CN105006187A - Civil unmanned aerial vehicle simulation training system - Google Patents
Civil unmanned aerial vehicle simulation training system Download PDFInfo
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
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Abstract
The invention discloses an operation procedure of a civil unmanned aerial vehicle simulation training system. The operation procedure comprises the steps of: entering selection of a trainee scene module when the civil unmanned aerial vehicle simulation training system is started; entering a corresponding training environment according to a scene mode selected by a trainee; selecting a civil unmanned aerial vehicle in need of training by the trainee; carrying out return-to-zero calibration on position of an operation rod of a remote controller; allocating operation modes by utilizing an optimized allocation mechanism of operation channels; deciding operation response through shifting the operation rod between maximum and minimum positions; automatically confirming linkage compatibility of channel allocation according to a driving program of the remote controller; if the linkage compatibility is not qualified, then reallocating the operation channel; if the linkage compatibility is qualified, then selecting a flight route; starting the flight simulation of the aerial vehicle after selecting the appropriate training route; automatically recording the flight situation in background if flight recording is selected after the flight; and evaluating flight level in real time if an evaluation scene is selected, generating evaluation result information, and presenting the evaluation result information to the trainee.
Description
Technical field
The present invention relates to a kind of civilian unmanned vehicle simulated training system, be specifically related to unmanned aerial vehicle simulation training field.
Background technology
Along with developing rapidly of civilian unmanned vehicle technology, popularizing fast of especially civilian unmanned plane, makes the demand for civilian unmanned vehicle simulated training more and more urgent.Military or large-scale unmanned vehicle simulated training system has complicated operation, training subject is many, navigating flies rudimentary knowledge requirement high, has certain professional barrier, be difficult to the demand meeting civilian flight training to civilian flight.Meanwhile, the development design of unmanned vehicle equipment is tending towards intelligent and modularization more, no longer needs the training analog system of complicated specialty, and flexible operation, to experience true, left-hand seat easy to learn be the specific demand of civilian unmanned vehicle simulated training.
Civilian unmanned vehicle function is become stronger day by day, system is also more complicated, there is the unmanned vehicle of various shape and model, in simulated training, propose and meet the experience of various subscriber equipment and the demand of training, in simulated training, the equipment operating of a series of or Multiple Type of demand fulfillment, needs to carry out compatibility and integrated optimization to various simulated flight device equipment operating simultaneously, needs design badly and meets the unmanned vehicle simulated training analogue system with civilian feature.
Summary of the invention
Fundamental purpose of the present invention is for the feature workable in civilian unmanned vehicle simulated training, aircraft model is many, user is easy to learn, provides a kind of analogue system of civilian unmanned vehicle simulated training.The civilian unmanned vehicle model of the three-dimensional Live Flying scene that the system integration is abundant and the in the market various models of main flow, especially unmanned plane, and carried out merging optimizing to the operation steps of the unmanned vehicle of complexity, make flight theory, the 26S Proteasome Structure and Function of being familiar with unmanned vehicle in trainer's short time, the operation grasping and experience various unmanned vehicle uses, be used in particular for the occasion being difficult to satisfied training demand out of doors, replace the outdoor flight training carried out unmanned vehicle.
The overall technological scheme that the present invention takes is: a kind of civilian unmanned vehicle simulated training system, comprises flying scene unit, training setting unit, aircraft selection unit, flight management unit four part.
Described flying scene unit comprises introduction scene, Outdoor Scene, inclement weather scene, examination scene.Outdoor typical several weather is integrated with in flying scene unit, comprise the Training scene on the meadow, mountain region, Plain, snowfield, airport etc. under the weather such as sunny, cloudy, cloudy, gentle breeze, all scenes all adopt high-resolution background environment pinup picture, realize real analogue simulation effect.Civil aircraft is generally the flight of non-over the horizon, the scene of flight is all positioned at outdoor opening, scene have employed the technology acceleration drawing such as modeling drafting and level of detail simplification based on image, construct exactly and draw out not in the same time, the outdoor background of different observation point is with the dynamic change of trainer's flight angle; Introduction scene and Outdoor Scene are used for for trainer's simulated flight uses; Inclement weather scene is that trainer high level person uses and elementary training person experiences, and does not advise that user flies in the real bad weather circumstances of reality; Examine examination course line and examination task that scene setting is relevant, realize assessing the flight level of trainer by strict examination.
Described training setting unit comprises channel allocation setting, telepilot calibration, recognition of devices and management, select course.Described channel allocation arranges the optimization and conformity be used for the operation of unmanned vehicle, the training and operation of unmanned vehicle and dirigible is optimized for: aileron, elevating rudder, yaw rudder, wing flap, throttle, rise and fall oar, and the operation optimization of helicopter flight device is: tail rotor, elevating rudder, aileron, pitch, spin, gyroscope sensitivity.Remote control simulator is connected with training system unit by general-purpose interface, for obtaining the flight directive of the trainer that man-machine interactive operation passes over, and the steering order be converted into virtual unmanned vehicle three-dimensional simulation model, the flare maneuver of corresponding simulated flight device model is driven with this; Realize the control of the remote control simulator equipment configuration with compatibility by telepilot calibration and recognition of devices with management; Select course module integration several typical course lines key elements, comprise destination, boat circle, triangle, rectangle, polygon, landing course line etc., also achieve the free flight without course line of trainer; Feature especially for civil aircraft adds hovering exercise, furred ceiling exercise and middle exercise of walking about, and adds the individual event exercise of flight operation step.
Described aircraft selection unit comprises Fixed Wing AirVehicle, helicopter, multi-rotor aerocraft, unmanned airship.Aircraft selection unit adopts visualization of 3 d modeling technique, provides the three-dimensional appearance model of current main flow unmanned vehicle, describes the surface of unmanned vehicle, comprises the geometry of unmanned vehicle, texture, illumination; The design of these physical features adds the sense of reality of aircraft; Meanwhile, according to the operation individual event of trainer, realize connecting each other of input and output between the simulation interlock of the functional status of unmanned flight's implement body subassembly and the functional status unit of analog submodule parts; Aircraft integrated in training system mainly throws machine based on fixed-wing unmanned aerial vehicle, soarer, dirigible, amphibious aircraft, many rotors, helicopter and hand, for meeting the polytypic device requirement of civilian unmanned vehicle, add the experience type that some main flows have people's aircraft simultaneously, comprise passenger plane, fighter plane, helicopter etc., meet the demand of civil aircraft Consumer's Experience.
Described flight management unit comprises beginning/termination, recording/playback, flight monitoring, assessment and examination; Described beginning/termination and recording/playback are used for the control to flight training process, simplify the front complicated flight preliminary examination of flight and preliminary work; Described flight monitoring module is used for the real-time parameter display to aircraft real-time flight attitude and state, realizes the understanding of trainer to the datumization of aircraft flight state; Described assessment and evaluation module are used for the examination task providing the flight theory of unmanned vehicle, structure and aviation aspect to trainer, trainer carries out mutual flight operation according to examination task in simulated flight environment, complete corresponding aerial mission, at the end of examination, the overall performance of task is marked, generate result of appraisal information, and present result of appraisal information to trainer; Assessment adds to hover with the special feature for civil aircraft in examination and examines, furred ceiling examination and middle flight examination of walking about, and adds the individual event examination operation at the concrete position of unmanned vehicle.
In addition, civilian unmanned vehicle simulated training system comprises the operation service manual of civilian unmanned vehicle, describes the electronics relevant to the Dynamic System using method of civilian unmanned vehicle simulated training system, aircraft flight principle, flight course planning etc. and text.
The beneficial effect adopting technique scheme to produce is:
Flying scene unit in simulation system is integrated with outdoor typical several weather, comprise the Training scene on the meadow, mountain region, Plain, snowfield, airport etc. under the weather such as sunny, cloudy, cloudy, gentle breeze, all scenes all adopt high-resolution background environment pinup picture, realize real analogue simulation effect; The scene of flight is all positioned at outdoor opening; scene have employed the technology acceleration drawing such as modeling drafting and level of detail simplification based on image; construct exactly and draw out not in the same time, the outdoor background of different observation point with the dynamic change of trainer's flight angle, achieve multiple flying scene true to nature and to experience and the change of flight environment of vehicle is experienced.
Simulation system is integrated with the mainstream model of current civilian unmanned vehicle, the modeling of three-dimensional model has all been carried out to mainstream model, three-dimensional dummy vehicle true to nature achieves the actual experience of civilian unmanned flight, mode of operation is consistent with real equipped, it is good that trainer experiences sense organ, and add the Consumer's Experience that part has people's aircraft, meet the demand for experience of current user to various equipment, therefore aircraft type integration degree is high, the real aircraft of fundamental sum is set up unanimously in the position of the model of type, can meet the civilian flight training demand of the overwhelming majority.
Simulation system is in conjunction with the flight characteristic of civilian unmanned vehicle, the complicated aircraft operation step of optimization and conformity, the channel allocation standard of telepilot is utilized to achieve the compatible operation of different type of machines, improve efficiency and the effect of flight training, meet the requirement that civilian unmanned vehicle is easy to learn; The interactive interface of model and telepilot and training patterns in civilian unmanned vehicle simulated training system, meet the visual thinking pattern of civilian flight and the operating process of real unmanned vehicle, realize the dynamic finding of operation and flight attitude, finding is supplied to again trainer conversely and instructs its adjustment operation, therefore user interactivity is strong, and flight controls in real time accurately.
The three-dimensional PM prototype model of high interactivity of civilian unmanned plane simulated training system architecture of the present invention, foundation and training and operation channel allocation method have versatility and extendability, the simulated training of civilian middle-size and small-size unmanned vehicle can be directly applied to, simultaneously also for the exploitation of later large-scale simulated training system provides technical support, being attempt the once useful exploitation of military aviation device systems in civil nature, is fill up the blank of civilian flight simulation control system.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is described in detail.
Fig. 1 is functional structure design diagram of the present invention.
Fig. 2 is the operational flowchart of systemic-function of the present invention.
Embodiment
Do to be described in further detail the specific embodiment of the present invention below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of civilian unmanned vehicle simulated training system, comprises flying scene unit, training setting unit, aircraft selection unit, flight management unit four part;
Described flying scene unit is divided into introduction scene, Outdoor Scene, inclement weather scene and examination scene, for being received the operation outdoor environment intention of trainer by interface alternation, then presented the visualization window of user interface and the interactive operation of civilian unmanned vehicle three-dimensional simulation model to trainer by display, real-time follow-up shows visual angle conversion and the flight attitude of civilian unmanned vehicle three-dimensional simulation model in operation; All utilize high-resolution outdoor weather background pinup picture in four scenes, achieve outdoor real simulation true to nature;
Described training setting unit comprises channel allocation setting, telepilot calibration, recognition of devices and management, select course; Channel allocation arranges the optimization and conformity be used for the operation of unmanned vehicle, remote control simulator is connected with training system unit with the general-purpose interface in management by recognition of devices, for obtaining the flight directive of the trainer that man-machine interactive operation passes over, and the steering order be converted into simulation unmanned vehicle three-dimensional simulation model, the flare maneuver of corresponding simulated flight device model is driven with this; Select course module integration several typical course lines key elements, comprise destination, boat circle, triangle, rectangle, polygon, landing course line etc., achieve trainer have course line to guide and without the free flight of course line guide; Add hovering training, furred ceiling training and middle training of walking about especially, add the individual event training of flight operation step;
Described aircraft selection unit adopts visualization of 3 d modeling technique, three-dimensional appearance model modeling is carried out to Fixed Wing AirVehicle, helicopter, multi-rotor aerocraft, unmanned airship, describe the surface of unmanned vehicle, comprise the geometry of unmanned vehicle, texture, illumination; The design of these physical features adds the sense of reality of aircraft; Realize unmanned flight's implement body subassembly profile simulation and analog submodule parts functional status unit between construct connect each other; Integrated three-dimensional dummy vehicle mainly throws machine based on fixed-wing unmanned aerial vehicle, soarer, dirigible, amphibious aircraft, many rotors, civil helicopter and hand, for meeting the polytypic device requirement of civilian unmanned vehicle, add the experience type that some main flows have people's aircraft simultaneously, comprise passenger plane, fighter plane, helicopter etc.;
Described flight management unit comprises beginning/termination, recording/playback, flight monitoring, assessment and examination; Beginning/termination and recording/playback are used for the process control to flight training process, flight monitoring module is used for the real-time parameter display to aircraft real-time flight attitude and state, comprise the analog information such as three-dimensional coordinate of aloft pitching, roll, driftage, speed and air speed, realize the understanding of trainer to the datumization of aircraft flight state; Assessment and evaluation module are used for the examination task providing the flight theory of unmanned vehicle, structure and aviation aspect to trainer, trainer carries out mutual flight operation according to examination task in simulated flight environment, complete corresponding aerial mission, at the end of examination, flight performance is marked, generate examination appreciation information, and present the result of appraisal to trainer; Meanwhile, in civilian demand side, add the individual event examination operation at the concrete position of unmanned vehicle, add hovering examination, furred ceiling examination and middle flight examination of walking about.
As in Fig. 2, a kind of operating process of civilian unmanned vehicle simulated training system, system enters the selection of trainer's flying scene module after starting, corresponding training environment is entered according to the scene mode that trainer selects, then trainer selects the civilian unmanned vehicle needing training according to demand, carry out the calibration zero of the position of the control lever to telepilot again, system utilizes the distribution mechanism of the operating walk way optimized to carry out the distribution of mode of operation, the formulation of response is carried out operating by stirring control lever to the position of minimax, the interlock compatibility that system carries out channel allocation automatically according to the driver of remote controller equipment confirms, if defective, need to redistribute operating walk way, if qualified, carry out the selection of the line of flight, after selecting suitable training course line, then carry out the startup of unmanned vehicle flight simulation, after flight terminates, if have selected log, then system background have recorded the situation of flight automatically, if have selected examination scene, the then real-time flight level of trainer is assessed of system, generate result of appraisal information, and present the result of appraisal to trainer.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore scope comprises the embodiment be not limited to described in embodiment; every other embodiments drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (6)
1. a civilian unmanned vehicle simulated training system, comprises flying scene unit, training setting unit, aircraft selection unit, flight management unit four part;
Described flying scene unit comprises introduction scene, Outdoor Scene, inclement weather scene, examination scene.The scene of flight is all positioned at outdoor opening, scene have employed the technology acceleration drawing such as modeling drafting and level of detail simplification based on image, construct exactly and draw out not in the same time, the outdoor background of different observation point with the dynamic change of trainer's flight angle, examination scene setting relevant examination course line and examination task;
Described training setting unit comprises channel allocation setting, telepilot calibration, recognition of devices and management, select course.The operating walk way that channel allocation is arranged for aircraft distributes; Remote control simulator is connected with training system unit by general-purpose interface, for obtaining the flight directive of the trainer that man-machine interactive operation passes over, and the steering order be converted into unmanned vehicle three-dimensional simulation model, the flare maneuver of corresponding simulated flight device model is driven with this; Realize the control of the remote control simulator equipment configuration with compatibility by telepilot calibration and recognition of devices with management;
Described aircraft selection unit comprises Fixed Wing AirVehicle, helicopter, multi-rotor aerocraft, unmanned airship.Aircraft selection unit adopts visualization of 3 d modeling technique, provides the three-dimensional appearance model of current main flow unmanned vehicle, describes the surface of unmanned vehicle, comprises the geometry of unmanned vehicle, texture, illumination; The design of these physical features adds the sense of reality of aircraft; Meanwhile, according to the operation individual event of trainer, realize connecting each other of input and output between the simulation interlock of the functional status of unmanned flight's implement body subassembly and the functional status unit of analog submodule parts;
Described flight management unit comprises beginning/termination, recording/playback, flight monitoring, assessment and examination; Described beginning/termination and recording/playback are used for the control to flight training process, simplify the front complicated flight preliminary examination of flight and preliminary work; Described flight monitoring module is used for the real-time parameter display to aircraft real-time flight attitude and state, realizes the understanding of trainer to the datumization of aircraft flight state; Described assessment and evaluation module are used for the examination task providing the flight theory of unmanned vehicle, structure and aviation aspect to trainer, trainer carries out mutual flight operation according to examination task in simulated flight environment, complete corresponding aerial mission, at the end of examination, the overall performance of task is marked, generate result of appraisal information, and present result of appraisal information to trainer; Assessment adds to hover with the special feature for civil aircraft in examination and examines, furred ceiling examination and middle flight examination of walking about, and adds the individual event examination operation at the concrete position of unmanned vehicle.
2. the operating process of a kind of civilian unmanned vehicle simulated training system according to claim 1, system enters the selection of trainer's scene module after starting, corresponding training environment is entered according to the scene mode that trainer selects, then trainer selects the civilian unmanned vehicle needing training according to demand, carry out the calibration zero of the position of the control lever to telepilot again, system utilizes the distribution mechanism of the operating walk way optimized to carry out the distribution of mode of operation, the formulation of response is carried out operating by stirring control lever to the position of minimax, the interlock compatibility that system carries out channel allocation automatically according to the driver of remote controller equipment confirms, if defective, need to redistribute operating walk way, if qualified, carry out the selection of the line of flight, after selecting suitable training course line, then carry out the startup of aircraft flight simulation, after flight terminates, if have selected log, then system background have recorded the situation of flight automatically, if have selected examination scene, then real-time flight level is assessed of system, generate result of appraisal information, and present result of appraisal information to trainer.
3. the civilian unmanned vehicle simulated training system of one according to claim 1, it is characterized in that: in flying scene unit, be integrated with outdoor typical several weather, comprise the Training scene on the meadow, mountain region, Plain, snowfield, airport etc. under the weather such as sunny, cloudy, cloudy, gentle breeze, all scenes all adopt high-resolution background environment pinup picture, realize real three-dimensional visual simulation effect.
4. the civilian unmanned vehicle simulated training system of one according to claim 1, it is characterized in that: described channel allocation arranges the optimization and conformity be used for the operation of unmanned vehicle, the flight training operation optimization of unmanned vehicle and dirigible is: aileron, elevating rudder, yaw rudder, wing flap, throttle, rise and fall oar, and the operation optimization of helicopter flight device is: tail rotor, elevating rudder, aileron, pitch, spin, gyroscope sensitivity.
5. the civilian unmanned vehicle simulated training system of one according to claim 1, it is characterized in that: aircraft integrated in training system mainly throws machine based on fixed-wing unmanned aerial vehicle, soarer, dirigible, amphibious aircraft, many rotors, helicopter and hand, for meeting the polytypic device requirement of civilian unmanned vehicle, add the experience type that some main flows have people's aircraft simultaneously, comprise passenger plane, fighter plane, helicopter etc., meet the demand of civil aircraft Consumer's Experience.
6. the civilian unmanned vehicle simulated training system of one according to claim 1, it is characterized in that: select course module integration several typical course lines key elements, comprise destination, boat circle, triangle, rectangle, polygon, landing course line etc., also achieve the free flight without course line of trainer; Feature especially for civil aircraft adds hovering exercise, furred ceiling exercise and middle exercise of walking about, and adds the individual event exercise of flight operation step.
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| CN105427704A (en) * | 2015-12-15 | 2016-03-23 | 中国人民解放军海军航空工程学院 | Use and maintenance simulator oriented to unmanned aerial vehicle flight control and task system |
| CN106228862A (en) * | 2016-09-28 | 2016-12-14 | 国家电网公司 | Emulation training method patrolled and examined by a kind of power transmission line unmanned machine |
| CN107146491A (en) * | 2017-06-27 | 2017-09-08 | 北京神舟智汇科技有限公司 | The virtual training system emulated based on LVC |
| CN109215436A (en) * | 2018-11-05 | 2019-01-15 | 成都泛美视界科技有限公司 | A kind of teacher station system towards flight simulation training |
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