Virtual-real combined multi-missile collaborative semi-physical simulation test method and system
Through the multi-bomb collaborative simulation method combining virtual and real, the inflexible and cost-effective simulation system in the existing technology is solved, and low-cost simulation verification is achieved, which can truly reflect the performance of the guidance system and the target tracking performance of the multi-bomb image algorithm.
Patent Information
- Application Number
- CN202510321025.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-18
- Publication Date
- 2025-07-04
AI Technical Summary
The existing multi-bomb collaborative simulation system architecture is inflexible, the simulation test cost is high, and it is impossible to effectively simulate and verify the target tracking performance and collaborative guidance performance of the multi-bomb image algorithm.
Using a multi-elastic collaborative simulation method combining virtual and real, we use the simulation test scenario and image exciter to construct the real and imaginary parts, obtain the connection relationship and the principle of action, and realize the simulation test.
It reduces the requirements of test equipment and site, reduces costs, and can truly reflect the performance of the guidance system, verify the target tracking performance of the multi-bomb image algorithm and the performance of the collaborative guidance system.
Smart Images
Figure CN120255374A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of multi-missile collaborative simulation tests, and specifically relates to a virtual-real combined multi-missile collaborative semi-physical simulation test method and system. Background Art
[0002] Currently, the multi-missile collaborative simulation systems used for multi-missile semi-physical simulation performance verification and demonstration mostly adopt the form of 1+N. That is, one physical missile is carried on a five-axis turntable. Under the condition of the missile and missile-target relative motion simulated by the turntable, the physical seeker performs video imaging on the target simulator within the field of view. After the image algorithm processing of the physical seeker and the instruction calculation of the computer on the physical missile, as well as the simulation computer calculating the missile motion model, the guidance closed-loop is realized. In addition, N missiles use the simulation computer to synchronously and real-timely simulate the pure digital missile model to realize the guidance closed-loop. The collaborative information interaction between the physical missile and the model missile is realized through optical fibers.
[0003] In the pure digital simulation model, the target imaging characteristics and image tracking algorithm model of the seeker link are often directly simplified to noise and delay characteristics processing, and cannot output the target image and restore the real environment within the seeker's field of view, so it is impossible to conduct simulation verification on the target tracking characteristics in the high-dynamic complex environment that the simulation focuses on.
[0004] Although the physical missile carried on the turntable simulates the simulation, which solves the problem of the target imaging and the closed-loop of the target tracking performance of the image algorithm, the equipment such as the five-axis turntable and the target simulator used in the test have a large floor area and high simulation costs, and it is difficult to realize the expansion from conventional to multi-aircraft and multi-missile swarm collaborative simulation.
[0005] In summary, the existing multi-missile collaborative simulation system architecture is not flexible, the simulation test cost is high, and it cannot solve the problems of collaborative decision-making and collaborative guidance performance simulation verification that depend on the target tracking performance of the multi-missile image algorithm. Summary of the Invention
[0006] In view of the above problems, the present invention is proposed to provide a virtual-real combined multi-missile collaborative simulation test method and system that overcomes the above problems or at least partially solves the above problems.
[0007] To solve the above technical problems, the embodiments of the present application disclose the following technical solutions:
[0008] In the first aspect, the embodiments of the present invention disclose a virtual-real combined multi-missile collaborative semi-physical simulation test method, including:
[0009] S100. Set the multi-missile collaborative semi-physical simulation test scenario and the image exciter;
[0010] S200. Construct the real part and the virtual part in the multi-missile collaborative semi-physical simulation test;
[0011] S300. Obtain the connection relationship and operating principle of the real part and the imaginary part in the multi-missile collaborative hardware-in-the-loop simulation test;
[0012] S400. Based on the connection relationship and operating principle of the real part and the imaginary part, conduct a simulation test on the multi-missile collaborative hardware-in-the-loop.
[0013] Furthermore, in S100, the setting of the multi-missile collaborative hardware-in-the-loop simulation test scenario at least includes the number of carrier aircraft, the number of missiles on each carrier aircraft, and the number of enemy aircraft to be surrounded and attacked; the image exciter is used to receive the pointing angle of the seeker optical axis and generate the corresponding seeker imaging video based on the infrared vision image generation software.
[0014] Furthermore, in S200, the real part in the multi-missile collaborative hardware-in-the-loop simulation test at least includes missile physical entities, mission computer physical entities, fire control comprehensive control components, and data link physical entities; the imaginary part in the multi-missile collaborative hardware-in-the-loop simulation test at least includes digital missile models, mission computer digital models, and data link digital models.
[0015] Furthermore, the missile physical entity is composed of an on-board computer, a servo, and a seeker; the mission computer physical entity is a comprehensive control machine for controlling the system to cooperate in attacking targets and issuing specific combat tasks; the fire control comprehensive control component is equipment for controlling missile aiming and launching; the data link physical entity is used for information interaction between missiles and between missiles and carrier aircraft.
[0016] Furthermore, the digital missile model is a model integrated with flight control algorithms and seeker algorithms; the mission computer digital model is a digital model simulating the mission computer physical entity; the data link digital model is a digital model simulating the information transmission carried by the data link.
[0017] Furthermore, in S300, the working method of the real part in the multi-missile collaborative hardware-in-the-loop simulation test includes: the mission computer physical entity plans combat tasks and sends combat information to the fire control comprehensive control component. The fire control comprehensive control component supplies power to the missile, binds various parameters at the same time, and gives a muzzle signal. The missile starts a simulation closed-loop after receiving the muzzle signal; the digital missile includes a digital missile body and a seeker servo model, which is composed of a packaged missile body model and a seeker servo model dll file. After the missile receives the muzzle signal, the on-board computer in the physical missile starts to control and generates a rudder control command to send to the servo. The servo generates a rudder deflection and sends the rudder feedback to the digital missile through the serial port, driving the digital missile body model to update and calculate the missile state information, and driving the seeker servo model to update the seeker optical axis pointing information.
[0018] Further, after the seeker servo model updates the seeker optical axis pointing information, it is transmitted to the image exciter through the network port. The image exciter generates the target infrared image of the corresponding collaborative scene. The target image frame file is injected into the seeker physical image algorithm board through the network port to perform intelligent recognition and tracking of the target and key points, and obtain the target misalignment angle. The misalignment angle measured physically is sent to the seeker servo digital model through the serial port to simulate and calculate the seeker measurement information. Then, the seeker measurement information, the motion and attitude state information of the digital missile body model, and the collaborative variable state information updated by other collaborative digital missiles are sent to the on-board computer of the physical missile through the serial port to calculate the collaborative guidance command and update the rudder control command, and perform closed-loop guidance simulation in sequence to complete the closed-loop of the real part of the simulation.
[0019] Further, in S300, the working method of the imaginary part in the multi-missile collaborative hardware-in-the-loop simulation test includes: the task computer digital model issues the combat task to the digital missile, and the digital missile performs a pure digital closed-loop guidance. Among them, the seeker image algorithm link is implemented by the image algorithm software. The digital missile sends the pointing angle to the image exciter, and the image exciter generates the video of the corresponding collaborative scene to the image algorithm digital model. The image algorithm digital model performs target key point recognition and target sorting for intelligent recognition, and transmits the tracked image information to the digital missile to complete the closed-loop of the imaginary part of the simulation.
[0020] Further, in S300, information interaction also occurs between the imaginary part and the real part in the multi-missile collaborative hardware-in-the-loop simulation test. The specific method includes: the information interaction between the imaginary parts is carried out by the data link. The information of the real part is directly transmitted to the data link radio frequency matrix through the upper end of the data link missile, while the imaginary part has to go through the conversion of the data link digital model. The imaginary part and the real part cooperate in combat. In order to cooperate with each other to complete the joint target strike, the imaginary part and the real part exchange their own number information, position information, attitude angle information, and speed information.
[0021] In a second aspect, an embodiment of the present invention discloses a multi-missile collaborative hardware-in-the-loop simulation test system combining virtual and real, adopting any of the above hardware-in-the-loop simulation test methods, including: a simulation test scenario and image exciter setting unit, a real part and an imaginary part construction unit in the simulation test, a real part and an imaginary part connection relationship and action principle acquisition unit, and a multi-missile collaborative hardware-in-the-loop simulation test unit; where:
[0022] The simulation test scenario and image exciter setting unit is used to set the multi-missile collaborative hardware-in-the-loop simulation test scenario and the image exciter;
[0023] The real part and the imaginary part construction unit in the simulation test is used to construct the real part and the imaginary part in the multi-missile collaborative hardware-in-the-loop simulation test
[0024] The real part and imaginary part connection relationship and principle of action acquisition unit is used to acquire the connection relationship and principle of action between the real part and the imaginary part in the multi-missile collaborative hardware-in-the-loop simulation test;
[0025] The multi-missile collaborative hardware-in-the-loop simulation test unit is used to perform a simulation test on the multi-missile collaborative hardware-in-the-loop based on the connection relationship and principle of action between the real part and the imaginary part.
[0026] The beneficial effects of the above technical solutions provided by the embodiments of the present invention at least include:
[0027] The embodiments of the present invention disclose a method for multi-missile collaborative hardware-in-the-loop simulation test combining virtual and real, including: setting the multi-missile collaborative hardware-in-the-loop simulation test scenario and the image exciter; constructing the real part and the imaginary part in the multi-missile collaborative hardware-in-the-loop simulation test; acquiring the connection relationship and principle of action between the real part and the imaginary part in the multi-missile collaborative hardware-in-the-loop simulation test; and performing a simulation test on the multi-missile collaborative hardware-in-the-loop based on the connection relationship and principle of action between the real part and the imaginary part.
[0028] In the method disclosed by the present invention, during the multi-missile collaborative simulation system test, the physical missile does not need to be carried on the five-axis turntable. Instead, the digital missile model and the target model are used to simulate and calculate the missile movement and the relative movement between the missile and the target. Instead of using the target simulator to simulate imaging, the image exciter generates the target image in real time according to the optical axis pointing calculated by the digital missile body and the seeker servo model. Therefore, the present invention has low requirements for the test site and equipment and low test costs. However, through the image exciter, the seeker image algorithm can be closed-loop to the simulation system, which can truly reflect the performance of the guidance system. And, because it has the function of dynamically and real-time updating the target infrared imaging of each missile, it can be used to simulate and verify the performance of the collaborative decision-making and collaborative guidance system based on the multi-missile image algorithm target tracking performance.
[0029] The following will further describe the technical solutions of the present invention in detail through the drawings and embodiments. Description of the Drawings
[0030] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:
[0031] Figure 1 It is a flowchart of a method for multi-missile collaborative hardware-in-the-loop simulation test combining virtual and real in Embodiment 1 of the present invention;
[0032] Figure 2 It is a schematic diagram of the real part in the collaborative hardware-in-the-loop simulation test in Embodiment 1 of the present invention;
[0033] Figure 3Schematic diagram of the imaginary part in the collaborative hardware-in-the-loop simulation test in Embodiment 1 of the present invention;
[0034] Figure 4 Schematic diagram of information interaction between the real part and the imaginary part in the collaborative hardware-in-the-loop simulation test in Embodiment 1 of the present invention. Detailed implementation manners
[0035] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.
[0036] To solve the problems existing in the prior art, an embodiment of the present invention provides a method and system for collaborative hardware-in-the-loop simulation test of multiple missiles combining virtual and real.
[0037] Embodiment 1
[0038] The present invention discloses a method for collaborative hardware-in-the-loop simulation test of multiple missiles combining virtual and real, as Figure 1 , including:
[0039] S100. Set the collaborative hardware-in-the-loop simulation test scenario of multiple missiles and the image exciter; among them, the collaborative simulation test method of multiple missiles is an important means for researching and verifying the collaborative combat effectiveness of multiple missiles. The main purpose of the collaborative simulation test of multiple missiles is to simulate the real battlefield environment, research and verify the key performances such as guidance, control, and hitting accuracy of multiple missiles during the collaborative combat process, as well as the collaborative effect and combat effectiveness between missiles.
[0040] In S100 of this embodiment, the setting of the collaborative hardware-in-the-loop simulation test scenario of multiple missiles includes at least the number of carrier aircraft, the number of missiles on each carrier aircraft, and the number of enemy aircraft to be surrounded and attacked; the image exciter is used to receive the pointing angle of the seeker optical axis and generate the corresponding seeker imaging video based on the infrared vision image generation software. Specifically, in this embodiment, 6 carrier aircraft are taken as an example, with 6 missiles assembled on each carrier aircraft to surround and attack 2 enemy aircraft.
[0041] S200. Construct the real part and the imaginary part in the collaborative hardware-in-the-loop simulation test of multiple missiles; in S200 of this embodiment, the real part in the collaborative hardware-in-the-loop simulation test of multiple missiles includes at least missile physical objects, mission computer physical objects, fire control comprehensive control components, and data link physical objects; the imaginary part in the collaborative hardware-in-the-loop simulation test of multiple missiles includes at least digital missile models, mission computer digital models, and data link digital models.
[0042] Specifically, the physical missile consists of an on-board computer, a servo actuator, and a seeker; the physical mission computer is a comprehensive control computer used for the control system to cooperate in striking targets and issuing specific combat missions; the fire control comprehensive control component is equipment for controlling missile aiming and launch; the physical data link is used for information interaction between missiles and between the missile and the carrier aircraft. The digital missile model is a model integrating flight control algorithms and seeker algorithms; the digital mission computer model is a digital model simulating the physical mission computer; the digital data link model is a digital model simulating the information transmission carried by the data link.
[0043] Preferably, the physical part of the co-simulation experiment includes 1 mission computer, 1 physical missile (including the on-board computer and seeker of the physical missile), the fire control comprehensive control component, and the supporting data link. The digital model part includes 6 carrier aircraft motion digital models, 1 digital missile body and seeker servo model, 35 complete digital missile models, 5 digital mission computer models, the digital data link model, and 2 target enemy aircraft models. In addition, there is 1 image exciter for generating real-time infrared imaging frame files of each missile against the target as the input of the image algorithm of each missile seeker.
[0044] S300. Obtain the connection relationship and action principle of the real part and the imaginary part in the multi-missile cooperative hardware-in-the-loop simulation experiment; as Figure 2 , in the combined multi-missile cooperative simulation system of physical objects and digital models shown, the mission computer, the fire control comprehensive control component, the on-board computer, the seeker, etc. of 1 missile are physical objects, and the rest are simulated by digital models.
[0045] In S300 of this embodiment, the working method of the real part in the multi-missile cooperative hardware-in-the-loop simulation experiment includes: the physical mission computer plans combat missions and sends combat information to the fire control comprehensive control component. The fire control comprehensive control component supplies power to the missile, binds various parameters at the same time, and gives a muzzle signal. After receiving the muzzle signal, the missile starts the simulation closed-loop. The digital missile includes a digital missile body and a seeker servo model, which consists of a packaged missile body model and a seeker servo model dll file. After receiving the muzzle signal, the on-board computer in the physical missile starts to control and generates a rudder control command to send to the servo actuator. The servo actuator deflects the rudder and sends the rudder feedback to the digital missile through the serial port, driving the digital missile body model to update and calculate the missile state information, and driving the seeker servo model to update the seeker optical axis pointing information.
[0046] After the seeker servo model updates the seeker optical axis pointing information, it is transmitted to the image exciter through the network port. The image exciter generates the target infrared image of the corresponding collaborative scene. The target image frame file is injected into the seeker physical image algorithm board through the network port to perform intelligent recognition and tracking of the target and key parts, and obtain the target misalignment angle. The misalignment angle measured physically is sent to the seeker servo digital model through the serial port to simulate and calculate the seeker measurement information. Then, the seeker measurement information, the motion and attitude state information of the digital missile body model, and the collaborative variable state information updated by other collaborative digital missiles are sent to the on-board computer of the physical missile through the serial port to calculate the collaborative guidance command and update the rudder control command, and perform closed-loop guidance simulation in sequence to complete the closed-loop of the real part of the simulation.
[0047] In S300 of this embodiment, as Figure 3 , the working method of the virtual part in the multi-missile collaborative hardware-in-the-loop simulation test includes: the mission computer digital model issues the combat mission to the digital missile, and the digital missile performs a pure digital closed-loop guidance. Among them, the seeker image algorithm link is implemented by the image algorithm software. The digital missile sends the pointing angle to the image exciter, and the image exciter generates the video of the corresponding collaborative scene to the image algorithm digital model. The image algorithm digital model performs target key recognition and target sorting for intelligent recognition, and transmits the tracked image information to the digital missile to complete the closed-loop of the virtual part of the simulation.
[0048] In some preferred embodiments, as Figure 4 , in S300, information interaction also occurs between the virtual part and the real part in the multi-missile collaborative hardware-in-the-loop simulation test. The specific method includes: the information interaction between the virtual parts is carried out by the data link, the information of the real part is directly transmitted to the data link radio frequency matrix through the upper end of the data link missile, while the virtual part has to go through the conversion of the data link digital model. The virtual part and the real part cooperate in combat. In order to cooperate with each other to complete the joint target strike, the virtual part and the real part exchange their own number information, position information, attitude angle information and speed information.
[0049] S400. Based on the connection relationship and action principle of the real part and the virtual part, a simulation test of multi-missile collaborative hardware-in-the-loop is carried out.
[0050] This embodiment discloses a method for multi-missile collaborative hardware-in-the-loop simulation test combining virtual and real, including: setting the multi-missile collaborative hardware-in-the-loop simulation test scenario and the image exciter; constructing the real part and the virtual part in the multi-missile collaborative hardware-in-the-loop simulation test; obtaining the connection relationship and action principle of the real part and the virtual part in the multi-missile collaborative hardware-in-the-loop simulation test; based on the connection relationship and action principle of the real part and the virtual part, a simulation test of multi-missile collaborative hardware-in-the-loop is carried out.
[0051] In the method disclosed in this embodiment, during the experiment of the multi-missile collaborative simulation system, the physical missiles do not need to be mounted on the five-axis turntable. Instead, the digital missile model and the target model are used to simulate and calculate the missile movement and the relative movement between the missile and the target. Instead of using a target simulator to simulate imaging, an image exciter is used to generate the target image in real time according to the optical axis pointing calculated by the digital missile body and seeker servo model. Therefore, the present invention has low requirements for the test site and equipment and low test costs. However, through the image exciter, the seeker image algorithm can be closed-loop into the simulation system, which can truly reflect the performance of the guidance system. Moreover, since it has the function of dynamically and real-time updating the target infrared imaging of each missile, it can be used to simulate and verify the performance of the collaborative decision-making and collaborative guidance system based on the multi-missile image algorithm for target tracking performance.
[0052] Embodiment 2
[0053] Based on the same inventive concept, the embodiment of the present invention discloses a virtual-real combined multi-missile collaborative semi-physical simulation test system, which adopts the semi-physical simulation test method and includes: a simulation test scenario and image exciter setting unit, a real part and a virtual part construction unit in the simulation test, a connection relationship and action principle acquisition unit for the real part and the virtual part, and a multi-missile collaborative semi-physical simulation test unit; wherein:
[0054] The simulation test scenario and image exciter setting unit is used to set the multi-missile collaborative semi-physical simulation test scenario and the image exciter;
[0055] The real part and virtual part construction unit in the simulation test is used to construct the real part and the virtual part in the multi-missile collaborative semi-physical simulation test
[0056] The connection relationship and action principle acquisition unit for the real part and the virtual part is used to obtain the connection relationship and action principle of the real part and the virtual part in the multi-missile collaborative semi-physical simulation test;
[0057] The multi-missile collaborative semi-physical simulation test unit is used to perform a simulation test on the multi-missile collaborative semi-physical based on the connection relationship and action principle of the real part and the virtual part.
[0058] Among them, the specific working principles of the simulation test scenario and image exciter setting unit, the real part and virtual part construction unit in the simulation test, the connection relationship and action principle acquisition unit for the real part and the virtual part, and the multi-missile collaborative semi-physical simulation test unit have been described in detail in Embodiment 1, and will not be elaborated in this embodiment.
[0059] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The appended method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy recited.
[0060] In the foregoing detailed description, various features are combined in a single embodiment to simplify the present disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are expressly recited in each claim. Rather, as reflected in the appended claims, the invention lies in less than all of the features of a single disclosed embodiment. Accordingly, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
[0061] Those skilled in the art should also understand that the various illustrative logical blocks, modules, circuits, and algorithmic steps described in connection with the embodiments herein can be implemented as electronic hardware, computer software, or combinations thereof. To clearly illustrate the interchangeability of hardware and software, the various illustrative components, blocks, modules, circuits, and steps have been generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in a varying manner for each particular application, but such implementation decisions should not be interpreted as departing from the scope of the present disclosure.
[0062] The steps of a method or algorithm described in connection with the embodiments herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination thereof. The software module can be located in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can also be integral to the processor. The processor and the storage medium can be located in an ASIC. The ASIC can be located in a user terminal. Of course, the processor and the storage medium can also exist as discrete components in a user terminal.
[0063] For software implementation, the techniques described in this application can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is communicatively coupled to the processor via various means, which are well known in the art.
[0064] The above description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but those of ordinary skill in the art should recognize that the various embodiments can be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. In addition, with respect to the term "comprising" as used in the specification or claims, that term is inclusive in a manner similar to the term "including," as is explained when "including" is used as a transitional word in a claim. Further, any use of the term "or" in the claims or specification is to be meant "non-exclusive or."
Claims
1. A multi-missile collaborative hardware-in-the-loop simulation test method combining virtual and real, characterized in that, Including: S100. Set the multi-missile cooperative hardware-in-the-loop simulation test scenario and the image exciter; S200. Construct the real part and the imaginary part in the multi-missile cooperative hardware-in-the-loop simulation test; S300. Obtain the connection relationship and the working principle between the real part and the imaginary part in the multi-missile cooperative hardware-in-the-loop simulation test; S400. Based on the connection relationship and the working principle between the real part and the imaginary part, conduct a simulation test on the multi-missile cooperative hardware-in-the-loop.
2. The multi-missile collaborative hardware-in-the-loop simulation test method combining virtual and real as claimed in claim 1, wherein In S100, the setting of the multi-missile cooperative hardware-in-the-loop simulation test scenario includes at least the number of carrier aircraft, the number of missiles on each carrier aircraft, and the number of enemy aircraft to be surrounded and attacked; the image exciter is used to receive the seeker optical axis pointing angle and generate the corresponding seeker imaging video based on the infrared vision image generation software.
3. A method for semi-physical simulation test of multi-missile cooperation combining virtual and real, as described in claim 1, characterized in that In S200, the real part in the multi-missile cooperative hardware-in-the-loop simulation test includes at least missile physical objects, mission computer physical objects, fire control comprehensive control components, and data link physical objects; the imaginary part in the multi-missile cooperative hardware-in-the-loop simulation test includes at least digital missile models, mission computer digital models, and data link digital models.
4. A multi-missile collaborative hardware-in-the-loop simulation test method combining virtual and real, characterized in that, The missile physical object consists of an on-board computer, a servo, and a seeker; the mission computer physical object is a comprehensive control machine for controlling the system to cooperate in attacking targets and issuing specific combat tasks; the fire control comprehensive control component is an equipment for controlling missile aiming and launching; the data link physical object is used for information interaction between missiles and between missiles and carrier aircraft.
5. A method for semi-physical simulation test of multi-missile cooperation combining virtual and real, as claimed in claim 3, wherein The digital missile model is a model integrated with flight control algorithms and seeker algorithms; the mission computer digital model is a digital model simulating the mission computer physical object; the data link digital model is a digital model simulating the information transmission carried by the data link.
6. The method for semi-physical simulation test of multi-missile cooperation combining virtual and real as claimed in claim 1, wherein In S300, the working method of the real part in the multi-missile cooperative hardware-in-the-loop simulation test includes: the mission computer physical object plans combat tasks and sends combat information to the fire control comprehensive control component, the fire control comprehensive control component powers on the missile and binds various parameters and gives a muzzle signal at the same time, and the missile starts a simulation closed-loop after receiving the muzzle signal; the digital missile includes a digital missile body and a seeker servo model, which consists of a packaged missile body model and a seeker servo model dll file. After the missile receives the muzzle signal, the on-board computer in the physical missile starts to control and generates a rudder control command to send to the servo, the servo deflects the rudder and sends the rudder feedback to the digital missile through the serial port, driving the digital missile body model to update and calculate the missile state information, and driving the seeker servo model to update the seeker optical axis pointing information.
7. The method for multi-missile collaborative hardware-in-the-loop simulation test combining virtual and real as claimed in claim 6, wherein, After the seeker servo model updates the seeker optical axis pointing information, it is transmitted to the image exciter through the network port. The image exciter generates the target infrared image of the corresponding collaborative scene. The target image frame file is injected into the seeker physical image algorithm board through the network port to perform intelligent recognition and tracking of the target and key points, and obtain the target misalignment angle. The misalignment angle measured physically is sent to the seeker servo digital model through the serial port to simulate and calculate the seeker measurement information. Then, the seeker measurement information, the motion and attitude state information of the digital missile body model, and the collaborative variable state information updated by other collaborative digital missiles are sent to the on-board computer of the physical missile through the serial port to calculate the collaborative guidance command, update the rudder control command, and perform closed-loop guidance simulation in sequence to complete the closed-loop of the real part of the simulation.
8. A method for multi-missile collaborative hardware-in-the-loop simulation test combining virtual and physical scenarios as claimed in claim 1, characterized in that, In S300, the working method of the virtual part in the multi-missile collaborative semi-physical simulation test includes: the task computer digital model issues the combat task to the digital missile, and the digital missile performs a pure digital closed-loop guidance. Among them, the seeker image algorithm link is implemented by the image algorithm software. The digital missile sends the pointing angle to the image exciter, and the image exciter generates the video of the corresponding collaborative scene to the image algorithm digital model. The image algorithm digital model performs target key point recognition and target sorting for intelligent recognition, and transmits the tracked image information to the digital missile to complete the closed-loop of the virtual part of the simulation.
9. The multi-missile collaborative hardware-in-the-loop simulation test method combining virtual and real as claimed in claim 1, wherein, In S300, information interaction also occurs between the virtual part and the real part in the multi-missile collaborative semi-physical simulation test. The specific method includes: the information interaction between the virtual parts is carried out by the data link. The information of the real part is directly transmitted to the data link radio frequency matrix through the upper end of the data link missile, while the virtual part has to go through the conversion of the data link digital model. The virtual part and the real part cooperate in combat. In order to cooperate with each other to complete the joint target strike, the virtual part and the real part exchange their own number information, position information, attitude angle information and speed information.
10. A multi-missile collaborative hardware-in-the-loop simulation test system combining virtual and real scenarios, adopting any one of the hardware-in-the-loop simulation test methods described in claims 1-9, characterized in that, Including: A simulation test scenario and image exciter setting unit, a real part and a virtual part construction unit in the simulation test, a connection relationship and action principle acquisition unit for the real part and the virtual part, and a multi-missile collaborative semi-physical simulation test unit; among them: The simulation test scenario and image exciter setting unit is used to set the multi-missile collaborative semi-physical simulation test scenario and the image exciter; The real part and the virtual part construction unit in the simulation test is used to construct the real part and the virtual part in the multi-missile collaborative semi-physical simulation test The connection relationship and action principle acquisition unit for the real part and the virtual part is used to obtain the connection relationship and action principle of the real part and the virtual part in the multi-missile collaborative semi-physical simulation test; The multi-missile collaborative semi-physical simulation test unit is used to perform a simulation test on the multi-missile collaborative semi-physical based on the connection relationship and action principle of the real part and the virtual part.