This achievement is related to the singleplayer story campaign and therefore should not be missable.
*** Spoiler - click to reveal ***You will get this achievement during the mission "testing 1...2...3..." after explore the space station as tony and during the cut scene where tony finds a certain frozen soldier Ps: they just like freezing cap I guess. The achievement will pop during the cutscene
please message me if you have any questions and if you down vote please tell me why so I can make the solution better.
Have fun avenging.