RU2711196C1 - Flight director display - Google Patents

Abstract

FIELD: aviation.SUBSTANCE: helicopter flight-control indicator comprises a screen configured to indicate the "Airplane" index in the form of a straight line symbolizing the aircraft wings, as well as the "Leader" movable index having additionally a vertical straight line symbolizing the aircraft keel, as well as with possibility of indication of certain flight parameters, obtained from corresponding units of their measurement and calculation, control means of "Leader" index.EFFECT: higher information content of the image on the display field of the screen.1 cl, 13 dwg

Description

The invention relates to devices for the figurative display of information used by the pilot and crew when piloting a helicopter, and in particular to flight control indicators (KPI). The closest in technical essence to the claimed technical solution is the "Flight indicator". RF invention patent No. 2539708 application No. 2013158499/11 decision to grant a patent priority of December 30, 2013 IPC G01C 23/00, G05D 1/00, which consists of a screen on which are displayed:

- fixed relative to the center of the display field of the screen reference index "Airplane", made in the form of one horizontal line, symbolizing the wings of the aircraft (LA), and one vertical line, symbolizing the keel of the aircraft, and intersecting the horizontal line in its center at a right angle, with the ability turning around its center of symmetry and indicating the current position of the helicopter in space;

- a moving index "Leader", made in the form of one horizontal line symbolizing the wings of an aircraft and one vertical line symbolizing the keel of an aircraft, and intersecting the horizontal line in its center at a right angle, with the ability to rotate around its center of symmetry, as well as move vertically and horizontally relative to the index "Aircraft" and indicating the desired position of the helicopter in space.

- a symbol generator connected to the screen,

The controls for the Leader moving index are made in the form of Leader characteristics calculation blocks:

- a unit for calculating the parameters of the current sliding angle;

- a unit for calculating the value of the estimated roll angle;

- a unit for calculating the estimated slip angle;

- a unit for calculating aircraft deviation in flight altitude and a scale factor for deviation in aircraft altitude;

- a unit for calculating a value of a calculated pitch angle;

- a unit for calculating the lateral deviation and the coefficient of scale of the lateral deviation of the aircraft, the inputs of which receive signals from the aircraft systems, and from the outputs of which the signal generator receives signals in accordance with the magnitude of the control error in height, ensuring the movement of the Leader index along the display field in the vertical direction, as well as signals indicating the "radio height" index and a fixed uneven scale of the value of the flight altitude, indicated on the vertical side of the border of the display field of the screen with zero cm height, situated on a horizontal level line passing through the center of the screen indication field; The Airplane index and the Leader index are capable of simultaneously displaying the sliding angle and pitch angle by indicating a triangle. The base of the triangle is equal to the length of the horizontal straight line symbolizing the wings of the aircraft, and the position of the top of the triangle corresponds to the current value of the pitch angle and sliding angle for the Airplane index and the deviation from the specified pitch angle and sliding angle for the Leader index. The Leader index is made to rotate around the center of symmetry in accordance with the error in roll angle, increasing or decreasing linear dimensions with increasing or decreasing, respectively, the set flight speed so that at zero error values for all controlled parameters, the Leader index "combined with the index" Aircraft ", the flight control indicator (KPI) is equipped with: a unit for accounting the flow rate in flight of the mass of the payload of the helicopter, a unit indicating the helicopter speed indicator, decree helicopter flight speed atrium with a numerical scale, index of the current helicopter flight speed index, index of the specified helicopter flight speed index, calculation unit in the coordinate system of the spatial position of the center of mass associated with the helicopter, the moments of inertia of the helicopter in flight and the parameter of the longitudinal distance from the center of mass of the helicopter to the rotor axis, the unit for calculating the predicted helicopter flight speed and the switch of the autopilot blocks of the automatic stabilization functions for pitch, altitude and speed In addition, the input of the metering unit for the flight flow rate of the helicopter’s payload mass is connected to the aircraft systems according to the parameters of the helicopter’s payload mass consumed in flight, and the output is connected to the input of the calculation unit in the coordinate system of the spatial position of the center of mass associated with the helicopter, the helicopter flight and the values of the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor according to the parameter of the useful load of the helicopter used in flight, the output of which is connected to the first input of the unit calculating the predicted helicopter flight speed according to the parameter of the longitudinal distance from the center of mass of the helicopter to the rotor axis, and the second input of the predicted helicopter flight speed calculation unit is connected via the switch of the autopilot blocks of the automatic stabilization functions for pitch, height and speed according to the parameter of the current pitch angle value, and the output the unit of the predicted helicopter flight speed by the parameter of the given helicopter flight speed and the output of the automatic flight control system block by the parameter t The current helicopter flight speed is connected to the input of the block indicating the helicopter flight speed indicator, the output of which is connected to a symbol generator, which is configured to display the helicopter flight speed indicator device with a numerical scale and index for the indicator of the current helicopter flight speed and index for the specified helicopter flight speed index.

In the known flight-control indicator for a horizontal section of a route, a change in the value of the current helicopter flight speed to another value of the helicopter flight speed is due to the dynamic properties of the helicopter. In a first approximation, the dynamic properties of a helicopter are represented by the formula Vtek = f (υ ° tech, Xt (t)), in which (Vtek) is the current value of the helicopter flight speed vector, (υ ° tech) is the current value of the pitch angle and (Хт (t )) - the current value of the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor. The pilot, changing the current flight speed of his helicopter, draws attention to the helicopter flight speed indicator (US), in which the index of the current flight speed indicator indicates the numerical value of the current helicopter flight speed, and the index of the indicator of the given helicopter flight speed indicates the numerical value of the future flight speed corresponding to current pitch position. If the pilot sees that the index of the current flight speed indicator and the index of the specified helicopter flight speed index are the same, then the helicopter is in a balanced flight mode. Transferring the helicopter flight control system to the director mode of manual flight control by pitch angle, altitude and flight speed, the pilot (switch of the autopilot blocks of the automatic stabilization functions for pitch, altitude and speed (VAP)) turns off the automatic stabilization (AC) functions in the autopilot block the autopilot of the pitch stabilization function (Aυ), the autopilot of the pitch stabilization function (An) and the autopilot of the pitch stabilization function (Av). Then the controls (OS) changes the pitch angle, which leads to a change in the value of the helicopter flight speed. This maneuver is fixed by the main helicopter systems and is transferred in a parametric form (via exchange protocols) to the automatic flight control system (SAUP) unit. From the data exchange protocol coming from the output of the inertial navigation system (INS) unit, only one parameter is selected - (υ ° tech), which is transmitted to the input of the predicted helicopter flight speed (PS) calculation unit. The value of the parameter Xt (t) is constantly supplied to the other input of the block for calculating the predicted helicopter flight speed (PS) - the longitudinal distance from the center of mass of the helicopter to the rotor axis. In the block for calculating the predicted flight speed of a helicopter (PS), the numerical value of the predicted flight speed of the helicopter is calculated by the analytical formulas of the functional dependence Vset = Vpr = f (υ ° tech, Xt (t) = const) for the horizontal portion of the route. The pilot changes the pitch angle of the helicopter on a horizontal section of the route until the index of the pointer for the given helicopter flight speed is set on the scale of the instrument to a new digital value for the given flight speed. At this point in time, the pilot by the switch of the autopilot blocks of the automatic stabilization functions for pitch, altitude and speed (VAP) includes in the autopilot block of the automatic stabilization functions (AC) the autopilot block of the pitch stabilization function (Aυ), the autopilot block of the height stabilization function (An ) and the autopilot block of the function of stabilization by speed (Av). Thus, the pilot returns the helicopter control system to the director mode of automatic flight control with new stabilization parameters in terms of pitch angle, altitude and flight speed. As a result of these actions, the pilot will see the changed Leader figure on the display field of the screen, corresponding to (Vset) - the given flight speed, and on the screen navigation field - the helicopter flight speed indicator (US) showing the current helicopter flight speed and a predetermined helicopter flight speed, which are indicated by corresponding index indices showing different numerical values.

When switching to the director mode of automatic flight control, from the protocols for exchanging the current flight output parameters from the output of the automatic flight control system (SAUP) unit, the last protocol for exchanging the current values of the flight output parameters is selected: flight time on the route (T), current value of the flight range of the aircraft (Htek), the current value of the helicopter flight altitude (Ntek), the current lateral deviation of the helicopter (Ztek), the programmed helicopter flight altitude for the execution of the “remove landing gear” / “release sha” command B "(Nshas) given helicopter flight speed (Vzad), the current value of the pitch angle (υ ° tech), moments of inertia (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) connected to axes of the coordinate system of the helicopter.

From this moment in time, the last protocol for exchanging the current values of the flight output parameters is a parametric description of the initial conditions of the inertial mass and spatial position of the helicopter at the point from which the newly defined reference three-dimensional flight path of the helicopter will be calculated at a given speed in the block of the navigation calculator of the source data (NV ID ) and the unit of the navigation calculator of the calculated data (NV RD). The autopilot block of automatic stabilization functions (AC) accepts the newly set values of flight parameters along the route in altitude, speed and pitch angle as initial conditions for their stabilization. Further director's automatic flight mode of his helicopter, the pilot controls in the pilot-operator mode by changing on the display field of the screen the location and shape of the geometric figures of the “Leader” and “Airplane” indices, and how the index moves on the navigation field of the screen in the helicopter flight speed indicator (US) the current flight speed to a new numerical value, which is indicated by the index of the given helicopter flight speed, without thinking about the numerical value of the aircraft flight speed on this section of the route. In the well-known flight-control indicator (KPI), it may happen that, in the hovering mode at a programmed point on the route or in flight with uniform and rectilinear movement, the readings of the navigation instruments of the helicopter visualized on the KPI screen and having an arrow or a moving indication scale, as if “frozen” in one position. In the case when the arrows of navigational instruments or movable indication scales “froze” in one position, the pilot should keep in mind that changing flight parameters are not always fully visualized by navigational instruments. This can be explained by the fact that in the sensors of navigational instruments measuring the current helicopter flight parameters (speed, altitude, roll, pitch, yaw, angular velocity and others), and in the accuracy of reproducing flight parameters by “Airplane” indices, “Leader” indices, pointers speed, roll, pitch, yaw, angular velocity and others, there is a dead zone. The deadband explains the lack of accuracy of the navigation instruments reproducing the current helicopter flight parameters: speed, altitude, angles, angular speeds, accelerations, and other parameters. Instrumental visualization of the value of the current flight parameter on the display and navigation field of the flight-pilot indicator screen also depends on the limit of measurement of this value and the accuracy of the measuring sensor. In the director's mode of manual flight control, the pilot requires high professional experience in controlling the helicopter in order to jewelryly drive the mass of the helicopter into angular and linear motion with the task of accurately maintaining flight parameters or hovering over a programmed route point with a minimum deviation from the coordinates of the flight point. In such a flight, the pilot requires a large number of approximations by the control movements of the controls in order to keep the helicopter in the given flight parameters. The inertia of the large mass of the helicopter significantly complicates the process of holding the helicopter by the pilot in the given flight parameters with minimal spatial deviations.

The technical task of the invention is:

- simplification by piloting with a helicopter, which ensures minimal spatial deviation from the set parameters by increasing the information content of the image on the display field of the screen in the form of elements of computer graphics of particles "Background" displayed on the KPI screen and not preventing the pilot from observing the control indices "Airplane", "Leader" , flight altitude and other navigation devices.

- reducing the psychophysiological and nervous load of the pilot in the process of manually holding the helicopter in the given flight parameters, which is important in conditions of emotional stress, vibration, lack of oxygen, pressure drop, lack of time to make decisions in difficult weather conditions, when flying at low altitude, flying over the sea and other difficult flight conditions;

- simplification of control over the execution of the flight mode, since the pilot at a glance covers the “Airplane” index, “Leader” index, the scale of the helicopter’s flight altitude, the “radio altitude” index, and the background computer graphic elements of the particles — a more accurate means visualization of changes in the spatial position of the helicopter, which together creates an image of the visual flight of the helicopter in the space of the earth's coordinate system;

- ensuring acceptable flight safety and unconditional fulfillment of flight tasks by pilots of any qualifications in any difficult flight conditions with a partial or completely failed automatic control part, i.e. fully hand operated.

- improving flight safety due to the comprehensive and inextricable monitoring of navigation devices: an indicator of flight speed, flight altitude, roll angle, pitch angle, yaw angle, course angle, vertical flight speed and others.

The technical problem is achieved by the fact that the flight indicator of a helicopter containing a screen on which the reference index "Airplane" is displayed, fixed relative to the center of the display field of the screen, is made in the form of one horizontal line symbolizing the wings of an aircraft (LA), and one vertical line, symbolizing the keel of the aircraft, and intersecting the horizontal line in its center at a right angle, having the ability to rotate around its center of symmetry and indicating the current position of the helicopter in transference, the movable index "Leader" displayed on the screen, made in the form of one horizontal line symbolizing the wings of the aircraft and one vertical line symbolizing the keel of the aircraft, and intersecting the horizontal line in its center at a right angle, which can be rotated around its center of symmetry, and also vertical and horizontal movements relative to the “Airplane” index and indicating the required position in space, a symbol generator connected to the screen, controls for the “Leader” movable index, executed data in the form of a block for calculating the characteristics of the “Leader”, namely, a block for calculating the parameters of the current glide angle, a block for calculating the value of the estimated roll angle, a block for calculating the calculated glide angle, a block for calculating the aircraft’s deviation in flight altitude, and a scale factor for the deviation of the aircraft’s flight height, and for calculating the pitch angle, the lateral deviation calculation unit, and the lateral deviation scale factor of the aircraft, the inputs of which receive signals from the aircraft systems, and from the outputs of which I enter the symbol generator signals in accordance with the magnitude of the control error in height, ensuring the movement of the Leader index along the display field in the vertical direction, with the possibility of indicating the radio height index and a fixed uneven scale of the flight altitude value, displayed on the vertical side of the border of the display display field with a zero height value located at the level of a horizontal line passing through the center of the display display field, while the index “Aircraft” and the index “Leader” are made with the possibility of simultaneous displaying the glide angle and pitch angle by indicating a triangle whose base is equal to the length of the horizontal straight line symbolizing the wings of the aircraft, and the position of the top of the triangle corresponds to the current value of the pitch angle and glide angle by the “Airplane” index and the deviation from the set value of the pitch angle and glide angle by the index "Leader" by turning the "Leader" index around the center of symmetry in accordance with the error in roll angle, increasing or decreasing the linear dimensions of the "Leader" index with increasing or reducing, respectively, the set flight speed in such a way that at zero error values for all monitored parameters, the Leader index is combined with the Airplane index, the control indicators of the flight pilot indicator additionally use: helicopter payload flow meter in flight, block indicating helicopter flight speed indicator, helicopter flight speed indicator with a numerical scale, index of the current helicopter flight speed index, index of the specified flight speed index the helicopter, the calculation unit in the coordinate system associated with the helicopter of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the values of the longitudinal distance parameter from the center of mass of the helicopter to the rotor axis, the unit for calculating the predicted helicopter flight speed, the switch of the autopilot blocks of the automatic pitch stabilization functions, height and speed, which is additionally equipped with: a block indicating the vertical speed of the helicopter, a block for calculating the coordinates of the particles of the "Background" fragment air atmosphere to the coordinates of the screen display field, a block indicating the background particles of a fragment of the stationary air atmosphere in the coordinates of the screen display field, the path calculator block, the initial conditions block of the path calculator, the helicopter flight parameters measurement unit, and the input of the flight parameters measurement unit is connected with the main helicopter systems kinematic parameters of the rotor speed, angles of attack of the rotor blades, speed of the incoming flow, total about the pitch of the rotor, and the output of the flight parameter measuring unit is connected to the input of the block of the automatic flight control system of the helicopter by the thrust parameter of the rotor, the input of the block of the automatic flight control system is connected to the output of the block of the inertial navigation system according to the projection parameters of the vector of the current angular velocity of the helicopter on the axis of the connected with a coordinate system helicopter, the output of the automatic flight control system block is connected to the input of the block of initial conditions of the trajectory computer in pairs tram: main rotor thrust, current helicopter flight range, current helicopter flight altitude, current helicopter lateral deviation, programmed distance on the route from the start point, programmed flight altitude on the route, programmed lateral deviation, current projections values of the vector of the helicopter flight speed on the axis of the Earth's coordinate system, the projections of the vector of the current angular velocity of the helicopter on the axis of the coordinate system associated with the helicopter, the current angular position altitude, pitch, yaw, roll, current angle of the trajectory, current angle of the trajectory, current horizontal projections of the average wind speed vector in the earth coordinate system, the current mass of the helicopter, the coordinates of the center of mass of the helicopter in the coordinate system associated with the helicopter, the current value of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter, the moments of inertia of the helicopter in flight, and the output of the block of initial conditions of the trajectory computer is connected to the input of the block of the trajectory computer by initial conditions for integrating the spatial motion equations of a virtual helicopter: rotor thrust, current helicopter flight range, current helicopter flight altitude, current helicopter lateral deviation, programmed distance on the route from the start point, programmed flight altitude on the route , program-defined lateral deviation, projections of the current values of the helicopter flight speed vector on the axis of the earth coordinate system, projections of the current angle vector the speed of the helicopter on the axis of the coordinate system associated with the helicopter, the current angular position of the helicopter in pitch, yaw, roll, the current angle of the trajectory, the current angle of the trajectory, the current horizontal projections of the average wind speed vector in the earth's coordinate system, the current mass of the virtual helicopter, the coordinates of the center of mass of the helicopter in the coordinate system associated with the helicopter, the current value of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter, the moments of inertia of the virtual about the helicopter in flight, the output of the trajectory calculator unit is connected to the input of the automatic flight control system unit according to the predicted numerical values of the virtual helicopter flight parameters: coordinates of the center of mass of the current point of the virtual helicopter flight path, projections of the virtual helicopter flight speed vector on the axis of the earth coordinate system, vector projections the angular velocity of the virtual helicopter on the axis of the coordinate system associated with the virtual helicopter, the angular position of the virtual helicopter that in pitch angle, yaw angle and roll angle, the current differences between the calculated predicted values of the flight parameters of the virtual helicopter and the programmed values of the flight parameters of the helicopter controlled by the pilot in the axes of the earth coordinate system, and the output of the automatic flight control system block according to the projection parameter of the current speed vector helicopter flight to the vertical axis of the Earth's coordinate system is connected to the input of the block of the indicator of the vertical helicopter flight speed, the output of which is connected nen with the input of the symbol generator block, and the output of the automatic flight control system block according to the parameter of the current differences between the calculated predicted values of the flight parameters of the virtual helicopter and the programmed preset values of the flight parameters of the helicopter controlled by the pilot, connected to the input of the particle coordinate conversion unit “Background” of a stationary air fragment the atmosphere in the coordinates of the display field of the screen, the output of which is connected by the parameter of the coordinates of the particles of the "Background" of the still air atmosphere with the input of the block indicating the particles of the “Background” fragment of the stationary air atmosphere in the coordinates of the display field of the screen, the output of which is connected to the input of the block of the symbol generator, and the block of the symbol generator is configured to indicate the device of the vertical flight speed of the helicopter on the navigation field of the screen and display on the display field of the screen of the particle coordinates of the “Background” of the current fragment of the motionless air atmosphere.

The invention is illustrated by drawings.

In FIG. 1 shows a diagram of the pairing of helicopter systems with a flight indicator.

In FIG. 2 shows a functional diagram of a flight indicator.

In FIG. 3 The screen of the flight indicator indicator with the image of a fragment of the “Background” particles is shown.

In FIG. 4 shows the reference flight path of a helicopter.

In FIG. 5 The dead zone of a navigation instrument measuring the vertical speed of a helicopter (variometer) is shown.

In FIG. 6 Shown at the same time: the predicted flight parameter calculated in the block of the trajectory computer and the measured flight parameter in the device having a deadband.

In FIG. 7 “Background” particles and a fragment of “Background” particles of a motionless air atmosphere are presented.

In FIG. 8 A block diagram of an algorithm that implements an indication of fragments of particles of the "Background" (beginning) is shown.

In FIG. 9 shows a block diagram of an algorithm that implements an indication of fragments of particles "Background" (continued figure 8).

In FIG. 10 A graphical representation of parallel calculations is shown in the block of the trajectory computer and in the block of the automatic flight control system.

In FIG. 11 The parameters of the inertial-mass characteristics of a pilot-controlled helicopter model are shown.

In FIG. 12 Parameters of inertial-mass characteristics of a virtual helicopter model are shown.

In FIG. 13 The connection diagram of the block trajectory computer is shown.

The inventive flight control indicator of a helicopter consists of:

- the screen of the flight indicator 1, then screen 1, divided into the navigation field 2 of screen 1 and the display field 3 of screen 1;

- a block indicating on the display field 3 of the screen 1 a moving index uncontrolled by the pilot "Leader" 4, then "Leader" 4:

- a block indicating on the display field 3 of the screen 1 the moving index of the pilot-controlled "Airplane" 5 hereinafter "Airplane" 5;

- a block indicating on the navigation field 2 and the display field 3 of the screen 1 fixed uneven located on the vertical side of the border of the navigation field 2 and the display field 3 of the screen 1 scale of the height of the helicopter 6 flight 6, then a scale of height 6;

- a block that displays on the navigation field 2 of screen 1 various navigation information of the current values of the flight parameters of the helicopter 7 (for example: heading indicator, pointer to the vertical speed of the helicopter (variometer) and other devices);

- a block displaying on the screen 1 an index of "radio heights" 8;

- block flight indicator (KPI) 9;

- block automatic flight control system (SAUP) 10;

- block system of air signals (SHS) 11;

- block inertial navigation system (ANN) 12;

- block navigation computer source data (NV ID) 13;

- block navigation computer calculating data (NV RD) 14;

- block symbol generator (HS) 15;

- a unit for calculating the parameters of the current sliding angle 16;

- unit for calculating the value of the estimated angle of heel 17;

- a unit for calculating the estimated slip angle 18;

- a unit for calculating the helicopter flight speed coefficient 19;

- a unit for calculating the deviation of the helicopter by flight altitude and the scale factor of the deviation of the flight altitude of the helicopter 20;

- a unit for calculating a value of the calculated pitch angle 21;

- a unit for calculating the lateral deviation and the coefficient of scale of the lateral deviation of the helicopter 22;

- the switch of the autopilot blocks of the functions of automatic stabilization by pitch, altitude, speed (VAP) 23;

- Helicopter controls (OS) 24;

- autopilot block automatic stabilization (AC) 25;

- autopilot block pitch stabilization function (Aυ) 26;

- autopilot block of the function of stabilization in height (An) 27;

- autopilot block of the function of stabilization by speed (Av) 28;

- block trajectory computer (TV) 29.

- block of initial conditions of the trajectory computer (NU TV) 30;

- a unit for calculating the predicted helicopter (PS) flight speed 31;

- a calculation unit in the coordinate system associated with the helicopter of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the longitudinal distance parameter from the center of mass of the helicopter to the rotor axis (CM) 32;

- unit for accounting the flow rate in flight of the mass of the helicopter payload (for example: fuel, cargo, ammunition) (RPN) 33;

- a switch for inputting the initial data of the parameters of the program three-dimensional flight path of the helicopter (B) 34;

- a unit indicating “remove the chassis” / “release the chassis” on the display field 3 of screen 1 for the “Leader” index 4 (KSh) 35;

- the block of the internal language for visualizing a variable scale of the height of the flight of the helicopter (W) 36;

- helicopter flight speed indicator (CS) 37;

- a block of the indicator of the vertical flight speed of the helicopter (AC) 38;

- a unit for recalculating the coordinates of the “Background” particles of a fragment of a stationary air atmosphere into the coordinates of the display field 3 of screen 1 (CF) 39;

- a block indicating the particles of the “Background” fragment of a stationary air atmosphere in the coordinates of the display field 3 of screen 1 (IF) 40;

- a block indicating a helicopter flight speed indicator, a helicopter flight speed indicator with a numerical scale, an index of an indicator of a current helicopter flight speed, an index of an indicator of a given helicopter flight speed (BUS) 41;

- a unit for measuring helicopter flight parameters (IPP) 42.

To visualize the flight parameters on the display field 3 and navigation field 2 of the screen 1 of the flight control indicator (KPI) block, a 9 helicopter pilot must first pass the input data of the block of the navigation calculator to the input of the block of the three-dimensional flight path of the helicopter (B) 34 (НВ ИД) 13 preset parameters of the three-dimensional programmed flight path prepared for calculations in the Earth coordinate system: flight time on the route (T), program-specified distance on the route those from the start point (Khzad), the programmed flight altitude on the route (Yad), the programmed lateral deviation (Zad), the programmed helicopter flight altitude to execute the “remove landing gear” / “lower landing gear” command (Nshas), moments of inertia (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) for the axes of the associated helicopter coordinate system.

From the first output of the block of the navigation calculator of initial data (НВ ИД) 13, the specified parameters of the three-dimensional programmed flight path prepared for calculation in the earth coordinate system are received at the input of the block of the automatic flight control system (SAUP) 10: flight time on the route (T), programmed distance on the route from the starting point (Khzad), program-defined flight altitude on the route (Y-back), program-specified lateral deviation (Zzad), program-specified helicopter flight altitude to execute the “remove landing gear” command / landing gear "(Nshas).

From the second output of the block of the navigation calculator of the source data (NV ID) 13, the input of the block of the navigation calculator of the calculated data (NV RD) 14 will receive: flight time on the route (T), the specified parameters of the three-dimensional programmed flight path prepared for calculation in the earth coordinate system: programmatically - the set distance on the route from the start point (Khzad), the program-specified flight altitude on the route (Y-back), the program-specified lateral deviation (Zset), the program-specified helicopter flight altitude to execute the command “remove the chassis and ”/“ release the landing gear ”(Nshas), moments of inertia (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) for the axes of the associated coordinate system of the helicopter.

From the output of the block of the navigation computer for calculating data (NV RD) 14, the input of the block of the automatic flight control system (SAUP) 10 will receive (additionally set flight parameters):

- in the Earth's coordinate system (GSC) oXgYgZg:

Vxg ass - projection of speed on the Xg axis;

Vyg ass - projection of speed on the Yg axis;

Vzg ass - projection of speed on the Zg axis;

Ψ ° rear - the angle of rotation of the trajectory;

Θ ° back - the angle of inclination of the trajectory;

- in the coordinate system oX1Y1Z1 associated with the helicopter:

υ ° ass - pitch angle,

γ ° ass - roll angle,

ϕ ° butt - yaw angle.

- moments of inertia for the axes of the associated coordinate system of the helicopter:

Ixx is the central moment of inertia along the axis OX1;

Iyy is the central moment of inertia along the oY1 axis;

Izz is the central moment of inertia along the oZ1 axis;

Ixy - centrifugal moment of inertia in the plane oX1Y1;

Ixz - centrifugal moment of inertia in the plane oX1Z1;

Iyz is the centrifugal moment of inertia in the oY1Z1 plane.

From the main helicopter systems, the flight parameters are received at the input of the automatic flight control system (SAUP) 10 block for calculating control signals and visualization parameters:

- from the output of the airborne signal system (SHS) block 11, the parameters of the current value of the helicopter flight height (Ytek), the current value of the helicopter flight speed vector (Vtek), the projection of the vector of the current helicopter flight speed on the vertical axis of the earth coordinate system (Vygtek) and the current horizontal projections vectors of average wind speed in the Earth's coordinate system - Wind = f (Wxg, Wzg), where: Wind is the module of the current vector of average wind speed, Wxg, Wzg are horizontal projections of the average wind speed vector (Wind) on the axis of the Earth's coordinate system.

From the output of the inertial navigation system (ANS) block 12, the parameters of the helicopter's angular and spatial position are received: υ ° tech, γ ° tech, ϕ ° tech, respectively, the current value of the pitch angle, the current value of the angle of heel, the current value of the yaw angle, and the projection of the current vector the angular velocity of the helicopter on the axis of the coordinate system oX1Y1Z1 associated with the helicopter: along the axis ОХ1 - (ωхтек); along the axis oY1 - (ωout); along the axis oZ1 - (ωz tech) and (Khtek) - the current value of the helicopter flight range, (Ztek) - the current value of the lateral deviation of the helicopter.

From the main systems of the helicopter, the kinematic parameters of the flight arrive at the input of the flight parameter measurement unit (IPP) 42:

- rotor speed - Nнв;

- angles of attack of the rotor blades - α _HB ;

- free flow velocity - V _∞ ;

- the general pitch of the rotor - ϕ _about .

from the output of the flight parameter measurement unit (IPP) 42, the rotor thrust parameter - (TNV) is received at the input of the block of the automatic helicopter flight control system (SAUP) 10.

From the main systems of the helicopter, the values of the parameters of the helicopter payload mass used in flight for the helicopter payload mass flow (for example: fuel, cargo, ammunition) (RPN) 33 are received from the main helicopter systems:

Mm (t, xm, ym, zm) - payload mass;

t is the flight time;

xm, ym, zm - coordinates of the center of mass of the payload

in the coordinate system associated with the helicopter.

from the output of the in-flight flow meter of the helicopter’s payload mass (for example: fuel, cargo, ammunition) (RPN) 33, the payload mass parameters, its coordinates, measured in time, in the coordinate system associated with the helicopter, are input to the calculation unit in the associated with a helicopter, the coordinate system of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the longitudinal distance parameter from the center of mass of the helicopter to the rotor axis (CM) 32, in which the current mass of the helicopter (MW) and the dinatas of the center of mass of the helicopter in the coordinate system associated with the helicopter

MV (t, xb, uv, zv) - the current mass of the helicopter;

t is the flight time;

hv, uv, zv - coordinates of the center of mass of the helicopter in the coordinate system associated with the helicopter;

Ikhhv, Iuv, Izzv, Ikhuv, Ikhzv, Iyzv - moments of inertia of the helicopter in flight;

Xt (t) is the current value of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter.

From the first output of the calculation unit in the coordinate system associated with the helicopter, the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the value of the longitudinal distance parameter from the center of mass of the helicopter to the rotor axis (CM) 32, the parameters of the automatic flight control system (SAUP) 10 are received the current mass of the helicopter - (MV), the coordinates of the center of mass of the helicopter in the coordinate system associated with the helicopter - (xv, uv, zv), the moments of inertia of the helicopter in flight (Ikhhv, Iyuv, Izzv, Ikhuv, Ixzv, Iyzv) and the current value of Xt ( t) longitudinal distance from the axis of the rotor to the center of mass of the helicopter.

From the second output of the calculation unit in the coordinate system associated with the helicopter, the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the parameter of the longitudinal distance from the center of mass of the helicopter to the rotor axis (CM) 32 to the first input, the calculation unit of the predicted helicopter flight speed (PS ) 31, Xt (t) arrives - the current value of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter. To the second input of the block for calculating the predicted flight speed of the helicopter (PS) 31 (through the switch of the autopilot blocks of the automatic stabilization functions for pitch, altitude and speed (VAP) 23) during operation of the block of the automatic flight control system (SAUP) 10 (in director mode of automatic flight control ) comes from the output of the autopilot block automatic stabilization functions (AC) 25 the current value of the pitch angle - υ ° tech.

From the output of the unit for calculating the predicted flight speed of the helicopter (PS) 31, the value of the parameter of the given flight speed of the helicopter (V back), which is numerically equal to the speed set by the pilot after receiving the radio command to change the flight speed in the next section, is received in the block of the automatic flight control system (SAUP) 10 route - (Vset = Vpr). Vpr - the predicted helicopter flight speed.

At the input of the autopilot block of automatic stabilization functions (AC) 25 through the switch of the autopilot blocks of automatic stabilization functions of pitch, altitude, speed (VAP) 23, when the automatic flight control system (SAUP) 10 is operating in director automatic flight control mode, (υ ° tech ) - the current value of the pitch angle :, (γ ° tech) - the current value of the angle of roll, (ϕ ° tech) - the current value of the yaw angle, and (Ytek) - the current value of the helicopter flight height and (Vtek) - the current value of the velocity vector flight vert flight.

From the output of the autopilot block of automatic stabilization functions (AC) 25, in the block of the automatic flight control system (SAUP) 10, in the director mode of automatic control, the flight parameters of the working variables remain: υ ° rear - set pitch angle Y-back - programmed flight altitude on the route (Y-back); γ ° back - set value of the angle of heel; ϕ ° back - the set value of the yaw angle and V back - the set value of the helicopter flight speed.

The parameters of the automatic flight control system (SAUP) 10 unit received from the main helicopter systems:

- rotor thrust - TNV;

- the current value of the helicopter flight range (Htek);

- the current value of the helicopter flight altitude (Ytek);

- the current value of the lateral deviation of the helicopter (Ztek);

- programmed range on the route from the starting point (Khzad);

- programmed flight altitude on the route (Y-back);

- software-defined lateral deviation (Z back);

- the current value of the helicopter flight speed vector - Vtek;

- the projection of the vector of the current helicopter flight speed on the vertical axis of the Earth coordinate system-Vygtek;

- projections of the current angular velocity vector of the helicopter on the axis of the coordinate system associated with the helicopter - (ωхtek, ωweek, ωztek);

- the current angular position of the helicopter: pitch angle - (υ ° tech),

yaw angle - (ϕ ° tech), roll angle - (γ ° tech);

- current angle of rotation of the trajectory - Ψ ° tech;

- the current angle of the trajectory - - ° tech;

are the current horizontal projections of the average wind speed vector in the earth coordinate system - Wind = f (Wxg, Wzg), where: Wind is the module of the current average wind speed vector, Wxg, Wzg are the horizontal projections of the average wind speed vector (Wind) on the axis of the earth system coordinates.

- the current mass of the helicopter - MW;

- coordinates of the center of mass of the helicopter in the coordinate system associated with the helicopter - xv, uv, zv;

- the current value Xt (t) of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter;

- the values of the moments of inertia of the helicopter in flight - Ihhv, Iuuv, Izzv, Ihuv, Ixzv, Iyzv;

enter the input block of the initial conditions of the trajectory computer (NU TV) 30.

From the output of the block of initial conditions of the trajectory computer (NU TV) 30, the parameters of the initial conditions for integrating the equations of spatial motion of the virtual helicopter are received at the input of the block of the trajectory computer (TV) 29:

- rotor thrust - TNV;

- the current value of the helicopter flight range (Htek);

- the current value of the helicopter flight altitude (Ytek);

- the current value of the lateral deviation of the helicopter (Ztek);

- programmed range on the route from the starting point (Khzad);

- programmed flight altitude on the route (Y-back);

- software-defined lateral deviation (Z back);

- projection of the vector of the current value of the helicopter flight speed on the axis of the Earth coordinate system - (Vxgtek, Vygtek, Vzgtek);

- projections of the current angular velocity vector of the helicopter on the axis of the coordinate system associated with the helicopter - (ωхtek, ωweek, ωztek);

- the current angular position of the helicopter: pitch angle - (υ ° tech),

yaw angle - (ϕ ° tech), roll angle - (γ ° tech);

- current angle of rotation of the trajectory - Ψ ° tech,

- the current angle of the trajectory - - ° tech;

are the current horizontal projections of the average wind speed vector in the earth coordinate system - Wind = f (Wxg, Wzg), where: Wind is the module of the current average wind speed vector, Wxg, Wzg are the horizontal projections of the average wind speed vector (Wind) on the axis of the earth system coordinates;

- current mass of the virtual helicopter - Ma;

- coordinates of the current center of mass of the helicopter in the coordinate system associated with the helicopter - ha, ya, za;

- the current value Xt (t) of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter;

- the values of the moments of inertia of a virtual helicopter in flight - Ixxa, Iyya, Izza, Ixya, Ixza, Iyza.

From the output of the block of the trajectory computer (TV) 29, the predicted parameters of the results of the integration of the equations of spatial motion of the virtual helicopter are received at the input of the block of the automatic helicopter flight control system (SAUP) 10:

- the coordinates of the center of mass of the current point of the flight path of the virtual helicopter - Ha, Ya, Za.

- calculated in the earth coordinate system, the projection values of the vector of the current flight speed of the virtual helicopter - Vxa, Vya, Vza.

- calculated values of the projections of the angular velocity vector of the virtual helicopter on the axis of the coordinate system associated with the virtual helicopter - ωxa, ωya, ωza.

- the current angular position of the virtual helicopter - υ ° а, ϕ ° а, γ ° а pitch, yaw and roll angles, respectively.

- the current difference between the calculated predicted value of the flight parameter of the virtual helicopter and the software-specified value of the flight parameter of the helicopter controlled by the pilot, dAx (along the axis (oXg) of the earth coordinate system).

- the current differences between the calculated predicted values of the flight parameters of the virtual helicopter and the program-specified values of the flight parameters of the helicopter controlled by the pilot, dAy and dAz (along the axis (oYg) and along the axis (oZg) of the earth coordinate system, respectively).

From the output of the block of the automatic flight control system (SAUP) 10, the following parameters are received at the input of the block of the flight control indicator (KPI) 9: - current value of the helicopter flight altitude - Ytek;

- programmed flight altitude on the route - Y-back;

- the current lateral deviation of the helicopter - Ztek;

- software-defined lateral deviation - Zzad;

- the current value of the helicopter flight speed vector - Vtek;

- software-defined helicopter flight speed - Vset.

- the current value of the angle of rotation of the trajectory - Ψ ° tech;

- software-defined angle of rotation of the helicopter trajectory - Ψ ° rear;

- the current value of the angle of the trajectory of the helicopter - Θ ° tech;

- software-defined angle of inclination of the trajectory of the helicopter - Θ ° rear;

- the current value of the pitch angle - υ ° tech;

- software-defined angular position of the helicopter on the trajectory along the pitch angle - υ ° rear;

- the current value of the angle of heel - γ ° tech;

- software-defined angular position of the helicopter on the trajectory along the roll angle - γ ° rear;

- the current value of the yaw angle - ϕ ° tech;

- program-defined angular position of the helicopter on the trajectory along the yaw angle ϕ ° rear;

- software-specified altitude of the helicopter to execute the command "remove the chassis" / "release the chassis" - Nshas;

- projection of the vector of the current helicopter flight speed on the vertical axis of the Earth's coordinate system - Vygtek;

- the current differences between the calculated predicted values of the flight parameters of the virtual helicopter and the program-specified values of the flight parameters of the helicopter controlled by the pilot, dAy and dAz (along the axis (oYg) and along the axis (oZg) of the earth coordinate system, respectively).

Moreover, in the block of the flight control indicator (KPI) 9 according to the parameter Vygtek - the projection of the vector of the current flight speed of the helicopter onto the vertical axis of the earth coordinate system is connected in the block of the symbol generator (GS) 15 with the input of the block of the pointer of the vertical speed of flight of the helicopter (BC) 38, and the parameter of the current differences between the calculated predicted values of the flight parameters of the virtual helicopter and the program-specified values of the flight parameters of the helicopter controlled by the pilot (dAy, dAz) is connected to the input of the coordinate conversion unit h astits of the “Background” fragment of the motionless air atmosphere to the coordinates of the display field of the screen (CF) 39, the output of which in the block of the symbol generator (HS) 15 is connected by the coordinate parameter of the particles of the “Background” (Ye (m), Ze (m)) of the motionless fragment of the air atmosphere in the coordinates of the display field of the screen with the input of the block, indicating particles of the "Background" of a fragment of a stationary air atmosphere in the coordinates of the display field of the screen (IF) 40.

For visualization of flight information in the block of flight control indicator (KPI) 9, where in the block of the symbol generator (GS) 15 are converted into control indices of flight parameters and displayed on screen 1, according to visual information:

- the current value of the pitch angle - υ ° tech;

- the calculated value of the pitch angle - υ ° calculation;

- the current value of the angle of heel - γ ° tech;

- the calculated value of the angle of heel - γ ° calculation;

- the current value of the angle of slip - β ° tech;

- the calculated value of the angle of heel - β ° calculation;

- the coefficient of the scale deviation of the aircraft altitude - mY;

- the coefficient of scale of the lateral deviation of the aircraft - mZ;

- the coefficient of the scale of the flight speed of the aircraft - mV;

- the current value of the height of the helicopter - Vtek;

- software-specified altitude of the helicopter to execute the command "remove the chassis" / "release the chassis" - Nshas;

- projection of the current vertical helicopter flight speed vector onto the vertical axis of the earth coordinate system - Vygtek;

- the coordinates (Ye (m)) and (Ze (m)) of the particles of the "Background" of a fragment of a stationary air atmosphere in the coordinates of the display field 3 of screen 1.

The operation of the pilot-flight indicator begins when the pilot, in preparation for flight, sets the input switch for inputting the parameters of the program three-dimensional flight path of the helicopter (B) 34 (Fig. 1) to the position "input of the initial data for the parameters of the program three-dimensional flight path of the helicopter". 13, the pilot enters the parameters of the software three-dimensional flight path and the moments of inertia of the helicopter prepared for processing in the space of the Earth's coordinate system in the block of the navigation calculator of initial data (NV ID) 13. After entering the initial data, the pilot sets the input switch of the parameters of the software three-dimensional flight path of the helicopter (B) 34 (Fig. 1) to the position that corresponds to the command "data entry is stopped". By this command, the input of the block of the navigation calculator of calculated data (НВ РД) 14 receives all the initial data of the parameters of the program three-dimensional flight path of the helicopter and the moments of inertia of the helicopter from the output of the block of the calculator of the initial data (НВ ИД) 13. In the block of the navigation calculator of the calculated data (НВ) RD) 14 the initial data of the parameters of the three-dimensional programmed flight path and the moments of inertia of the helicopter are converted into additionally specified helicopter flight parameters, which are necessary to control the field helicopter volume and for the operation of the automatic flight control system (SAUP) unit 10.

The input of the block (Fig. 1) of the automatic flight control system (SAUP) 10 constantly receives signals from the outputs of the main helicopter systems: the block of the air signal system (SHS) 11, the block of the inertial navigation system (ANN) 12, the block of the navigation calculator of the source data (HB) ID) 13, block of the navigation computer for calculating data (НВ РД) 14, block for accounting the flow rate in flight of the mass of the payload of the helicopter (RPN) 33, block of calculation in the coordinate system associated with the helicopter of the spatial position of the center of mass, moments of inertia vert summer in flight and the values of the parameter of the longitudinal distance from the center of mass of the helicopter to the axis of the rotor (CM) 32, the unit for measuring the parameters of the flight of the helicopter (IPP) 42. From the output of the automatic flight control system (SAUP) 10, the flight parameters are received at the input of the command- flight indicator (KPI) 9 (Fig. 1, Fig. 2). In the block of the flight control indicator (KPI) 9, the flight parameters are transmitted to a symbol generator (GS) 15, where they are converted into control indices and displayed on screen 1 in the form of visual information (Fig. 3) that helps the pilot control the helicopter flight on the route from the point start "O" on the site of uniform and rectilinear movement at a constant height "AA *" in the direction of the hinge area "BB *" (Fig. 4) and further along the route to point "C". The flight parameters are visualized (Fig. 3) by the indexes “Leader” 4, “Aircraft” 5, “height scale” 6, “radio height” 8 and navigation instruments of the helicopter: course indicator, indicator of the helicopter’s vertical speed and others. The helicopter moves to the hinge area "BB *" in accordance with the flight program, which contains sections of the uniform and rectilinear movement "AA *" at a constant speed at a constant height (Fig. 4). In the “BB *” hovering area, in accordance with the flight program, the value of the helicopter's flight velocity vector changes to a value close to zero. Visual control of the helicopter flight parameters for the pilot in the condition of uniform and rectilinear movement at a constant height is carried out by the indices on the display field 3 of screen 1: “Leader” 4, “Airplane” 5, “radio height” 8 and navigation devices presented on the navigation field 2 of the screen 1 (Fig. 3). However, in the case when the arrows of navigation devices or moving indication scales “froze” in one position, their possible small deviation illusory “froze” around the digital values of the scales of navigation devices does not allow the pilot to notice the accumulation of aerobatic error in a timely manner and carry out control actions by the controls by helicopter. Even the apparent static slight deviation of the arrow does not attract the attention of the pilot, although over time it leads to significant changes in flight parameters. The illusion of “frozen” arrows is explained by the accuracy of the measurement by the navigation instruments of a small change (in the vicinity of the dead zone) of the measured value of the flight parameter (Fig. 5). The figure 5 shows a conventionally navigational device of the vertical speed of a helicopter. The figure 6 shows the deadband of the device, within which the change in the vertical speed of the helicopter controlled by the pilot is not fixed by the arrow on the scale of the navigation device due to the deadband of the navigation device. A graphical representation of the helicopter’s navigation device in the uniform and rectilinear motion mode or the hover mode measuring the flight parameters in the vicinity of the dead zone is shown in (Fig. 5), which shows the arrow of the navigation device measuring the helicopter flight parameter within the dead zone of the navigation device. Figure 6 shows a graphical representation of the deadband implementation of the navigation device in the path calculation unit (TV) 29. Figure 6 shows that the navigation parameter changes, but in the device reproducing the change in the navigation parameter (Fig. 5), the arrow 'froze'. It is possible to explain the change in the spatial and angular position of the helicopter that is not fixed by navigation devices under the influence of controlling external forces by the phenomenon of insufficiently accurate balancing of the controls due to their idle speed (backlash). In the mode of uniform and straight flight at a constant altitude, under the influence of a vector of constantly acting force, a change in the angular position of the helicopter is inconspicuous for the pilot's eye. The effective force, which is not fixed by navigation devices, with a subtle deviation of the arrow of the navigation device (variometer, altimeter) is not immediately noted by the pilot, but with prolonged exposure to the mass of the helicopter, it sets it in motion. In such cases, the pilot after some time already notes significant changes in the current flight parameters (for example: the current value of the helicopter flight altitude or the current value of the lateral deviation of the helicopter) from the program-set flight parameters.

The moving heavy mass of the helicopter and a noticeable change in its angular position force the pilot to take control actions by the controls in order to return the helicopter to the set flight parameters. The pilot changes the position of the controls (OS) 24 of the helicopter and expects a reaction of the control forces acting on the helicopter, changing the angular and spatial position of the helicopter. The process of action by the controls, then - a look at the pitch angle instrument, a look at the roll angle instrument, a look at other navigation instruments and holding the helicopter in the nearest coordinates of the given point of the flight path, is repeated many times and requires great skill and psychophysiological stress from the pilot. This becomes dangerous when manually piloting instruments in difficult weather conditions. The response of the helicopter to the control action of the controls depends on the magnitude of the acting force and drag force, the dynamic characteristics of the helicopter: the angle of the plane of rotation of the rotor, the mass of the helicopter, the position of the center of mass of the helicopter and the magnitude of the central and centrifugal moments of inertia. The spatial movement of the helicopter, not noted by navigation instruments and not noticed by the pilot, is especially dangerous when flying and hovering in conditions of poor visibility, in night flights and flights over the sea. In order to give the pilot the opportunity to concentrate on fulfilling the task in order to improve flight control over the navigation instruments of the helicopter, as well as reduce the impact on the pilot of psychophysiological and nervous tension and not distract his attention to holding the helicopter in the nearest coordinates of the given point of flight, in the block of the trajectory computer (TV) 29 (Fig. 1) is solved by a system of differential equations of the spatial motion of a virtual helicopter. The mathematical model of a virtual helicopter is described by a system of differential equations of spatial motion and presents a description of an exact copy of the linear dimensions of a helicopter controlled by a pilot and the exact functional dependence of external forces and the position of the helicopter controls (OU) 24. The mathematical model of a virtual helicopter differs from the mathematical model of a helicopter controlled by a pilot in that that the mass of a virtual helicopter (Ma) is less than the current mass of a helicopter controlled by a pilot (MB), then there is (Ma <mv). In accordance with the decrease in mass (Ma), all values of the moments of inertia of the virtual helicopter are recalculated in the mathematical model of the virtual helicopter: The reduced mass and moments of inertia of the mathematical model of the virtual helicopter (with the same action of the control forces) suggest a significantly larger change in the numerical value of the parameters of the spatial and the angular position of the virtual helicopter, compared with the numerical value of the parameter of the spatial and angular position of the helicopter controlled pilot m. That is, the pilot-controlled helicopter will change its spatial and angular position so insignificantly that the pilot will not even notice it. At the same time, the mathematical model of the virtual helicopter (with the speed of the on-board computer located in the block of the trajectory computer (TV) 29) will calculate the predicted parameters of the spatial and angular position of the virtual helicopter, which will correspond to the displacement vector of the spatial and angular position of the helicopter controlled by the pilot. For this, the difference between the calculated predicted values of the flight parameters of the virtual helicopter (Ya, Za) and the programmed values of the flight parameters of the helicopter (Y-back, Z-back) controlled by the pilot, dAy = (Ya-Y-back) and dAz = (Za-Z-back) (along the axis (oYg) and along the axis (oZg) of the Earth's coordinate system, respectively) are transmitted from the output of the trajectory computer (TV) 29 block to the input of the block of the automatic flight control system of the helicopter (SAUP) 10, and then from the output of the block of the automatic flight control system (SAUP) 10 these helicopter flight parameters n enter the block of the flight control indicator (KPI) 9, in which the capabilities of the symbol generator (GS) 15 are visualized in the form of an Airplane index, a Leader index, a radio height index, a fixed uneven scale of flight altitude, and a vertical speed instrument the flight of a helicopter, other navigation devices and a moving image of particles of the “Background” fragments of a stationary air atmosphere on the display field 3 of screen 1 (Fig. 3).

The moving image of the “Background” particles of a fragment of the stationary air atmosphere on the display field 3 of the screen 1 is a computer implementation of the motion of the image of the particles of the “Background” particles of the motionless air atmosphere - the analogue of the Earth’s atmosphere (Fig. 7) and is an additional possibility in the inventive flight-pilot indicator safety flight pilot-controlled helicopter. The figure 7 presents the "Background" particles of a stationary air atmosphere in the Earth's coordinate system oXgYgZg, the "Background" particles of a fragment of a motionless air atmosphere and the visualization of the "Background" particles of a fragment on the display field 3 of screen 1 (KPI) 9. A lot of calculated fragments of a motionless air atmosphere, which, when visualized, are replaced on the KPI screen (when calculating the dynamics of the spatial and angular position of a virtual helicopter), create the illusion of real helicopter movement in airspace. The subsequent displacement of the image of the “Background” particles of the fragment on the display field 3 of the screen 1 (KPI) 9, relative to the previous image of the particles of the “Background” fragment is determined by the difference between the calculated predicted values of the flight parameters of the virtual helicopter (Ya, Za) and the program-specified values of the flight parameters of the helicopter (Y-back, Z-back) controlled by the pilot, (dAy = (Ya-V-back) and dAz = (Za-Z-back)) (along the axis (oYg) and along the axis (oZg) of the Earth's coordinate system, respectively). The connected coordinate system oX1Y1Z1 of the helicopter in flight is oriented relative to the Earth coordinate system by the angles of roll, pitch, yaw. Consequently, the pilot on the screen of the flight-pilot indicator, the moving image of the “Background” particles (hereinafter referred to as the “Background” particles) will be projected according to the values of the same roll, pitch and yaw angles (Fig. 7), giving the pilot the illusion of the visual flight of his helicopter in real airy atmosphere. The algorithm that implements the moving image of particles of the “Background” on the display field 3 of the screen 1 of the flight control indicator (KPI) 9 is represented by the flowchart in figure 8 (beginning of the flowchart) and figure 9 (continuation of the flowchart of figure 8) and will be considered separately below. The values of the navigation parameters of the flight of a virtual helicopter are calculated in the block of the trajectory computer (TV) 29 by integrating (for a given time interval ΔT) a mathematical model of the dynamics of the spatial motion of a virtual helicopter described by a system of differential equations (Fig. 10), the solution of which is the predicted numerical values of the parameters of the flight path in time (ΔT):

- coordinates of the center of mass of the current point of the flight path of the virtual helicopter (Xa, Ya, Za);

- calculated in the earth coordinate system, the projection values of the vector of the current flight speed of a virtual helicopter - (Vxa, Vya, Vza);

- projections of the angular velocity vector of the virtual helicopter on the axis of the coordinate system associated with the virtual helicopter - (ωxa, ωya, ωza);

- the current angular position of the virtual helicopter (υ ° а, ϕ ° а, γ ° а) pitch, yaw and roll angles, respectively.

The time range (Δt) of the automatic flight control system (SAUP) block 10, including the processing time of the input control of navigation information, the integration time of the system of differential equations of the spatial motion of the virtual helicopter, the formation of exchange protocols, the distribution time of exchange protocols and other temporary work processes that are This proposal is not considered, but the implementation of which is mandatory. This necessary time range (Δt) during operation of the automatic flight control system (SAUP) 10 block is indicated by a curly bracket with the values t (n-1), t (n), t (n + 1) on the three-dimensional graph (Fig. 10) along time axis (tsec). The figure 10 conditionally shows that in the automatic flight control system (SAUP) 10, there is navigation information about the current value of the helicopter flight altitude (Ytek), which is controlled by the pilot, and a program-set flight altitude on the route (Y-back) necessary to complete the set tasks in automatic flight control mode. Exchange protocols containing the value of the current flight altitude of the helicopter (Ytek) and the programmed flight altitude on the route (Y-back) are generated in time (Δt) and transmitted in t (n-1) second, in t (n) second, t ( n + 1) second and so on during the operation of the automatic flight control system (SAUP) unit 10. Figure 10 along the ordinate axis (oYg) graphically shows the change in the value of the current helicopter flight height (Ytek), the program-specified flight height on the route (Y ) and the dead zone of the navigation instrument (± ΔYg). In the block of the automatic flight control system (CAMS) 10, the predicted flight parameters of the virtual helicopter are calculated over the time interval (Δt) for the transmitted initial conditions of the flight parameters in the block of the trajectory computer (TV) 29 for the integration time period (ΔT). As an example, for the proposed proposal, we consider the change (Ya) of the predicted flight height of a virtual helicopter with a known (Yset) program-defined flight altitude on the route. The figure 10 presents for a point in time (t (n-1) seconds) and for a point in time (t (n) seconds), a graphical solution of the dependence of the predicted flight height of a virtual helicopter over a period of time (ΔT) along the abscissa axis - (T, sec ) and the ordinate axis (oYg), the solution shows the predicted flight height of the virtual helicopter (the coordinate of the center of mass of the current point of the flight path of the virtual helicopter - Ya) is greater than the programmed flight altitude on the route (Ya> Yset). At the time instant (t (n + 1) seconds), the predicted flight height of the virtual helicopter is less than the programmed flight altitude on the route (Ya <Yset). The numerical value of the predicted value of the helicopter flight altitude (Ya) calculated in the block of the trajectory computer (TV) 29 is compared with the program-preset value of the flight altitude on the route (Y-back). Similarly (not shown in the graph), the numerical value of the predicted value of the lateral deviation of the helicopter (Za) is compared with the program-specified value of the lateral deviation (Zset).

Differences between the calculated (coordinates of the center of mass of the current point of the flight path of the virtual helicopter - Ya, Za) or the same thing - the predicted values of the flight parameters of the virtual helicopter (Ya, Za) and the programmed values of the flight parameters of the helicopter (Y back, Z back) controlled by the pilot, (dAy = (Ya-Y-back) and dAz = (Za-Z-back)) (along the axis (oYg) and along the axis (oZg) of the Earth coordinate system, respectively) received in the block of the flight control indicator (KPI) 9 from the output of the system block automatic flight control (SAUP) 10 are sent to bl ok recalculating the coordinates of the particles of the “Background” fragment of a stationary air atmosphere into the coordinates of the display field 3 of screen 1 (CF) 39 (Fig. 1, Fig. 2), in which (in accordance with the algorithm presented in figure 8 and figure 9) are converted into coordinates (Ye (m)) and (Ze (m)) particles of the “Background” particles of the still air atmosphere fragment in the coordinates of the display field 3 of the screen 1, which are then transmitted to the block indicating the particles of the “Background” particles of the motionless air atmosphere fragment in the coordinates of the display air field 3 1 (IF) 40. Character Generator (HS) 15 visas takes away the particles of the “Background” fragment of a motionless air atmosphere in the coordinates of the display field 3 of the screen 1 KPI.

We will consider a variant of the operation of the unit for converting the coordinates of the particles of the “Background” fragment of the stationary air atmosphere to the coordinates of the display field 3 of screen 1 (CF) 39 for the case when “zero” is marked on the navigation instrument with the vertical helicopter flight speed and the instrument arrow is in the dead zone. If the calculations in the block of the trajectory computer (TV) 29 correspond to the positive direction of the predicted parameter of the flight altitude of the helicopter, that is (dAy> 0.0) is greater than zero, then this means that the images of the “Background” particles (Fig. 7) of fragments projected onto the display field 3 Screen 1 (KPI) 9, will move up. The pilot will perceive this as an illusion of reducing the flight altitude of the helicopter he controls. The pilot by the helicopter flight control (ОУ) 24 controls will increase the lifting force of the main rotors, thereby increasing the flight altitude and observing on the navigation field 3 of the screen 1 reduction (to a complete stop) of the speed of upward movement of the image of the “Background” particles of fragments projected onto the display field 3 of the screen 1. When the difference value (dAy = 0.0) is zero, the images of the “Background” particles of fragments projected onto the display field 3 of screen 1 will not move along the navigation field 3 of screen 1 (KPI) 9, which will mean that the helicopter took about rammno-Altitude route (Ytek = Yzad). If the value of the parameter (dAy <0.0) dAy is less than zero, then the pilot sees the movement of the particles of the "Background" fragments (Fig. 7), projected onto the display field 3 of screen 1 (KPI) 9, in the downward direction, and perceives this movement as an illusion movement of the helicopter controlled by him, in the upward direction. The pilot controls the flight of the helicopter (OS) 24 reduces the lifting force of the rotors, thereby reducing the flight altitude and observes on the navigation field 3 of the screen 1 decrease (to a complete stop) the speed of movement of the image of the particles of the “Background” fragments projected onto the display field 3 of the screen 1 until the parameter dAy becomes zero (dAy = 0).

The pilot exercises similar control over helicopter flight when the helicopter deviates laterally. If the calculations in the block of the trajectory computer (TV) 29 show the positive direction of motion of the predicted parameter of the lateral deviation of the helicopter, that is (dAz> 0.0) dAz is greater than zero, then this means that the images of the “Background” particles (Fig. 7) of fragments projected onto the indicator field 3 of screen 1 (KPI) 9 will move to the right side, illusoryly perceived by the pilot as movement to the left side of his helicopter. The pilot by the helicopter flight control (ОУ) 24 controls will increase the lateral component of the rotor force directed to the right side, observing on the navigation field 3 of the screen 1 decrease (to a complete stop) the speed of movement of the particles of the “Background” fragments projected onto the display field to the right side 3 of the screen 1. With the difference (dAz = 0.0) dAz equal to zero, the images of the “Background” particles of the fragments projected onto the display field 3 of screen 1 will not move along the navigation field 3 of screen 1 (KPI) 9, which will mean that ertolet ranked program-predetermined lateral deviation (Ztek = Zzad). If the direction of the predicted parameter of the lateral deviation of the helicopter (dAz <0.0) dAz is less than zero, then the pilot sees the movement of the image of the particles of the “Background” fragments (Fig. 7) projected onto the display field 3 of screen 1 (KPI) 9, in the direction to the left, and perceives this movement as the illusion of a helicopter moving in the direction to the right. The pilot by the helicopter flight control (ОУ) 24 controls will increase the lateral component of the rotor force directed to the left side, observing on the navigation field 3 of the screen 1 reduction (to a complete stop) of the speed of movement of particles of the “Projection” fragments projected onto the display field to the left side of the image 3 screens 1.

In uniform and rectilinear movement at a constant altitude or in hovering mode, the pilot observes on the display field 3 of screen 1 (KPI) 9 the current position of the Airplane index 5, the Leader index 4, the scale of the helicopter flight height 6, the radio altitude index 8 and a still image of particles “The background projected onto the display field 3 of screen 1. Thus, in the inventive flight-control indicator, the navigation field 2 of screen 1 is used to visualize the navigation instruments of the actual angular and spatial position of the helicopter is controlled by the pilot, and the display field 3 of screen 1 is additionally used to visualize the image of the particles of the "Background" fragments of the stationary air atmosphere in the coordinates of the display field. This is an additional means of flight control with minimal spatial deviations of the helicopter at the programmed point of the trajectory, since it shows the pilot the direction of the predicted small movements of the helicopter controlled by him and does not prevent the pilot from observing the control indices “Plane” 5, “Leader” 4, flight altitude 8 and other navigation devices.

In the block of initial conditions for the trajectory computer (NU TV) 30, the decrease in the mass (Ma) of the virtual helicopter is associated with the recalculation of the moments of inertia (in proportion to the change in density) of the material from which the design of the pilot-controlled helicopter is made. The structural elements on board the helicopter (piloted by the pilot): cabin equipment together with the crew, navigation equipment, armament, landing gear design, engine with carrier system, fuel tanks with refueling and other necessary elements for helicopter flight are also recalculated to the new mass value and moments of inertia, and it is important that the coordinates of the center of mass in the design of the pilot-controlled helicopter coincide with the coordinates of the center of mass in the design of the virtual helicopter. Then there is the addition of the counted masses of the structural elements of the virtual helicopter. The calculations will be true if the coordinates of the center of mass of the virtual helicopter coincide with the coordinates of the center of mass of the helicopter controlled by the pilot. Next, the inertial characteristics of the virtual helicopter are summarized and, as a result, the angular orientation of the main central moments of inertia of the virtual helicopter should coincide with the angular orientation of the main central moments of inertia of the helicopter controlled by the pilot. Formed exchange protocol: Tnv, Khtek, Vtek, Ztek, Khzad, Yset, Zset, Vxgtek, Vygtek, Vzgtek, ωxtek, ωtek, ωztek, υ ° tech, ϕ ° tech, γ ° tech, Ψ ° tech, Θ ° tech, Wind = f (Wxg, Wzg), Ma, ha, ya, za, Ixxa, Iyya, Izza, Ixya, Ixza, Iyza is transferred to the block trajectory computer (TV) 29 for each exchange cycle, as the initial condition for integrating the system of differential equations of dynamics spatial motion of a virtual helicopter.

An example of recalculating the inertial-mass characteristics is presented in figure 11 by the graphs of the parameters of the inertial-mass characteristics of the model of a helicopter controlled by a pilot, and the figure 12 presents the graphs of the parameters of the inertial-mass characteristics of the model of a virtual helicopter. In figure 11 and figure 12, graphs No. 1 ÷ No. 5 contain time-varying functional dependencies of the same name.

Charts No. 1 show the dependence of the change in helicopter mass as a function of time. M = F (t). The mass of the helicopter controlled by the pilot (figure 11) from the initial value M _{(t = 0} = 1055 and the mass of the virtual helicopter reduced by half from the initial value M _{(t = 0)} = 527.5 (figure 12), to the point in time (t = 50) change proportionally, in accordance with the mass fuel consumption: for a pilot-controlled helicopter, M _{(t = 50)} = 565 and for a virtual helicopter M _{(t = 0)} = 282.5.

Charts No. 2 show the dependence of the change in the center of mass of the helicopter in flight taking into account the fuel consumption Xo = F (t), Yo = F (t). We note that for a pilot-controlled helicopter and a virtual helicopter, we have equal values of the coordinates of the center of mass in flight over time. At the moment of time (t = 0), the coordinates of the center of mass of the helicopter controlled by the pilot (figure 11) and the virtual (figure 12) of the helicopter are equal to Xo _{(t = 0)} = 0.6185 and Yo _{(t = 0)} = -0.1896, and at the time point ( t = 50) the coordinates of the center of mass of the helicopter controlled by the pilot (figure 11) and the virtual (figure 12) of the helicopter are equal to Xo _{(t = 50)} = 0.2876 and Yo _{(t = 50)} = -0.354.

Charts No. 3 show the dependence of the change in the angular position of the central axes of inertia with respect to the connected axes oX1Y1 of a helicopter controlled by a pilot and a virtual helicopter versus time. S = F (t). We note that for a pilot-controlled helicopter (Figure 11) and a virtual (Figure 12) helicopter, we have equal values of the change in the angular position of the central axes of inertia relative to the connected axes oX1Y1 in flight. At the moment of time (t = 0), the angular position of the central axes of inertia relative to the connected axes is oX1Y1 S _{(t = 0)} = 87.63 °, and at the moment of time (t = 50) S _{(t = 50)} = 81.35 °.

Graphs No. 4 show the dependence of the values of the central moments of inertia of the helicopter as a function of time Ixx = F (t), Iyy = F (t). At the time point (t = 0), the central moments of inertia of the helicopter controlled by the pilot (Figure 11) are Ixx _{(t = 0)} = 333.1 and Iyy _{(t = 0)} = -1906, and at the time point (t = 50) the central moments of inertia are Ixx _{(t = 50)} = 202.2 and Iyy _{(t = 50)} = 1675. At time (t = 0), the central moments of inertia of the virtual (Figure 12) helicopter Ixx _{(t = 0)} = 166.5 and Iyy _{(t = 0)} = -953.1, and at time (t = 50) the central moments of inertia Ixx _{( t = 50)} = 101.1 and Iyy _{(t = 50)} = 837.5. We note that the central moments of inertia of a helicopter controlled by a pilot (Figure 11) are twice as large as the central moments of inertia of a virtual (Figure 12) helicopter, which corresponds to the condition that the mass of a virtual helicopter is halved.

Graphs No. 5 show the dependence of the change in the centrifugal moment of inertia of the helicopter in function of time Ixy = F (t). At the time point (t = 0), the centrifugal moment of inertia of the helicopter controlled by the pilot (Figure 11) is Ixy _{(t = 0)} = -65.3, and at the time point (t = 50) the centrifugal moment of inertia is Ixy _{(t = 50)} = -229.5. At the time point (t = 0), the centrifugal moment of inertia of the virtual (Figure 12) helicopter Ixy _{(t = 0)} = -32.65, and at the time point (t = 50) the centrifugal moment of inertia Ixy _{(t = 50)} = -114.7. We note that the centrifugal moment of inertia of a helicopter controlled by a pilot (figure 11) is twice as large as the centrifugal moment of inertia of a virtual (figure 12) helicopter, which corresponds to the condition that the mass of a virtual helicopter is reduced by half and the linear dimensions of a helicopter controlled by a pilot and a virtual helicopter are equal . The analysis of the graphs (figure 11 and figure 12) proves that the inertial-mass parameters of the virtual helicopter (graph No. 1) will also be proportionally reduced in the block of initial conditions of the trajectory computer (NU TV) 30 (proportional to number 1) will also change proportionally with the consumption masses (fuel, cargo, ammunition ) When solving the problem of the dynamics of movement of a virtual helicopter in the block of the trajectory computer (TV) 29, the position of the center of mass of the virtual helicopter, the shoulders of the linear dimensions of the application of external and control forces in flight, the angular position of the inertia ellipsoid (graph No. 3), determined by the values of central and centrifugal moments, will be taken into account inertia (graphs No. 4, No. 5). The fact that the angular position of the central axes of inertia (graph No. 3) of the virtual and pilot-controlled helicopters in the plane of the connected axes oX1Y1 in the time function S = F (t) coincides indirectly confirms the correctness of the calculation of the inertial-mass characteristics for the parameters of the virtual helicopter.

Therefore, the calculated parameters of the initial conditions of the mathematical model of a virtual helicopter in the block of initial conditions of the trajectory computer (NU TV) 30, for calculating the predicted parameters of the spatial and angular position of the helicopter controlled by the pilot, will satisfy the solution of the problem of detecting small spatial and angular displacements.

The algorithm for calculating the inertial-mass characteristics of a virtual helicopter is known, therefore, is not the subject of the proposed proposal and is not considered in detail.

The helicopter control process, which uses the predicted flight paths of a virtual helicopter, visualized by moving images of the “Background” particles of fragments projected onto the display field 3 of screen 1, is represented by the flowchart in figure 13. The predicted spatial position of the helicopter, calculated some time earlier in the block trajectory computer (TV) 29, allows the pilot to act on the controls of the helicopter until the moment when the heavy mass of the helicopter comes into motion. Such a flight makes it easier for the pilot to control the helicopter in difficult weather conditions, reduces the psychophysiological and nervous load, frees the pilot's attention to complete the task. In flight along a curved path, the moving image of the “Background” particles on the display field 3 of screen 1 corresponds to the helicopter’s maneuvers and the pilot’s expectations of the correctness of the maneuver in space, and also gives the pilot a sense of confidence close to visual flight, reducing the psychophysiological load.

The figure 13 shows the connection diagram of the block trajectory computer (TV) 29, in which the differences between the calculated predicted values of the flight parameters of the virtual helicopter (Ya, Za) and the programmed values of the flight parameters of the helicopter (Y back, Z back) controlled by the pilot, dAy = ( Ya-Y-back) and dАz = (Z-Z-back) (along the axis (oYg) and along the axis (oZg) of the Earth's coordinate system, respectively). These parameters are transferred from the output of the block of the trajectory computer (TV) 29 to the input of the block of the automatic flight control system of the helicopter (SAUP) 10, from the output of which the parameters (dAy, dAz) are input to the block of the flight control indicator (KPI) 9 and transmitted to the input of the unit for converting the coordinates of the “Background” particles of a fragment of a stationary air atmosphere into the coordinates of the display field 3 of screen 1 (CF) 39, in which they are algorithmically converted into the coordinates (Ye (m)) and (Ze (m)) of the “Background” particles of a fragment of a stationary air atmosphere in coordinates of the display field 3 of screen 1 and are fed to the input of the block indicating the “Background” particles of a fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 (IF) 40. Not marked by navigation devices of the automatic flight control system (SAUP) 10 and not seen by the pilot the movement (Ytek) and (Ztek) of his helicopter, the pilot sees in the form of a moving graphic image of particles of the “Background” fragment on the display field 3 of screen 1 in the form of an illusion of the spatial motion of his helicopter. Acting as a helicopter control unit (ОУ) 24, the pilot returns the helicopter to the spatial position of program-defined coordinates of uniform and rectilinear movement. After visualization of the moving graphic image of the “Background” particles of fragments projected on the display field 3 of the screen 1 of the flight pilot indicator (KPI) 9, the cycle of calculating the moving graphic image of the “Background” particles of the fragments projected on the display field 3 of the screen 1 is repeated.

Visualization of the “Background” particles of a fragment of the stationary air atmosphere in the coordinates of the display field 3 of the screen 1 of the flight pilot indicator (KPI) 9 is possible due to the unit for recalculating the coordinates of the particles of the “Background” fragment of the motionless air atmosphere into the coordinates of the display field 3 of the screen 1 (CF) 39, which (Fig. 8, Fig. 9) is represented by a flowchart consisting of the procedures of an algorithmic programming language for converting the coordinates of the "Background" particles into a fragment of a stationary air atmosphere:

- “S_00” - the initial data procedure, in which the working variables of the unit for converting the coordinates of the particles of the “Background” fragment of the stationary air atmosphere into the coordinates of the display field 3 of screen 1 (CF) are determined; the cell step dR is the constant distance between the individual particles of the “Background” - dR = const; constant linear dimension LS of the display field 3 of screen 1 (KPI) 9 - LS = const; the minimum value of the linear screen size along the Z axis of the screen Zgo = -LS / 2; the maximum value of the linear screen size along the Z axis of the screen Zgк = LS / 2; minimum value of the linear screen size along the Y axis of the screen Ygo = -LS / 2; the maximum value of the linear screen size along the Y axis of the screen is Ygк = LS / 2, the identifiers of the minimum values of the linear screen sizes along the Z axis of the screen are renamed Zoo = Zgo and along the Y axis of the screen are Yoo = Ygo, and the cycle variable k = 0 is reset in the cycle counter. The procedure "S_00" is performed once before the first call to the block of coordinates of the particles "Background" of a fragment of a stationary air atmosphere in the coordinates of the display field 3 of screen 1 (CF) 39. The center of the display field 3 of screen 1 is determined by the linear dimensions of the display field 3 of screen 1, relative to which the displacement of fragments of the motionless air atmosphere of the "Background" particles is calculated. In the same center is depicted the pilot-controlled index “Airplane” 5.

- “S_01” - a procedure for the numerical analysis of the difference between the calculated predicted values of the flight parameters of a virtual helicopter (Ya, Za) and the program-specified values of the flight parameters of a helicopter (Y back, Z back) controlled by the pilot, dAy = (Ya-Y back) and dAz = (Za -Z rear) (along the axis (oYg) and along the axis (oZg) of the Earth's coordinate system, respectively). The parameters dAy and dAz are accepted for processing if the parameter values (dAy and dAz) are larger than the cell step (the distance between the individual particles of the “Background” is dR = const, dAy> dR, dAz> dR), otherwise the physical meaning of moving the moving graphic fragments of the image of particles of the “Background” in the earth coordinate system oXgYgZg when visualized on the display field 3 of screen 1 of the flight control indicator (KPI) 9, therefore, by algorithmic procedures, the parameters (dAy and dAz) are renamed to the parameters (dY and dZ), respectively.

- “S_02” - the procedure for calculating the minimum and maximum values of the coordinates of the particles of the “Background” fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 along the horizontal axis (Zoo, Zkk) and along the vertical axis (Yoo, Ykk) relative to the center of the display field 3 of the screen 1 (KPI) 9.

- “S_03” - a procedure in which, depending on the sign of the parameter (dZ) for a given value of the absolute value of the difference (Zoo and Zgo), that is (abs (Zoo-Zgo) is greater than or equal to 0.9999), block procedures “S_04, S_05” are logically called , S_06. "

- “S_04, S_05, S_06” - procedures for calculating the minimum and maximum values of the position of the coordinate of the “Background” particles of a fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 along the vertical axis (Yoo, Ykk) of the display field 3 of screen 1 (KPI) 9 and the operating state of the counter is (k). In the procedures “S_03, S_04, S_05, S_06” the operating state of the counter (k) changes depending on the sign of the difference values of the compared values dY and dZ. The counter (k) provides the computational process of smooth movement of the “Background” particles in the coordinates (Zoo, Zkk and Yoo, Ykk) filling the navigation field 3 of screen 1 of the flight control indicator (KPI) 9.

- “S_07” - the procedure for calculating the coordinates of the position of each particle of the “Background” fragment of a stationary air atmosphere in the coordinates of the display field 3 of screen 1 in the coordinates (Zoo, Zkk and Yoo, Ykk) filling the navigation field 3 of screen 1 of the flight indicator (KPI) 9. The calculation is carried out using the functions of the internal cycle along the horizontal axis and the functions of the external cycle along the vertical axis of the navigation field 3 of screen 1. The internal cycle of the procedure is performed by the operators (No. 1, No. 2, No. 3, No. 4, No. 5, No. 6, No. 1). In operator No. 1, the internal loop variable is assigned the value of the identifier of the minimum value of the initial value (I = Zoo) of the coordinate of the “Background” particle of the fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 along the horizontal axis Z (Zoo, Zkk) relative to the center of the display field 3 of screen 1. In operator No. 2, the counter of the internal cycle (m) of a numerical value that corresponds to the serial number in the numerical array of particles of the “Background” fragment of a still air atmosphere increases by one The coordinates in the coordinates of the display field 3 of screen 1 in the coordinates (Zoo, Zkk) along the horizontal axis of the navigation field 3 of screen 1. In operator No. 3, the array elements Rz1 (m) and Rz2 (m) are filled in depending on the value of the external loop counter (s) . The external loop counter (s) takes three numerical values - equal to zero, equal to one, equal to two (s = 0; s = 1; s = 2). The values of the counter (s) equal to one and equal to two (s = 1; s = 2) are determined in the external cycle of the procedure. The numeric value equal to zero (s = 0) the counter receives when exiting the inner loop with a value equal to two (s = 2) in operator No. 7. In operator No. 4, the elements of the array Ry (m) are filled in, which has a constant numerical value for the entire range of the coordinates of the “Background” particles of a fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 along the horizontal Z axis (Zoo, Zkk). In operator No. 5, the numerical value of the coordinate of the “Particle” particle of the motionless air atmosphere fragment in the coordinates of the display field 3 of screen 1 along the horizontal Z axis (Zoo, Zkk) increases by the cell step. Operator No. 6 logically compares the value of the coordinate of the “Background” particle of a fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 along the horizontal Z axis (Zoo, Zkk) with the maximum numerical value of the scale along the horizontal axis (Zkk). If the increased value of Zoo is less than Zkk (Zoo≤Zkk), then the inner loop continues with statement # 1. If the increased Zoo value is greater than Zkk (Zoo> Zkk), then the inner loop terminates with access to the outer loop operator # 7. The outer cycle of the procedure for calculating the coordinates of each “Background” particle of a fragment of a stationary air atmosphere in the coordinates of the display field 3 of screen 1 in the coordinate interval ((from Zoo to Zkk) and (from Yoo to Ykk) filling the navigation field 3 of screen 1 of the flight indicator (KPI) 9, performed by operators covering the internal cycle (from No. 7 to No. 10, No. 11). In operator No. 7, the external loop counter (s) is checked. If the value of the external loop counter s is 2 (s = 2), then the value of the external loop counter changes to a new numerical value equal to zero (s = 0). In operator No. 8, the calculated value of the coordinate of the “Background” particle of a fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 along the vertical Y axis (Yoo, Ykk) is assigned a new level in the position cell increased by one (Yoo = Yoo + 1). In operator No. 9, a check is made for the end of the outer loop. If the increased numerical value of the new level (Yoo) along the vertical axis Y (Yoo, Ykk) is greater than the maximum numerical value of the scale (Ykk), namely. (Yoo is greater than Ykk), then the external cycle is exited and the procedure “S07” ends. If the increased numerical value Yoo is less than or equal to Ykk, then the calculation goes to the operator No. 10. Operator No. 10 assigns (J) the variable of the outer cycle the value of the identifier of the minimum value (Yoo) of the initial value (J = Yoo) of the coordinate of the particle “Background” of a fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 in the interval coordinate of the vertical axis Y (Yoo , Ykk). In operator No. 11, the execution of the external cycle continues, in which the counter (s) increases by one (s = s + 1) and the calculation process continues on the internal cycle of the procedure. Calculation of the arrays of values Ry (m), Rz1 (m) and Rz2 (m) of the coordinates of each particle of the “Background” fragment of a stationary air atmosphere in the coordinates of the display field 3 of screen 1 in the interval (from Zoo to Zkk) and (from Yoo to Ykk), filling the navigation field 3 of screen 1 of the flight control indicator (KPI) 9, end with the exit from operator No. 9. From the first output of the S_07 procedure, arrays of values Rz1 (m) and Rz2 (m) are transferred to the input of the S_08 procedure. From the second output of the S_07 procedure, an array of Ry (m) values is transferred to the input of operator No. 12, in which the Ye (m) array is renamed into the Ry (m) array (the algorithm language procedure is Ye (m) = Ry (m)) of vertical values (Ye (m)) of the coordinates of the particles of the “Background” fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1. - “S_08” - a procedure in which, depending on the value of the counter (k), one of the arrays is selected: either Rz1 (m ), or Rz2 (m). For (k) equal to one (k = 1), an array of values Rz1 (m) is selected, for (k) equal to two (k = 2) an array of values Rz2 (m) is selected and a value counter (k) is assigned zero (k = 0 ) The selected array is renamed (the algorithm language procedure - Ze (m) is renamed to Rz1 (m), with k equal to 1 or Ze (m) is renamed to Rz2 (m), with k equal to 2) into an array of horizontal values (Ze (m)) the coordinates of the particles of the “Background” fragment of the stationary air atmosphere in the coordinates of the display field 3 of the screen 1. Coordinates (Ye (m)) and (Ze (m)) (Fig. 1, Fig. 2, Fig. 9, Fig. 13) of particles Background ”of a fragment of a motionless air atmosphere in the coordinates of the display field 3 of screen 1 are transmitted to a block indicating particles of a“ Background ”fragment of a motionless air atmosphere phera in the coordinates of the display field 3 of screen 1 (IF) 40. After visualizing the particles of the “Background” fragment of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 with coordinates (Ye (m)) and (Ze (m)) on the display field 3 of the screen 1 of the flight control indicator (KPI) 9, the cycle of calculating the values of the following constantly changing in flight coordinates of the particles of the “Background” fragments of the stationary air atmosphere in the coordinates of the display field 3 of screen 1 is repeated.

Claims (1)

A flight indicator of a helicopter containing a screen on which the reference index “Aircraft” is displayed, fixed relative to the center of the display field of the screen, made in the form of one horizontal line symbolizing the wings of an aircraft (LA), and one vertical line symbolizing the keel of the aircraft, and intersecting a horizontal line in its center at a right angle, with the ability to rotate around its center of symmetry and indicating the current position of the helicopter in space, the movement displayed on the screen Leader index, made in the form of one horizontal line symbolizing the wings of an aircraft and one vertical line symbolizing the keel of an aircraft and intersecting the horizontal line at its center at a right angle, with the ability to rotate around its center of symmetry, as well as move vertically and horizontally relative to the index "Aircraft" and indicating the desired position in space, a symbol generator connected to the screen, controls for the moving index "Leader", made in the form of a unit for calculating Tick "Leader", namely: a unit for calculating the parameters of the current glide angle, a unit for calculating the estimated roll angle, a unit for calculating the estimated glide angle, a unit for calculating the aircraft deviation in flight altitude and a scale factor for the deviation in the aircraft altitude, a unit for calculating the calculated pitch angle, the unit for calculating the lateral deviation and the scale factor of the lateral deviation of the aircraft, the inputs of which receive signals from the systems of the aircraft, and from the outputs of which the signal generator receives signals in accordance with the value of altitude control system that allows the Leader index to move along the display field in the vertical direction, with the possibility of indicating the radio altitude index and a fixed uneven scale of the flight altitude value displayed on the vertical side of the display field border of the screen with a zero height value located at the horizontal level lines passing through the center of the display display field, while the “Airplane” index and the “Leader” index are configured to simultaneously display the sliding angle and angle and pitch by indicating a triangle, the base of which is equal to the length of a horizontal straight line symbolizing the wings of the aircraft, and the position of the top of the triangle corresponds to the current value of the pitch angle and sliding angle by the index “Airplane” and the deviation from the specified value of the pitch angle and sliding angle by the index “Leader by turning the index” Leader "around the center of symmetry in accordance with the error in roll angle, increase or decrease in linear dimensions of the" Leader "index when increasing or decreasing, respectively, given th flight speed in such a way that at zero error values for all controlled parameters, the Leader index is combined with the Airplane index, command and flight indicator controls additionally use: helicopter payload flow meter in flight, block indicating speed indicator helicopter flight, helicopter flight speed indicator with a numerical scale, index of the current helicopter flight speed index, index of the indicator of the given helicopter flight speed, calculation unit in the associated with a helicopter, the coordinate system of the spatial position of the center of mass, the moments of inertia of the helicopter in flight and the values of the longitudinal distance parameter from the center of mass of the helicopter to the rotor axis, the unit for calculating the predicted helicopter flight speed, the switch of the autopilot blocks for automatic stabilization of pitch, height and speed, characterized in that is additionally equipped with: a block indicating the vertical speed of the helicopter, a block for calculating the coordinates of the particles of the "Background" fragment of a stationary air atmosphere phera to the coordinates of the screen display field, a block indicating the “Background” particles of a fragment of the stationary air atmosphere in the coordinates of the screen display field, the block of the trajectory calculator, the block of initial conditions of the trajectory calculator, the block for measuring helicopter flight parameters, the input of the block for measuring helicopter flight parameters the helicopter according to the kinematic parameters of the rotor speed, angles of attack of the rotor blades, speed of the incoming flow, the total pitch of the rotor nt, and the output is connected to the input of the block of the automatic flight control system of the helicopter by the thrust of the main rotor, the output of the block of the inertial navigation system according to the projection vector of the current angular velocity of the helicopter on the axis of the coordinate system associated with the helicopter, is connected to the input of the block of the automatic flight control system, output which is connected to the input of the block of initial conditions of the trajectory computer in terms of parameters: main rotor thrust, current value of the helicopter flight range, current value helicopter flight altitudes, current helicopter lateral deviation, programmed distance on the route from the start point, programmed flight altitude on the route, programmed lateral deviation, current value of the helicopter flight speed vector, projection of the helicopter current velocity vector on the vertical axis Earth coordinate system, projections of the vector of the current angular velocity of the helicopter on the axis of the coordinate system associated with the helicopter, the current angular position of the helicopter in pitch, yaw, roll, the current angle of the trajectory, the current angle of inclination of the trajectory, the current horizontal projections of the average wind speed vector in the earth's coordinate system, the current mass of the helicopter, the coordinates of the center of mass of the helicopter in the coordinate system associated with the helicopter, the current value of the longitudinal distance from the axis of the rotor to the center of mass helicopter, the moments of inertia of the helicopter in flight, and the output of the block of initial conditions of the trajectory computer is connected to the input of the block of the trajectory computer according to the parameters of the initial conditions for tagging the equations of spatial motion of a virtual helicopter: rotor thrust, current helicopter flight range, current helicopter flight height, current helicopter lateral deviation, programmed target distance on the route from the start point, programmed flight altitude on the route, programmed lateral deviation, projections of the vector of the current values of the helicopter flight speed on the axis of the earth coordinate system, projections of the vector of the current angular velocity of the helicopter on the axis the coordinate system associated with the helicopter, the current angular position of the helicopter in pitch, yaw, roll, current angle of the trajectory, the current angle of inclination of the trajectory, the current horizontal projections of the average wind speed vector in the earth's coordinate system, the current mass of the virtual helicopter, the coordinates of the current center of mass of the helicopter in the coordinate system associated with the helicopter, the current value of the longitudinal distance from the axis of the rotor to the center of mass of the helicopter, the moments of inertia of the virtual helicopter in flight, One block of the trajectory computer according to the parameters of the current differences between the calculated predicted values of the flight parameters of the virtual helicopter and the program-specified values of the flight parameters of the helicopter controlled by the pilot in the axes of the earth coordinate system is connected to the input of the block of the automatic control system of the helicopter flight, from the output of which the parameters of the current differences between calculated predicted values of the flight parameters of a virtual helicopter and software-specified values of the parameters of the field that of a helicopter controlled by a pilot in the axes of the earth's coordinate system, and the parameter of the projection of the vector of the current helicopter flight speed on the vertical axis of the earth's coordinate system, enter the flight-pilot indicator block, in which the parameter of the current differences between the calculated predicted values of the flight parameters of the virtual helicopter and the programmed the values of the flight parameters of a helicopter controlled by a pilot in the axes of the earth's coordinate system, a fragment is connected to the input of the particle coordinate conversion unit “Background” and the motionless air atmosphere to the coordinates of the display field of the screen, the output of which in the symbol generator block is connected to the input of the block indicating the “Background” particles of a fragment of the motionless air atmosphere in the coordinates of the screen display field, and the parameter of the projection of the vector of the current helicopter flight speed on the vertical axis of the earth coordinate system enters in the block of the symbol generator to the input of the block of the indicator of the vertical speed of the helicopter, moreover, the block of the symbol generator is configured to indicate on and the indication field of the screen for the coordinates of the “Background” particles of the current fragment of the motionless air atmosphere and the indication of the helicopter’s vertical flight speed on the navigation field of the screen.

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