本文对水下航行器制导控制半实物仿真系统的结构和功能作了详细介绍，并以此半实物仿真系统为试验平台，通过试验对实时调度算法进行应用和验证。
This paper introduces the frame and function of underwater vehicle control and guidance hardware-in-the-loop simulation system in detail, which actor as the test flat, through.
本文阐述了随动仿形系统的功能、结构、工作原理以及各种性能指标试验与分析的结果。
The thesis presents the function structure working principle and the analytical result of each performance index test.
试验结果表明．试验方法先进可靠．测控系统硬件结构合理．抗干扰能力强； 软件设计新颖．功能完备。
The test results show that the hardware of the system has reasonable structure, great capability to resist disturbance, in addition, its software has the new design and full function.
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