Carrier rocket test method based on triple modular redundancy real-time mirror image accompanying

The invention discloses a carrier rocket test method based on triple modular redundancy real-time mirror image accompanying. The method comprises the following steps: enabling a key module in a carrier rocket control system to be equivalent to an algorithm model; the key module comprises an inertial measurement unit, an arrow machine, a servo controller and a servo mechanism; inputting the collected data into algorithm models, performing simulation calculation on each algorithm model according to the collected data, and outputting model calculation values of target parameters; acquiring the actual acquisition value of the target parameter output by each key module, and obtaining the residual error between the actual acquisition value and the model calculation value; and judging the fault condition of each key module or bus according to the residual error. According to the method, online test verification can be carried out on the triple modular redundancy real-time bus data, and the rapid and accurate enginee