Agent system suitable for multi-system joint real-time simulation and simulation method

Abstract

The invention discloses an agent system suitable for multi-system joint real-time simulation and a simulation method. Wherein the agent system comprises a real-time operation management module, a simulation switching control module, an agent data resolving module, a five-axis turntable data driving module, a target and environment generation module, a joint simulation data communication module and a man-machine interaction and data storage module; according to the invention, a multi-system linkage and time sequence strong integration method is adopted to realize multi-system joint collaboration-based semi-physical simulation of the multi-mode composite guidance system; according to the invention, a plurality of simulation systems are interconnected and intercommunicated to form a multi-mode and multi-system simulation system, the technical difficulty of multiple real-time system time sequence strong unification is broken through, semi-physical simulation verification under a multi-system and multi-mode cooperative condition is realized, and the method has a very good popularization and application space.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of semi-physical simulation, in particular to a proxy system and a simulation method suitable for multi-system joint real-time simulation. BACKGROUND

[0002] Most of the seeker carried by the existing weapon system is a multi-mode composite type, which has multiple guidance modes such as television image, long-wave infrared, laser, and millimeter wave. In the simulation of multi-mode composite seeker, the traditional simulation scheme is to rely on a turntable + single-mode simulator for single-mode simulation, which cannot realize multi-band handover simulation verification. Moreover, due to the large weight of the multi-band composite simulator, the load of the turntable system needs to be increased, which will cause the cost of the turntable system and the development fund of the simulator to increase by millions. At the same time, this simulation mode has a large gap with the actual combat of the weapon system, and the simulation confidence is low. This simulation method stays in the weapon system control model verification stage and cannot realize the full-system flight verification of the multi-mode system. SUMMARY

[0003] The purpose of the present application is to provide a proxy system and a simulation method suitable for multi-system joint real-time simulation, to solve the defect that the traditional simulation method cannot realize multi-system joint simulation, and to complete the semi-physical simulation of the multi-mode composite system without additional development of image simulators and large-load turntables.

[0004] In order to achieve the above-mentioned task, the present application adopts the following technical scheme: A proxy system suitable for multi-system joint real-time simulation, comprising: A real-time running management module, configured to receive simulation conditions and simulation mode instructions set by a man-machine interaction data storage module, perform simulation control of a local system when receiving a local simulation command, and perform hard time synchronization when receiving a joint simulation command, and publish a unified zero time to a reflective memory network after hard time synchronization, and send the joint simulation command to a simulation switching control module; A proxy data solving module, configured to receive driving information from a heterogeneous system, solve turntable driving data, target information, and scene information in combination with simulation conditions, send the turntable driving data to a five-axis turntable driving module, and receive angle information fed back by the five-axis turntable in real time, and send the target information and the scene information to a target and environment generation module; A five-axis turntable data driving module, configured to realize real-time control of a turntable system in a local system according to turntable driving data; The target and environment generation module is connected to receive the target information and scene information sent by the agent data calculation module, and drives the generation of image simulation information of the corresponding target entity and task scene; the image simulation information is sent to the man-machine interaction data storage module to control the real-time running of the simulation process of the image simulation system in the local system; The simulation switching control module is used to publish joint simulation commands and flow control instructions to each sub-test system during joint simulation; The man-machine interaction data storage module is used to receive input information of the entire agent system and store image simulation information and generated data during joint simulation; The joint simulation data communication module is used to obtain driving information of the heterogeneous system and send it to the agent data calculation module; at the same time, during multi-system joint simulation, the real-time interaction of data between the agent system and the heterogeneous system and the sub-test system is completed.

[0005] Further, the flow control instructions include system self-checking, system time setting, situation binding, test starting, test stopping, system resetting, and test playback instructions.

[0006] Further, the five-axis turntable in the turntable system feeds back the current angle information to the agent data calculation module in real time, and the agent data calculation module judges whether the angle information is within a reasonable noise range based on the turntable driving data.

[0007] A single-system simulation method, comprising: The local simulation command is set through the man-machine interaction data storage module; the local system performs self-checking, and the real-time running management module starts local simulation based on the local simulation command; the heterogeneous system performs real installation simulation according to a preset flow, generates driving information, and sends the driving information to the agent data calculation module of the agent system to obtain turntable driving data through the joint simulation data communication module, and sends the driving information to the turntable system of the local system through the five-axis turntable driving module, and receives angle information fed back by the five-axis state of the state system; the target information and scene information calculated from the driving information are sent to the target and environment generation module of the agent system to generate image simulation information; until the simulated missile in the local system hits the target, the single-system simulation ends.

[0008] A multi-system joint simulation system, comprising a heterogeneous system, a local system, a time server, a time system computer, an agent system, and a sub-test system, wherein: The heterogeneous system is used to provide simulation input, provide driving information required by the agent system for five-axis turntable and target and environment generation, and serve as input for the agent system to drive the real-time running of the local system; The local system is used for completing the semi-physical simulation of the simulation laboratory where the agent system is located; the five-axis turntable is driven under the control of the data driving module of the agent system, and the image simulation information generated by the target and environment generation module is received to realize the real-time control of the turntable system and the image simulation system. The time server and the time unit constitute a time service system, and send a hard time signal in the joint simulation process to perform hard time service. The sub-test system refers to other simulation systems, and the simulation systems and the local system are the same.

[0009] Further, the heterogeneous system includes an implementation, a simulator and a heterogeneous simulation system; the implementation is a guided component of a weapon system to be tested, receives guidance control information from the heterogeneous simulation system and target environment image information from the simulator, and is used for simulating missile flight on the ground to generate driving information required by the five-axis turntable, target and environment generation; the simulator mainly provides target information and battlefield environment information for the seeker; and the heterogeneous simulation system includes a simulation computer, an interface control computer and a data acquisition computer. Further, the general interface reserved by the agent system can be used as a way for an external black box model to access the local system, so that the black box model is translated into a subsystem suitable for the local mode by the agent system and accessed as a simulation node to the joint simulation system to carry out semi-physical simulation.

[0010] Further, after the time server obtains the second pulse signal, accurate frequency division is performed, and the fiber network card in the time unit computer broadcasts the current time to the reflective memory network every millisecond; after the real-time running management module of the agent system reads the broadcast command, the time is taken as the simulation time reference of the local system, and is also published to the sub-test system.

[0011] Further, the sub-test system is specifically a laser guidance simulation system, a satellite guidance simulation system or a millimeter wave array simulation system.

[0012] A multi-system joint simulation method, comprising: Step 1, the agent system accesses the heterogeneous system through the reserved general interface; the agent system performs self-checking of each module, and after the self-checking of each module is normal, the next step is performed, and the time service system is started at the same time; Step 2, the local system connects the guided component to be tested according to the joint simulation requirement, the seeker and the inertial navigation device are installed on the turntable system; each sub-test system also accesses the guided component to be tested in each sub-test system according to the joint simulation requirement; Step 3, the test personnel perform master-slave configuration in the man-machine interactive data storage module, i.e., specify the master-slave relationship of the local system and each sub-test system; set the simulation conditions and the joint simulation command and send them to the agent data solving module and the real-time running management module. Step 4, after receiving the joint simulation command, the real-time operation management module performs hard timing using the time service system, acquires the hard timing signal and publishes the unified zero time on the reflective memory network; meanwhile, the real-time operation management module sends the joint simulation command and the flow control instruction to each sub-test system and the heterogeneous system through the simulation switching control module; when each sub-test system and the heterogeneous system receives the joint simulation command, it enters the joint simulation preparation state and waits for the simulation start based on the flow control instruction; after the simulation starts, the heterogeneous system performs the real installation simulation according to the flow control instruction and sends the generated driving information to the agent data solving module; Step 5, after receiving the joint simulation instruction and the simulation condition, the agent data solving module waits for the simulation start; after the simulation starts, it receives the driving information from the heterogeneous system, solves the turntable driving data, target information and scene information in combination with the simulation condition; sends the turntable driving data to the five-axis turntable driving module, the five-axis turntable driving module drives the state system in the local system and each sub-test system to move and receives the feedback angle information of the five-axis turntable in real time; sends the target information and the scene information to the target and environment generation module; Step 6, the target and environment generation module receives the target information and the scene information sent by the agent data solving module, drives the corresponding target entity and the image simulation information of the task scene to be generated; the image simulation information is sent to the human-computer interaction data storage module and the local system and each sub-test system; the image simulation system in the local system and each sub-test system performs real-time operation of the simulation process based on the image simulation information, and realizes the three-dimensional entity motion simulation; Repeat step 5 until the simulated missile in the local system and each sub-test system hits the target, and the multi-system joint simulation ends.

[0013] Further, various data of the local system and each sub-test system in the joint simulation process are collected into the human-computer interaction data storage module of the agent system through the joint simulation data communication module, for post-test analysis or playback.

[0014] Compared with the prior art, the present application has the following technical characteristics: The present application can perform joint simulation on the multi-mode composite seeker relying on single system simulation, solves the disadvantage that the multi-waveband composite simulator cannot be placed on the turntable system due to large weight. The entire agent system converts the external system into multi-modal data information suitable for the local mode by using the data protocol conversion principle for multi-system joint simulation, and the system method is simple, effective and practical, and has good popularization and application space. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 Fig. 1 is a structural schematic diagram of the agent system; Figure 2It is a structural schematic diagram of a multi-system joint simulation system. DETAILED DESCRIPTION

[0016] Referring to Figure 1 The present application first provides an agent system suitable for multi-system joint real-time simulation, which is used to receive driving information generated by an external heterogeneous system to drive a local system or other sub-test system for simulation. This function aims to unify different forms of information into instruction information suitable for the agent system when different types of heterogeneous systems output inconsistent information due to different protocols, and the agent system sends the translated instructions to the local system or other sub-test system for simulation.

[0017] Referring to Figure 1 The agent system includes a real-time operation management module, a simulation switching control module, an agent data solving module, a five-axis turntable data driving module, a target and environment generation module, a joint simulation data communication module, a human-computer interaction and data storage module, wherein: 1. Real-time operation management module.

[0018] The real-time operation management module receives simulation conditions and simulation mode instructions set by the human-computer interaction data storage module; wherein the simulation mode instructions include two kinds of local true command and joint simulation command, thereby realizing single system simulation or multi-system joint simulation; when receiving the local simulation command, the simulation control of the local system is performed; when receiving the joint simulation command, the real-time operation management module performs hard timing with the hard timing signal sent by the unified computer at the time of receiving, and publishes the unified zero time to the reflective memory network after hard timing, and sends the joint simulation command to the simulation switching control module, realizing the joint simulation function and the unified zero time publishing.

[0019] 2. Agent data solving module.

[0020] The agent data solving module is used to receive driving information from a heterogeneous system, and to solve turntable driving data, target information and scene information in combination with simulation conditions; the turntable driving data is sent to the five-axis turntable driving module, and the feedback angle information of the five-axis turntable is received in real time; the target information and scene information are sent to the target and environment generation module.

[0021] Wherein the solving process of the turntable driving data is: after the missile and target attitude data and position data of the local system are unified in coordinate system and coordinate conversion, the missile-target line of sight angle is calculated, and the missile attitude and missile-target line of sight angle are sent to the five-axis turntable data driving module. 3. Five-axis turntable data driving module.

[0022] The five-axis rotary table data driving module realizes real-time control of the rotary table system in the local system according to the rotary table driving data; meanwhile, the current angle information of the five-axis rotary table in the rotary table system is fed back to the agent data solving module in real time, and the agent data solving module judges whether the angle information is within a reasonable noise range based on the rotary table driving data.

[0023] 4. The target and environment generation module.

[0024] The target and environment generation module receives target information and scene information sent by the agent data solving module, drives corresponding target entities such as tanks, target vehicles, bunkers, smoke screens, and firelight information, and generates image simulation information of the task scene; the image simulation information is sent to the human-computer interaction data storage module for controlling the real-time running of the simulation process of the image simulation system in the local system.

[0025] 5. The simulation switching control module.

[0026] The simulation switching control module publishes joint simulation commands and process control instructions to each sub-test system during joint simulation; the process control instructions include system self-checking, system time setting, situation binding, test starting, test stopping, system resetting, and test playback instructions.

[0027] The agent system sends joint simulation commands and process control instructions to corresponding heterogeneous systems or sub-test systems through the simulation switching control module.

[0028] 6. The human-computer interaction data storage module.

[0029] The human-computer interaction data storage module is the core of the agent system human-computer interaction, which can receive input information of the entire agent system and send each module through the joint simulation data communication module; the module can also realize and save the image simulation information generated by the target and environment generation module, which can be directly called by the tester.

[0030] 7. The joint simulation data communication module.

[0031] The joint simulation data communication module is used to obtain driving information of heterogeneous systems and send it to the agent data solving module; meanwhile, during multi-system joint simulation, according to the requirements of multi-system joint simulation test, the agent system realizes real-time interaction of data between the agent system and the heterogeneous system and the sub-test system.

[0032] Compared with the traditional method of calculating five-axis turntable and target environment generation information by simulation computer, the agent system has unique advantages in calculating five-axis turntable and target environment generation information. The agent system can not only realize high decoupling of local system and heterogeneous system, enhance the real-time performance of the missile system, but also can make the heterogeneous system as a black box model directly imported into the agent module, realize the function of external data access agent calculation module, and only need to provide the driving information of the agent system. The agent system receives the hard timing identification of the timing server to make all systems consistent at zero time, and ensures the real-time performance of the multi-system joint simulation.

[0033] The core of the technical solution is that the simulation timing needs to be strictly unified when the multi-system joint simulation is performed, and the firing time of different systems needs to be performed according to the specified timing. Therefore, the scheme proposes a 'hard timing' method. The timing server receives satellite signals, the interfaces of the timing computer, the agent system, the local system and the sub-test system all collect the second pulse output interface signal of the timing server through the signal line. The signal is directly transmitted to each system without conversion, and the timing accuracy can reach nanosecond level. After obtaining the current simulation time, the current time is uniformly published to ensure that the synchronization process of the simulation system is consistent.

[0034] On the basis of the above system, the application further provides a multi-system joint simulation method for verifying the effectiveness of the agent system. In order to facilitate the description of the working principle of the agent system, the working principle of the agent system is described in detail according to the attached Figure 2 The multi-system joint simulation method is introduced.

[0035] A multi-system joint simulation system, comprising a heterogeneous system, a local system, a timing server, a timing computer, an agent system and a sub-test system, wherein: 1. Heterogeneous system The heterogeneous system is used for providing simulation input. The agent system reserves an external black box model injection port, provides driving information required by the agent system for five-axis turntable, target and environment generation, and is used for input of the agent system for driving the local system to run in real time.

[0036] The heterogeneous system mainly includes a hardware-in-the-loop (HIL) system, a simulator and a heterogeneous simulation system. The HIL system is a guided component of a weapon system to be tested, mainly including a flight control computer, an inertial navigation device, a rudder, a seeker, etc. The HIL system receives guided control information from the heterogeneous simulation system and target environment image information from the simulator, and is used to simulate the flight of a missile on the ground to generate driving information required by a five-axis turntable, a target and an environment. It should be noted that the heterogeneous system does not necessarily exist alone, and it can be integrated into a local system or used as an independent system. Here, it is considered that some heterogeneous systems do not want to provide a physical object or a trajectory model, but can only be connected to the agent system in the form of a black box model. Therefore, the general interface reserved by the agent system can be used as a way for the external black box model to access the local system, so that the black box model is translated into a subsystem suitable for the local mode through the agent system (based on the calculation of the driving information by the agent data calculation module), and the black box model is connected to the joint simulation system as a simulation node to carry out semi-physical simulation.

[0037] If the HIL system, the simulator, etc. have been fixed and cannot be changed to adapt to the communication protocol and data interface requirements of the joint simulation system, the agent system acts as a data interaction bridge to perform protocol conversion and data forwarding, so that the heterogeneous system is connected to the simulation system as a simulation node.

[0038] 2. Local system.

[0039] The local system mainly completes semi-physical simulation of the simulation laboratory where the agent system is located. The local system is used to drive the five-axis turntable under the control of the five-axis turntable data driving module of the agent system, and to receive image simulation information generated by the target and environment generation module to realize real-time control of the turntable system and the image simulation system.

[0040] The local system mainly comprises an image simulation system, a turntable system and a simulation interface system; the image simulation system receives image simulation information sent by the agent system, and generates three-dimensional entity motion simulation; the turntable system simulates missile attitude motion based on turntable driving data; the simulation interface system receives flow control instructions sent by a simulation switching control module of the agent system, controls the test flow, controls the missile to leave the orbit in strict time sequence, and provides missile-relative relationship data for the image simulation system and the turntable system.

[0041] 3. A time server + time system computer.

[0042] The time server and the time system computer form a time service system, and send a hard time signal to perform hard time service during joint simulation; after receiving the hard time signal (B code time system signal, including a second synchronization signal and a hard time clock signal), a real-time running management module in the agent system sends a unified zero time on the reflective memory network, for use by the local system and other sub-test systems.

[0043] After the time server obtains the second pulse signal, accurate frequency division is performed, and a fiber optic network card in the time system computer broadcasts the current time to the reflective memory network every millisecond; after reading the broadcast command, the real-time running management module of the agent system takes the time as a simulation time reference of the local system, and publishes the time to the sub-test systems, and the transmission accuracy can reach the millisecond level.

[0044] 5. Sub-test system The sub-test system refers to other simulation systems, and these simulation systems are the same as the local system, except that the three-dimensional entity motion simulation generation of the image simulation system is set according to experimental requirements; the sub-test system can be a laser guidance simulation system, a satellite guidance simulation system, a millimeter wave array simulation system and the like; the sub-test system can interact with the local system through the agent system.

[0045] The existing single-system simulation can only realize semi-physical simulation of a set of weapon system guidance components, and cannot realize multi-mode seeker handover simulation or multi-weapon system joint simulation, so that the combat effectiveness of joint simulation cannot be fully verified. Multi-system joint simulation can perfectly make up for this defect, fully verify the effectiveness of multi-weapon system joint simulation, and provide important technical support for multi-missile cooperative attack and multi-target cooperative attack in-field simulation.

[0046] On the basis of the above technical solution, a single-system simulation method comprises: In local simulation, the local simulation command is set through the man-machine interactive data storage module; the image simulation system, the turntable system and the simulation interface system in the local system are self-checked, and the real-time running management module starts local simulation based on the local simulation command; the heterogeneous system carries out actual installation simulation according to the preset process, the generated driving information is sent to the agent data solving module of the agent system through the joint simulation data communication module, the turntable driving data is obtained, the five-axis turntable driving module is sent to the turntable system of the local system, and the angle information of the five-axis state feedback in the state system is received, so that whether it is within a reasonable noise range is judged, so that the five-axis turntable moves according to the driving information in the body attitude and trajectory information; the target information and scene information solved by the driving information are sent to the target and environment generation module of the agent system to generate image simulation information; the above-mentioned angle information and image simulation information are sent to the man-machine interactive data storage module in real time, and the man-machine data interaction storage module will be stored in real time for subsequent calling; until the simulated missile in the local system hits the target, the single system simulation ends.

[0047] The application also provides a multi-system joint simulation method; in the multi-system joint simulation process, the agent system sends the driving information generated by the heterogeneous system, the joint simulation command and the flow control instruction to the local system and other sub-test systems in the joint simulation state, and the local system and other sub-test systems carry out joint real-time simulation in time sequence.

[0048] Step 1, the agent system connects the heterogeneous system including actual installation, simulator and heterogeneous simulation system through a reserved general interface; the agent system carries out self-checking of each module, and after each module is normally self-checked, the next step is carried out, and the time system is started at the same time; Step 2, the local system connects the measured guidance components according to the joint simulation requirements, the seeker and the inertial navigation device are installed on the turntable system; each sub-test system also connects the measured guidance components according to the joint simulation requirements, and waits for the simulation start command; Step 3, the test personnel carry out master-slave configuration in the man-machine interactive data storage module, that is, the master-slave relationship of the local system and each sub-test system is specified, so as to facilitate the determination of the master system and the slave system in multi-system simulation; the simulation conditions and the joint simulation command are set and sent to the agent data solving module and the real-time running management module; Step 4, after receiving the joint simulation command, the real-time operation management module performs hard timing by using the time service system, acquires the hard timing signal, and publishes the unified zero time on the reflective memory network to synchronize the time of the local system and each sub-test system; meanwhile, the real-time operation management module sends the joint simulation command and the flow control instruction to each sub-test system and the heterogeneous system through the simulation switching control module; when receiving the joint simulation command, each sub-test system and the heterogeneous system enter the joint simulation preparation state, and wait for the simulation start based on the flow control instruction; after the simulation starts, the heterogeneous system performs the real installation simulation according to the flow control instruction, and sends the generated driving information to the agent data solving module; Step 5, after receiving the joint simulation instruction and the simulation condition, the agent data solving module waits for the simulation start; after the simulation starts, the agent data solving module receives the driving information from the heterogeneous system, solves the turntable driving data, target information and scene information in combination with the simulation condition; the turntable driving data is sent to the five-axis turntable driving module, the five-axis turntable driving module drives the state system in the local system and each sub-test system to move, and receives the feedback angle information of the five-axis turntable in real time; the target information and the scene information are sent to the target and environment generation module; Step 6, the target and environment generation module receives the target information and the scene information sent by the agent data solving module, drives the generation of the image simulation information of the corresponding target entity and task scene; the image simulation information is sent to the man-machine interaction data storage module and the local system and each sub-test system; the image simulation system in the local system and each sub-test system performs real-time operation of the simulation process based on the image simulation information, and realizes the three-dimensional entity motion simulation. Repeat step 5 until the simulated missile in the local system and each sub-test system hits the target, and the multi-system joint simulation ends.

[0049] During the joint simulation process, various data of the local system and each sub-test system are collected into the man-machine interaction data storage module of the agent system through the joint simulation data communication module, for post-test analysis or playback.

[0050] In summary, the application can interconnect multiple simulation systems to form a multi-mode multi-system simulation system, break through the technical difficulty of strong time sequence of multiple real-time systems, and realize semi-physical simulation verification under the condition of multi-system and multi-mode cooperation, which has a good application space. The above embodiments are only used to illustrate the technical solutions of the application, but not limit the application; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; the modification or replacement does not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be included in the protection scope of the application.

Claims

1. A proxy system suitable for real-time simulation of multiple systems, characterized in that, include: The real-time operation management module is used to receive simulation conditions and simulation mode instructions set by the human-computer interaction data storage module; when it receives a local simulation command, it performs simulation control of the local system; when it receives a joint simulation command, the real-time operation management module performs hard time synchronization on the hard time synchronization signal sent by the receiving time synchronization computer, publishes the unified zero time after hard time synchronization to the reflective memory network, and sends the joint simulation command to the simulation switching control module. The proxy data calculation module is used to receive driving information from heterogeneous systems and calculate turntable driving data, target information and scene information in combination with simulation conditions; The turntable drive data is sent to the five-axis turntable drive module, and the angle information fed back by the five-axis turntable is received in real time; the target information and scene information are sent to the target and environment generation module. The five-axis rotary table data drive module is used to realize real-time control of the rotary table system in the local system based on the rotary table drive data; The target and environment generation module receives target and scene information sent by the agent data processing module, and drives the generation of image simulation information of the corresponding target entities and task scenes; the image simulation information is sent to the human-computer interaction data storage module to control the real-time operation of the simulation process of the image simulation system in the local system. The simulation switching control module is used to issue joint simulation commands and process control instructions to each sub-test system during joint simulation. The human-computer interaction data storage module is used to receive input information from the entire agent system and store image simulation information and data generated during the co-simulation process; The co-simulation data communication module is used to acquire the driving information of heterogeneous systems and send it to the agent data calculation module; at the same time, it completes the real-time data interaction between the agent system, heterogeneous systems and sub-experimental systems during multi-system co-simulation.

2. The agent system for multi-system joint real-time simulation according to claim 1, characterized in that, The process control instructions include system self-check, system time synchronization, status setting, test start, test stop, system reset, and test playback instructions.

3. The agent system for multi-system joint real-time simulation according to claim 1, characterized in that, In the turntable system, the five-axis turntable feeds back the current angle information to the proxy data calculation module in real time. The proxy data calculation module will determine whether the angle information is within a reasonable noise range based on the turntable drive data.

4. A single-system simulation method based on the agent system according to any one of claims 1-3, characterized in that, include: Set local simulation commands through the human-computer interaction data storage module; The local system performs a self-check, and the real-time operation management module starts local simulation based on the local simulation command. The heterogeneous system performs a simulation according to a preset process. The generated drive information is sent to the agent data calculation module of the agent system through the joint simulation data communication module to obtain the turntable drive data. The turntable drive module then sends the data to the turntable system of the local system, while receiving the angle information from the five-axis status feedback in the status system. The target information and scene information calculated from the drive information are sent to the target and environment generation module of the agent system to generate image simulation information. The single-system simulation ends when the missile simulated in the local system hits the target.

5. A multi-system co-simulation system, characterized in that, Includes a heterogeneous system, a local system, a time synchronization server, a time synchronization computer, a sub-testing system, and an agent system according to any one of claims 1-3, wherein: The heterogeneous system is used to provide simulation input, providing the agent system with the driving information required for the generation of the five-axis turntable, target and environment, and serving as the input for the agent system to drive the real-time operation of the local system. The local system is used to complete the hardware-in-the-loop simulation of the simulation laboratory where the agent system is located; it drives the five-axis turntable under the control of the agent system's five-axis turntable data drive module, and receives image simulation information sent by the target and environment generation module to generate images, thereby realizing real-time control of the turntable system and the image simulation system. The time synchronization server and the time synchronization computer constitute the time synchronization system, which sends hard time synchronization signals during the joint simulation process; Sub-test systems refer to other simulation systems that have the same composition as the local system.

6. The multi-system co-simulation system according to claim 5, characterized in that, The heterogeneous system includes a physical device, a simulator, and a heterogeneous simulation system. The physical device is the guidance component of the weapon system under test, which receives guidance and control information from the heterogeneous simulation system and target environment image information from the simulator. It is used to simulate missile flight on the ground to generate the drive information required for the five-axis turntable, target, and environment generation. The simulator mainly provides target information and battlefield environment information for the seeker. The heterogeneous simulation system includes a simulation computer, an interface control computer, and a data acquisition computer.

7. The multi-system co-simulation system according to claim 5, characterized in that, The general interface reserved by the proxy system can serve as a way for external black-box models to access the local system. This allows the black-box model to be translated into a subsystem suitable for the local model through the proxy system, and then connected to the co-simulation system as a simulation node to carry out hardware-in-the-loop simulation.

8. The multi-system co-simulation system according to claim 5, characterized in that, After the time server receives the second pulse signal, it performs precise frequency division, and every millisecond, the fiber optic network card in the system computer broadcasts the current time to the reflective memory network. After the real-time operation management module of the agent system reads the broadcast command, it uses the time as the simulation time base of the local system and publishes it to the sub-experiment system.

9. A multi-system co-simulation method based on the multi-system co-simulation system of claim 5, characterized in that, include: Step 1: The proxy system connects heterogeneous systems by reserving a general interface; The agent system performs self-checks on each module. Once the self-checks of each module are normal, it proceeds to the next step, and the time synchronization system starts simultaneously. Step 2: In accordance with the co-simulation requirements, the local system connects the guidance components under test as required, and installs the seeker and inertial navigation device on the turntable system; in the same way, each sub-test system connects the guidance components under test to its respective sub-test system according to the co-simulation requirements. Step 3: The test personnel configure the master-slave relationship in the human-computer interaction data storage module, that is, specify the master-slave relationship of the local system and each sub-test system; set the simulation conditions and joint simulation commands and send them to the agent data calculation module and the real-time operation management module; Step 4: After receiving the joint simulation command, the real-time operation management module uses the timing system to perform hardware timing, acquires the hardware timing signal, and publishes the unified zero time on the reflective memory network. At the same time, the real-time operation management module sends the joint simulation command and process control instructions to each sub-test system and heterogeneous system through the simulation switching control module. When each sub-test system and heterogeneous system receives the joint simulation command, it enters the joint simulation preparation state and waits for the simulation to start based on the process control instructions. After the simulation begins, the heterogeneous system performs a live simulation according to the process control instructions and sends the generated drive information to the agent data calculation module. Step 5: After receiving the joint simulation command and simulation conditions, the proxy data calculation module waits for the simulation to start; after the simulation starts, it receives the driving information from the heterogeneous system and calculates the turntable driving data, target information and scene information in combination with the simulation conditions. The turntable drive data is sent to the five-axis turntable drive module, which drives the state system of the local system and each sub-test system to move, and receives the angle information fed back by the five-axis turntable in real time; the target information and scene information are sent to the target and environment generation module. Step 6: The target and environment generation module receives the target information and scene information sent by the agent data calculation module, and drives the generation of image simulation information of the corresponding target entities and task scenes; the image simulation information is sent to the human-computer interaction data storage module, as well as the local system and each sub-experiment system; the image simulation system in the local system and each sub-experiment system runs the simulation process in real time based on the image simulation information to realize the simulation of three-dimensional entity motion. Repeat step 5 until the missiles simulated in the local system and each sub-test system hit the target, at which point the multi-system joint simulation ends.

10. The multi-system co-simulation method according to claim 9, characterized in that, During the joint simulation process, various types of data from the local system and each sub-test system are collected by the joint simulation data communication module and stored in the human-computer interaction data storage module of the agent system for post-test analysis or playback.

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