CN111208746B - A software and hardware collaborative simulation test verification system for Beidou global system - Google Patents

Abstract

The invention provides a Beidou global system software and hardware cooperative simulation test verification system, which includes a software simulation unit, a hardware simulation unit, a software and hardware cooperative simulation control system, an environment simulation system and a time-frequency division system. The software simulation unit includes 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 emulation unit includes a hardware emulation system and an external interface system. Also provided is a method for establishing a Beidou global system software and hardware co-simulation test verification system, comprising the following steps: building a software simulation part, building a hardware simulation part, building an environment simulation sub-system, building a time-frequency division system, and building a software-hardware co-simulation control system; carry out test verification. The invention can approximate the state of the Beidou engineering system to the greatest extent through the hardware simulator and the software model, the number and state of the test models can be flexibly configured, and the docking and verification with the real Beidou engineering system can be performed.

Description

A software and hardware collaborative simulation test verification system for Beidou global system

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 its establishment method.

Background technique

Compared with the previous two generations of Beidou navigation satellites, the latest Beidou-3 navigation system adopts new technologies such as inter-satellite links, global short messages, and autonomous navigation. The interconnection of the Beidou navigation system is more complex, from the simple interconnection between satellites and ground stations of Beidou-1 and Beidou-2 to the interconnection between satellites and satellites, satellites and ground stations of Beidou-3, which greatly increases the system. complexity. In order to reduce the risk of Beidou engineering construction, it is necessary to build a complete Beidou ground test verification system on the ground, so as to conduct key technology verification, recurrence and investigation of in-orbit anomalies, and real-satellite docking tests on the ground, and then provide tests for the project. Verification means to improve the reliability and maintainability of the system.

After searching the prior art, the Chinese invention patent (application publication number: CN 108363491 A), the name of the invention is the ground virtual verification system and method for spacecraft on-orbit maintenance, and its main purpose is to solve the problem of spacecraft on-orbit maintenance. The spacecraft on-orbit maintenance ground virtual verification system described in the present invention is composed of a human-computer interaction system, a virtual scene system, an external display system, and a maintenance evaluation system. An on-orbit maintenance plan can be formulated, and a human body in the maintenance scene can be constructed based on this. Model, and then display the maintenance scene to the participating astronauts through the human interaction device, complete the virtual on-orbit operation, and display the virtual maintenance process.

However, the Chinese invention patent (application publication number: CN 108363491 A), titled "Spacecraft On-orbit Maintenance Ground Virtual Verification System and Method", only provides a ground maintenance system and method for manned spacecraft, and cannot directly It is suitable for the ground test verification of Beidou system.

Chinese invention patent (application publication number: CN 106896379 A), the name of the invention is the virtual and real combination test verification method of the global satellite navigation system inter-satellite link, and its main purpose is to solve the problem of the inter-satellite link verification of the real satellite of the satellite navigation system. The invention completes the verification of the inter-satellite link networking function and performance of the satellite navigation system by establishing a physical virtual star and an on-orbit satellite to establish an inter-satellite link to form a virtual-real combined inter-satellite link network operating in the entire network.

However, the Chinese invention patent (application publication number: CN 106896379 A), titled “Experimental Verification Method for Combination of Virtual and Real GNSS Inter-satellite Links”, only provides a single method for GNSS inter-satellite links. The functional test and verification method lacks a comprehensive consideration of the complete system, so it is impossible to conduct ground test verification of all elements, full processes and functions of the entire satellite navigation system, and its application scope is limited.

To sum up, the current test and verification methods for the Beidou system are either pure software modeling and simulation, lacking the representation of the real system; or only for the docking verification of engineering satellites, lacking the verification of the complete system state; or only for a single system The software and hardware collaborative verification of functions lacks the verification of all elements, processes and functions of the system. Therefore, it is urgent to establish a software-hardware collaborative test verification system with the current BeiDou actual engineering status, so as to meet the requirements of key technology verification, recurrence and troubleshooting of on-orbit anomalies, and real-satellite docking tests.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the purpose of the present invention is to provide a Beidou global system software and hardware collaborative simulation test verification system and its establishment method, which can approach the state of the Beidou engineering system to the greatest extent, and can perform docking verification with the real Beidou engineering system.

According to an aspect of the present invention, a Beidou global system software and hardware co-simulation test verification system includes a software simulation unit, a hardware simulation unit, a software and hardware co-simulation control system, an environmental simulation system and a time-frequency division system. The software simulation unit includes 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 emulation unit includes a hardware emulation system and an external interface system.

The simulation model library covers various sub-systems corresponding to the Beidou engineering system, including: satellite node model, operation control node model, measurement and control node model, inter-satellite link operation management node model, user node model, and mathematical simulation Model. The external interface of the software model of each engineering system follows the definition of the interface control file of the project, and can output and store the internal key data information, the key parameters can also be configured through the simulation platform, and the relevant algorithms can be loaded according to the test verification requirements. And it has the processing flow of the real engineering system; the mathematical simulation model 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, etc.

The simulation scheduling operation module mainly acquires the designed test scenarios, calls the relevant models and data, drives the system to run according to the relevant time sequence, and simulates the entire operation process of the navigation system. In addition, the simulation scheduling operation module has a high simulation acceleration ratio, In order to ensure the operation of the same process, the software time-consuming is shorter than that of the hardware simulator, thereby ensuring that the sequence logic of the soft-hard cooperative processing process is correct.

The scenario configuration module develops a script according to the test planning task, the system simulation mode and the process, maps the script to the start and stop of the simulation scheduling operation module and various model parameters or attributes, and loads the initial operation.

The monitoring and display module displays the configuration of the simulation scene, the running state of the control simulation, the situation information, the analysis result of the test data, and the like.

After the simulation is over, the performance evaluation module reads the test data that has been stored in the simulation platform, and performs test evaluation. The evaluation indicators are determined according to the test tasks. For example, in the positioning test, the main evaluation indicators are the user equivalent ranging error UERE and the precision factor DOP, etc., while in the global short message test, the main evaluation indicators are the inbound and outbound capacity (times/ hours), average inbound and outbound delay, packet loss rate, etc.

The software-hardware co-simulation control system is used to realize the interaction of software information and hardware signals. Among them, the software-hardware co-simulation control system mainly completes the control of the software simulation unit and the hardware simulation unit, the conversion of information and signals, the processing and management of the data to be sent, the verification and storage of the received data, and so on.

The environment simulation system mainly simulates the channel environment. Among them, the environmental simulation subsystem is mainly to simulate the transmission characteristics of Beidou navigation signals, and then can simulate the measurement experiments of the Beidou system, including: positioning timing, satellite-ground joint orbit determination, autonomous navigation, etc.

The hardware simulation system and the external interface system are mainly hardware simulation subsystems corresponding to the engineering subsystems. Wherein, the hardware simulation subsystem can be a hardware copy of a real engineering system, or a hardware simulation system with the same function of the engineering. It mainly includes hardware satellite simulator, hardware measurement and control system simulator, hardware operation control system simulator, hardware inter-satellite link operation management system simulator, user terminal, etc. In addition, it also includes an external engineering interface module for docking with the real engineering system, so as to realize the docking test of the real satellite, the simulation exercise of the ground operation control system, and other tasks.

The time-frequency division system is used to provide the time and frequency reference of each sub-system of the Beidou software and hardware collaborative verification system, so as to ensure that the processes of the software system and the hardware system are in a unified pace.

According to another aspect of the present invention, there is provided a software-hardware co-simulation test verification method with engineering representation for the current Beidou actual engineering state, comprising the following steps:

S1. Build a software simulation unit, including the establishment of various sub-system models of the Beidou system, a simulation scheduling operation module, a scene configuration module, a monitoring and display module, and a performance evaluation module. Among them, the subsystem model should have the processing flow of the real engineering system, and the definition of the external interface should follow the definition of the interface control file of the project; the simulation scheduling operation module has a high simulation speedup ratio, thereby ensuring the operation of the same process, and the software is time-consuming It is shorter than the hardware simulator, so as to ensure that the sequential logic of the processing flow of software and hardware cooperation is correct;

S2. Build a hardware simulation unit, including hardware simulation subsystems of various subsystems corresponding to the project and an external engineering interface module for connecting with the real engineering system. Wherein, the described hardware simulation subsystem may be a hardware copy of a real engineering system, or may be a hardware simulation system with the same function of engineering;

S3. Build an environment simulation subsystem for simulating the channel environment. Among them, the environment simulation subsystem is mainly to realize the simulation of the Beidou navigation signal transmission characteristics, and then can simulate the Beidou system measurement test, including: positioning, orbit determination, autonomous navigation, etc.;

S4. Build a time-frequency division system. Wherein, the time-frequency division system is used to provide the time and frequency reference of each sub-system of the Beidou soft-hard collaborative verification system;

S5, constructing a software-hardware co-simulation control system for realizing the interaction of software information and hardware signals. Among them, the software-hardware co-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, etc.;

S6. According to the purpose of the test verification, configure the test scene, start the simulation, and carry out the test evaluation after the simulation.

Compared with the prior art, the present invention has the following advantages: 1) the hardware simulator in the hardware simulation unit reproduces the function and state of the real engineering system; the software model in the simulation model library has the processing flow of the real engineering system, and The external interface definition of the model is consistent with the definition of the interface control file of the project, which ensures that the data format of the software and hardware collaborative interaction is unified with the project interface control file, thereby ensuring that the test verification system of the present invention can be docked with the real engineering system 2) The software-hardware cooperative simulation control system of the present invention can realize the mutual conversion between the most critical information and signals in real-time soft-hard cooperative tasks, and the simulation scheduling operation module of the present invention has a high simulation acceleration ratio, In order to ensure the operation of the same process, the software time-consuming is shorter than that of the hardware simulator, so as to ensure that the sequence logic of the processing process of software and hardware cooperation is correct, thus realizing this kind of fine time granularity (millisecond level) for the Beidou navigation system. ) software and hardware cooperative work; 3) the number and state of satellite models in the simulation model library of the present invention can be flexibly configured, which greatly reduces the cost of the Beidou system-wide all-element docking test verification, for example, in order to simulate the integrity of 30 satellites The state of Beidou-3 constellation can be realized by the combination of 26 software satellite models and 4 satellite hardware simulators, without the need to develop 30 satellite hardware simulators; 4) The software models in the simulation model library are not only to reproduce the Beidou project In addition to the state of the system, it also has the ability to expand flexibly. The key parameters and related algorithms of all sub-system models can be configured and loaded according to the test verification requirements, which can directly support the verification requirements of the Beidou engineering system technology upgrade. representative, and greatly reduce the cost of verification, and improve the flexibility of design verification.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

1 is a schematic flowchart of a method for building a Beidou global system software and hardware collaborative simulation test verification system in an embodiment of the present invention;

2 is a schematic structural diagram of a Beidou global system software and hardware collaborative simulation test verification system in an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a software-hardware co-simulation control system in an embodiment of the present invention.

Detailed ways

FIG. 2 shows a Beidou global system software and hardware collaborative simulation test verification system according to an embodiment of the present invention. Including simulation model library 1, simulation scheduling operation module 2, scene configuration module 3, monitoring and display module 4, performance evaluation module 5, software and hardware co-simulation control system 6, environment simulation system 7, hardware simulation system and external interface system 8 and Time-Frequency Division System 9.

Specifically, the simulation model library 1 mainly implements various sub-system models corresponding to the Beidou engineering system and necessary mathematical simulation related models.

Preferably, the simulation model library includes the following modules but is not limited to:

1) The node model corresponding to the project is used to simulate the state of the engineering system, mainly including: satellite node model, operation control node model, measurement and control node model, inter-satellite link operation management node model, and user node model. The external interface of the software model of each engineering system follows the definition of the interface control file of the project, and can output and store the internal key data information. The key parameters can also be configured through the simulation platform, and the relevant algorithms can be loaded according to the test verification requirements. The processing flow of the real engineering system;

2) Mathematical simulation model, which mainly simulates and generates various data related to observation data, including: satellite orbit and clock error data, channel data, inter-satellite observation data, ground observation data, etc.

Specifically, the simulation scheduling operation module 2 mainly acquires the designed test scenarios, calls the relevant models and data, drives the system to run according to the relevant time sequence, and simulates the entire operation process of the navigation system.

Preferably, the simulation scheduling operation module includes the following modules but is not limited to:

1) Task planning and scheduling engine (not shown). It mainly includes: inter-satellite link planning and scheduling, uplink injection planning and scheduling, inter-station control management, laser ranging planning, etc.

2) Time engine (not shown). It mainly completes the time advancement in the simulation process, and can perform simulation scheduling with the minimum time granularity (nanosecond level) of the Beidou system.

3) Run the engine (not shown). It mainly completes the running scheduling of the simulation, and uniformly schedules the running of various events.

It should be noted that the above examples are only to better illustrate the technical solutions of the present invention, but not to limit the present invention. Those skilled in the art should understand that the simulation scheduling operation module based on any basis has a high simulation speedup ratio, thereby ensuring the same process. The operation of the software is shorter than that of the hardware simulator, so that the sequential logic of the processing flow of the software and hardware cooperation is the correct technology, which should be included in the scope of the present invention.

Specifically, the scenario configuration module 3 develops a script according to the test planning task, the system simulation mode and the process, maps the script to 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 configuration of the simulation scene, the running state of the control simulation, the situation information, the analysis results of the test data, and the like.

Preferably, the monitoring and display module includes the following modules but is not limited to:

1) Simulation scene configuration (not shown). Configure satellite constellation attributes, ground station attributes, simulation duration, user attributes, etc. according to the objectives of the test task;

2) Situation display (not shown). It can display the progress of the simulation operation, key log information during the simulation process, etc.;

3) Running status display (not shown). Display the running track of the satellite, the location of the ground station, the real-time link establishment of the inter-satellite link, the real-time link establishment between the satellite and the ground, etc.;

4) Analysis and evaluation results (not shown). Display the results for different test requirements. For example, in the positioning test, the main evaluation indicators are the user equivalent ranging error UERE and the precision factor DOP, etc., while in the global short message test, the main evaluation indicators are the inbound and outbound capacity (times). /hour), average inbound and outbound delay, packet loss rate, etc.

Specifically, after the simulation ends, the performance evaluation module 5 reads the test data that has been stored in the simulation platform, and performs test evaluation.

Preferably, the performance evaluation module includes the following modules but is not limited to:

1) Test analysis and evaluation of measurement business, mainly carry out simulation analysis at the signal level, mainly including: positioning timing, precise positioning, autonomous navigation, satellite-ground joint orbit determination, etc.;

2) Test analysis and evaluation of data transmission business, mainly carry out simulation analysis at the information level, mainly including: operation control, telemetry return, global short message, etc.

Specifically, the software-hardware co-simulation control system 6 is mainly used to realize the interaction of software information and hardware signals. Among them, the software and hardware co-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 so on.

Specifically, the environment simulation system 7 mainly simulates the transmission characteristics of the Beidou navigation signal, and then can simulate the measurement experiments of the Beidou system, including: positioning timing, satellite-ground joint orbit determination, autonomous navigation, and so on.

Specifically, the hardware simulation system and the external interface system 8 are mainly hardware simulation subsystems corresponding to the engineering subsystems and provide external engineering docking capabilities.

Preferably, the hardware simulation system and the external interface system include the following modules but are not limited to:

1) The hardware simulation subsystem corresponding to the engineering subsystem. The hardware simulation subsystem can be a hardware copy of the real engineering system, or it can be a hardware simulation system with the same function of the project. It mainly includes hardware satellite simulator, hardware measurement and control system simulator, hardware operation control system simulator, hardware inter-satellite link operation management system simulator, user terminal, etc.;

2) External interface system. The external interface system is used to connect the external engineering interface module with the real engineering system, and then realize the docking test of the real satellite, the simulation exercise of the ground operation control system, and other tasks.

Specifically, the time-frequency division system 9 is mainly used to provide the time and frequency reference of each sub-system of the Beidou software and hardware collaborative verification system, so as to ensure that the processes of the software system and the hardware system are in a unified pace.

It should be noted that, in this embodiment, the output of the hardware device is an analog signal, while the output of the software emulation unit is digital information, which needs to be converted in the software-hardware co-simulation control system to achieve the goal of software-hardware cooperative work.

3 is a schematic structural diagram of a software-hardware co-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 realizes the shaping of the data sent by the software system, provides the data stream according to the data format required by the information-to-signal unit; receives the data stream from the signal-to-information unit, repackages the data, and sends it to the software system.

Specifically, the signal-to-information unit 102 mainly receives the analog signal from the hardware simulation system, realizes the conversion from the analog signal to the digital information through the down-conversion, preprocessing, calculation and other operations of the signal, and sends it in the form of information flow to the data processing unit for processing.

Specifically, the information-to-signal unit 103 mainly receives the information stream from the data processing unit, realizes the conversion of digital information to analog signals through operations such as encoding, signal generation, and up-conversion, and sends the signals to the environmental simulation system for processing. deal with.

Specifically, the high-speed switch 104 mainly adopts high-throughput and low-latency commercial switching equipment to minimize the exchange data delay between the software-hardware co-simulation control system and the software-simulation server, so as to achieve the sequential logic of the software-hardware cooperative processing flow correct purpose.

As shown in Figure 1, a kind of Beidou global system software and hardware collaborative simulation test verification method in the embodiment of the present invention, comprising the following steps:

S1. Build a software simulation unit for Beidou software and hardware collaborative verification.

Specifically, the software simulation unit includes:

1) Models of each sub-system of the Beidou system. The subsystem model has the processing flow of the real engineering system, and the definition of the external interface should follow the definition of the interface control file of the project;

2) Simulation scheduling operation module. The simulation scheduling operation module has a high simulation acceleration ratio, thereby ensuring the operation of the same process, and the software time-consuming is shorter than that of the hardware simulator, thereby ensuring that the sequence logic of the soft-hard collaborative processing process is correct;

3) Scene configuration module. The scene configuration module is mainly mapped to the start and stop of the simulation operation scheduling engine, various model parameters or attributes according to the autonomous navigation test planning task script, system simulation mode and process development script, and operation scene development script, and loads the initial operation;

4) Monitoring and display module. The monitoring and display module displays the configuration of the simulation scene, the running status of the control simulation, the situation information, the analysis results of the autonomous navigation test data, etc.;

5) Performance evaluation module. After the simulation is over, the performance evaluation module reads the test data stored in the simulation platform and performs test evaluation.

S2. Build a hardware simulation unit for Beidou software and hardware collaborative verification.

Specifically, the hardware emulation unit includes:

1) Hardware simulation system of various engineering subsystems. The hardware simulation system includes hardware satellite simulator, hardware measurement and control system simulator, hardware operation control system simulator, hardware inter-satellite link operation management system simulator, user terminal, etc.;

2) External engineering interface module. The external engineering interface module is used to connect with the real engineering system.

It should be noted that the above examples are only to better illustrate the technical solutions of the present invention, but not to limit the present invention. Those skilled in the art should understand that the hardware simulation subsystem of any basis can be a hardware copy of a real engineering system, or can be It is a hardware simulation system with the same function of the project, and should be included in the scope of the present invention.

S3. Build an environment simulation subsystem.

Specifically, the environment simulation subsystem is mainly to simulate the transmission characteristics of Beidou navigation signals, and then it can simulate the measurement experiments of the Beidou system, including: positioning timing, satellite-ground joint orbit determination, autonomous navigation, etc.

S4. Build a time-frequency division system.

Specifically, the time-frequency division system is mainly used to provide the time and frequency reference of each sub-system of the Beidou software and hardware collaborative verification system to ensure that the processes of the software system and the hardware system are in a unified pace.

S5. Build a software-hardware co-simulation control system.

Specifically, the software-hardware co-simulation control system is used to realize the interaction of software information and hardware signals. Among them, the software-hardware co-simulation control system mainly completes the control of software simulation and hardware simulation, the conversion of information and signals, the processing and management of the data to be sent, the verification and storage of the received data, and so on.

In S6, run the test verification system.

Specifically, the operating test verification system mainly configures the test scene according to the test verification purpose, starts the simulation, and conducts the test evaluation after the simulation.

In the prior art, most of the test and verification methods of Beidou navigation system are purely software modeling and simulation, which lacks the representativeness of the real system, and cannot be tested and verified with the hardware engineering system; The factory test and verification of engineering satellites did not test and verify the complete state of the Beidou navigation system; or it was a software-hardware collaborative verification for a single system function, which lacked the verification of all elements, processes and functions of the system. According to the solution of this embodiment, the hardware simulator reproduces the function and state of the real engineering system; the software model in the simulation model library has the processing flow of the real engineering system, and the external interface definition of the model is consistent with the interface control file definition of the project Consistent, ensuring that the data format of the software and hardware collaborative interaction is unified with the engineering interface control file, thereby ensuring that the test verification system of the present invention can be docked with the real engineering system, and the number and state of the satellite models in the simulation model library can be flexibly The configuration of the Beidou system greatly reduces the cost of the Beidou system-wide all-element docking test verification.

It should be noted that the present invention may be implemented in software and/or a combination of software and hardware, eg, the various means of the present invention may be implemented using an application specific integrated circuit (ASIC) or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the above steps or functions. Likewise, the software program of the present invention (including associated data structures) may be stored in a computer-readable recording medium, eg, RAM memory, magnetic or optical drives or floppy disks, and the like. Additionally, some of the steps or functions of the present invention may be implemented in hardware, eg, as circuits that cooperate with a processor to perform the various steps or functions.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the appended claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim. Furthermore, it is clear that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units or means recited in the system claims can also be implemented by one unit or means by means of software or hardware. The terms first, second, etc. are used to denote names and do not denote any particular order.

Claims (4)

1. a Beidou global system soft and hard collaborative simulation test verification system, is characterized in that, comprises: a software simulation unit, the software simulation unit includes 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 library is various sub-systems corresponding to the Beidou engineering system; The simulation scheduling operation module is used to obtain the designed test scenarios, call the relevant models and data, drive the system to run according to the relevant time sequence, and simulate the entire operation process of the navigation system; The scene configuration module is used to develop a script according to the test planning task, the system simulation mode and the process, and map the script to the start and stop of the simulation scheduling operation module and various model parameters or attributes, and load the initial operation; The monitoring and display module is used to display the simulation scene configuration, the running state of the control simulation, the situation information, and the analysis result of the test data; The performance evaluation module is used to read the test data that has been stored in the simulation platform after the simulation, and perform test evaluation; a hardware emulation unit, the hardware emulation unit includes a hardware emulation system and an external interface system, the hardware emulation system is used to reproduce the function and state of the real engineering system; the external interface system is used to provide external engineering docking capability; The software and hardware co-simulation control system is used to realize the interaction of software information and hardware signals; The environment simulation subsystem is used to simulate the transmission characteristics of Beidou navigation signals; The time-frequency division system is used to provide the time and frequency reference of each sub-system of the Beidou software and hardware collaborative verification system. 2. The Beidou Global System software-hardware collaborative simulation test verification system according to claim 1, wherein the simulation model library comprises a satellite node model, an operation control node model, a measurement and control node model, and an inter-satellite link operation and management node models, user node models, and mathematical simulation models. 3. The Beidou Global System software and hardware co-simulation test verification system according to claim 1, is characterized in that: described hardware simulation system comprises hardware satellite simulator, hardware measurement and control system simulator, hardware operation control system simulator, hardware satellite simulator The inter-link operation management system simulator and the user terminal. 4. Beidou global system software and hardware co-simulation test verification system according to claim 1, is characterized in that: described software and hardware co-simulation control system comprises data processing unit, signal to information unit and information to signal unit; The data processing unit is used to realize the shaping of the data sent by the software system, and provide the data stream according to the data format required by the information-to-signal unit; receive the data stream from the signal-to-information unit, repackage the data and send it to the software simulation unit; The signal-to-information unit is used for receiving the analog signal from the hardware emulation unit, and the analog signal is converted into a digital signal and sent to the data processing unit; , signal generation, up-conversion and other operations to realize the conversion of digital information to analog signals, and send them to the environmental simulation system in the form of signals for processing.

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