为检验与评估激光雷达系统组成模块及器件的性能指标及各个模块及器件协同工作系统效率,建立了外差成像激光雷达电子跟踪器半实物仿真平台。在虚拟设计思想指导下,采用半实物仿真模式设计电子跟踪器仿真平台,并根据激光雷达方程将电子跟踪器仿真平台模块化。基于朗伯散射理论建立了仿真目标场景库模块;基于激光束空间分布理论建立了信号模拟器模块;基于微弱信号检测理论建立了中放模块、数据采集逻辑控制模块和成像及数据分析模块。将五大模块系统集成构成电子跟踪器半实物仿真平台,并进行联调实验评估模块协同工作系统效率;应用中频放大器代替中放模块进行真实器件性能指标评估实验。实验结果表明,电子跟踪器半实物仿真平台能够重现成像激光雷达工作过程,可分析各个模块协同工作效率;能够评估激光雷达组成器件性能指标,并根据具体应用需求给出分析结果,为激光雷达系统组成模块及器件的性能指标评估提供了一种可靠的分析手段。 In order to test and evaluate the performance of laser radar system components and devices and the efficiency of each module and device collaborative system, a hardware-in-the-loop simulation platform of heterodyne imaging lidar electronic tracker was established. Under the guidance of the virtual design idea, the semi-physical simulation mode is adopted to design the electronic tracker simulation platform and the electronic tracker simulation platform is modularized according to the laser radar equation. Based on Lambert scattering theory, a simulation target scene library module was established. Based on the laser beam spatial distribution theory, a signal simulator module was established. Based on the weak signal detection theory, a mid-power module, a data acquisition logic control module and an imaging and data analysis module were established. The system integration of the five modules constitutes a semi-physical simulation platform for electronic trackers, and carries out joint adjustment experiment to evaluate the efficiency of the collaborative work of the modules. The performance evaluation of real devices is performed by replacing the mid-amplification module with an intermediate frequency amplifier. The experimental results show that the electronic tracker hardware-in-the-loop simulation platform can reproduce the working process of imaging lidar, and can analyze the collaborative work efficiency of each module. It can evaluate the performances of laser radar components and provide the analysis results according to the specific application requirements. System components and components of the device performance evaluation provides a reliable means of analysis.