A signal source single-station passive positioning semi-physical simulation test system and a test method

Abstract

The application discloses a kind of signal source single station passive location semi-physical simulation test system and test method, utilize the relative motion of motion simulation platform and target simulation platform, construct the quasi flight test scene on ground, compare the positioning result of the positioning system output by test positioning system with the actual coordinates of simulated target, verify the accuracy of signal source single station passive location of test system, and the data recorded in process help error analysis.The application has data storage and repeated test capacity, which helps positioning system problem analysis, iteration upgrade;The test system has the ability of maneuvering, can select test site according to test requirements, integrates oil machine and wireless communication equipment, and can work independently.

Description

Technical Field

[0001] This invention belongs to the field of passive positioning, specifically relating to a hardware-in-the-loop simulation test system and test method for single-station passive positioning of a signal source. Background Technology

[0002] The single-station passive localization of the signal source mainly utilizes the relative motion between the platform and the target to obtain continuous information on the direction of arrival, signal phase, and Doppler frequency changes. By establishing a suitable localization model and selecting an appropriate filtering algorithm, the target state can be estimated.

[0003] Performance verification and testing of single-station passive positioning systems using signal sources are generally conducted through a combination of software simulation and flight testing. However, software simulation struggles to assess system effectiveness in conjunction with the positioning system's hardware performance, and its results are unreliable for acceptance testing. While flight testing can fully verify the actual positioning performance of the system, organizing such tests is prohibitively expensive. It requires modifications to the carrier aircraft to accommodate the installation and operation of the tested positioning system, and the aircraft itself must possess positioning, navigation, and attitude measurement capabilities. Furthermore, a high-power analog signal source needs to be installed on the ground as a test device. The test area and planned flight path are limited by terrain and air traffic control, and the application process is lengthy. Test organization, planning, and on-site support are also challenging. Consequently, flight testing has poor repeatability and is insufficient for guiding system debugging and verification during the development phase. Summary of the Invention

[0004] This invention proposes a hardware-in-the-loop simulation test system and test method for single-station passive positioning of signal source, which effectively reduces the cost of testing and acceptance of single-station passive positioning performance of signal source, and fully verifies and iteratively improves positioning performance through repeated experiments during the development stage.

[0005] The technical solution for achieving this invention is: a signal source single-station passive positioning hardware-in-the-loop simulation test system, comprising a target simulation platform and a motion simulation platform. The target simulation platform and motion simulation platform are road-mobile, allowing for changes in the test site, and integrate generators and communication equipment, possessing independent operating capabilities.

[0006] Both the target simulation platform and the motion simulation platform include a spatiotemporal reference device and a wireless communication device. The spatiotemporal reference device can report the position, orientation, and time information of the target simulation platform or the motion simulation platform and provide timing signals. The wireless communication device can establish a wireless communication link between the target simulation platform and the motion simulation platform to realize data and command interaction.

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

[0008] The simulated signal source can simulate common signal source targets in typical radar and communication fields. The signal parameters are adjustable and it also has power adjustment capability. The power of the transmitted simulated 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 specimen turntable and a general-purpose cabinet. The test specimen turntable is used to mount the antenna array of the test specimen, and the general-purpose cabinet is used to mount the functional components of the test specimen. During the hardware-in-the-loop simulation test, the test specimen turntable can continuously adjust the orientation of the antenna array of the test specimen according to the relative positional relationship between the test specimen and the target to achieve continuous trajectory tracking.

[0010] The target simulation platform and motion simulation platform integrate an industrial control computer. The industrial control computer is used for three main 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 test specimens with signal source direction finding and positioning functions. The test specimen consists of a test specimen antenna array and a test specimen signal receiving and signal processing sub-unit.

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

[0013] A test method for a single-station passive positioning hardware-in-the-loop (HIL) system for signal source localization, using the aforementioned HIL system, includes the following experimental steps:

[0014] Step 1) Based on the receiving performance and parameters of the test specimen, and in conjunction with the equivalent radiated power range of the signal transmitted by the simulated signal source through the transmitting antenna, select the appropriate test distance and test site.

[0015] Step 2) Define the target and simulate the trajectory of the test piece relative to the target, and perform motion simulation before the test through the industrial control computer.

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

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

[0018] Step 5) Set the test parameters according to the test plan, and control the signal source turntable to point to the motion simulation platform by the industrial control computer to ensure that the simulated radiation signal points to the antenna array of the test piece. Then control each of the affiliated devices to automatically carry out the single-station passive positioning semi-physical simulation test of the signal source.

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

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

[0021] Compared with the prior art, the significant advantages of this invention are:

[0022] (1) Effectively reduces testing costs compared to flight testing.

[0023] (2) It has higher accuracy and reliability compared with software simulation.

[0024] (3) It has the ability to store data and repeat experiments, which helps to locate system problems, analyze them, and upgrade them iteratively.

[0025] (4) The test system is mobile and can select the test site according to the test requirements. It integrates generator and wireless communication equipment and can work independently. Attached Figure Description

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

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

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

[0029] Figure 4 A schematic diagram of the simulated motion. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

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

[0032] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly and specifically defined.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; "connection" can mean a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible to those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

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

[0036] This invention utilizes the relative motion between a motion simulation platform and a target simulation platform to construct a simulated flight test scenario 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 test system is verified. The data recorded in the process is helpful for error analysis.

[0037] The present invention discloses a signal source single-station passive positioning hardware-in-the-loop simulation test system, comprising a target simulation platform and a motion simulation platform. Both the target simulation platform and the motion simulation platform are road-mobile, allowing for changes in the test site, and integrate generators and communication equipment, possessing independent operating capabilities.

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

[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 outriggers, lifting poles, communication equipment, spatiotemporal reference equipment, 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 simulated signal source 8.

[0041] The vehicle chassis is used to carry the equipment belonging to the target simulation platform, enabling the target simulation platform to have road mobility and allowing the test site to be changed as needed.

[0042] The first operating cabin 5 is fixed to the vehicle chassis, providing a space for personnel to operate. It mainly includes a display console, a seat, an air conditioner, and an equipment cabinet. The display console includes a personnel operating seat, a screen, and a keyboard and mouse, used to display equipment status, test progress, and issue operating commands in real time. The seat is for the operator to sit in. The air conditioner is used to control the temperature inside the first operating cabin 5. The equipment cabinet integrates an industrial control computer, a switch, a spatiotemporal reference equipment host, a communication equipment host, and a UPS power supply. The industrial control computer is the central controller of the entire target simulation platform and can be used for equipment control, test planning, and data exchange and storage. The switch is used to establish a local area network. The spatiotemporal reference equipment host processes the positioning signal received by the first Beidou antenna 3 to generate the target simulation platform's position, orientation, and time information. The communication equipment host mainly works with the first communication antenna 1 to establish a wireless communication link with the motion simulation platform for data and command exchange. The UPS power supply provides emergency power to the industrial control computer.

[0043] The leveling outriggers are fixed to the vehicle platform, retracting during driving to improve passability and activating during parking to keep the vehicle platform level.

[0044] The lifting rod is fixed to the vehicle platform. It is retracted when the vehicle is in motion to lower the overall vehicle height, and raised when the vehicle is parked to elevate the equipment mounted on it.

[0045] The communication device is used to establish a wireless communication link with the motion simulation platform, and to exchange control commands and test data. It 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 when the vehicle is parked, which helps to improve 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 spatiotemporal reference equipment 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 one spatiotemporal reference host. The first Beidou antennas 3 are mounted on the roof of the vehicle, and the spatiotemporal reference host is mounted in the equipment cabinet of the first operation cabin 5 and connected to the switch, and has an additional time synchronization 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 when the vehicle is parked.

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

[0049] The analog signal source 8 is used to generate electromagnetic radiation signals of the simulated target. The output signal frequency, pulse width, and multiple cycles can be adjusted according to the test requirements. It also has the ability to expand the frequency band and upgrade the signal style to adapt to the test requirements of different test pieces.

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

[0051] The signal source turntable 7 is used to support the transmitting antenna 6. During the test, the transmitting antenna 6 is rotated to align with the test specimen.

[0052] The motion simulation platform is used to carry the test specimen, and the test specimen 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 outriggers, lifting rods, communication equipment, spatiotemporal reference equipment, a second lightning rod 10, a second generator 12, a second operating cabin 13, a test specimen turntable 14, and a general cabinet 15.

[0054] The vehicle chassis is used to carry the equipment belonging to the motion simulation platform, enabling the motion simulation platform to have road mobility and allowing the test site to be changed as needed.

[0055] The second operating cabin 13 is fixed on the vehicle chassis, providing a space for personnel to operate. It mainly includes a display console, seats, air conditioning, and equipment cabinets. The display console includes a personnel operating seat, screen, and keyboard and mouse, used to display equipment status, test progress, and issue operating commands in real time. The seats are for personnel to sit in. The air conditioning controls the temperature inside the second operating cabin 13. The equipment cabinet integrates an industrial control computer, a switch, a spatiotemporal reference equipment host, a communication equipment host, and a UPS power supply. The industrial control computer is the central controller of the entire motion simulation platform and also the central controller of the single-station passive signal source positioning hardware-in-the-loop simulation test system, used for equipment control, test planning, and data interaction and storage. The switch is used to establish a local area network. The spatiotemporal reference equipment host processes the positioning signals received by the second Beidou antenna 11, generating the position, orientation, and time information of the motion simulation platform. The communication equipment host mainly works with the second communication antenna 9 to establish a wireless communication link with the target simulation platform for data and command interaction. The UPS power supply provides emergency power to the industrial control computer.

[0056] The lifting rod is fixed to the vehicle platform. It is retracted when the vehicle is in motion to lower the overall vehicle height, and raised when the vehicle is parked to elevate the equipment mounted on it.

[0057] The leveling outriggers are fixed to the vehicle platform, retracting during driving to improve passability and activating during parking to keep the vehicle platform level.

[0058] The communication equipment is used to establish a wireless communication link with the target simulation platform, and to exchange control commands and test data. It includes a second communication antenna 9 and a main unit for the communication equipment. The second communication antenna 9 is placed on the lifting rod and rises when the vehicle is parked, which improves communication performance. The main unit for the communication equipment is placed in a cabinet within the second operating compartment 13 and is connected to the switch.

[0059] The spatiotemporal reference equipment 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 one spatiotemporal reference host. The second Beidou antennas 11 are mounted on the roof of the vehicle, and the spatiotemporal reference host is installed in the equipment cabinet of the second operation cabin 13 and connected to the switch, and has an additional time synchronization 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 when the vehicle is parked.

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

[0062] The general-purpose cabinet 15 is used to install the functional components of the test specimen and to provide the necessary power supply, communication, and timing signals.

[0063] The test specimen turntable 14 is used to support the antenna array of the test specimen. During the test, the antenna array of the test specimen is rotated to simulate the changes in the angle and distance between the test specimen and the target as the two move relative to each other during the flight test.

[0064] The main procedures for conducting experiments using the aforementioned single-station passive positioning hardware-in-the-loop simulation test system for signal sources are as follows:

[0065] Step 1) Based on the receiving performance and parameters of the test specimen, and in conjunction with the equivalent radiated power range of the signal transmitted by the analog signal source 8 through the transmitting antenna 6, select the appropriate test distance and test site.

[0066] Step 2) Define the target and simulate the trajectory of the test piece's relative motion, and perform pre-test motion simulation using the industrial control computer;

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

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

[0069] Step 5) Set the test parameters according to the test plan, and control the signal source turntable 7 to point to the motion simulation platform by the industrial control computer to ensure that the simulated radiation signal points to the antenna array of the test piece. Then control each of the affiliated devices to automatically carry out the signal source single-station passive positioning semi-physical simulation test.

[0070] Step 6) After the experiment, save the data and dismantle the equipment;

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

[0072] Specifically:

[0073] When conducting experiments, the aforementioned signal source single-station passive positioning hardware-in-the-loop simulation test system is illustrated using a certain type of UAV-borne "black flight" UAV remote control terminal positioning system as an example. It should be noted that this system is more suitable for testing and evaluating long-distance positioning systems.

[0074] The tested positioning system is carried by a flight platform such as a fixed-wing UAV and can be used by law enforcement agencies to control "black flight" UAVs in sensitive areas such as airports, locate the remote control terminal of "black flight" UAVs, and assist in the arrest of UAV operators suspected of illegal activities.

[0075] The test of the single-station passive positioning hardware-in-the-loop simulation test system for the signal source mainly includes seven steps: test planning, trajectory simulation, test support, equipment setup, test execution, equipment removal, and post-test evaluation.

[0076] The main tasks of the experiment planning are as follows: Based on the sensitivity index of the tested positioning system and the transmission power and transmission antenna gain of the "black flight" UAV remote control terminal, and combined with the limitations of the test distance at the test site, the minimum transmission signal power of the simulated signal source and the maximum simulated test distance of the target simulation platform are calculated by scaling proportionally. The calculation process is as follows:

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

[0078] Where P t P is the minimum transmitted signal power of the analog signal source of the target simulation platform. rR is the receiver sensitivity of the subject's positioning system, R is the maximum simulated test distance, λ is the operating wavelength of the subject's positioning system, and G is the receiver sensitivity of the subject's positioning system. t G represents the transmit antenna gain of the target simulation platform. r The gain of the receiving antenna of the testing positioning system.

[0079] The main function of the trajectory simulation is as follows: based on the flight trajectory characteristics and motion parameters of the flight platform carried by the test positioning system, and combined with the maximum simulated test distance calculated during the test planning phase, a simulated test trajectory is formulated. The distance from any point on the trajectory to the target simulation platform does not exceed the maximum simulated test distance. The industrial control computer calculates and converts the motion of the test positioning system along the simulated trajectory into the rotation of the test turntable 14. The motion of the test positioning system is simulated using the principle of relative motion. Figure 4 As shown, the rotation of the test specimen turntable 14 satisfies the following formula:

[0080]

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

[0082] The main tasks of the test support are as follows: based on the test planning and the results of the flight path simulation, and in combination with the test site support conditions, to sort out and formulate test implementation details and personnel and equipment support plans, to establish emergency response plans for environmental factors such as severe weather, to analyze and identify safety hazards in the test process and test site, and to take preventive and protective measures in advance.

[0083] The main tasks of the equipment setup are as follows: Based on the results of the test planning, transport the motion simulation platform and the target simulation platform to the preset location, and use the leveling outriggers to level the vehicle platform; start the motion simulation platform and the target simulation platform, and use the industrial control computer to complete the system self-test; perform self-positioning through the spatiotemporal 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 rod to raise, and debug the communication equipment equipped on the motion simulation platform and the target simulation platform to ensure communication 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 tasks of the experiment are as follows: based on the results of the experiment planning, the target simulation platform is controlled by the industrial control computer to transmit predetermined test signals, and the signal power and signal characteristics are automatically adjusted over time; based on the results of the trajectory simulation, the test specimen turntable 14 is controlled by the industrial control computer to automatically rotate over time to simulate target movement; the test positioning system continuously records the simulated target direction finding results, positioning results, signal characteristics, raw data and other information of the target simulation platform during the experiment, which are processed and recorded in the industrial control computer.

[0085] The main tasks of the equipment dismantling are as follows: after confirming that the test data recorded in the industrial control computer is correct and exporting it, disassemble 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, dismantle the leveling outriggers, and drive the motion simulation platform and the target simulation platform to the starting position.

[0086] The main tasks of the post-mortem evaluation are as follows: based on the test data exported when the equipment was withdrawn, the industrial control computer analyzes and calculates the positioning accuracy and error sources of the tested positioning system, which helps to further improve the positioning accuracy of the tested positioning system; by plotting the simulated flight path curve and positioning curve, the positioning effect of the tested positioning system can also be displayed more intuitively.

[0087] Preferably, the advantage of this invention is that the pre-test motion simulation can determine whether the changes in angle and distance during relative motion are within the performance boundaries of the single-station passive positioning hardware-in-the-loop simulation test system. Specifically, the change in angle during relative motion must match the design specifications of the rotational speed and acceleration of the test specimen turntable in the simulated motion platform, and the change in distance during relative motion must match the adjustment range and accuracy of the equivalent radiated power of the target simulation platform. If the relative motion exceeds the performance boundaries of the single-station passive positioning hardware-in-the-loop simulation test system, the parameters of the simulated trajectory need to be adjusted until the requirements are met.

[0088] Preferably, the advantages of this invention are as follows: during the single-station passive positioning semi-physical simulation test of the signal source, the spatiotemporal reference device provides accurate time information in real time, ensuring that the signal transmission of the target simulation platform, the movement of the test piece turntable 14 of the motion simulation platform, and the recording of the test piece measurement and positioning data are all carried out strictly according to a unified time point, thus ensuring the accuracy of the test results.

[0089] Preferably, the advantages of this invention are as follows: during the single-station passive positioning semi-physical simulation test of the signal source, apart from the timing signal being provided by the spatiotemporal reference device of the motion simulation platform, there is no other information interaction with the motion simulation platform. The test piece is independently controlled by an external debugging computer, which records the process data and positioning results, ensuring the reliability of the test results.

[0090] Preferably, the advantages of this invention are as follows: in the post-analysis stage after the completion of the single-station passive positioning semi-physical simulation test of the signal source, the data recorded by the test piece can be imported into the industrial control computer of the motion simulation platform, and the industrial control computer can compare the simulated trajectory data with the data recorded by the test piece, calculate the positioning error, compare the process data, and analyze the source of the error.

Claims

1. A signal source single station passive location semi-physical simulation test system, characterized in that: The target simulation platform and the motion simulation platform are comprised; The signal source single-station passive location semi-physical simulation test system can be used for semi-physical simulation test of a test piece with signal source direction finding and location function, and 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 for simulating a target and radiating electromagnetic signals; The target simulation platform comprises a vehicle chassis, leveling legs, a lifting rod, communication equipment, space-time reference equipment, a first lightning rod (2), a first generator (4), a first operation cabin (5), a signal source turntable (7), a transmitting antenna (6), and a simulated signal source (8); The vehicle chassis is used for carrying the equipment of the target simulation platform, so that the target simulation platform has highway mobility and can change test sites as needed; The first operation cabin (5) is fixed on the vehicle chassis and provides a space for personnel operation; The leveling legs are fixed on the vehicle platform, are retracted during driving to improve passability, and are activated during parking to keep the vehicle platform horizontal; The lifting rod is fixed on the vehicle platform, is retracted during driving to reduce the height of the whole vehicle, and is raised during parking to elevate the equipment on the lifting rod; The communication equipment is used for establishing a wireless communication link with the motion simulation platform, and is used for interacting control instructions and test data, and comprises a first communication antenna (1) and a communication equipment host; the first communication antenna (1) is placed on the lifting rod, is raised during parking, and is beneficial to improving the communication effect; the communication equipment host is placed in an equipment cabinet in the first operation cabin (5) and is connected with a switch; The space-time reference equipment is used for providing the coordinates, orientation, and time reference of the target simulation platform in real time, and comprises two first Beidou antennas (3) and a space-time reference host; the first Beidou antennas (3) are installed on the roof, and the space-time reference host is installed in the equipment cabinet of the first operation cabin (5) and is connected with the switch, and has another time signal output; The first lightning rod (2) is installed on the lifting rod and is used for preventing the target simulation platform from being struck by lightning during parking; The first generator (4) is installed on the vehicle platform and is used for supplying power to the vehicle-mounted equipment of the target simulation platform; The simulated signal source (8) is used for generating electromagnetic radiation signals of a simulated target, can adjust the output signal frequency, pulse width, and duty cycle according to test requirements, and has the ability of extensible frequency band and upgradable signal style to adapt to the test requirements of different test pieces; The transmitting antenna (6) is used for directing and transmitting the simulated target signals generated by the simulated signal source (8) to free space; The signal source turntable (7) is used for carrying the transmitting antenna (6) and rotating the transmitting antenna (6) to aim at the direction of the test piece during test; The motion simulation platform is used for carrying the test piece and rotating the test piece to simulate relative motion of the target during test.

2. The signal source mono-static passive location semi-physical simulation test system according to claim 1, wherein: The first operation cabin (5) comprises a display console, a seat, an air conditioner and an equipment cabinet. The display console comprises a personnel operation seat, a screen and a keyboard and mouse, is used for displaying the equipment state, the test progress and the issued operation instruction in real time, the seat is used for the operator to sit, the air conditioner is used for controlling the temperature in the first operation cabin (5), and the equipment cabinet integrates an industrial computer, a switch, a time-space reference equipment host, a communication equipment host and an UPS power supply. The industrial computer is the general control of the whole target simulation platform, can be used for equipment control, test planning and data interaction storage, the switch is used for establishing a local area network, the time-space reference equipment host is used for processing the positioning signal received by the first Beidou antenna (3) to generate the target simulation platform position, orientation and time information, the communication equipment host is mainly used for cooperating with the first communication antenna (1), establishing a wireless communication link with the motion simulation platform and performing data instruction interaction, and the UPS power supply is used for providing emergency power supply for the industrial computer.

3. The signal source mono-static passive location hardware-in-the-loop simulation test system of claim 2, wherein: The motion simulation platform comprises a vehicle chassis, leveling legs, a lifting rod, communication equipment, time-space reference equipment, a second lightning rod (10), a second generator (12), a second operation cabin (13), a test piece turntable (14) and a general cabinet (15). The vehicle chassis is used for bearing the equipment of the motion simulation platform, so that the motion simulation platform has highway mobility and can change the test site as needed. The second operation cabin (13) is fixed on the vehicle chassis and provides a personnel operation space. The lifting rod is fixed on the vehicle platform, is retracted to reduce the overall height of the vehicle during driving, is raised during parking work, and supports the equipment on the lifting rod. The leveling legs are fixed on the vehicle platform, are retracted to improve the passability during driving, are activated during parking work, and keep the vehicle platform horizontal. The communication equipment is used for establishing a wireless communication link with the target simulation platform, interacting control instructions and test data, and comprises a second communication antenna (9) and a communication equipment host. The second communication antenna (9) is placed on the lifting rod, is raised during parking work, and is beneficial to improving the communication effect. The communication equipment host is placed in the equipment cabinet in the second operation cabin (13) and is connected with the switch. The time-space reference equipment is used for providing the coordinates, orientation and time reference of the motion simulation platform in real time, comprises two second Beidou antennas (11) and a time-space reference host. The second Beidou antennas (11) are installed on the roof, the time-space reference host is installed in the equipment cabinet of the second operation cabin (13) and is connected with the switch, and another time-space signal output is provided. The second lightning rod (10) is installed on the lifting rod and is used for preventing the motion simulation platform from being struck by lightning during parking work. The second generator (12) is installed on the vehicle platform and is used for supplying power to the vehicle-mounted equipment of the motion simulation platform. The general cabinet (15) is used for installing the functional components of the test piece, and provides the required power supply, communication and time-space signal. The test piece turntable (14) is used for bearing the test piece antenna array, rotates the test piece antenna array during the test, and simulates the change of the angle and distance between the test piece and the target with the relative motion of the two.

4. The signal source mono-static passive localization semi-physical simulation test system according to claim 3, wherein: The second operation cabin (13) comprises a display console, a seat, an air conditioner and an equipment cabinet. The display console comprises a personnel operation seat, a screen and a mouse, and is used for displaying the equipment state, the test progress and the issued operation instruction in real time. The seat is used for the operator to sit. The air conditioner is used for controlling the temperature in the second operation cabin (13). The equipment cabinet integrates an industrial computer, a switch, a time-space reference equipment host, a communication equipment host and an UPS power supply. The industrial computer is the general control of the whole motion simulation platform and 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 for establishing a local area network. The time-space reference equipment host is used for processing 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 equipment host is mainly used for cooperating with the second communication antenna (9) to establish a wireless communication link with the target simulation platform to interact data instructions. The UPS power supply is used for providing emergency power supply for the industrial computer.

5. A test method for a signal source single station passive location semi-physical simulation test system, characterized in that, The test steps of the signal source single-station passive positioning semi-physical simulation test system according to any one of claims 1-4 are as follows: Step 1) According to the receiving performance and parameters of the test piece, and in combination with the equivalent radiation power range of the simulation signal source (8) through the transmitting antenna (6), a corresponding test distance and test site are selected. Step 2) The simulation flight path of the relative motion of the target and the test piece is formulated, and the pre-test motion simulation is performed through the industrial computer. Step 3) A complete test and protection plan is formulated according to the above information. Step 4) The signal source single-station passive positioning semi-physical simulation test system is deployed at the pre-set test site, and the position and direction are calibrated, the equipment is time-synchronized, the test piece is ensured to work normally, and the wireless communication between the target simulation platform and the motion simulation platform is ensured to be smooth. Step 5) The test parameters are set according to the test plan, the signal source turntable (7) is controlled by the industrial computer to point to the motion simulation platform, it is ensured that the simulation radiation signal points to the test piece antenna array, and then the signal source single-station passive positioning semi-physical simulation test is automatically performed by the respective equipment. Step 6) The data is saved after the test, and the equipment is withdrawn. Step 7) The test process is reviewed, and the test data is analyzed.

6. The test method of the signal source mono station passive location semi-physical simulation test system according to claim 5, characterized in that, According to the sensitivity index of the test positioning system, the transmitting power and the transmitting antenna gain of the "black flight" unmanned aerial vehicle remote control terminal, and in combination with the limitation of the test distance of the test site, the minimum transmitting signal power of the simulation signal source of the target simulation platform and the maximum simulation test distance are calculated by equal ratio scaling. 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 analog platform, P r is the sensitivity of the receiver of the subject location system, R is the maximum distance of the analog test, λ is the working wavelength of the subject location system, G t is the gain of the transmitting antenna of the target analog platform, G r is the gain of the receiving antenna of the subject location system.

7. The method of claim 5, wherein the method further comprises: The simulation flight path of the relative motion of the target and the test piece is formulated, and the pre-test motion simulation is performed through the industrial computer. The specific process is as follows: According to the flight trajectory characteristics and motion parameters of the flight platform carrying the subject positioning system, and in combination with the maximum simulation test distance calculated in the test planning stage, a simulation test flight path is formulated, wherein the distance from any point on the flight path to the target simulation platform does not exceed the maximum simulation test distance. The motion of the subject positioning system along the simulation flight path is converted into the rotation of the subject workbench (14) through the calculation of the industrial computer, and the motion of the subject positioning system is simulated through the relative motion principle. The rotation of the subject workbench (14) satisfies the following formula: ； wherein θ(t) is the angular rotation of the test article turntable (14), i.e., the negative of the angular change from time t to time t+Δt; is the position vector of the simulated track point with respect to the test article turntable (14) at time t; is the position vector of the simulated track point with respect to the test article turntable (14) at time t+Δt; is the velocity vector of the simulated track point with respect to the test article turntable (14) at time t; ω max is the maximum angular velocity of the test article turntable (14); α max is the maximum angular acceleration of the test article turntable (14).

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