Frame period data synchronization method of heterogeneous simulation system

Abstract

The invention provides a frame period data synchronization method of a heterogeneous simulation system, and the method comprises the steps: collecting a data packet from the heterogeneous simulation system through a distributed simulation bus, carrying out the time synchronization calibration of a timing server and a timing client, enabling the timing client to generate a corresponding time synchronization signal, and enabling the timing server to carry out the time synchronization calibration. A reliable clock signal basis is provided for data synchronous transmission of the heterogeneous simulation system; based on frame synchronization state information of a distributed simulation bus, a receiving state of a message bus data receiving and transmitting management module on a data packet is adjusted, a frame synchronization data packet obtained after frame period data synchronization processing is carried out on the received data packet is sent to an access data receiving and transmitting management module, and then based on a time synchronization signal, the access data receiving and transmitting management module receives the frame synchronization data packet. And the frame synchronization data packet is sent to the local simulation system after being subjected to time synchronization processing, so that the continuity of receiving data by simulation nodes among heterogeneous simulation systems is realized, the packet loss rate of data transmission is reduced, and the reliability of data transmission is improved.

Description

Technical Field

[0001] The invention relates to the field of computer simulation data communication, and in particular to a frame period data synchronization method for a heterogeneous simulation system. Background Art

[0002] The existing periodic data synchronization technology of heterogeneous simulation systems adopts a timestamped data synchronization method. The simulation system that needs data synchronization obtains the instant local time and timestamps the synchronization data packet. The simulation system compares the time of the data packet with the timestamp to complete the data synchronization of the synchronized node to the synchronization node. With the development of computer technology and simulation technology and the change of application requirements, it is necessary to interconnect simulation systems in different regions in real time to form a cross-regional network of heterogeneous simulation systems to complete more complex simulation applications. In the application of heterogeneous simulation systems, time management and synchronization are the key and difficulty to achieve correct simulation logic. It is necessary to ensure the strict synchronization and real-time performance of distributed simulation in heterogeneous network environments. However, the traditional data synchronization method using timestamping has problems such as data packet loss and misalignment caused by network delays, which not only causes data transmission delays and jams, but also fails to guarantee the continuity of data transmission. Summary of the invention

[0003] The object of the present invention is to provide a frame period data synchronization method for a heterogeneous simulation system, which collects data packets from the heterogeneous simulation system through a distributed simulation bus, and performs time synchronization calibration on a time synchronization server and a time synchronization client, so that the time synchronization client generates a corresponding time synchronization signal, and provides a reliable clock signal basis for data synchronization transmission of the heterogeneous simulation system; based on the frame synchronization status information of the distributed simulation bus, adjusts the receiving status of the message bus data transceiver management module for the data packet, and performs frame period data synchronization processing on the received data packet to obtain a frame synchronization data packet, and then based on the time synchronization signal, performs time synchronization processing on the frame synchronization data packet and sends it to the local simulation system, thereby realizing the continuity of data reception by the simulation nodes between the heterogeneous simulation systems, reducing the packet loss rate of data transmission and improving the reliability of data transmission.

[0004] The present invention is achieved through the following technical solutions:

[0005] A frame period data synchronization method for a heterogeneous simulation system includes:

[0006] Monitor the heterogeneous simulation system through the distributed simulation bus to obtain the data interaction request initiated by the heterogeneous simulation system; based on the data interaction request, collect the data packets from the heterogeneous simulation system; and perform time synchronization calibration on the time synchronization server and the time synchronization client through the distributed simulation bus, so that the time synchronization client generates a corresponding time synchronization signal;

[0007] Performing frame synchronization monitoring on the distributed simulation bus to obtain corresponding frame synchronization status information; adjusting the receiving status of the data packets collected by the distributed simulation bus by the message bus data transceiver management module based on the frame synchronization status information;

[0008] After performing frame period data synchronization processing on the data packets received by the message bus data transceiver management module, the obtained frame synchronization data packets are sent to the access data transceiver management module; based on the time synchronization signal, the frame synchronization data packets received by the access system data transceiver management module are time synchronized; and the frame synchronization data packets that have completed the time synchronization processing are sent to the local simulation system.

[0009] Optionally, monitoring the heterogeneous simulation system through a distributed simulation bus to obtain a data interaction request initiated by the heterogeneous simulation system includes:

[0010] The simulation control tool is monitored through a distributed simulation bus to obtain the task execution process information of all heterogeneous simulation systems currently connected to the distributed simulation bus; the task execution process information is analyzed to determine the data interaction requirement information between the heterogeneous simulation system and the local simulation system during the task execution; and based on the data interaction requirement information, a corresponding data interaction request is generated; wherein the data interaction request includes the data type information corresponding to the data interaction between the heterogeneous simulation system and the local simulation system.

[0011] Optionally, based on the data interaction request, collecting data packets from the heterogeneous simulation system includes:

[0012] Based on the data type information included in the data interaction request, data query and search are performed on the database of the heterogeneous simulation system to obtain data packets corresponding to the need for the heterogeneous simulation system to interact with the local simulation system.

[0013] Optionally, the distributed simulation bus is used to perform time synchronization calibration on the time synchronization server and the time synchronization client, so that the time synchronization client generates a corresponding time synchronization signal, including:

[0014] Through the distributed simulation bus, a corresponding synchronization clock signal is obtained from the time synchronization server, and the synchronization clock signal is uploaded to the time synchronization client; based on the synchronization clock signal, the local clock signal of the time synchronization client is corrected, thereby realizing the time synchronization calibration of the time synchronization server and the time synchronization client; based on the local clock signal corrected by the time synchronization client, a corresponding time synchronization signal is generated.

[0015] Optionally, performing frame synchronization monitoring on the distributed simulation bus to obtain corresponding frame synchronization status information includes:

[0016] The distributed simulation bus is subjected to frame synchronization monitoring to obtain frame synchronization status information of the distributed simulation bus receiving the data packet from the heterogeneous simulation system; wherein the frame synchronization status information includes data frame transmission flow information corresponding to the data packet.

[0017] Optionally, adjusting the reception status of the data packets collected by the distributed simulation bus by the message bus data receiving and sending management module based on the frame synchronization status information includes:

[0018] Based on the data frame transmission flow information contained in the frame synchronization status information, determine whether the data packet from the heterogeneous simulation system has been completely sent to the distributed simulation bus; if the data packet has been completely sent to the distributed simulation bus, then open the message bus data transceiver management module to the receiving authority of the data packets collected by the distributed simulation bus; if the data packet has not been completely sent to the distributed simulation bus, then prohibit the message bus data transceiver management module from receiving the data packets collected by the distributed simulation bus.

[0019] Optionally, after performing frame period data synchronization processing on the data packet received by the message bus data transceiver management module, the obtained frame synchronization data packet is sent to the access data transceiver management module, including:

[0020] Perform DR extrapolation processing and data smoothing processing on the data packets received by the message bus data transceiver management module to achieve frame period data synchronization of the data packets, thereby obtaining corresponding frame synchronization data packets; based on the data reception available bandwidth information of the access data transceiver management system, determine whether the receiving data transceiver management system is in a data reception idle state; if so, send the frame synchronization data packet to the access data transceiver management module; if not, do not send the frame synchronization data packet to the access data transceiver management module.

[0021] Optionally, based on the time synchronization signal, performing time synchronization processing on the frame synchronization data packet received by the access system data transceiver management module; and then sending the frame synchronization data packet after the time synchronization processing to the local simulation system, including:

[0022] Based on the time synchronization signal, the frame synchronization data packet received by the access system data transceiver management module is subjected to frame-by-frame data synchronization processing, thereby performing time synchronization correction on all data frames under the frame synchronization data packet;

[0023] Based on the working status of the local simulation system, determine whether the local simulation system is in an idle state; if so, send the frame synchronization data packet that completes the time synchronization processing to the local simulation system; if not, do not send the frame synchronization data packet that completes the time synchronization processing to the local simulation system.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The frame period data synchronization method of a heterogeneous simulation system provided in the present application collects data packets from the heterogeneous simulation system through a distributed simulation bus, and performs time synchronization calibration on a time synchronization server and a time synchronization client, so that the time synchronization client generates a corresponding time synchronization signal, thereby providing a reliable clock signal basis for data synchronization transmission of the heterogeneous simulation system; based on the frame synchronization status information of the distributed simulation bus, the receiving status of the data packet by the message bus data transceiver management module is adjusted, and the frame synchronization data packet obtained after frame period data synchronization processing of the received data packet is sent to the access data transceiver management module, and then based on the time synchronization signal, the frame synchronization data packet is time-synchronized and sent to the local simulation system, thereby realizing the continuity of data reception by the simulation nodes between the heterogeneous simulation systems, reducing the packet loss rate of data transmission and improving the reliability of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0027] Figure 1 A schematic flow chart of a frame period data synchronization method for a heterogeneous simulation system provided by the present invention.

[0028] Figure 2 This is an operation block diagram corresponding to the frame period data synchronization method of the heterogeneous simulation system provided by the present invention. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] The terms "include" and "have" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, method, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0031] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] See also Figure 1 As shown, a frame period data synchronization method for a heterogeneous simulation system provided by an embodiment of the present application. The frame period data synchronization method for a heterogeneous simulation system includes:

[0033] The heterogeneous simulation system is monitored through the distributed simulation bus to obtain a data interaction request initiated by the heterogeneous simulation system; based on the data interaction request, data packets from the heterogeneous simulation system are collected; and time synchronization calibration is performed on the time synchronization server and the time synchronization client through the distributed simulation bus, so that the time synchronization client generates a corresponding time synchronization signal;

[0034] Perform frame synchronization monitoring on the distributed simulation bus to obtain corresponding frame synchronization status information; based on the frame synchronization status information, adjust the reception status of the data packets collected by the distributed simulation bus by the message bus data transceiver management module;

[0035] After performing frame period data synchronization processing on the data packets received by the message bus data transceiver management module, the obtained frame synchronization data packets are sent to the access data transceiver management module; based on the time synchronization signal, the frame synchronization data packets received by the access system data transceiver management module are time-synchronized; and the frame synchronization data packets that have completed the time synchronization processing are sent to the local simulation system.

[0036] The beneficial effects of the above embodiments are as follows: the frame period data synchronization method of the heterogeneous simulation system collects data packets from the heterogeneous simulation system through a distributed simulation bus, and performs time synchronization calibration on the time synchronization server and the time synchronization client, so that the time synchronization client generates a corresponding time synchronization signal, providing a reliable clock signal basis for the data synchronization transmission of the heterogeneous simulation system; based on the frame synchronization status information of the distributed simulation bus, the message bus data transceiver management module adjusts the receiving status of the data packet, and performs frame period data synchronization processing on the received data packet to obtain the frame synchronization data packet, and then based on the time synchronization signal, the frame synchronization data packet is synchronized and sent to the local simulation system, thereby realizing the continuity of data reception by the simulation nodes between the heterogeneous simulation systems, reducing the packet loss rate of data transmission and improving the reliability of data transmission.

[0037] In another embodiment, monitoring a heterogeneous simulation system through a distributed simulation bus to obtain a data interaction request initiated by the heterogeneous simulation system includes:

[0038] The simulation control tool is monitored through a distributed simulation bus to obtain the task execution process information of all heterogeneous simulation systems currently connected to the distributed simulation bus; the task execution process information is analyzed to determine the data interaction requirement information between the heterogeneous simulation system and the local simulation system during the task execution; and based on the data interaction requirement information, a corresponding data interaction request is generated; wherein the data interaction request includes the data type information corresponding to the data interaction between the heterogeneous simulation system and the local simulation system.

[0039] The beneficial effects of the above embodiments are that the distributed simulation bus is connected to multiple heterogeneous simulation systems to collect data from different heterogeneous simulation systems. The requirements for data interaction of different heterogeneous simulation systems are not the same. Generally speaking, heterogeneous simulation systems only interact with data when they are executing tasks. For this reason, the simulation control tool is monitored through the distributed simulation bus to obtain the task execution process information of all heterogeneous simulation systems currently connected to the distributed simulation bus. In this way, the data interaction requirement information between the heterogeneous simulation system and the local simulation system during the execution of the task is determined, and corresponding data interaction requests are generated, so that the data that needs to be interacted with by the heterogeneous simulation system can be identified.

[0040] In another embodiment, based on the data interaction request, collecting data packets from the heterogeneous simulation system includes:

[0041] Based on the data type information included in the data interaction request, data query and search are performed on the database of the heterogeneous simulation system to obtain data packets corresponding to the heterogeneous simulation system's need to interact with the local simulation system.

[0042] The beneficial effects of the above embodiments are as follows: in order to ensure the correctness of data interaction, the data type information contained in the data interaction request is used as a benchmark to query and search the database of the heterogeneous simulation system, accurately and quickly calibrate the data that needs to be interacted with subsequently from the database, and based on the searched data, obtain the corresponding data packets that the heterogeneous simulation system needs to interact with the local simulation system, thereby generating a reliable data foundation for subsequent data interaction.

[0043] In another embodiment, the distributed simulation bus is used to perform time synchronization calibration on the time synchronization server and the time synchronization client, so that the time synchronization client generates a corresponding time synchronization signal, including:

[0044] Through the distributed simulation bus, the corresponding synchronization clock signal is obtained from the time synchronization server, and the synchronization clock signal is uploaded to the time synchronization client; based on the synchronization clock signal, the local clock signal of the time synchronization client is corrected, so as to realize the time synchronization calibration of the time synchronization server and the time synchronization client; based on the local clock signal corrected by the time synchronization client, the corresponding time synchronization signal is generated.

[0045] The beneficial effect of the above embodiment is that the distributed simulation bus is connected to the time synchronization server, so that the distributed simulation bus can obtain the corresponding synchronous clock signal from the time synchronization server, and then upload the synchronous clock signal to the time synchronization client through the distributed simulation bus, so that the clock signal interaction between the time synchronization server and the time synchronization client can be realized. Then based on the synchronous clock signal, the local clock signal of the time synchronization client is corrected, so that the time synchronization calibration of the time synchronization server and the time synchronization client can be guaranteed, and the time signal guidance is provided for the subsequent access system data transmission and reception management to send data to the local simulation system.

[0046] In another embodiment, the distributed simulation bus is subjected to frame synchronization monitoring to obtain corresponding frame synchronization status information, including:

[0047] The distributed simulation bus is subjected to frame synchronization monitoring to obtain frame synchronization status information of the distributed simulation bus receiving the data packet from the heterogeneous simulation system; wherein the frame synchronization status information includes data frame transmission flow information corresponding to the data packet.

[0048] The beneficial effect of the above embodiment is to perform frame synchronization monitoring on the distributed simulation bus to obtain frame synchronization status information of the distributed simulation bus receiving the data packets from the heterogeneous simulation system, so that the integrity of the distributed simulation bus for the data packets from the heterogeneous simulation system can be quantified and determined, providing a reliable basis for the subsequent switching of the data packet reception status of the message bus data transceiver management module.

[0049] In another embodiment, adjusting the receiving state of the data packets collected by the distributed simulation bus by the message bus data receiving and sending management module based on the frame synchronization state information includes:

[0050] Based on the data frame transmission flow information contained in the frame synchronization status information, determine whether the data packet from the heterogeneous simulation system has been completely sent to the distributed simulation bus; if the data packet has been completely sent to the distributed simulation bus, then open the message bus data transceiver management module to the receiving authority of the data packets collected by the distributed simulation bus; if the data packet has not been completely sent to the distributed simulation bus, then prohibit the message bus data transceiver management module from having the receiving authority of the data packets collected by the distributed simulation bus.

[0051] The beneficial effect of the above embodiment is that in actual operation, the data frame transmission flow value contained in the frame synchronization status information is compared with the preset flow threshold. If the data frame transmission flow value exceeds the preset flow threshold, it is judged that the data packet from the heterogeneous simulation system has been completely sent to the distributed simulation bus; otherwise, it is judged that the data packet from the heterogeneous simulation system has not been completely sent to the distributed simulation bus. In this way, it can be ensured that the message bus data transmission and reception management module will only be given the receiving authority for the data packet collected by the distributed simulation bus when the data packet has been completely sent to the distributed simulation bus, thereby ensuring that the data packet will be smoothly sent to the local simulation system.

[0052] In another embodiment, after performing frame period data synchronization processing on the data packet received by the message bus data transceiver management module, the obtained frame synchronization data packet is sent to the access data transceiver management module, including:

[0053] The data packet received by the message bus data transceiver management module is subjected to DR extrapolation processing and data smoothing processing to realize frame period data synchronization of the data packet, thereby obtaining a corresponding frame synchronization data packet; based on the data reception available bandwidth information of the access data transceiver management system, it is determined whether the receiving data transceiver management system is in a data reception idle state; if so, the frame synchronization data packet is sent to the access data transceiver management module; if not, the frame synchronization data packet is not sent to the access data transceiver management module.

[0054] The beneficial effect of the above embodiment is that in actual operation, the data packet received by the message bus data transceiver management module is subjected to DR extrapolation processing and data smoothing processing, so as to achieve frame period data synchronization of the data packet, thereby obtaining a corresponding frame synchronization data packet; wherein, the DR extrapolation processing corresponding model adopts first-order linear extrapolation, which is realized by the following formula: n =P n-1 +V n-1 *(T n -T n-1), in the above formula, P n is the current point position, P n-1 is the previous point, V n-1 is the speed of the previous point, T n is the simulation time at the current point, T n-1 is the simulation time of the previous point; the corresponding model of data smoothing adopts two-step linear smoothing method, which is realized by the following formula: n+1 =(P n +P f ) / 2;P n+2 =P f =P t +V t *(T n+2 -T t );V n+1 =(P f -P n ) / (T n+2 -T t );V n+2 =V t In the above formula, P n+1 is the next point position, P n+2 is the position of the next point, P f is the smoothing end point position, P n is the current point position of DR extrapolation, P t is the actual current point position, T t The real point P t The simulation time, T n+2 P n+2 The simulation time of point V n+1 P n+1 Point speed, V n+2 P n+2 speed. On the data receiving side, since there is an error between the actual data received and the DR extrapolated data, if the data is directly set into the system, it will cause data jumps. Therefore, it is necessary to adopt a "gradual correction in place" method for smoothing. After receiving the data, the data is extrapolated from the generation time to the receiving time to make up for the data error. Based on the data reception available bandwidth information of the access data transceiver management system, it is determined whether the receiving data transceiver management system is in a data reception idle state; when the data reception available bandwidth of the access data transceiver management system is greater than the preset bandwidth threshold, it is determined that the receiving data transceiver management system is in a data reception idle state; otherwise, it is determined that the receiving data transceiver management system is not in a data reception idle state, which can ensure that the frame synchronization data packet is reliably sent to the access data transceiver management module.

[0055] In another embodiment, based on the time synchronization signal, the frame synchronization data packet received by the access system data transceiver management module is time-synchronized; and the frame synchronization data packet after the time synchronization is completed is sent to the local simulation system, including:

[0056] Based on the time synchronization signal, the frame synchronization data packet received by the access system data transceiver management module is time-synchronized frame by frame, so that all data frames under the frame synchronization data packet are time-synchronized and corrected respectively;

[0057] Based on the working status of the local simulation system, determine whether the local simulation system is in an idle state; if so, send the frame synchronization data packet that completes the time synchronization processing to the local simulation system; if not, do not send the frame synchronization data packet that completes the time synchronization processing to the local simulation system.

[0058] The beneficial effect of the above embodiment is that, based on the time synchronization signal, the frame synchronization data packet received by the access system data transceiver management module is time-synchronized frame by frame, so that all data frames under the frame synchronization data packet can be time-synchronized and corrected respectively, so that all data frames under the frame synchronization data packet are consistent with the clock signal of the local simulation system, effectively solving the problem that the solution processing cannot be completed in time within the simulation cycle or the simulation cycle is inconsistent. Based on the working status of the local simulation system, it is determined whether the local simulation system is in an idle state, so as to determine whether to send the frame synchronization data packet that has completed the time synchronization processing to the local simulation system, thereby solving the problems of data packet loss and alignment misalignment.

[0059] See also Figure 2 As shown, the operation block diagram corresponding to the frame period data synchronization method of the heterogeneous simulation system provided by an embodiment of the present application. The working process of the operation block diagram is the same as the working process of the frame period data synchronization method of the heterogeneous simulation system, and will not be repeated here.

[0060] In general, the frame period data synchronization method of the heterogeneous simulation system collects data packets from the heterogeneous simulation system through a distributed simulation bus, and performs time synchronization calibration on the time synchronization server and the time synchronization client, so that the time synchronization client generates a corresponding time synchronization signal, providing a reliable clock signal basis for the data synchronization transmission of the heterogeneous simulation system; based on the frame synchronization status information of the distributed simulation bus, the message bus data transceiver management module adjusts the receiving status of the data packet, and performs frame period data synchronization processing on the received data packet to obtain the frame synchronization data packet and sends it to the access data transceiver management module, and then based on the time synchronization signal, the frame synchronization data packet is synchronized and sent to the local simulation system, so as to realize the continuity of data reception of the simulation nodes between the heterogeneous simulation systems, reduce the packet loss rate of data transmission and improve the reliability of data transmission.

[0061] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A frame period data synchronization method for a heterogeneous simulation system, characterized in that: include: Monitor the heterogeneous simulation system through the distributed simulation bus to obtain a data interaction request initiated by the heterogeneous simulation system; Based on the data interaction request, data packets from the heterogeneous simulation system are collected; and time synchronization calibration is performed on the time synchronization server and the time synchronization client through the distributed simulation bus, so that the time synchronization client generates a corresponding time synchronization signal; Performing frame synchronization monitoring on the distributed simulation bus to obtain corresponding frame synchronization state information; Based on the frame synchronization status information, adjusting the reception status of the data packets collected by the distributed simulation bus by the message bus data receiving and sending management module; After performing frame period data synchronization processing on the data packets received by the message bus data transceiver management module, the obtained frame synchronization data packets are sent to the access data transceiver management module; Based on the time synchronization signal, the frame synchronization data packet received by the access system data transceiver management module is time-synchronized; and the frame synchronization data packet that has completed the time synchronization is sent to the local simulation system.

2. The frame period data synchronization method of a heterogeneous simulation system according to claim 1, characterized in that: Monitoring the heterogeneous simulation system through the distributed simulation bus to obtain a data interaction request initiated by the heterogeneous simulation system includes: The simulation control tool is monitored through a distributed simulation bus to obtain the task execution process information of all heterogeneous simulation systems currently connected to the distributed simulation bus; the task execution process information is analyzed to determine the data interaction requirement information between the heterogeneous simulation system and the local simulation system during the task execution; and based on the data interaction requirement information, a corresponding data interaction request is generated; wherein the data interaction request includes the data type information corresponding to the data interaction between the heterogeneous simulation system and the local simulation system.

3. The frame period data synchronization method of a heterogeneous simulation system according to claim 2, characterized in that: Based on the data interaction request, collecting data packets from the heterogeneous simulation system includes: Based on the data type information included in the data interaction request, data query and search are performed on the database of the heterogeneous simulation system to obtain data packets corresponding to the heterogeneous simulation system that needs to interact with the local simulation system.

4. The frame period data synchronization method of a heterogeneous simulation system according to claim 1, characterized in that: Through the distributed simulation bus, time synchronization calibration is performed on the time synchronization server and the time synchronization client, so that the time synchronization client generates a corresponding time synchronization signal, including: Through the distributed simulation bus, a corresponding synchronization clock signal is obtained from the time synchronization server, and the synchronization clock signal is uploaded to the time synchronization client; based on the synchronization clock signal, the local clock signal of the time synchronization client is corrected, thereby realizing the time synchronization calibration of the time synchronization server and the time synchronization client; based on the local clock signal corrected by the time synchronization client, a corresponding time synchronization signal is generated.

5. The frame period data synchronization method of a heterogeneous simulation system according to claim 1, characterized in that: Performing frame synchronization monitoring on the distributed simulation bus to obtain corresponding frame synchronization status information includes: The distributed simulation bus is subjected to frame synchronization monitoring to obtain frame synchronization status information of the distributed simulation bus receiving the data packet from the heterogeneous simulation system; wherein the frame synchronization status information includes data frame transmission flow information corresponding to the data packet.

6. The frame period data synchronization method of a heterogeneous simulation system according to claim 5, characterized in that: Based on the frame synchronization state information, adjusting the receiving state of the data packets collected by the distributed simulation bus by the message bus data receiving and sending management module includes: Based on the data frame transmission flow information contained in the frame synchronization status information, determine whether the data packet from the heterogeneous simulation system has been completely sent to the distributed simulation bus; if the data packet has been completely sent to the distributed simulation bus, then open the message bus data transceiver management module to the receiving authority of the data packets collected by the distributed simulation bus; if the data packet has not been completely sent to the distributed simulation bus, then prohibit the message bus data transceiver management module from receiving the data packets collected by the distributed simulation bus.

7. The frame period data synchronization method of a heterogeneous simulation system according to claim 1, characterized in that: After performing frame period data synchronization processing on the data packet received by the message bus data transceiver management module, the obtained frame synchronization data packet is sent to the access data transceiver management module, including: Perform DR extrapolation processing and data smoothing processing on the data packets received by the message bus data transceiver management module to achieve frame period data synchronization of the data packets, thereby obtaining corresponding frame synchronization data packets; based on the data reception available bandwidth information of the access data transceiver management system, determine whether the receiving data transceiver management system is in a data reception idle state; if so, send the frame synchronization data packet to the access data transceiver management module; if not, do not send the frame synchronization data packet to the access data transceiver management module.

8. The frame period data synchronization method of a heterogeneous simulation system according to claim 7, characterized in that: Based on the time synchronization signal, the frame synchronization data packet received by the access system data transceiver management module is synchronized; Then, the frame synchronization data packet that has completed the time synchronization processing is sent to the local simulation system, including: Based on the time synchronization signal, the frame synchronization data packet received by the access system data transceiver management module is subjected to frame-by-frame data synchronization processing, thereby performing time synchronization correction on all data frames under the frame synchronization data packet; Based on the working status of the local simulation system, determine whether the local simulation system is in an idle state; if so, send the frame synchronization data packet that completes the time synchronization processing to the local simulation system; if not, do not send the frame synchronization data packet that completes the time synchronization processing to the local simulation system.

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