阅读说明：本技术 一种红外/毫米波/激光多模复合仿真系统 (Infrared/millimeter wave/laser multimode composite simulation system ) 是由 刘满国 廖鸣 张翔 张健楠 杜柏成 岳超 陈炜 李毅 周群凯 于 2020-12-10 设计创作，主要内容包括：本发明属于系统仿真领域,涉及一种红外/毫米波/激光多模复合仿真系统。包括：射频仿真系统、五轴转台、波束合成器、仿真计算机、试验总控系统；所述仿真计算机通讯连接五轴转台和射频仿真系统,试验总控系统分别与五轴转台和射频仿真系统通讯连接,射频仿真系统连接天线阵列,通过天线阵列将生成的射频目标信号投射向波束合成器；所述波束合成器为薄膜射频/光学波波束合成器。解决了以往红外/毫米波/激光多模复合仿真系统中的波束合成器太大,导致的信号品质降低、信号无法修正,激光/红外目标模拟器光路过长无法满足光学视场仿真范围等问题。整体架构更加简单、易于工程实现,整体信号品质更好,合成角位置精度更高。(The invention belongs to the field of system simulation, and relates to an infrared/millimeter wave/laser multimode composite simulation system. The method comprises the following steps: the system comprises a radio frequency simulation system, a five-axis turntable, a beam synthesizer, a simulation computer and a test master control system; the simulation computer is in communication connection with the five-axis turntable and the radio frequency simulation system, the test master control system is in communication connection with the five-axis turntable and the radio frequency simulation system respectively, the radio frequency simulation system is connected with the antenna array, and the generated radio frequency target signal is projected to the beam synthesizer through the antenna array; the beam synthesizer is a film radio frequency/optical wave beam synthesizer. The problems that the signal quality is reduced, signals cannot be corrected, the optical path of a laser/infrared target simulator is too long, and the simulation range of an optical field cannot be met due to the fact that a beam combiner in an infrared/millimeter wave/laser multimode composite simulation system is too large in the prior art are solved. The whole framework is simpler, the engineering is easy to realize, the whole signal quality is better, and the synthesized angular position precision is higher.)

1. An infrared/millimeter wave/laser multimode composite simulation system, wherein the infrared/millimeter wave/laser multimode composite simulation system comprises:

the radio frequency simulation system is used for generating a radio frequency target signal in real time;

the laser/infrared target simulator is used for generating laser and infrared target signals in real time;

the missile flight simulator comprises a five-axis turntable, a five-axis turntable and a five-axis turntable, wherein the five-axis turntable comprises an inner three-axis turntable and an outer two-axis turntable, and the inner three-axis turntable is used for loading a seeker and simulating attitude change in the missile flight process; the outer two-axis rotary table is provided with a laser/infrared target simulator and a beam synthesizer for simulating the change of the visual line angle of the bullet, and the inner three-axis rotary table and the outer two-axis rotary table move together to simulate the relative movement process of the bullet;

the beam synthesizer is used for synthesizing a radio frequency target signal emitted by the radio frequency simulation system and a laser/infrared target signal emitted by the laser/infrared target simulator in a common aperture and projecting the synthesized signal to the entrance pupil of the tested composite seeker to realize the simulation of the composite seeker in a loop;

the simulation computer is used for operating a missile dynamics model, a kinematics model, a control component model and a target kinematics model, outputting a missile six-degree-of-freedom flight trajectory, controlling various simulators to generate missile motion, missile target relative motion and target simulator work, and providing a near-real motion, target background and mechanical environment for a participating component;

the test master control system is used for realizing unified control, self-checking, state detection and data acquisition and recording of all the components of the multimode composite guidance simulation system;

the simulation computer is in communication connection with the five-axis turntable, the radio frequency simulation system and the laser/infrared target simulator, the test master control system is in communication connection with the five-axis turntable and the radio frequency simulation system respectively, the radio frequency simulation system is connected with the antenna array, and generated radio frequency target signals are projected to the beam synthesizer through the antenna array;

the beam synthesizer is a thin film radio frequency/optical beam synthesizer.

2. The infrared/millimeter wave/laser multimode compound simulation system according to claim 1, wherein: the thin film in the thin film radio frequency/optical beam synthesizer is an optical reflection and radio frequency wave-transparent thin film.

3. The infrared/millimeter wave/laser multimode compound simulation system according to claim 1, wherein: the inner three-axis rotary table and the outer two-axis rotary table are integrally designed, structurally share a shaft system, and spatially share a foundation.

4. The infrared/millimeter wave/laser multimode compound simulation system according to claim 1, wherein: the laser/infrared target simulator generates laser/infrared optical target signals, and the laser/infrared optical target signals are reflected to the guide head through the beam synthesizer; the radio frequency simulation system generates a radio frequency signal, the radio frequency signal of the transmission beam synthesizer and the reflected laser/infrared optical target signal form a composite signal, and the composite signal enters the seeker through the same path.

Technical Field

The invention belongs to the field of system simulation, and relates to an infrared/millimeter wave/laser multimode composite simulation system.

Background

The existing multimode composite missile adopts an infrared/millimeter wave/laser multimode composite guidance system, and a guidance control system of the existing multimode composite missile consists of an infrared/millimeter wave/laser composite seeker, inertial navigation, a missile-borne computer, a steering engine and the like, wherein the composite seeker adopts a common-aperture mode, and detection signals in different modes are required to enter and exit an entrance pupil of the seeker through one path. The general working process of the composite guidance missile guidance control system is as follows: after the missile is launched, the composite seeker starts to work at a set position, the sensors in different modes in the composite seeker are used for respectively detecting target information, the mixed information of the target and the background is obtained through the information comprehensive processing module, then target recognition, capture and tracking are carried out, the missile is guided to fly by means of a guidance law calculated by a missile-borne computer in real time, and finally the target is hit with high precision. In order to examine the working performance of the weapon system in a laboratory environment, three target signals, namely infrared, millimeter wave and laser, need to be provided for a detected seeker in the laboratory simultaneously.

In the existing composite simulation system, the adopted beam synthesizer is composed of an infrared/laser reflection plane and a support flat plate in structural design, the infrared/laser reflection plane is formed by splicing a plurality of sub-plates, and the support flat plate is formed by splicing a plurality of sub-plates. When the beam synthesizer is used, the beam synthesizer is fixedly arranged in front of the three-axis rotary table, and in order to meet the requirement of the field angle required by the seeker, the size of the beam synthesizer needs to be large (the area is generally more than 4m by 4m), so that the development cost and the processing difficulty are greatly increased; on the other hand, in order to ensure that such a large beam combiner has sufficient strength and remains undeformed for a long time, the support plate thereof needs to be made thick, the overall thickness of the combiner is generally above 5cm, and it is difficult to ensure the consistency of the thickness of the medium during processing, so that the strength and phase of the radio frequency signal passing through the beam combiner are changed drastically, the accuracy of the combined angular position of the radio frequency signals transmitted at different angles is seriously affected, and the correction cannot be performed.

Meanwhile, a scheme of a three-axis turntable and a target motion simulator is adopted for simulating the relative motion process of the bullet, the three-axis turntable is used for loading the composite seeker to simulate the attitude change of the missile in the flying process, and the target motion simulator is used for loading the laser/infrared target simulator to simulate the change trend of the visual angle of the bullet. Because the three-axis turntable and the target motion simulator are two large electromechanical devices, the three-axis turntable and the target motion simulator are respectively designed and are not based on the same installation, the spatial position distance is long, the optical path of the laser/infrared target simulator is too long, the exit pupil lens is too large and too heavy, and the optical view field range required by the seeker is difficult to meet.

Therefore, the prior art cannot provide a design scheme of an infrared/millimeter wave/laser multimode simulation system, and simultaneously, the optical field range required by the seeker is difficult to meet.

Disclosure of Invention

The embodiment of the invention provides an infrared/millimeter wave/laser multimode composite simulation system.

In order to achieve the above purpose, the specific technical solution of the embodiment of the present invention is: an infrared/millimeter wave/laser multimode composite simulation system, wherein the infrared/millimeter wave/laser multimode composite simulation system comprises:

the radio frequency simulation system is used for generating a radio frequency target signal in real time;

the laser/infrared target simulator is used for generating laser and infrared target signals in real time;

the missile flight simulator comprises a five-axis turntable, a five-axis turntable and a five-axis turntable, wherein the five-axis turntable comprises an inner three-axis turntable and an outer two-axis turntable, and the inner three-axis turntable is used for loading a seeker and simulating attitude change in the missile flight process; the outer two-axis rotary table is provided with a laser/infrared target simulator and a beam synthesizer for simulating the change of the visual line angle of the bullet, and the inner three-axis rotary table and the outer two-axis rotary table move together to simulate the relative movement process of the bullet;

the beam synthesizer is used for synthesizing a radio frequency target signal emitted by the radio frequency simulation system and a laser/infrared target signal emitted by the laser/infrared target simulator in a common aperture and projecting the synthesized signal to the entrance pupil of the tested composite seeker to realize the simulation of the composite seeker in a loop;

the simulation computer is used for operating a missile dynamics model, a kinematics model, a control component model and a target kinematics model, outputting a missile six-degree-of-freedom flight trajectory, controlling various simulators to generate missile motion, missile target relative motion and target simulator work, and providing a near-real motion, target background and mechanical environment for a participating component;

the test master control system is used for realizing unified control, self-checking, state detection and data acquisition and recording of all the components of the multimode composite guidance simulation system;

the simulation computer is in communication connection with the five-axis turntable, the radio frequency simulation system and the laser/infrared target simulator, the test master control system is in communication connection with the five-axis turntable and the radio frequency simulation system respectively, the radio frequency simulation system is connected with the antenna array, and generated radio frequency target signals are projected to the beam synthesizer through the antenna array;

the beam synthesizer is a film radio frequency/optical wave beam synthesizer.

Further, the thin film in the thin film radio frequency/optical beam synthesizer is an optical reflection and radio frequency wave-transparent thin film.

Furthermore, the inner three-axis turntable and the outer two-axis turntable are integrally designed, structurally share a shaft system, and spatially share a foundation.

Further, the laser/infrared target simulator generates a laser/infrared optical target signal, and the laser/infrared optical target signal is reflected to the guide head through the beam combiner; the radio frequency simulation system generates a radio frequency signal, the radio frequency signal of the transmission beam synthesizer and the reflected laser/infrared optical target signal form a composite signal, and the composite signal enters the seeker through the same path.

Compared with the prior art, the embodiment of the invention has the beneficial effects that: the problems that the signal quality is reduced, signals cannot be corrected, the optical path of a laser/infrared target simulator is too long, and the simulation range of an optical field cannot be met due to the fact that a beam combiner in an infrared/millimeter wave/laser multimode composite simulation system is too large in the prior art are solved. Through the design of the five-axis turntable, the structure of the five-axis turntable is more compact, the signal entrance pupil is more direct, the light path of the laser/infrared target simulator is effectively shortened, and the size and weight of the exit pupil lens can better meet the optical view field range required by the seeker; radio frequency and optical simulation applications can be simultaneously realized. The infrared/millimeter wave/laser multimode composite simulation system is simpler in overall architecture, smaller in size, strong in universality, easy to realize in engineering, better in overall signal quality and higher in accuracy of a synthesized angular position.

Drawings

Fig. 1 is a block diagram of a structure of an infrared/millimeter wave/laser multimode composite simulation system according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a five-axis turntable part according to an embodiment of the invention.

Description of reference numerals: 1. an outer two-axis turntable; 2. an inner three-axis turntable; 3. a beam synthesizer; 4. a seeker; 5. a laser/infrared target simulator; 6. a radio frequency simulation system.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first" and "second," and the like, in the description and in the claims of embodiments of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first parameter set and the second parameter set, etc. are used to distinguish different parameter sets, rather than to describe a particular order of parameter sets.

In the description of the embodiments of the present invention, the meaning of "a plurality" means two or more unless otherwise specified. For example, a plurality of elements refers to two elements or more.

The term "and/or" herein is an association relationship describing an associated object, and means that there may be three relationships, for example, a display panel and/or a backlight, which may mean: there are three cases of a display panel alone, a display panel and a backlight at the same time, and a backlight alone. The symbol "/" herein denotes a relationship in which the associated object is or, for example, input/output denotes input or output.

In the embodiments of the present invention, words such as "exemplary" or "for example" are used to mean serving as examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

The embodiment of the invention provides an infrared/millimeter wave/laser multimode composite simulation system, wherein the infrared/millimeter wave/laser multimode composite simulation system comprises:

the radio frequency simulation system is used for generating a radio frequency target signal in real time;

the laser/infrared target simulator is used for generating laser and infrared target signals in real time;

the missile flight simulator comprises a five-axis turntable, a five-axis turntable and a five-axis turntable, wherein the five-axis turntable comprises an inner three-axis turntable and an outer two-axis turntable, and the inner three-axis turntable is used for loading a seeker and simulating attitude change in the missile flight process; the outer two-axis rotary table is provided with a laser/infrared target simulator and a beam synthesizer for simulating the change of the visual line angle of the bullet, and the inner three-axis rotary table and the outer two-axis rotary table move together to simulate the relative movement process of the bullet;

the beam synthesizer is used for synthesizing a radio frequency target signal emitted by the radio frequency simulation system and a laser/infrared target signal emitted by the laser/infrared target simulator in a common aperture and projecting the synthesized signal to the entrance pupil of the tested composite seeker to realize the simulation of the composite seeker in a loop;

the simulation computer is used for operating a missile dynamics model, a kinematics model, a control component model and a target kinematics model, outputting a missile six-degree-of-freedom flight trajectory, controlling various simulators to generate missile motion, missile target relative motion and target simulator work, and providing a near-real motion, target background and mechanical environment for a participating component;

the test master control system is used for realizing unified control, self-checking, state detection and data acquisition and recording of all the components of the multimode composite guidance simulation system;

the simulation computer is in communication connection with the five-axis turntable, the radio frequency simulation system and the laser/infrared target simulator; the test master control system is respectively in communication connection with the five-axis turntable and the radio frequency simulation system; the radio frequency simulation system is connected with the antenna array, and the generated radio frequency target signal is projected to the beam synthesizer through the antenna array;

the beam synthesizer is a film radio frequency/optical wave beam synthesizer.

The technical problems that in the prior art, the signal quality is reduced and the signal cannot be corrected due to the fact that a beam synthesizer of an infrared/millimeter wave/laser multimode composite simulation system is too large, and the optical path of a laser/infrared target simulator is too long to meet the optical field simulation range are solved. The infrared/millimeter wave/laser multimode composite simulation system is simpler in overall structure, smaller in size, strong in universality, easy to realize in engineering, better in overall signal quality and higher in accuracy of a synthesized angular position. Through the design of the five-axis turntable, the structure of the five-axis turntable is more compact, the signal entrance pupil is more direct, the light path of the laser/infrared target simulator is effectively shortened, the size and the weight of an exit pupil lens are better reduced, and the optical view field range required by the seeker is met; radio frequency and optical simulation applications can be simultaneously realized.

The infrared/millimeter wave/laser multimode composite simulation system adopts a design scheme of a film type radio frequency/optical beam synthesizer, reduces the volume and size of the beam synthesizer, does not need splicing, can be mounted on a rotary table to move along with a seeker to meet the field range required by the seeker, and has the design size of 0.3m by 0.3m and only 0.5% (0.3m by 0.3m/4m by 4m) of the traditional beam synthesizer, thereby greatly reducing the development cost and the processing difficulty.

According to the infrared/millimeter wave/laser multimode composite simulation system, the beam synthesizer is reduced in size, so that the structural strength is greatly reduced, the beam synthesizer can be made of light ultrathin materials, the transmissivity of radio-frequency signals is greatly improved, the signal quality is guaranteed, and the requirement on the precision of the synthesis angle position is met.

According to the infrared/millimeter wave/laser multimode composite simulation system, the inner three-axis turntable, the outer two-axis turntable, the laser/infrared target simulator, the beam synthesizer and the like adopt an integrated coaxial system design and share one foundation spatially, so that the light path of the laser/infrared target simulator is greatly shortened, and the size and weight of the exit pupil lens meet the requirement of an optical field range required by the seeker.

The infrared/millimeter wave/laser multimode composite simulation system adopts the overall scheme that the beam synthesizer is composed of an optical reflection and radio frequency wave-transmitting film attached to a light wave-transmitting base material, and a frame type clamp is used for tightening and clamping the periphery of the light wave-transmitting film to form an object with higher rigidity. Then fixing the composite seeker at the center of the outer two-axis turntable, ensuring that a radio frequency target signal sent by a radio frequency simulation system and a laser/infrared target signal sent by a laser/infrared target simulator are synthesized in a common aperture mode and projected to an entrance pupil of the tested composite seeker, and realizing simulation of the composite seeker in a loop; the beam synthesizer adopting the form has the advantages that the weight and the size are greatly reduced, so that splicing is not needed, the beam synthesizer can be arranged on a five-axis turntable (two outer axes of the five-axis turntable) to move along with the seeker, and the optical (infrared/laser) simulation requirement in a composite large-field-angle range required by the seeker is met.

The five-axis turntable has the advantages that the inner three-axis turntable and the outer two-axis turntable are integrally designed, structurally share a shaft system, form a five-axis turntable, and simulate the attitude change of a missile in the flying process; an outer two-axis turntable of the five-axis turntable is loaded with a laser/infrared target simulator to simulate the change trend of the line-of-sight angle of a bullet; the inner three-axis turntable and the outer two-axis turntable move together to simulate the relative motion process of the projectile. The five-axis turntable has the outstanding advantages of compact structure, direct signal entrance pupil and the like in structural design, so that the light path of the laser/infrared target simulator is greatly shortened, and the size and weight of the exit pupil lens meet the optical view field range required by the seeker.

And a laser/infrared target simulator and a beam synthesizer are arranged on the outer two-axis turntable. At this time, the radio frequency target signal can penetrate through the beam synthesizer to be radiated to the guide head, the laser/infrared optical target signal is reflected to the guide head through the beam synthesizer, and a composite signal formed by the transmitted radio frequency signal and the reflected optical signal enters the tested guide head from the same path. The optical target and the radio frequency target are matched in relation to each other, together forming a physically composite target. The design scheme can realize compound target tracking and compound target searching.

The infrared/millimeter wave/laser multimode composite simulation system is shown in fig. 1. As can be seen from the figure, the biggest advantage of this design scheme is that no major changes are needed to the existing mature radio frequency simulation system design. A two-axis turntable (two axes outside the five-axis turntable) is arranged outside a three-axis turntable (three axes inside the five-axis turntable), and a laser/infrared target simulator and a film type radio frequency/optical beam synthesizer which can be arranged on two axes outside the five-axis turntable are simultaneously developed, so that the radio frequency/optical composite simulation can be realized by combining the two. The thin film type beam synthesizer combines the inner three-axis turntable and the outer two-axis turntable, so that the simulation application of radio frequency and optics can be realized simultaneously, and compared with the traditional composite simulation system, the whole structure is greatly simplified.

Embodiment 1, as shown in fig. 1 and fig. 2, an infrared/millimeter wave/laser multimode composite simulation system, wherein the infrared/millimeter wave/laser multimode composite simulation system includes:

the radio frequency simulation system 6 is used for generating a radio frequency target signal in real time;

a laser/infrared target simulator 4 for generating laser and infrared target signals in real time;

the missile flight simulator comprises a five-axis turntable, a five-axis turntable and a control system, wherein the five-axis turntable comprises an inner three-axis turntable 2 and an outer two-axis turntable 1, and the inner three-axis turntable 2 is loaded with a seeker 5 and is used for simulating attitude change in the missile flight process; the laser/infrared target simulator 4 and the beam synthesizer 3 are arranged on the outer two-axis rotary table 1, the beam synthesizer 3 is used for simulating the change of the visual line angle of the bullet eyes, and the inner three-axis rotary table 2 and the outer two-axis rotary table 3 move together to simulate the relative movement process of the bullet eyes;

the beam synthesizer 3 is fixedly connected on the outer two-axis turntable 1 through a support and extends downwards, so that a radio frequency target signal sent by the radio frequency simulation system 6 and a laser/infrared target signal sent by the laser/infrared target simulator 4 are synthesized in a common aperture mode and projected to an entrance pupil of the tested composite seeker, and simulation of the composite seeker in a loop is achieved.

The simulation computer is used for operating a missile dynamics model, a kinematics model, a control component model and a target kinematics model, outputting a missile six-degree-of-freedom flight trajectory, controlling various simulators to generate missile motion, missile target relative motion and target simulator work, and providing a near-real motion, target background and mechanical environment for a participating component;

the test master control system is used for realizing unified control, self-checking, state detection and data acquisition and recording of all the components of the multimode composite guidance simulation system;

the simulation computer is connected with the five-axis turntable, the radio frequency simulation system and the laser/infrared target simulator through a real-time communication network; the test master control system is respectively connected with the five-axis turntable and the radio frequency simulation system through a real-time communication network; the radio frequency simulation system is connected with the antenna array, and the generated radio frequency target signal is projected to the beam synthesizer through the antenna array.

The infrared/millimeter wave/laser multimode composite simulation system in embodiment 1 is tested, in the missile semi-physical simulation test, the guidance control component participating in the semi-physical simulation comprises an infrared/millimeter wave/laser composite seeker, an inertial navigation device, a missile-borne computer and a steering engine, the used simulation equipment is the infrared/millimeter wave/laser multimode composite simulation system, and the simulation equipment comprises a radio frequency simulation system 6, a laser/infrared target simulator 4, a beam synthesizer 3, a five-axis turntable, a simulation computer, a test master control system and the like, and the test is specifically implemented by the following steps:

(1) the infrared/millimeter wave/laser composite seeker 4 to be measured and the inertial navigation device are installed on an inner three-axis rotary table 2 of a five-axis rotary table, and the laser/infrared target simulator and the beam synthesizer are installed on an outer two-axis rotary table 1 of the five-axis rotary table, wherein the inner three-axis rotary table 2 of the five-axis rotary table is used for simulating missile attitude change, and the outer two-axis rotary table 1 is used for simulating missile eye line-of-sight angle change. The five-axis turntable part, a laser/infrared target simulator and a beam synthesizer and the like connected with the upper part of the five-axis turntable part are arranged in a microwave darkroom.

(2) And connecting each reference component and the simulation equipment according to the connection relation shown in the figure 1.

(3) At the moment, the simulation system is built, and the five-axis turntable is adjusted to the launching position.

(4) Before the simulation test starts, the test master control system configures simulation parameters for each simulation device and sets a simulation state; the reference part sets emission data and initial parameters; all readiness is now ready to wait for a firing command.

(5) After the shooter sends a firing command, the test master control system sends a zero-second synchronous signal to start all simulation equipment to operate, and all the test parts start to work according to a time sequence. The simulation computer operates missile dynamics, kinematics and target kinematics models, and outputs missile motion signals, attitude angle signals, angular rate signals, missile eye sight angle signals and other information in real time to respectively control the operation of each simulation device through a real-time communication network. An inner three-axis turntable 2 of the five-axis turntable simulates the attitude motion of a missile, and an inertial navigation device measures the attitude motion of the missile to carry out navigation solution and outputs the solution result to a missile-borne computer; an outer two-axis turntable 1 of the five-axis turntable is loaded with a laser/infrared target simulator 4 and a beam synthesizer 3, and the change trend of the line-of-sight angle of a bullet eye is simulated; the simulation of the relative movement process of the elastic eyes is realized by the inner three-axis turntable 2 and the outer two-axis turntable 1 in the five-axis turntable together. The laser/infrared target simulator 4 generates laser and infrared target signals in real time and projects the laser and infrared target signals to the beam synthesizer, and the radio frequency simulation system 6 generates radio frequency target signals in real time and projects the radio frequency target signals to the beam synthesizer; the beam synthesizer 3 reflects laser signals and infrared signals and simultaneously transmits radio frequency signals, the signals of three wave bands are synthesized in a common aperture mode and then are projected to the entrance pupil of the seeker to be detected, and infrared/millimeter wave/laser three-mode target simulation is achieved. The missile-borne computer synthesizes input signals of the inertial navigation device and the seeker to operate a guidance control model, a control command is formed and sent to the steering engine, and the steering engine executes the control command and generates a steering deflection angle signal. And the simulation computer calculates control force and moment according to the rudder deflection angle signal and controls the missile to fly according to a preset trajectory.

The working principle is as follows: the three-axis turntable 2 in the five-axis turntable is loaded with a composite seeker 4, the two-axis turntable 1 is loaded with a laser/infrared target simulator 4, and the two robots simulate the relative movement of the missile eyes together; the laser/infrared target simulator 4 generates laser and infrared signals in real time and projects the laser and infrared signals onto the beam synthesizer 3 through the five-axis turntable and the outer two-axis turntable 1; the beam synthesizer 3 is arranged on the two-axis turntable 2 outside the five-axis turntable and follows the laser/infrared target simulator 4, in the simulation process, the beam synthesizer 3 reflects laser signals and infrared signals and simultaneously transmits radio frequency signals, signals of three wave bands are synthesized in a common aperture mode and then are projected to the entrance pupil of the detected seeker 4, and infrared/millimeter wave/laser three-mode target simulation is achieved. And the simulation computer carries out real-time trajectory calculation according to the output of each test-participating component, controls the missile to fly and forms a simulation closed loop. The whole simulation test process is controlled by a test master control system.

The invention solves the problems that the signal quality is reduced, the signal cannot be corrected, the optical path of the laser/infrared target simulator is too long, and the simulation range of the optical field cannot be met due to the fact that a beam synthesizer in the traditional infrared/millimeter wave/laser multimode composite simulation system is too large. Through the design of the five-axis turntable, the structure of the five-axis turntable is more compact, the signal entrance pupil is more direct, the light path of the laser/infrared target simulator is effectively shortened, and the size and weight of the exit pupil lens can better meet the optical view field range required by the seeker; radio frequency and optical simulation applications can be simultaneously realized. The infrared/millimeter wave/laser multimode composite simulation system is simpler in overall architecture, smaller in size, strong in universality, easy to realize in engineering, better in overall signal quality and higher in accuracy of a synthesized angular position.

While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.