地磁导航半实物仿真系统是地磁导航从理论走向工程应用的关键环节,而现阶段实时性是制约其发展的关键技术之一。针对这一问题,重点分析了系统中磁场模拟的延迟效应,建立了磁场模拟过程中电流随时间变化的数学模型,并基于此提出了一种基于超前调节的磁场模拟实时控制方法。仿真实验结果表明,初始调节电流增加18.43%的情况下,系统的实时性提高了5.45倍;实测实验结果表明,初始调节电流增加18.57%的情况下,系统的实时性提高了3倍。本文提出的方法可以为地磁导航半实物仿真系统实时性的提高提供一种参考。 The geomagnetic navigation semi-physical simulation system is a key link of geomagnetic navigation from theory to engineering application. At the present stage, real-time is one of the key technologies that restrict its development. In view of this problem, the delay effect of the magnetic field simulation in the system is analyzed emphatically. A mathematical model of the current variation with time in the magnetic field simulation is established. Based on this, a real-time control method of the magnetic field simulation is proposed. The simulation results show that the real-time performance of the system is improved by 5.45 times when the initial adjustment current is increased by 18.43%. The experimental results show that the real-time performance of the system is improved by 3 times when the initial adjustment current increases by 18.57%. The method proposed in this paper can provide a reference for the real-time improvement of geomagnetic navigation semi-physical simulation system.