CN111291504B - Global satellite navigation simulation test system and establishment method - Google Patents
Global satellite navigation simulation test system and establishment method Download PDFInfo
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Abstract
The invention discloses a method for establishing a global satellite navigation simulation test system, which comprises the following steps: performing model modeling on each subsystem corresponding to the engineering system to form a subsystem model with a real processing flow of the engineering system; establishing a simulation engine for the Beidou navigation system according to the requirement of simulation precision; establishing a simulation platform; and establishing a test task system. The system comprises a node model subsystem, a mathematical simulation subsystem, a test task subsystem, a simulation operation scheduling engine, an evaluation analysis subsystem and a monitoring display subsystem. According to the scheme of the invention, the state of the Beidou engineering system can be approached to the maximum extent, so that the credibility of a simulation test result is ensured, and the method can be flexibly used for tasks such as key technology test verification and optimization of the Beidou engineering system, engineering satellite flow inspection and optimization and the like.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a global satellite navigation simulation test system and an establishing method thereof.
Background
In 6 months in 2020, the Beidou navigation system III completes global networking. 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. The original satellite detection equipment can only verify the state of a single link of a satellite, but cannot verify the functional correctness of the satellite in the state of a complete system. In order to reduce the risk of Beidou engineering construction, the key technology, the key design of a satellite and other items of the Beidou system need to be verified in a ground test, faults are timely found on the ground, the reliability of the system is improved, and the performance of the system is thoroughly studied. This requires the construction of a simulation verification tool with an engineering status representative of the beidou system.
Through the search of the prior art, the invention name of Chinese invention patent (application publication number: CN 104915482A) is a satellite data receiving simulation analysis platform, and the invention mainly aims to solve the problem of simulating satellite data receiving and transmitting simulation. The simulation analysis platform described by the invention mainly comprises a component development module, a model assembly module, a scenario editing module, a management control module, a simulation operation engine, a two-dimensional scene module, a three-dimensional scene module, a business process display module, a transmission link analysis module, an analysis hiring module and the like, and the transmission performance of satellite data is simulated and analyzed based on a modularized model.
However, the invention name of the invention of China patent (application publication No. CN 104915482A) is a satellite data receiving simulation analysis platform, only a general satellite data simulation method is provided, and the characteristics of the Beidou No. three system, namely a data transmission service and an inter-satellite and inter-satellite measurement service are not considered, so that the platform cannot be used for the simulation verification of the Beidou No. three.
The invention discloses a Chinese patent (application publication number: CN 107203683A) and discloses a method for establishing a satellite navigation system-level open source simulation system, which mainly aims to establish an open source satellite navigation system-level simulation architecture, and expand the existing structure of view and logic into the architecture of kernel, bus interface and expansion component, so as to realize the simulation of the Beidou system.
However, the invention name of the invention of the Chinese invention patent (application publication number: CN 107203683A) is the establishment method of the satellite navigation system-level open source simulation system, more attention is paid to how a third party participates in simulation, and a method for how a Beidou engineering system model approaches to an engineering state and a verification method and a structure of Beidou system core service are not provided.
In summary, the current satellite navigation system simulation method is a simulation platform (such as an STK tool) which simulates the orbital variation characteristics, or is a simulation aiming at the pure data receiving and sending, or is an open source satellite navigation architecture design considering the third party access, or is a simplified satellite navigation simulation platform which is set up for academic research, and lacks a system level simulation method and system which have flexibility and engineering representativeness aiming at the current Beidou actual engineering state.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a global satellite navigation simulation test system and an establishment method thereof, which have flexibility and engineering representativeness aiming at the current Beidou actual engineering state.
According to one aspect of the invention, a method for establishing a global satellite navigation simulation test system comprises the following steps:
s1, performing model modeling on each subsystem corresponding to the engineering system to form a subsystem model with a processing flow of a real engineering system, defining an external interface of the subsystem model according to an interface control file of the engineering, wherein the data format definition among the models is the same as the interface control file definition of the engineering; according to the requirement of system flexibility, developing the subsystem model has flexibility, compared with an engineering system, the subsystem model outputs and stores internal key data information including information such as algorithm execution state, cache occupation state and process progress, the parameter configuration of the subsystem model is customizable, and the algorithm configuration of the subsystem model is loaded according to the requirement of test verification;
s2, establishing a simulation engine for the Beidou navigation system according to the simulation precision requirement, wherein the simulation engine can perform simulation scheduling according to the minimum time granularity (nanosecond level) of the Beidou system;
s3, establishing a simulation platform, wherein the simulation platform meets the requirement of friendly man-machine interaction, configuring a simulation scene, controlling the operation of simulation, displaying situation information and an analysis result through the simulation platform, configuring parameters of the subsystem model through the simulation platform,
s4, establishing a test task system to support various measurement tests and data transmission tests of the Beidou system, wherein the test task system comprises a node model subsystem, a mathematical simulation subsystem, a test task subsystem, a simulation operation scheduling engine, an evaluation analysis subsystem and a monitoring display subsystem.
According to another aspect of the present invention, there is provided a global satellite navigation simulation test system, comprising a node model subsystem, a mathematical simulation subsystem, a test task subsystem, a simulation operation scheduling engine, an evaluation analysis subsystem, and a monitoring display subsystem:
wherein, node model divides the various branch systems that big dipper engineering system corresponds that the system has been modeled, include: the system comprises a satellite system model, an operation and control system model, a measurement and control system model, an inter-satellite link operation and management system model and a user model, wherein external interfaces of the models are defined according to an interface control file of a project, 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 processing flow of a real engineering system is provided;
the mathematical simulation subsystem 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 test task subsystem 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 a simulation operation scheduling engine and various model parameters or attributes, and loads initial operation;
the simulation operation scheduling engine mainly acquires a designed test scenario, calls a relevant model and data, drives a system to operate according to a relevant time sequence, and simulates the whole operation process of a navigation system, and in addition, the simulation operation scheduling engine carries out simulation scheduling according to the minimum time granularity (nanosecond level) of the Beidou system;
the evaluation and analysis subsystem is mainly configured according to a failed test task, after the simulation is finished, test data stored by the simulation platform is read, test evaluation is carried out, evaluation indexes are determined according to the test task, for example, in a positioning test, the main evaluation indexes are user equivalent ranging error UERE, accuracy factor DOP and the like, and in a global short message test, the main evaluation indexes are access station capacity (times/hour), average access station delay, packet loss rate and the like;
the monitoring and displaying subsystem is mainly used for displaying simulation scene configuration, controlling simulation running state, situation information, analysis results and the like, and further displaying the running track of the satellite, the position of the ground station, the situation of the inter-satellite link and the like in a two-dimensional or three-dimensional mode in the situation display.
Compared with the prior art, the invention has the following advantages: 1) the subsystem model 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 existing state of the Beidou engineering system is reproduced to the maximum extent, the credibility of the test result of the simulation system is further ensured, and the subsystem model can be used for verifying and optimizing the key technology test of the Beidou engineering system and verifying and optimizing the engineering satellite flow; 2) the simulation system has the capability of flexible expansion besides the state of the Beidou engineering system, all subsystem models can output and store internal key data information so as to facilitate data analysis, and in addition, key parameters and related algorithms of the system can be configured and loaded according to test verification requirements, so that the verification requirements of the Beidou engineering system technology upgrading can be directly supported, the simulation system has engineering representativeness, the verification cost is greatly reduced, and the design verification flexibility is improved; 3) the test support capability of the simulation system covers all core services of the prior Beidou engineering system, including measurement services, such as positioning time service, precision positioning, autonomous navigation, satellite-satellite combined orbit determination and the like; data transmission services such as operation control uploading, remote measurement returning, global short messages and the like, and the monitoring and displaying subsystem can comprehensively display test configuration, test situation and test results and has good man-machine interaction capability.
Drawings
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 illustrating a method for establishing a GNSS simulation test system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a global satellite navigation simulation test system according to an embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
Fig. 1 is a method for establishing a global satellite navigation simulation test system in an embodiment of the present invention, including the following steps:
s1, establishing subsystem models corresponding to all engineering systems of the Beidou system.
Specifically, each subsystem model of the beidou system should include but is not limited to:
1) the processing flow of the real engineering system can be realized according to the standard processing flow specified in the interface control file, and the core key engineering software in the real system can be transplanted into the subsystem model, so that the processing flow of the system model is ensured to represent the state of the real system;
2) the definition of an external interface is defined according to an interface control file of a project, the definition of data interfaces among different subsystems is crucial to simulation verification, and in order to ensure the consistency of a system model interface and the project system, the definition of a data format among models is required to be the same as the definition of the interface control file of the project;
3) compared with the real engineering, the simulation system has strong flexibility, and each model can flexibly output various state information, key value execution in the middle of the algorithm, simulation log and other information, particularly for the satellite system, because of the limitation of telemetering resources, the real engineering satellite can only transmit the prior telemetering data to the ground, but the satellite model of the simulation system can output all the middle data which are concerned in evaluation in the simulation process, thereby being convenient for data analysis;
4) the key parameters can be configured through the simulation platform, which aims to realize visual configuration, so that friendly man-machine interaction is established, and the error probability in the complicated file configuration process is reduced;
5) the related algorithms can be flexibly loaded according to test verification requirements, core key algorithms in the model can be conveniently verified in an external loading mode without a new technology which is actually applied in engineering, the realization risk is reduced, and various different schemes can be verified and compared, so that the purpose of scheme optimization is realized.
And S2, establishing a simulation engine for the Beidou navigation system.
Specifically, a simulation engine calls a relevant model and data, a driving system operates according to a relevant time sequence, a navigation system is simulated and operated in the whole process, and the Beidou system can carry out simulation scheduling according to the minimum time granularity (nanosecond level);
and S3, establishing a simulation platform.
Specifically, the developed simulation platform can configure simulation scenes in an interfacing manner, control the operation of simulation, display situation information and analysis results, and further, the situation display can display the running track of a satellite, the position of a ground station, the situation of an inter-satellite link and the like in a two-dimensional or three-dimensional manner;
and S4, establishing a test task system suitable for various service types of the Beidou system.
Specifically, the test task system should be capable of supporting various measurement tests and data transmission tests of the Beidou system, including measurement services such as positioning time service, precision positioning, autonomous navigation, satellite-ground combined orbit determination and the like; and data transmission services, such as operation control uploading, telemetering return, global short messages and the like.
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 node modeling method close to the real engineering system process flow according to the present invention should be included in the scope of the present invention.
In the prior art, the simulation modeling method of the Beidou navigation system is only limited on the basis of general software simulation modeling construction, and the actual representativeness of a Beidou system model is far from that of a real system, so that the existing simplified Beidou simulation system has extremely limited functions. According to the scheme of the embodiment, the establishment of the node model is close to the state of a real engineering system to the maximum extent, the interfaces of all nodes meet the definition of the interface control file of the existing engineering, and even the key node processing codes reuse real software in the engineering, so that the consistency of the simulation system and the real engineering system is greatly improved, the problems found by the simulation system are the problems existing in the engineering, and the related test results are the performance state of the engineering.
Fig. 2 is a schematic structural diagram of a global satellite navigation simulation test system according to an embodiment of the present invention. The system according to the embodiment comprises a test task subsystem 1, an evaluation analysis subsystem 2, a monitoring display subsystem 3, a simulation operation scheduling engine 4, a mathematical simulation subsystem 5, a node model subsystem 6 and a service network 7.
Specifically, the test task subsystem 1 is mainly mapped into start and stop of a simulation operation scheduling engine, various model parameters or attributes according to a test planning task script, a system simulation mode, a process development script and an operation scene development script, and loads initial operation.
Preferably, the test task subsystem includes the following modules but is not limited to:
1) simulation scene development for realizing the commonly used operation scene of Beidou navigation, mainly comprises: a system conventional working scene, a partial node failure scene, a satellite network construction scene and the like;
2) the test planning task development is used for a test project concerned about the Beidou engineering system and mainly comprises the following steps: a satellite-ground integrated system control and management technology test, an operation control mode verification test, a multi-satellite and multi-station management scheduling test, a space-satellite-ground comprehensive signal information flow verification test and the like;
3) working mode and flow development mainly simulate to beidou system's working mode, mainly include: a satellite-ground joint orbit determination working mode, a semi-autonomous navigation running mode based on an anchoring station, an autonomous navigation working mode and the like;
4) the integrated control and configuration system is mainly used for unifying configured simulation scenes, working modes and test planning tasks and providing simulation related configuration data for a simulation platform.
Specifically, the evaluation analysis subsystem 2 is configured according to the failed test task, after the simulation is finished, the test data stored in the simulation platform is read for test evaluation, and the evaluation index is determined according to the test task.
Preferably, the evaluation and analysis subsystem includes the following modules but is not limited to:
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 monitoring display subsystem 3 mainly displays the configuration of the simulation scene, the operation state of the control simulation, situation information, the analysis result, and the like.
Preferably, the monitoring display subsystem includes the following modules but is not limited to:
1) and (5) simulating scene configuration. According to the target of the test task, configuring satellite constellation attributes, ground station attributes, simulation duration, user attributes and the like;
2) and (5) displaying the situation. The progress of simulation operation, key log information in the simulation process and the like can be displayed;
3) and displaying the running state. 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) and analyzing the evaluation result. 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 simulation operation scheduling engine 4 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 run scheduling engine includes the following modules but is not limited to:
1) a mission planning and scheduling engine. 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. 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) The engine is run. The method mainly completes the operation scheduling of simulation and uniformly schedules various events to operate.
Specifically, the mathematical simulation subsystem 5 mainly simulates and generates various data related to the observation data, including satellite orbit and clock error data, channel data, inter-satellite observation data, ground observation data, and the like.
Preferably, the mathematical simulation subsystem includes, but is not limited to:
1) a constellation simulation model. The orbit simulation of a navigation satellite constellation is mainly completed, and the influence of various factors on the orbit is considered in the simulation process, such as: solar radiation pressure, solid tidal effects, etc.
2) And (5) simulating a user track. The simulation of the movement tracks of different types of user terminals is mainly completed.
3) And (5) simulating the propagation error. The method mainly completes real-time dynamic simulation of channels among satellites, satellites and stations, and comprises the following steps: multipath, ionospheric effects, tropospheric effects, etc.
4) And (5) pseudo-range model simulation. And completing a characteristic model of the pseudo range of the satellite so as to completely simulate the change of the user positioning.
Specifically, the node model subsystem 6 models various subsystems corresponding to the Beidou engineering system, external interfaces of the models are defined according to interface control files 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 processing flow of the real engineering system is provided.
Preferably, the node model subsystem 6 includes the following modules but is not limited to:
1) a satellite system model. The system comprises a satellite-ground load module, an inter-satellite load model, a comprehensive task processing unit and the like, wherein the flow of the key single machines is consistent with that of an actual engineering system, and the engineering software of a real satellite can be transplanted;
2) and (5) operating and controlling a system model. The device comprises a time synchronization node module, an RDSS signal transceiving processing module, a signal detection receiving module and the like.
3) And (5) operating a management system model by the inter-satellite link. The system comprises an inter-satellite link building operation management center module and a Ka management station node module.
4) And (5) measuring and controlling a system model. The remote control system mainly comprises a remote measurement function node module and a remote control upper note node module.
5) A user system model. According to the functional division, the method mainly comprises an RD service type user model and an RN service type user model.
Specifically, the service network 7 describes the connection relationship of different subsystems of the simulation system, and for a centralized simulation architecture, all the subsystems are interconnected through an object sharing agent interface; for a distributed simulation architecture, simulation subsystems deployed on different hardware carry out data interaction through a network.
In conclusion, the invention has the following advantages: 1) the subsystem model 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 existing state of the Beidou engineering system is reproduced to the maximum extent, the credibility of the test result of the simulation system is further ensured, and the subsystem model can be used for verifying and optimizing the key technology test of the Beidou engineering system and verifying and optimizing the engineering satellite flow; 2) the simulation system has the capability of flexible expansion besides the state of the Beidou engineering system, all subsystem models can output and store internal key data information so as to facilitate data analysis, and in addition, key parameters and related algorithms of the system can be configured and loaded according to test verification requirements, so that the verification requirements of the Beidou engineering system technology upgrading can be directly supported, the simulation system has engineering representativeness, the verification cost is greatly reduced, and the design verification flexibility is improved; 3) the test support capability of the simulation system covers all core services of the prior Beidou engineering system, including measurement services, such as positioning time service, precision positioning, autonomous navigation, satellite-satellite combined orbit determination and the like; data transmission services such as operation control uploading, remote measurement returning, global short messages and the like, and the monitoring and displaying subsystem can comprehensively display test configuration, test situation and test results and has good man-machine interaction capability.
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 steps or functions described above. 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 (10)
1. A method for establishing a global satellite navigation simulation test system is characterized by comprising the following steps:
s1, performing model modeling on each subsystem corresponding to the engineering system to form a subsystem model with a processing flow of a real engineering system, defining an external interface of the subsystem model according to an interface control file of the engineering, defining a data format between the subsystem models as same as the interface control file of the engineering, outputting and storing internal key data information by the subsystem model, configuring parameters of the subsystem model to be self-defined, and configuring an algorithm of the subsystem model to be loaded according to a test verification requirement;
s2, establishing a simulation engine for the Beidou navigation system;
s3, establishing a simulation platform, wherein the simulation platform is used for configuring a simulation scene, controlling the operation of simulation, and displaying situation information, an analysis result and parameters of a configuration subsystem model;
and S4, establishing a test task system to support various measurement tests and data transmission tests of the Beidou system.
2. The global satellite navigation simulation test system establishment method according to claim 1, wherein: and in the step S2, the simulation engine operates according to the relevant time sequence, simulates the whole operation process of the navigation system, and carries out simulation scheduling according to the minimum time granularity of the Beidou system.
3. The global satellite navigation simulation test system establishment method according to claim 1, wherein: and in the step S4, the test task system comprises a node model subsystem, a mathematical simulation subsystem, a test task subsystem, a simulation operation scheduling engine, an evaluation analysis subsystem and a monitoring display subsystem.
4. A global satellite navigation simulation test system is characterized in that: comprises that
The test task subsystem 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 a simulation operation scheduling engine and various model parameters or attributes, and loads initial operation;
the Beidou navigation simulation test system comprises an evaluation analysis subsystem, a data processing subsystem and a data processing subsystem, wherein the evaluation analysis subsystem reads test data and performs test evaluation after a Beidou navigation simulation test is finished according to different test task configurations;
the monitoring and displaying subsystem is used for displaying simulation scene configuration, controlling the running state of simulation, situation information and analysis results;
the simulation operation scheduling engine acquires a designed test scenario, calls a relevant model and data, drives a system to operate according to a relevant time sequence, simulates the whole operation process of a navigation system, and performs simulation scheduling according to the minimum time granularity of the Beidou system;
the system comprises a mathematical simulation subsystem, a data acquisition subsystem and a data processing subsystem, wherein the mathematical simulation subsystem simulates and generates data related to observation data, including satellite orbit and clock error data, channel data, inter-satellite observation data and ground observation data;
the node model subsystem is a plurality of subsystems corresponding to the Beidou engineering system and comprises a satellite system model, an operation and control system model, a measurement and control system model, an inter-satellite link operation and management system model and a user model;
a service network for connecting different systems and engines.
5. The global satellite navigation simulation test system of claim 4, wherein: the test task subsystem comprises
The simulation scene development module is used for realizing a common operation scene of the Beidou navigation system;
the test planning task development module is used for realizing key test projects of the Beidou engineering system;
the working mode and flow development module is used for simulating the working mode of the Beidou system;
and the integrated control and configuration module is used for unifying the configured simulation scene, the working mode and the test planning task and providing simulation related configuration data for the simulation platform.
6. The global satellite navigation simulation test system of claim 4, wherein: the evaluation analysis subsystem includes
The measurement-type service test analysis and evaluation module is used for carrying out simulation analysis on a signal layer;
and the data transmission service test analysis and evaluation module is used for performing simulation analysis on the information layer.
7. The global satellite navigation simulation test system of claim 4, wherein: the simulation operation scheduling engine comprises a task planning and scheduling engine, a time engine and an operation engine.
8. The global satellite navigation simulation test system of claim 4, wherein: the mathematical simulation subsystem comprises
The constellation simulation model is used for simulating the orbit of the navigation satellite constellation;
the user track simulation module is used for simulating the moving tracks of different types of user terminals;
the propagation error simulation module is used for simulating the real-time dynamics of channels between the satellite and the ground, between the satellites and between the stations;
and the pseudo-range model simulation module is used for simulating the change of the user positioning.
9. The global satellite navigation simulation test system of claim 4, wherein: the external interfaces of all models in the node model subsystem are defined according to an interface control file of a project, internal key data information can be output and stored, key parameters can be configured through a simulation platform, relevant algorithms can be loaded according to test verification requirements, and a processing flow of a real project system is provided.
10. The global satellite navigation simulation test system of claim 4, wherein: for a centralized simulation architecture, the service network realizes interconnection of all subsystems through an object sharing agent interface; for a distributed simulation architecture, the service network performs data interaction on simulation subsystems deployed on different hardware through a network.
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