A proxy system and simulation method suitable for multi-system joint real-time simulation

Abstract

The application discloses a kind of proxy system and simulation method suitable for multi-system joint real-time simulation, wherein the proxy system includes real-time operation management module, simulation switching control module, proxy data solving module, five-axis turntable data driving module, target and environment generation module, joint simulation data communication module, man-machine interaction and data storage module;The application adopts "multi-system linkage+time sequence strong unity" method to realize multi-mode composite guidance system based on multi-system joint collaborative semi-physical simulation;The application interconnects multiple simulation systems to form a multi-mode multi-body system simulation system, breaks through the technical difficulties of time sequence strong unity of multiple real-time systems, realizes semi-physical simulation verification under the condition of multi-system multi-mode collaboration, and has a good popularization and application space.

Description

Technical Field

[0001] This invention relates to the field of hardware-in-the-loop simulation, specifically to a proxy system and simulation method suitable for joint real-time simulation of multiple systems. Background Technology

[0002] Most existing weapon systems are equipped with multi-mode composite seekers, which combine multiple guidance modes such as television imaging, long-wave infrared, laser, and millimeter-wave. Traditional simulation methods for multi-mode composite seekers rely on a turntable and a single-mode simulator for single-mode simulation, which cannot achieve multi-band shift change simulation verification. Furthermore, the large weight of the multi-band composite simulator necessitates increased load on the turntable system, adding millions to the cost of the turntable system and simulator development. Simultaneously, this simulation mode differs significantly from actual weapon system combat, resulting in low simulation confidence. This simulation method remains at the stage of weapon system control model verification and cannot achieve full-system flight verification of the multi-mode system. Summary of the Invention

[0003] The purpose of this invention is to provide a proxy system and simulation method suitable for real-time simulation of multiple systems, so as to solve the shortcomings of traditional simulation methods that cannot achieve joint simulation of multiple systems, and to complete the semi-physical simulation of multi-mode composite systems without the need to develop additional image simulators and high-load turntables.

[0004] To achieve the above objectives, the present invention employs the following technical solution: A proxy system suitable for joint real-time simulation of multiple systems includes: 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 drive information from heterogeneous systems, calculate turntable drive data, target information, and scene information in combination with simulation conditions; send the turntable drive data to the five-axis turntable drive module, and receive the angle information fed back by the five-axis turntable in real time; and send the target information and scene information 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.

[0005] Furthermore, the process control instructions include system self-check, system time synchronization, status setting, test start, test stop, system reset, and test playback instructions.

[0006] Furthermore, the five-axis turntable in the turntable system 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.

[0007] A single-system simulation method, comprising: The local simulation command is set through the human-computer interaction data storage module; the local system performs a self-check, and the real-time operation management module starts the local simulation based on the local simulation command; the heterogeneous system performs a real-world simulation according to a preset process, and the generated drive information is sent to the agent system's agent data calculation module through the joint simulation data communication module to obtain the turntable drive data, which is then sent to the local system's turntable system through the five-axis turntable drive module, while simultaneously 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 agent system's target and environment generation module to generate image simulation information; the single-system simulation ends when the missile simulated in the local system hits the target.

[0008] A multi-system co-simulation system includes a heterogeneous system, a local system, a time synchronization server, a time synchronization computer, an agent system, and a sub-experimental system, 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.

[0009] Furthermore, 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, and is used to simulate missile flight on the ground to generate the driving 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. Furthermore, the general interface reserved by the proxy system can serve as a way for external black-box models to access the local system, thereby translating the black-box model into a subsystem suitable for the local model through the proxy system, and connecting it as a simulation node to the co-simulation system to carry out hardware-in-the-loop simulation.

[0010] Furthermore, after the time server obtains 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 reference of the local system and publishes it to the sub-experiment system.

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

[0012] A multi-system co-simulation method includes: Step 1: The proxy system connects heterogeneous systems through a reserved general interface; the proxy system performs self-checks on each module, and proceeds to the next step after the self-checks of each module are normal, while the time synchronization system starts. 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 co-simulation command, the real-time operation management module uses the timing system for hardware timing, acquires the hardware timing signal, and publishes a unified zero-time on the reflective memory network. Simultaneously, the real-time operation management module sends the co-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 co-simulation command, it enters the co-simulation preparation state and waits for the simulation to start based on the process control instructions. After the simulation starts, the heterogeneous system performs the actual simulation according to the process control instructions and sends the generated drive information to the proxy 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 driving data is sent to the five-axis turntable driving module, which drives the state system motion of the local system and each sub-test system, 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.

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

[0014] Compared with the prior art, the present invention has the following technical features: This invention enables joint simulation of multi-mode composite seekers based on single-system simulation, overcoming the drawback of multi-band composite simulators being too heavy to be mounted on turntable systems. The entire proxy system utilizes data protocol conversion principles to convert external systems into multi-modal data information suitable for local mode for use in multi-system joint simulation. The system method is simple, effective, and practical, with significant potential for widespread application. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the agent system structure; Figure 2This is a schematic diagram of the structure of a multi-system co-simulation system. Detailed Implementation

[0016] See Figure 1 This invention first provides a proxy system suitable for multi-system joint real-time simulation. The proxy system is used to receive driving information generated by external heterogeneous systems and drive the local system or other sub-test systems to perform simulation. This function aims to translate the different forms of information into instruction information suitable for the proxy system when different types of heterogeneous systems have inconsistent output information due to different protocols. The proxy system then sends the translated instructions to the local system or other sub-test systems for simulation experiments.

[0017] See Figure 1 The agent system includes a real-time operation management module, a simulation switching control module, an agent data calculation module, a five-axis rotary table data driving module, a target and environment generation module, a co-simulation data communication module, and 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. The simulation mode instructions include two types: local simulation commands and co-simulation commands, thereby realizing single-system simulation or multi-system co-simulation. When a local simulation command is received, the module performs simulation control of the local system. When a co-simulation command is received, 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 co-simulation command to the simulation switching control module to realize the co-simulation function and the unified zero time publication.

[0019] 2. Agent data processing module.

[0020] The proxy data calculation module is used to receive drive information from heterogeneous systems, and calculate turntable drive data, target information and scene information in combination with simulation conditions; send the turntable drive data to the five-axis turntable drive module, and receive the angle information fed back by the five-axis turntable in real time; send the target information and scene information to the target and environment generation module.

[0021] The calculation process of the turntable drive data is as follows: After the missile and target attitude data and position data of the local system are transformed into coordinate system one and coordinate system two, 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 drive module. 3. Five-axis rotary table data drive module.

[0022] The five-axis turntable data drive module realizes real-time control of the turntable system in the local system based on the turntable drive data; at the same time, it feeds back the current angle information of the five-axis turntable in the turntable system to the agent data calculation module in real time, and the agent data calculation module will determine whether the angle information is within a reasonable noise range based on the turntable drive data.

[0023] 4. Target and Environment Generation Module.

[0024] The target and environment generation module receives target and scene information sent by the agent data processing module, and drives the generation of corresponding target entities such as tanks, target vehicles, bunkers, smoke screens, firelight, etc., as well as image simulation information of the mission scene; 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.

[0025] 5. Simulation switching control module.

[0026] During co-simulation, the simulation switching control module issues co-simulation commands and process control instructions to each sub-test system; among which, the process control instructions include system self-check, system time synchronization, status setting, test start, test stop, system reset, and test playback instructions.

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

[0028] 6. Human-computer interaction data storage module.

[0029] As the core of the human-computer interaction in the agent system, the human-computer interaction data storage module can receive input information from the entire agent system and send it to various modules 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 experimenter.

[0030] 7. Co-simulation data communication module.

[0031] The co-simulation data communication module is used to acquire the driving information of the heterogeneous system and send it to the agent data calculation module; at the same time, during multi-system co-simulation, it completes the real-time interaction of data between the agent system, the heterogeneous system and the sub-test system according to the requirements of multi-system co-simulation test.

[0032] Compared with the traditional method of generating information for a five-axis turntable and target environment through computer simulation, the proxy system has unique advantages in generating information for a five-axis turntable and target environment. It can not only achieve a high degree of decoupling between the local system and the test components in the heterogeneous system, enhancing the real-time performance of the projectile calculation, but also allow the heterogeneous system as a black box model to be directly imported into the proxy module, realizing the function of external data access to the proxy calculation module. It does not require providing the projectile model, but only the driving information to the proxy system. The proxy system sets all systems to zero time by receiving the hard time signal from the time synchronization server, ensuring the real-time performance of multi-system joint simulation.

[0033] The core of this technical solution lies in the strict uniformity of simulation timing when multiple systems are jointly simulated. The firing times of different systems must be carried out according to the specified timing sequence. Therefore, this solution proposes a "hard time synchronization" method, which mainly relies on the time synchronization server to receive satellite signals. The interfaces of the time synchronization computer, agent system, local system, and sub-test system all collect the second pulse output interface signal of the time synchronization server through signal lines. This signal is directly transmitted to each system without conversion, and its time synchronization accuracy can reach the nanosecond level. After obtaining the current simulation time, the current time is uniformly released to ensure that the synchronization process of the simulation system is consistent.

[0034] Based on the above system, this invention also provides a multi-system co-simulation method for verifying the effectiveness of the proxy system. To facilitate the explanation of the working principle of the proxy system, the following is based on the appendix... Figure 2 This paper introduces the multi-system co-simulation method.

[0035] A multi-system co-simulation system includes a heterogeneous system, a local system, a time synchronization server, a time synchronization computer, an agent system, and a sub-experimental system, wherein: 1. Heterogeneous systems The heterogeneous system is used to provide simulation input, while the agent system reserves an external black-box model injection port to provide the agent system with the driving information required for the generation of the five-axis turntable, target and environment, which is used as input for the agent system to drive the real-time operation of the local system.

[0036] The heterogeneous system mainly includes the actual system, the simulator, and the heterogeneous simulation system. The actual system, representing the guidance components of the weapon system under test, primarily includes a flight control computer, inertial navigation system, servos, and seeker. It receives guidance and control information from the heterogeneous simulation system and target environment image information from the simulator, 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 and battlefield environment information to the seeker. It can receive target and environment information sent by the actual system and the heterogeneous simulation system, used to simulate the image and navigation information required by the seeker and inertial navigation system during the simulation process. The heterogeneous simulation system mainly includes a simulation computer, an interface control computer, and a data acquisition computer. The simulation computer is used to solve the missile's six-degree-of-freedom model, providing the simulator with missile-target relative relationship input parameters. The interface control computer provides timing control procedures to the actual system according to flow control instructions. The data acquisition computer completely records the data information generated by the actual system and decodes and outputs the drive information according to relevant protocols. It should be noted that heterogeneous systems do not necessarily exist in isolation; they can be integrated into the local system or function as independent systems. This approach considers that some heterogeneous systems do not wish to provide physical or ballistic models and can only access the proxy system as black-box models. Therefore, the general interfaces 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 by the proxy system (based on the proxy data processing module's calculation of driving information) into a subsystem suitable for the local model, and then connected as a simulation node to the co-simulation system for hardware-in-the-loop simulation.

[0037] If the implementation and simulator of the heterogeneous system are already fixed and the interface cannot be changed to adapt to the communication protocol and data interface requirements of the co-simulation system, then the proxy system acts as a data interaction bridge, performing protocol conversion and data forwarding, so that the heterogeneous system can be connected to the simulation system as a simulation node.

[0038] 2. Local system.

[0039] The local system primarily performs hardware-in-the-loop simulation in 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 achieving real-time control of the turntable system and the image simulation system.

[0040] The local system mainly includes 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 to generate three-dimensional entity motion simulations. The turntable system simulates missile attitude motion based on turntable drive data. The simulation interface system receives process control instructions sent by the simulation switching control module of the agent system, performs test process control, strictly controls missile deorbiting according to the timing sequence, and provides missile-target relative relationship data for the image simulation system and the turntable system.

[0041] 3. Time synchronization server + time synchronization computer.

[0042] The timing server and the timing computer constitute the timing system, which sends hard timing signals to perform hard timing during the joint simulation process. After receiving the hard timing signal (B-code timing signal, including second synchronization signal and hard timing clock signal), the real-time operation management module in the agent system will send a unified zero time on the reflective memory network for use by the local system and other sub-experimental systems.

[0043] After the time server receives the second pulse signal, it performs precise frequency division. 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 reference of the local system and publishes it to the sub-experiment system. The transmission accuracy can reach the millisecond level.

[0044] 5. Sub-test system Sub-test systems refer to other simulation systems that have the same composition as the local system, except that the three-dimensional entity motion simulation generation in the image simulation system is set according to experimental requirements. Specifically, sub-test systems can be laser guidance simulation systems, satellite guidance simulation systems, millimeter-wave array simulation systems, etc. Sub-test systems can interact with the local system through a proxy system.

[0045] Existing single-system simulations can only achieve semi-physical simulation of a single weapon system's guidance components, and cannot achieve multi-mode seeker handover simulation or multi-weapon system joint simulation. Therefore, the combat effectiveness of joint simulations cannot be fully verified. Multi-system joint simulation can perfectly compensate for this deficiency, fully verify the effectiveness of multi-weapon system joint simulation, and provide important technical support for field simulation of multi-missile coordinated strikes and multi-target coordinated strikes.

[0046] Based on the above technical solutions, a single-system simulation method includes: During local simulation, local simulation commands are set through the human-computer interaction data storage module. The image simulation system, turntable system, and simulation interface system in the local system perform self-checks, and the real-time operation management module starts local simulation based on the local simulation commands. The heterogeneous system performs actual simulation according to a preset process. The generated drive information is sent to the proxy data calculation module of the proxy system through the joint simulation data communication module to obtain the turntable drive data. This data is then sent to the turntable system of the local system through the five-axis turntable drive module. At the same time, the angle information from the five-axis status feedback in the status system is received to determine whether it is within a reasonable noise range, thereby controlling the five-axis turntable to move according to the projectile attitude and trajectory information in the drive information. The target information and scene information calculated from the drive information are sent to the target and environment generation module of the proxy system to generate image simulation information. The aforementioned angle information and image simulation information are sent to the human-computer interaction data storage module in real time, which stores them in real time for later retrieval. The single-system simulation ends when the missile simulated in the local system hits the target.

[0047] This invention also provides a multi-system co-simulation method; during the multi-system co-simulation process, the agent system sends the driving information, co-simulation commands, and flow control instructions generated by the heterogeneous system to the local system and other sub-test systems in the co-simulation state, and the local system and other sub-test systems will perform joint real-time simulation in sequence; the specific steps are described in detail below.

[0048] Step 1: The proxy system connects to the heterogeneous system, which includes the actual system, simulator, and heterogeneous simulation system, through the reserved general interface; the proxy system performs self-checks on each module, and proceeds to the next step after the self-checks of each module are normal, while the time synchronization system starts. 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, and waits for the simulation start command. 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 to facilitate the determination of the master system and slave system during multi-system simulation; set the simulation conditions and joint simulation commands and send them to the proxy 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 time synchronization system for hardware time synchronization, acquires the hardware time synchronization signal, and publishes a unified zero time on the reflective memory network to synchronize the time of the local system and each sub-test system. 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 starts, the heterogeneous system performs the actual simulation according to the process control instructions and sends the generated drive information to the proxy 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 driving data is sent to the five-axis turntable driving module, which drives the state system motion of the local system and each sub-test system, 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.

[0049] 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.

[0050] In summary, this invention can interconnect multiple simulation systems to form a multi-mode, multi-system simulation system, overcoming the technical difficulties of time-series integration in multiple real-time systems, and realizing hardware-in-the-loop simulation verification under multi-system, multi-mode collaborative conditions, thus having great potential for widespread application. The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this 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 a local simulation command is received, the local system performs simulation control. When a joint simulation command is received, the real-time operation management module receives the hard time signal sent by the time synchronization system consisting of the time synchronization server and the time synchronization computer, performs hard time synchronization, 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 process control instructions include system self-test, system time synchronization, status setting, test start, test stop, system reset and test playback instructions; 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, 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.

3. A single-system simulation method based on the agent system described in claim 1 or 2, 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.

4. 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 the agent system as described in claim 1 or 2, 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.

5. The multi-system co-simulation system according to claim 4, 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.

6. The multi-system co-simulation system according to claim 4, 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.

7. The multi-system co-simulation system according to claim 4, 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.

8. A multi-system co-simulation method based on the multi-system co-simulation system of claim 4, 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.

9. The multi-system co-simulation method according to claim 8, 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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