Perception and control capability generation test system based on virtual-real fusion

A perception and control capability generation test system based on virtual-real fusion comprises an environment simulation subsystem, a target and obstacle generation subsystem, an equipment simulation subsystem, a comprehensive perception subsystem and a control subsystem. The environment simulation subsystem simulates response under the action of equipment or carrier waves according to an application scene needing to develop or test an algorithm; the target and obstacle generation subsystem is used for generating a target or an obstacle required by specific perception and control algorithm development and test; the comprehensive sensing subsystem comprises an infrared photoelectric part, a visible light camera, a millimeter wave radar, a laser radar, a navigation radar and a sonar in addition to a sensing equipment entity required by equipment, and further comprises simulation, control and sensing data generation of corresponding sensing equipment in the virtual system; besides a controller, a propeller an