and the target simulation platform to construct a simulated flight test scene on the ground, such as Figure 3 ,By comparing the positioning results output by the test positioning system with the ,actual coordinates of the simulated target, the accuracy of the single-station ,passive positioning of the signal source of the test system is verified, and ,the data recorded in the process are helpful for error analysis.

[0037] The signal source single-station passive positioning semi-physical simulation test system of the present invention comprises a target simulation platform and a motion simulation platform. The target simulation platform and the motion simulation platform have the ability to maneuver on the road, can change the test site, integrate a generator and communication equipment, and have the ability to work independently.

[0038] The signal source single-station passive positioning semi-physical simulation test system can be used for semi-physical simulation testing of a test piece with a signal source direction finding and positioning function. The test piece consists of a test piece antenna array and a test piece signal receiving and signal processing extension.

[0039] The target simulation platform is used to simulate a target and radiate electromagnetic signals.

[0040] Combination Figure 1The target simulation platform mainly includes a vehicle chassis, leveling legs, a lifting rod, a communication device, a time and space reference device, a first lightning rod 2, a first generator 4, a first operating cabin 5, a signal source turntable 7, a transmitting antenna 6, and a simulation signal source 8.

[0041] The vehicle chassis is used to carry the equipment belonging to the target simulation platform, so that the target simulation platform has road mobility and the test site can be changed as needed.

[0042] The first operating cabin 5 is fixed on the chassis of the vehicle, providing a space for personnel to operate, and mainly includes a display console, a seat, an air conditioner, and an equipment cabinet. Among them, the display console includes a personnel operating seat, a screen, and a keyboard and mouse, which are used to display the equipment status, test progress, and issue operation instructions in real time; the seat is used for operators to sit; the air conditioner is used to control the temperature in the first operating cabin 5. The equipment cabinet integrates an industrial computer, a switch, a time-space reference device host, a communication device host, and a UPS power supply. Among them, the industrial computer is the master control of the entire target simulation platform, which can be used for equipment control, test planning, and data interaction storage; the switch is used to establish a local area network; the time-space reference device host is used to process the positioning signal received by the first Beidou antenna 3 to generate the position, orientation, and time information of the target simulation platform; the communication device host is mainly used to cooperate with the first communication antenna 1 to establish a wireless communication link with the motion simulation platform and interact with data instructions; the UPS power supply is used to provide emergency power supply for the industrial computer.

[0043] The leveling legs are fixed to the vehicle-carrying platform, are folded up during driving to improve trafficability, and are activated during parking to keep the vehicle-carrying platform level.

[0044] The lifting rod is fixed on the vehicle-carrying platform, is folded up during driving to lower the height of the entire vehicle, and is raised during parking to raise the equipment mounted on the lifting rod.

[0045] The communication device is used to establish a wireless communication link with the motion simulation platform, exchange control instructions and test data, and includes a first communication antenna 1 and a communication device host. The first communication antenna 1 is placed on the lifting rod and is raised during parking, which is conducive to improving the communication effect; the communication device host is placed in the equipment cabinet in the first operating cabin 5 and is connected to the switch.

[0046] The time-space reference device is used to provide the coordinates, orientation and time reference of the target simulation platform in real time, and includes two first Beidou antennas 3 and a time-space reference host. The first Beidou antenna 3 is installed on the roof, and the time-space reference host is installed in the equipment cabinet of the first operating cabin 5, connected to the switch, and has another time system signal output.

[0047] The first lightning rod 2 is installed on the lifting rod to prevent the target simulation platform from being struck by lightning during parking operation.

[0048] The first generator 4 is installed on the vehicle-carrying platform and is used to supply power to the vehicle-carrying equipment of the target simulation platform.

[0049] The analog signal source 8 is used to generate an electromagnetic radiation signal of a simulated target, and can adjust the output signal frequency, pulse width, and repetition rate according to test requirements, and has the ability to expand the frequency band and upgrade the signal style to meet the test requirements of different test pieces.

[0050] The transmitting antenna 6 is used to directionally transmit the analog target signal generated by the analog signal source 8 to free space.

[0051] The signal source turntable 7 is used to carry the transmitting antenna 6 , and during the test, the transmitting antenna 6 is rotated to align with the direction of the test object.

[0052] The motion simulation platform is used to carry the test piece, and the test piece is rotated during the test to simulate the relative motion of the target.

[0053] Combination Figure 2 The motion simulation platform mainly includes a vehicle chassis, leveling legs, a lifting rod, a communication device, a time and space reference device, a second lightning rod 10, a second generator 12, a second operating cabin 13, a test piece turntable 14, and a general cabinet 15.

[0054] The vehicle chassis is used to carry the equipment belonging to the motion simulation platform, so that the motion simulation platform has road mobility and the test site can be changed as needed.

[0055] The second operating cabin 13 is fixed on the chassis of the vehicle, providing a space for personnel to operate, and mainly includes a display console, a seat, an air conditioner, and an equipment cabinet. Among them, the display console includes a personnel operating seat, a screen, and a keyboard and mouse, which are used to display the equipment status, test progress, and issue operation instructions in real time; the seat is used for operators to sit; the air conditioner is used to control the temperature in the second operating cabin 13. The equipment cabinet integrates an industrial computer, a switch, a time-space reference device host, a communication device host, and a UPS power supply. Among them, the industrial computer is the master control of the entire motion simulation platform, and is also the master control of the single-station passive signal source positioning semi-physical simulation test system, which can be used for equipment control, test planning, and data interaction storage; the switch is used to establish a local area network; the time-space reference device host is used to process the positioning signal received by the second Beidou antenna 11, and generate the position, orientation, and time information of the motion simulation platform; the communication device host is mainly used to cooperate with the second communication antenna 9 to establish a wireless communication link with the target simulation platform and interact with data instructions; the UPS power supply is used to provide emergency power supply for the industrial computer.

[0056] The lifting rod is fixed on the vehicle-carrying platform, is folded up during driving to lower the height of the entire vehicle, and is raised during parking to raise the equipment mounted on the lifting rod.

[0057] The leveling legs are fixed to the vehicle-carrying platform, are folded up during driving to improve trafficability, and are activated during parking to keep the vehicle-carrying platform level.

[0058] The communication device is used to establish a wireless communication link with the target simulation platform, exchange control instructions and test data, and includes a second communication antenna 9 and a communication device host. The second communication antenna 9 is placed on the lifting rod and is raised during parking, which is conducive to improving the communication effect; the communication device host is placed in the equipment cabinet in the second operating cabin 13 and is connected to the switch.

[0059] The time-space reference device is used to provide the coordinates, orientation and time reference of the motion simulation platform in real time, and includes two second Beidou antennas 11 and a time-space reference host. The second Beidou antenna 11 is installed on the roof, and the time-space reference host is installed in the equipment cabinet of the second operating cabin 13, connected to the switch, and has another time system signal output.

[0060] The second lightning rod 10 is installed on the lifting rod to prevent the motion simulation platform from being struck by lightning during parking operation.

[0061] The second generator 12 is installed on the vehicle-carrying platform and is used to supply power to the vehicle-carrying equipment of the motion simulation platform.

[0062] The universal cabinet 15 is used to install the functional components of the test piece and provide the required power supply, communication, and timing signals.

[0063] The test piece turntable 14 is used to carry the test piece antenna array surface, and rotate the test piece antenna array surface during the test to simulate the change of the angle and distance between the test piece and the target as the two move relative to each other in the flight test.

[0064] When conducting the test of the signal source single-station passive positioning semi-physical simulation test system, the main process is:

[0065] Step 1) According to the receiving performance and parameters of the test piece, combined with the equivalent radiation power range of the signal transmitted by the analog signal source 8 through the transmitting antenna 6, select the corresponding test distance and test site;

[0066] Step 2) formulating a simulated trajectory of relative motion between the target and the test piece, and performing pre-test motion simulation by the industrial computer;

[0067] Step 3) Develop a complete test and assurance plan based on the above information;

[0068] Step 4) The signal source single-station passive positioning semi-physical simulation test system goes to a preset test site, is set up, and the position and direction are calibrated, and the equipment is timed to ensure that the test piece works normally and that the wireless communication between the target simulation platform and the motion simulation platform is smooth;

[0069] Step 5) setting the test parameters according to the test plan, the industrial computer controls the signal source turntable 7 to point to the motion simulation platform to ensure that the simulated radiation signal points to the antenna array of the test object, and then controls each device to automatically perform the signal source single-station passive positioning semi-physical simulation test;

[0070] Step 6) After the test is completed, save the data and remove the equipment;

[0071] Step 7) Review the test process and analyze the test data.

[0072] Specifically:

[0073] When conducting experiments on the signal source single-station passive positioning semi-physical simulation test system, a certain type of unmanned aerial vehicle (UAV) remote control terminal positioning system is used as an example to illustrate. It should be noted that this system is more suitable for testing and evaluating long-distance positioning systems.

[0074] The test positioning system is carried by flying platforms such as fixed-wing drones, and can be used by law enforcement agencies to control "illegal" drones in sensitive areas such as airports, locate "illegal" drone remote control terminals, and assist in the arrest of drone operators suspected of committing crimes.

[0075] The signal source single-station passive positioning semi-physical simulation test system test mainly includes seven steps: test planning, track simulation, test guarantee, equipment installation, test implementation, equipment withdrawal, and review and evaluation.

[0076] The main work of the test planning is: according to the sensitivity index of the positioning system under test and the transmission power and transmission antenna gain of the remote control terminal of the "illegal" UAV, combined with the test distance limit of the test site, the minimum transmission signal power of the simulated signal source of the target simulation platform and the maximum distance of the simulation test are calculated proportionally. The calculation process is as follows:

[0077] P t =P r (4πR·λ) 2 / (G t G r )

[0078] Where P t is the minimum transmitted signal power of the analog signal source of the target simulation platform, P ris the receiver sensitivity of the positioning system under test, R is the maximum distance of the simulation test, λ is the working wavelength of the positioning system under test, G t is the transmitting antenna gain of the target simulation platform, G r The receiving antenna gain of the positioning system under test.

[0079] The main work of the track simulation is: according to the flight trajectory characteristics and motion parameters of the flight platform carried by the test positioning system, combined with the maximum distance of the simulation test calculated in the test planning stage, a simulation test track is formulated, and the distance from any point of the track to the target simulation platform does not exceed the maximum distance of the simulation test. After calculation by the industrial computer, the movement of the test positioning system along the simulation track is converted into the rotation of the test piece turntable 14, and the movement of the test positioning system is simulated by the principle of relative motion, such as Figure 4 As shown, the rotation of the test piece turntable 14 satisfies the following formula:

[0080]

[0081] Wherein θ(t) is the angular rotation amount of the test piece turntable 14, that is, the opposite value of the angular change amount from time t to time t+Δt; is the position vector of the simulated track point relative to the test piece turntable 14 at time t; is the position vector of the simulated track point relative to the test piece turntable 14 at time t+Δt; is the velocity vector of the simulated track point relative to the test piece turntable 14 at time t; max is the maximum angular velocity of the test piece turntable 14; α max is the maximum angular acceleration of the test piece turntable 14.

[0082] The main tasks of the test support are: according to the test planning and the results of the track simulation, combined with the test site support conditions, sort out and formulate test implementation rules and personnel and equipment support plans, establish emergency response plans for severe weather and other environmental factors, analyze and identify safety hazards in the test process and the test site, and take preventive and protective measures in advance.

[0083] The main tasks of setting up the equipment are: according to the results of the test planning, transport the motion simulation platform and the target simulation platform to the preset points, and use the leveling legs to make the vehicle-carrying platform level; start the motion simulation platform and the target simulation platform, and use the industrial computer to complete the system self-check; perform self-positioning through the time and space reference device, and record the coordinates; control the signal source turntable 7 so that the transmitting antenna 6 points to the motion simulation platform; control the lifting of the lifting rod, debug the communication equipment equipped with the motion simulation platform and the target simulation platform, and ensure the intercommunication between the two vehicles; then install the test positioning system in the motion simulation platform, and debug the equipment to make it work in the preset state.

[0084] The main work of the test is as follows: according to the results of the test planning, the target simulation platform is controlled by the industrial computer to transmit a predetermined test signal, and the signal power, signal characteristics, etc. are automatically adjusted over time; according to the results of the track simulation, the test piece turntable 14 is controlled by the industrial computer to rotate automatically over time to simulate the target movement; the test positioning system continuously records the simulated target direction finding results, positioning results, signal characteristics, original data and other information of the target simulation platform during the test, and is processed by the industrial computer and recorded in the industrial computer.

[0085] The main work of withdrawing the equipment is: after confirming that the test data in the industrial computer is correctly recorded and exported, dismantle the test positioning system, set the signal source turntable 7 and the test piece turntable 14 to the transportation state, turn off the communication equipment and lower the lifting rod, withdraw the leveling legs, and drive the motion simulation platform and the target simulation platform to the starting position.

[0086] The main work of the review and evaluation is: based on the test data exported when the equipment is withdrawn, after analysis by the industrial computer, the positioning accuracy and error sources of the test positioning system are calculated and evaluated, which helps to further improve the positioning accuracy of the test positioning system; by drawing simulated track curves and positioning curves, the positioning effect of the test positioning system can also be more intuitively demonstrated.

[0087] Preferably, the advantage of the patent of the present invention is that the pre-test motion simulation can be used to determine whether the changes in angle and distance in relative motion are within the performance boundary of the signal source single-station passive positioning semi-physical simulation test system. Among them, the change in angle in relative motion must match the rotation speed and acceleration design indicators of the turntable of the test piece in the simulated motion platform, and the change in distance in relative motion must match the adjustment range and accuracy of the emission equivalent radiated power of the target simulation platform. If the relative motion exceeds the performance boundary of the signal source single-station passive positioning semi-physical simulation test system, the parameters of the simulated track need to be adjusted until the requirements are met.

[0088] Preferably, the advantage of the patent of the present invention is that during the signal source single-station passive positioning semi-physical simulation test, the time-space reference device provides accurate time information in real time to ensure that the signal emission of the target simulation platform, the movement of the test piece turntable 14 of the motion simulation platform, and the measurement and positioning data recording of the test piece are strictly carried out at a unified time point, thereby ensuring the accuracy of the test results.

[0089] Preferably, the advantage of the patent of the present invention is that during the single-station passive positioning semi-physical simulation test of the signal source, except for the time signal provided by the time-space reference device of the motion simulation platform, there is no other information interaction with the motion simulation platform, and the test piece is independently controlled by an external debugging computer and records the process data and positioning results, thereby ensuring the credibility of the test results.

[0090] Preferably, the advantage of the patent of the present invention is that in the review and analysis stage after the completion of the semi-physical simulation test of the single-station passive positioning of the signal source, the recorded data of the test piece can be imported into the industrial computer of the motion simulation platform, and the industrial computer compares the simulated track data with the recorded data of the test piece, calculates the positioning error, compares the process data, and analyzes the source of the error.

Claims

1. A signal source single-station passive positioning semi-physical simulation test system, characterized by: Including target simulation platform and motion simulation platform; The signal source single-station passive positioning semi-physical simulation test system can be used for semi-physical simulation testing of a test piece with a signal source direction finding and positioning function, wherein the test piece is composed of a test piece antenna array and a test piece signal receiving and signal processing extension; The target simulation platform is used to simulate a target and radiate electromagnetic signals.

2. The signal source single-station passive positioning semi-physical simulation test system according to claim 1 is characterized in that: The target simulation platform comprises a vehicle chassis, leveling legs, a lifting rod, a communication device, a time-space reference device, a first lightning rod (2), a first generator (4), a first operating cabin (5), a signal source turntable (7), a transmitting antenna (6), and a simulation signal source (8); The vehicle chassis is used to carry the equipment belonging to the target simulation platform, so that the target simulation platform has road mobility and the test site can be changed as needed; The first operating cabin (5) is fixed on the vehicle chassis to provide operating space for personnel; The leveling legs are fixed to the vehicle-carrying platform, and are folded up during driving to improve trafficability, and are activated during parking to keep the vehicle-carrying platform level; The lifting rod is fixed on the vehicle-carrying platform, and is folded up during driving to lower the height of the entire vehicle, and is raised during parking to raise the equipment installed on the lifting rod; The communication device is used to establish a wireless communication link with the motion simulation platform, exchange control instructions and test data, and comprises a first communication antenna (1) and a communication device host; the first communication antenna (1) is placed on the lifting rod and is raised during parking operation, which is conducive to improving the communication effect; the communication device host is placed in an equipment cabinet in the first operating cabin (5) and is connected to the switch; The time-space reference device is used to provide the coordinates, orientation and time reference of the target simulation platform in real time, and comprises two first Beidou antennas (3) and a time-space reference host; the first Beidou antennas (3) are installed on the roof of the vehicle, and the time-space reference host is installed in the equipment cabinet of the first operating cabin (5), connected to the switch, and has another time system signal output; The first lightning rod (2) is installed on the lifting rod and is used to prevent the target simulation platform from being struck by lightning during parking operation; The first generator (4) is installed on the vehicle-carrying platform and is used to supply power to the vehicle-carrying equipment of the target simulation platform; The analog signal source (8) is used to generate an electromagnetic radiation signal simulating a target, and can adjust the output signal frequency, pulse width, and repetition frequency according to test requirements, and has the ability to expand the frequency band and upgrade the signal style to meet the test requirements of different test pieces; The transmitting antenna (6) is used to transmit the analog target signal generated by the analog signal source (8) in a directionally directed manner into free space; The signal source turntable (7) is used to carry the transmitting antenna (6), and during the test, the transmitting antenna (6) is rotated to align with the direction of the test object; The motion simulation platform is used to carry the test piece, and the test piece is rotated during the test to simulate the relative motion of the target.

3. The signal source single-station passive positioning semi-physical simulation test system according to claim 2 is characterized in that: The first operating cabin (5) comprises a display control console, a seat, an air conditioner, and an equipment cabinet; wherein the display control console comprises a personnel operating seat, a screen, and a keyboard and mouse, and is used to display the equipment status, test progress, and issue operation instructions in real time; the seat is used for the operator to sit; the air conditioner is used to control the temperature in the first operating cabin (5); the equipment cabinet integrates an industrial computer, a switch, a time-space reference device host, a communication device host, and a UPS power supply, wherein the industrial computer is the master control of the entire target simulation platform and can be used for equipment control, test planning, and data interaction storage; the switch is used to establish a local area network; the time-space reference device host is used to process the positioning signal received by the first Beidou antenna (3) to generate the position, orientation, and time information of the target simulation platform; the communication device host is mainly used to cooperate with the first communication antenna (1) to establish a wireless communication link with the motion simulation platform and to interact with data instructions; the UPS power supply is used to provide emergency power supply for the industrial computer.

4. The signal source single-station passive positioning semi-physical simulation test system according to claim 3 is characterized in that: The motion simulation platform comprises a vehicle chassis, leveling legs, a lifting rod, a communication device, a time-space reference device, a second lightning rod (10), a second generator (12), a second operating cabin (13), a test piece turntable (14), and a universal cabinet (15); The vehicle chassis is used to carry the equipment of the motion simulation platform, so that the motion simulation platform has road mobility and the test site can be changed as needed; The second operating cabin (13) is fixed on the vehicle chassis to provide operating space for personnel; The lifting rod is fixed on the vehicle-carrying platform, and is folded up during driving to lower the height of the entire vehicle, and is raised during parking to raise the equipment installed on the lifting rod; The leveling legs are fixed to the vehicle-carrying platform, and are folded up during driving to improve trafficability, and are activated during parking to keep the vehicle-carrying platform level; The communication device is used to establish a wireless communication link with the target simulation platform, exchange control instructions and test data, and comprises a second communication antenna (9) and a communication device host; the second communication antenna (9) is placed on the lifting rod and is raised during parking operation, which is conducive to improving the communication effect; the communication device host is placed in an equipment cabinet in the second operating cabin (13) and is connected to the switch; The space-time reference device is used to provide the coordinates, orientation and time reference of the motion simulation platform in real time, and comprises two second Beidou antennas (11) and a space-time reference host; the second Beidou antennas (11) are installed on the roof of the vehicle, and the space-time reference host is installed in the equipment cabinet of the second operating cabin (13), connected to the switch, and has another time system signal output; The second lightning rod (10) is installed on the lifting rod and is used to prevent the motion simulation platform from being struck by lightning when the vehicle is parked; The second generator (12) is installed on the vehicle-carrying platform and is used to supply power to the vehicle-carrying equipment of the motion simulation platform; The universal cabinet (15) is used to install the functional components of the test piece and provide the required power supply, communication and timing signals; The test piece turntable (14) is used to carry the test piece antenna array surface, and rotate the test piece antenna array surface during the test to simulate the change of the angle and distance between the test piece and the target as the two move relative to each other in the flight test.

5. The signal source single-station passive positioning semi-physical simulation test system according to claim 4 is characterized in that: The second operating cabin (13) comprises a display control console, a seat, an air conditioner, and an equipment cabinet; wherein the display control console comprises a personnel operating seat, a screen, and a keyboard and mouse, and is used to display the equipment status, test progress, and issue operation instructions in real time; the seat is used for the operator to sit; the air conditioner is used to control the temperature in the second operating cabin (13); the equipment cabinet integrates an industrial computer, a switch, a time-space reference device host, a communication device host, and a UPS power supply, wherein the industrial computer is the master control of the entire motion simulation platform and the master control of the single-station passive signal source positioning semi-physical simulation test system, and can be used for equipment control, test planning, and data interaction storage; the switch is used to establish a local area network; the time-space reference device host is used to process the positioning signal received by the second Beidou antenna (11) to generate the position, orientation, and time information of the motion simulation platform; the communication device host is mainly used to cooperate with the second communication antenna (9) to establish a wireless communication link with the target simulation platform and perform data instruction interaction; the UPS power supply is used to provide emergency power supply for the industrial computer.

6. A test method for a signal source single-station passive positioning semi-physical simulation test system, characterized in that: Using the signal source single-station passive positioning semi-physical simulation test system as described in any one of claims 1 to 5, the test steps are as follows: Step 1) selecting a corresponding test distance and test site according to the receiving performance and parameters of the test object and the equivalent radiation power range of the signal transmitted by the analog signal source (8) through the transmitting antenna (6); Step 2) formulating a simulated trajectory of relative motion between the target and the test piece, and performing pre-test motion simulation by the industrial computer; Step 3) Develop a complete test and assurance plan based on the above information; Step 4) The signal source single-station passive positioning semi-physical simulation test system goes to a preset test site, is set up, and the position and direction are calibrated, and the equipment is timed to ensure that the test piece works normally and that the wireless communication between the target simulation platform and the motion simulation platform is smooth; Step 5) setting the test parameters according to the test plan, the industrial computer controls the signal source turntable (7) to point to the motion simulation platform to ensure that the simulated radiation signal points to the antenna array of the test object, and then controls each of the subordinate devices to automatically perform the signal source single-station passive positioning semi-physical simulation test; Step 6) After the test is completed, save the data and remove the equipment; Step 7) Review the test process and analyze the test data.

7. The test method of the signal source single-station passive positioning semi-physical simulation test system according to claim 6 is characterized in that: According to the sensitivity index of the positioning system under test, the transmission power and transmission antenna gain of the remote control terminal of the "illegal" UAV, and the test distance limit of the test site, the minimum transmission signal power of the simulated signal source of the target simulation platform and the maximum distance of the simulation test are calculated geometrically. The calculation process is as follows: P t =P r (4πR·λ) 2 / (G t G r ) Where P t is the minimum transmitted signal power of the analog signal source of the target simulation platform, P r is the receiver sensitivity of the positioning system under test, R is the maximum distance of the simulation test, λ is the working wavelength of the positioning system under test, G t is the transmitting antenna gain of the target simulation platform, G r The receiving antenna gain of the positioning system under test.

8. The test method of the signal source single-station passive positioning semi-physical simulation test system according to claim 6 is characterized in that: Formulate a simulated trajectory of the relative motion of the target and the test piece, and perform pre-test motion simulation through the industrial computer, as follows: According to the flight trajectory characteristics and motion parameters of the flight platform carried by the test positioning system, combined with the maximum distance of the simulation test calculated in the test planning stage, a simulation test track is formulated, and the distance from any point of the track to the target simulation platform does not exceed the maximum distance of the simulation test. After calculation by the industrial computer, the movement of the test positioning system along the simulation track is converted into the rotation of the test object turntable (14). The movement of the test positioning system is simulated by the principle of relative motion, and the rotation of the test object turntable (14) satisfies the following formula: Wherein, θ(t) is the angular rotation amount of the test piece turntable (14), that is, the opposite value of the angular change amount from time t to time t+Δt; is the position vector of the simulated track point at time t relative to the test piece turntable (14); is the position vector of the simulated track point at time t+Δt relative to the test piece turntable (14); is the velocity vector of the simulated track point at time t relative to the test piece turntable (14); ω max is the maximum angular velocity of the test piece turntable (14); α max is the maximum angular acceleration of the test piece turntable (14).

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