CN111208746B - Beidou global system software and hardware collaborative simulation test verification system - Google Patents
Beidou global system software and hardware collaborative simulation test verification system Download PDFInfo
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Abstract
The invention provides a software and hardware collaborative simulation test verification system for a Beidou global system, which comprises a software simulation unit, a hardware simulation unit, a software and hardware collaborative simulation control system, an environment simulation system and a time-frequency subsystem. The software simulation unit comprises a simulation model library, a simulation scheduling operation module, a scene configuration module, a monitoring and display module and a performance evaluation module. The hardware simulation unit comprises a hardware simulation system and an external interface system. The method comprises the following steps of constructing a software simulation part, a hardware simulation part, an environment simulation subsystem, a time-frequency subsystem and a software and hardware collaborative simulation control system; and carrying out experimental verification. According to the invention, the state of the Beidou engineering system can be approached to the maximum extent through the hardware simulator and the software model, the number and the state of the tested models can be flexibly configured, and the Beidou engineering system can be in butt joint verification with a real Beidou engineering system.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a Beidou global system software and hardware collaborative simulation test verification system and an establishment method.
Background
Compared with the first two generations of Beidou navigation satellites, the latest Beidou third-generation navigation system adopts new technologies such as inter-satellite links, global short messages, autonomous navigation and the like. The interconnection relationship of the Beidou navigation system is more complex, the interconnection relationship of the pure Beidou I and Beidou II satellites and the ground station is changed into the interconnection relationship of the Beidou III satellite and the ground station, and the complexity of the system is greatly increased. In order to reduce the risk of Beidou engineering construction, a complete Beidou ground test verification system needs to be built on the ground, so that the work of key technology verification, on-orbit abnormal problem reproduction and investigation, true star butt joint test and the like is carried out on the ground, a test verification means is provided for engineering, and the reliability and the maintainability of the system are improved.
Through the search of the prior art, the invention name of Chinese invention patent (application publication number: CN 108363491A) is a spacecraft on-orbit maintenance ground virtual verification system and method, and the system and method mainly aim at solving the problem of on-orbit maintenance of a spacecraft. The ground virtual verification system for the on-orbit maintenance of the spacecraft, which is described by the invention, consists of a human-computer interaction system, a virtual scene system, an external display system and a maintenance evaluation system, can formulate an on-orbit maintenance scheme, construct a human body model in a maintenance scene based on the on-orbit maintenance scheme, further display the maintenance scene to a trial astronaut through human body interaction equipment, complete virtual on-orbit operation and display a virtual maintenance process.
However, the invention name of the invention system and the method of the invention is spacecraft on-orbit maintenance ground virtual verification system and the method of the invention patent in China (application publication number: CN 108363491A), only provides a manned spacecraft ground maintenance system and the method, and cannot be directly applied to ground test verification of the Beidou system.
The invention discloses a Chinese patent (application publication number: CN 106896379A) named as a virtual-real combined test verification method for an inter-satellite link of a global satellite navigation system, and mainly aims to solve the problem of inter-satellite link verification of a true satellite of the satellite navigation system. The invention completes verification of the networking function and performance of the inter-satellite link of the satellite navigation system by establishing an inter-satellite link network which combines virtuality and reality and operates the whole network by establishing a physical virtual satellite and an on-orbit satellite.
However, the invention of the chinese patent (application publication No. CN 106896379 a), named as the virtual-real combined test verification method for the inter-satellite link of the global satellite navigation system, only provides a test verification method for a single function of the inter-satellite link of the global satellite navigation system, and lacks of the comprehensive consideration for the complete system, so that the ground test verification of the whole element, the whole flow and the whole function of the whole satellite navigation system cannot be performed, and the application range is limited.
In summary, the existing test verification method for the Beidou system is the modeling simulation of pure software, and the representativeness of a real system is lacked; or only aiming at the butt joint verification of the engineering satellite and lacking the verification of the complete system state; or the software and hardware cooperation verification aiming at the single system function is only lacked, and the verification of the whole element, the whole flow and the whole function of the system is lacked. Therefore, a software and hardware cooperative test verification system with the current Beidou actual engineering state needs to be established urgently, and the work of key technology verification, on-orbit abnormal problem reproduction and investigation, true star docking test and the like is further met.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a Beidou global system soft and hard collaborative simulation test verification system and an establishment method thereof, which can approach the state of a Beidou engineering system to the greatest extent and can be in butt joint verification with a real Beidou engineering system.
According to one aspect of the invention, the Beidou global system software and hardware collaborative simulation test verification system comprises a software simulation unit, a hardware simulation unit, a software and hardware collaborative simulation control system, an environment simulation system and a time-frequency subsystem. The software simulation unit comprises a simulation model library, a simulation scheduling operation module, a scene configuration module, a monitoring and display module and a performance evaluation module. The hardware simulation unit comprises a hardware simulation system and an external interface system.
Wherein, various branch systems that big dipper engineering system corresponds have been covered to the simulation model storehouse, include: the system comprises a satellite node model, an operation and control node model, a measurement and control node model, an inter-satellite link operation and management node model, a user node model and a mathematical simulation model. The external interfaces of the software models of the engineering systems are defined according to the interface control file of the engineering, internal key data information can be output and stored, key parameters can be configured through a simulation platform, related algorithms can be loaded according to test verification requirements, and the method has the processing flow of a real engineering system; the mathematical simulation model is mainly used for generating various data related to observation data in a simulation mode, wherein the various data comprise satellite orbit and clock error data, channel data, inter-satellite observation data, ground observation data and the like.
The simulation dispatching operation module mainly obtains designed test scenarios, calls related models and data, drives a system to operate according to related time sequences, and simulates the whole operation process of the navigation system.
The scene configuration module develops a script according to a test planning task, a system simulation mode and a process, maps the script into the start and stop of the simulation scheduling operation module and various model parameters or attributes, and loads initial operation.
The monitoring and displaying module displays simulation scene configuration, simulation control running state, situation information, test data analysis results and the like.
And after the simulation is finished, the performance evaluation module reads the test data stored by the simulation platform to perform test evaluation. The evaluation indexes are determined according to the test task, for example, in the positioning test, the main evaluation indexes are user equivalent ranging error UERE, accuracy factor DOP and the like, and in the global short message test, the main evaluation indexes are the station access capacity (times/hour), average station access delay, packet loss rate and the like.
The software and hardware collaborative simulation control system is used for realizing the interaction of software information and hardware signals. The software and hardware cooperative simulation control system mainly completes control of the software simulation unit and the hardware simulation unit, conversion of information and signals, processing and management of data to be sent, verification and storage of received data and the like.
The environment simulation system mainly simulates a channel environment. Wherein, environmental simulation subsystem mainly realize the simulation to big dipper navigation signal transmission characteristic, and then can simulate big dipper system's measurement type experiment, include: positioning time service, satellite-ground joint orbit determination, autonomous navigation and the like.
The hardware simulation system and the external interface system are mainly hardware simulation subsystems corresponding to the engineering subsystems. The hardware simulation subsystem can be a hardware copy of a real engineering system, and can also be a hardware simulation system with the same engineering function. The system mainly comprises a hardware satellite simulator, a hardware measurement and control system simulator, a hardware operation and control system simulator, a hardware inter-satellite link operation management system simulator, a user terminal and the like. In addition, the system also comprises an external engineering interface module for butting with a real engineering system, so that tasks such as butting test of a real star, simulation exercise of a ground operation control system and the like are realized.
The time-frequency subsystems are used for providing time and frequency references of all subsystems of the Beidou software and hardware collaborative verification system and ensuring that the processes of the software system and the hardware system are uniformly and synchronously adjusted.
According to another aspect of the invention, a software and hardware collaborative simulation test verification method with engineering representativeness for the current Beidou actual engineering state is provided, and the method comprises the following steps:
s1, constructing a software simulation unit, including building each subsystem model of the Beidou system, a simulation scheduling operation module, a scene configuration module, a monitoring and displaying module, a performance evaluation module and the like. The subsystem model should have the processing flow of the real engineering system, and the external interface definition should follow the interface control file definition of the engineering; the simulation scheduling operation module has a high simulation acceleration ratio, so that the operation of the same flow is ensured, the software time consumption is shorter than that of a hardware simulator, and the sequential logic of the processing flow of software and hardware cooperation is ensured to be correct;
s2, constructing a hardware simulation unit which comprises hardware simulation subsystems of various subsystems corresponding to the engineering and an external engineering interface module for interfacing with a real engineering system. The hardware simulation subsystem can be a hardware copy of a real engineering system and can also be a hardware simulation system with the same engineering function;
s3, constructing an environment simulation subsystem simulating the channel environment. Wherein, environmental simulation subsystem mainly realize the simulation to big dipper navigation signal transmission characteristic, and then can simulate big dipper system's measurement type experiment, include: positioning, orbit determination, autonomous navigation, and the like;
and S4, constructing a time-frequency subsystem. The time-frequency subsystems are used for providing time and frequency references of all subsystems of the Beidou software and hardware collaborative verification system;
and S5, constructing a software and hardware collaborative simulation control system for realizing the interaction of software information and hardware signals. The software and hardware collaborative simulation control system mainly completes the control of software simulation and hardware simulation, the conversion of information and signals, the processing and management of data to be sent, the verification and storage of received data and the like;
and S6, configuring a test scene according to the test verification purpose, starting simulation, and performing test evaluation after the simulation is finished.
Compared with the prior art, the invention has the following advantages: 1) a hardware simulator in the hardware simulation unit reproduces the functions and the states of the real engineering system; the software model in the simulation model library has the processing flow of a real engineering system, and the external interface definition of the model is consistent with the interface control file definition of the engineering, so that the data format of software and hardware cooperative interaction is ensured to be unified with the engineering interface control file, and further the test verification system can be ensured to be butted with the real engineering system; 2) the software and hardware cooperative simulation control system can realize the interconversion between the most critical information and signals in the real-time software and hardware cooperative tasks, the simulation scheduling operation module has high simulation acceleration ratio, the operation of the same flow is further ensured, the time consumption of software is shorter than that of a hardware simulator, the sequential logic of the processing flow of the software and hardware cooperation is ensured to be correct, and the software and hardware cooperation work of the Beidou navigation system and the fine time granularity (millisecond level) of the Beidou navigation system is realized; 3) the number and the state of the satellite models in the simulation model library can be flexibly configured, so that the cost of the full-element butt joint test verification of the Beidou whole system is greatly reduced, for example, in order to simulate the complete Beidou third constellation state of 30 satellites, the method can be realized by matching 26 software satellite models and 4 satellite hardware simulators, and 30 satellite hardware simulators do not need to be developed; 4) the software model in the simulation model library has the capability of flexible expansion besides the state of the Beidou engineering system, key parameters and related algorithms of all subsystem models can be configured and loaded according to test verification requirements, the verification requirement of upgrading the Beidou engineering system technology can be directly supported, the engineering representativeness is achieved, the verification cost is greatly reduced, and the flexibility of design verification is improved.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 is a schematic flow chart of a construction method of a Beidou global system software and hardware collaborative simulation test verification system in the embodiment of the invention;
FIG. 2 is a schematic structural diagram of a Beidou global system software and hardware collaborative simulation test verification system in the embodiment of the invention;
fig. 3 is a schematic structural diagram of a software and hardware co-simulation control system in an embodiment of the present invention.
Detailed Description
Fig. 2 shows a software and hardware collaborative simulation test verification system of the beidou global system in an embodiment of the invention. The system comprises a simulation model library 1, a simulation scheduling operation module 2, a scene configuration module 3, a monitoring and display module 4, a performance evaluation module 5, a software and hardware collaborative simulation control system 6, an environment simulation system 7, a hardware simulation system, an external interface system 8 and a time-frequency subsystem 9.
Specifically, the simulation model library 1 mainly realizes various subsystem models and necessary mathematical simulation related models corresponding to the Beidou engineering system.
Preferably, the simulation model library includes the following modules but is not limited to:
1) the engineering corresponding node model is used for simulating the state of an engineering system and mainly comprises the following steps: the system comprises a satellite node model, an operation control node model, a measurement control node model, an inter-satellite link operation and management node model and a user node model. The external interfaces of the software models of all the engineering systems are defined according to the interface control files of the engineering, internal key data information can be output and stored, key parameters can also be configured through a simulation platform, relevant algorithms can be loaded according to the test verification requirements, and the processing flow of the real engineering system is provided;
2) the mathematical simulation model is mainly used for generating various data related to observation data in a simulation mode, and comprises the following steps: satellite orbit and clock error data, channel data, inter-satellite observation data, ground observation data and the like.
Specifically, the simulation scheduling operation module 2 mainly obtains a designed test scenario, calls a relevant model and data, drives the system to operate according to a relevant time sequence, and simulates the whole operation process of the navigation system.
Preferably, the simulation scheduling operation module includes but is not limited to the following modules:
1) a mission planning and scheduling engine (not shown). The method mainly comprises the following steps: inter-satellite link planning and scheduling, uplink injection planning and scheduling, inter-station control management, laser ranging planning, and the like.
2) A time engine (not shown). The time advancing in the simulation process is mainly completed, and the minimum time granularity (nanosecond level) of the Beidou system can be used for carrying out simulation scheduling.
3) Running an engine (not shown). The method mainly completes the operation scheduling of simulation and uniformly schedules various events to operate.
It should be noted that the above examples are only for better illustrating the technical solutions of the present invention, and not for limiting the present invention, and those skilled in the art should understand that any simulation scheduling operation module according to the present invention has a high simulation speed-up ratio, so as to ensure operations of the same flow, and the time consumption of software is shorter than that of a hardware simulator, so as to ensure that the sequential logic of the processing flows of the software and hardware cooperation is the correct technology, and all the technologies are included in the scope of the present invention.
Specifically, the scene configuration module 3 develops a script according to the test planning task, the system simulation mode and the process, maps the script into the start and stop of the simulation scheduling operation module and various model parameters or attributes, and loads the initial operation.
Specifically, the monitoring and display module 4 mainly displays the simulation scene configuration, the operation state of the control simulation, the situation information, the analysis result of the test data, and the like.
Preferably, the monitoring and display module includes but is not limited to the following modules:
1) a simulation scenario configuration (not shown). According to the target of the test task, configuring satellite constellation attributes, ground station attributes, simulation duration, user attributes and the like;
2) situation display (not shown). The progress of simulation operation, key log information in the simulation process and the like can be displayed;
3) the operating state is displayed (not shown). Displaying the running track of the satellite, the position of a ground station, the real-time link establishment relation of links between satellites, the real-time link establishment relation of the satellite and the ground, and the like;
4) the evaluation results were analyzed (not shown). The results for different test requirements are displayed, for example, in the positioning test, the main evaluation indexes are user equivalent ranging error UERE, accuracy factor DOP and the like, and in the global short message test, the main evaluation indexes are the station access capacity (times/hour), average station access delay, packet loss rate and the like.
Specifically, the performance evaluation module 5 reads the test data already stored by the simulation platform after the simulation is finished, and performs test evaluation.
Preferably, the performance evaluation module includes but is not limited to the following:
1) the measurement-type service test analysis and evaluation mainly carries out simulation analysis of a signal layer, and mainly comprises the following steps: positioning time service, precision positioning, autonomous navigation, satellite-satellite combined orbit determination and the like;
2) the data transmission service test analysis and evaluation mainly carries out simulation analysis of an information layer, and mainly comprises the following steps: operation control upper note, remote measurement return, global short message and the like.
Specifically, the software and hardware collaborative simulation control system 6 is mainly used for realizing the interaction between software information and hardware signals. The software and hardware cooperative simulation control system mainly completes the control of software simulation and hardware simulation, the conversion of information and signals, the processing and management of data to be sent, the verification and storage of received data and the like.
Specifically, environmental simulation system 7 mainly realizes the simulation to big dipper navigation signal transmission characteristic, and then can simulate big dipper system's measurement type experiment, include: positioning time service, satellite-ground joint orbit determination, autonomous navigation and the like.
Specifically, the hardware simulation system and the external interface system 8 are mainly a hardware simulation subsystem corresponding to the engineering subsystem and provide engineering docking capability to the outside.
Preferably, the hardware simulation system and the external interface system include the following modules but are not limited to:
1) and the hardware simulation subsystem corresponds to the engineering subsystem. The hardware simulation subsystem can be a hardware copy of a real engineering system, and can also be a hardware simulation system with the same engineering function. The system mainly comprises a hardware satellite simulator, a hardware measurement and control system simulator, a hardware operation and control system simulator, a hardware inter-satellite link operation management system simulator, a user terminal and the like;
2) an external interface system. The external interface system is used for an external engineering interface module which is in butt joint with a real engineering system, so that tasks such as real satellite butt joint test, simulation exercise of a ground operation control system and the like are realized.
Specifically, the time-frequency subsystem 9 is mainly used for providing time and frequency references of all subsystems of the Beidou software and hardware collaborative verification system, and ensuring that the processes of the software system and the hardware system are uniformly and synchronously adjusted.
It should be noted that in this embodiment, the output of the hardware device is an analog signal, and the output of the software simulation unit is digital information, which needs to be converted in the software and hardware collaborative simulation control system, so as to achieve the goal of software and hardware collaborative work.
Fig. 3 is a schematic structural diagram of a software and hardware collaborative simulation control system in an embodiment of the present invention, including a data processing unit 101, a signal-to-information unit 102, an information-to-signal unit 103, and a high-speed switch 104.
Specifically, the data processing unit 101 mainly implements shaping of data sent by the software system, and provides a data stream according to a data format required by the information-to-signal unit; and receiving the data stream from the signal-to-information unit, and sending the data stream to the software system after repackaging.
Specifically, the signal-to-information unit 102 mainly receives an analog signal from a hardware simulation system, and through down-conversion, preprocessing, resolving and other operations of the signal, realizes conversion from the analog signal to digital information, and sends the digital information to the data processing unit for processing in the form of an information stream.
Specifically, the information-to-signal unit 103 mainly receives the information stream from the data processing unit, and performs operations such as encoding, signal generation, and up-conversion to convert digital information into analog signals, and sends the analog signals to the environmental simulation system for processing.
Specifically, the high-speed switch 104 mainly uses a commercial switching device with high throughput and low latency, and minimizes the delay of the data exchanged between the software and hardware collaborative simulation control system and the software simulation server, so as to achieve the purpose of correct sequence logic of the software and hardware collaborative processing flow.
As shown in fig. 1, a Beidou global system software and hardware collaborative simulation test verification method in the embodiment of the present invention includes the following steps:
s1, constructing a software simulation unit for Beidou software and hardware collaborative verification.
Specifically, the software simulation unit includes:
1) each subsystem model of the Beidou system. The subsystem model has the processing flow of a real engineering system, and the external interface definition should follow the interface control file definition of the engineering;
2) and a simulation scheduling operation module. The simulation scheduling operation module has a high simulation acceleration ratio, so that the operation of the same flow is ensured, the software time consumption is shorter than that of a hardware simulator, and the sequential logic of the processing flow of software and hardware cooperation is ensured to be correct;
3) and a scene configuration module. The scene configuration module is mainly used for mapping a task script, a system simulation mode, a process development script and an operation scene development script into start and stop of a simulation operation scheduling engine and various model parameters or attributes according to the autonomous navigation test and loading initial operation;
4) and a monitoring and displaying module. The monitoring and displaying module displays the configuration of a simulation scene, the running state of control simulation, situation information, the analysis result of autonomous navigation test data and the like;
5) and a performance evaluation module. And after the simulation is finished, the performance evaluation module reads the test data stored by the simulation platform to perform test evaluation.
S2, constructing a hardware simulation unit for Beidou software and hardware collaborative verification.
Specifically, the hardware simulation unit includes:
1) hardware simulation systems for various engineering subsystems. The hardware simulation system comprises a hardware satellite simulator, a hardware measurement and control system simulator, a hardware operation and control system simulator, a hardware inter-satellite link operation management system simulator, a user terminal and the like;
2) and an external engineering interface module. And the external engineering interface module is used for being in butt joint with the real engineering system.
It should be noted that the above examples are only for better illustrating the technical solutions of the present invention, and not for limiting the present invention, and those skilled in the art should understand that any hardware simulation subsystem according to the present invention may be a hardware copy of a real engineering system, and may also be a hardware simulation system having the same function as the engineering system, and all should be included in the scope of the present invention.
And S3, constructing an environment simulation subsystem.
Specifically, environmental simulation divides the system mainly to realize the simulation to big dipper navigation signal transmission characteristic, and then can simulate big dipper system's measurement type experiment, include: positioning time service, satellite-ground joint orbit determination, autonomous navigation and the like.
And S4, constructing a time-frequency subsystem.
Specifically, the time-frequency subsystem is mainly used for providing time and frequency references of all subsystems of the Beidou software and hardware collaborative verification system and ensuring that the processes of a software system and a hardware system are uniformly and synchronously adjusted.
And S5, constructing a software and hardware collaborative simulation control system.
Specifically, the software and hardware collaborative simulation control system is used for realizing the interaction of software information and hardware signals. The software and hardware collaborative simulation control system mainly completes the control of software simulation and hardware simulation, the conversion of information and signals, the processing and management of data to be sent, the verification and storage of received data and the like.
And in S6, operating a test verification system.
Specifically, the operation test verification system is mainly used for configuring a test scene according to the purpose of test verification, starting simulation, and performing test evaluation after the simulation is finished.
In the prior art, a test verification method of a Beidou navigation system is mostly pure software modeling simulation, lacks of representativeness of a real system and cannot be in butt joint test verification with a hardware engineering system; or the single test device is only used for factory test verification of the engineering satellite and does not perform test verification on the complete state of the Beidou navigation system; or the soft and hard cooperative verification aiming at the single system function lacks the verification of the whole-element and whole-flow whole function of the system. According to the scheme of the embodiment, the hardware simulator reproduces the functions and the states of the real engineering system; the software model in the simulation model library has the processing flow of a real engineering system, the external interface definition of the model is consistent with the interface control file definition of the engineering, the data format of software and hardware cooperative interaction is ensured to be unified with the engineering interface control file, the test verification system can be ensured to be in butt joint with the real engineering system, the number and the state of the satellite models in the simulation model library can be flexibly configured, and the cost of the Beidou whole-system full-element butt joint test verification is greatly reduced.
It is noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, the various means of the invention may be implemented using Application Specific Integrated Circuits (ASICs) or any other similar hardware devices. In one embodiment, the software program of the present invention may be executed by a processor to implement the above steps or functions. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (4)
1. The utility model provides a big dipper global system soft or hard is emulation test verification system in coordination which characterized in that includes:
the software simulation unit comprises a simulation model library, a simulation scheduling operation module, a scene configuration module, a monitoring and display module and a performance evaluation module;
the simulation model base is various subsystems corresponding to the Beidou engineering system;
the simulation dispatching operation module is used for acquiring a designed test scenario, calling a relevant model and data, driving a system to operate according to a relevant time sequence and simulating the whole operation process of the navigation system;
the scene configuration module is used for developing a script according to a test planning task, a system simulation mode and a process, mapping the script into start and stop of a simulation scheduling operation module and various model parameters or attributes, and loading initial operation;
the monitoring and displaying module is used for displaying simulation scene configuration, operation state of control simulation, situation information and analysis results of test data;
the performance evaluation module is used for reading the test data stored by the simulation platform after the simulation is finished and carrying out test evaluation;
the hardware simulation unit comprises a hardware simulation system and an external interface system, wherein the hardware simulation system is used for reproducing the functions and the states of a real engineering system; the external interface system is used for providing engineering docking capability to the outside;
the software and hardware collaborative simulation control system is used for realizing the interaction of software information and hardware signals;
the environment simulation subsystem is used for simulating the transmission characteristic of the Beidou navigation signal;
and the time-frequency subsystem is used for providing time and frequency reference of each subsystem of the Beidou software-hardware collaborative verification system.
2. The Beidou global system software and hardware collaborative simulation test verification system according to claim 1, characterized in that: the simulation model library comprises a satellite node model, an operation and control node model, a measurement and control node model, an inter-satellite link operation and management node model, a user node model and a mathematical simulation model.
3. The Beidou global system software and hardware collaborative simulation test verification system according to claim 1, characterized in that: the hardware simulation system comprises a hardware satellite simulator, a hardware measurement and control system simulator, a hardware operation and control system simulator, a hardware inter-satellite link operation management system simulator and a user terminal.
4. The Beidou global system software and hardware collaborative simulation test verification system according to claim 1, characterized in that: the software and hardware collaborative simulation control system comprises a data processing unit, a signal-to-information unit and an information-to-signal unit;
the data processing unit is used for shaping the data sent by the software system and providing data streams according to the data format required by the information-to-signal unit; receiving the data stream from the signal-to-information unit, repackaging the data stream and sending the repackaged data stream to the software simulation unit; the signal-to-information unit is used for receiving the analog signal from the hardware simulation unit, converting the analog signal into a digital signal and sending the digital signal to the data processing unit; the information signal conversion unit is used for receiving the information stream from the data processing unit, converting digital information into analog signals through operations such as coding, signal generation, up-conversion and the like, and sending the signals to the environment simulation system for processing.
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