A real-time flight simulation system of large-scale hardware-in-closed-loop is constructed with rapid prototyping technology. It is composed of the flight-dynamics simulation subsystem

flight control subsystem

and visual simulation subsystem

etc. They are connected through unified high-speed optical network. Based on the principle of hierarchy and modularity

the mathematical model for aircraft flight dynamics simulation was established in Matlab/Simulink. The hardware-in-closed-loop simulation model was developed from the mathematical model

used corresponding driver module. Finally

the mathematical and hardware-in-closed-loop simulation were carried out with the example aircraft’s data. Compared with flight experiment

the relative error of range is 2.3％

and the relative error of maximal altitude is 0.85％. The simulation results validate the rationality and validity of modeling theories and methods.