SITL Connection refused sleeping

I run sitl under ubuntu16.04 and use the command: ./Tools/autotest/ --vehicle=ArduCopter --frame=copter --location=HuaiBei --console --instance=1, an error occurs and exits:

And how to solve it?thank you very much

Vehicle and frame is wrong, vehicle should be
something like copter and frame should be something like “+”, i am not sure about the vehicle but check the options, frame is certainly wrong

./Tools/autotest/ --vehicle=ArduCopter --frame=quad --location=HuaiBei --console --instance=1 -N
Still not working, the same error: