CN109935132A - Flight simulator - Google Patents
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Abstract
The invention discloses a kind of flight simulators.Wherein, which includes: hardware system, visual system, sound system and innervational system；Wherein, hardware system, for issuing the motion control instruction for controlling the vehicle model movement in visual system to visual system；Visual system, the first exercise data of the movement output dummy vehicle operation for being executed based on dummy vehicle according to motion control instruction；Innervational system, for being handled to obtain the second exercise data of the Six-freedom dynamic platform in innervational system to the first exercise data after receiving the first exercise data, to control the movement of Six-freedom dynamic platform；Sound system, for controlling the audio of the engine of flight simulator according to the first exercise data after receiving the first exercise data.The present invention solves the technical problem of the fidelity difference of flight simulation in the related technology.
Description
Technical Field
The invention relates to the field of communication, in particular to a flight simulator.
Background
In the flight simulation in the related art, real-time state information is extracted in a network communication mode, and a simulator is controlled to move, so that dynamic simulation can be realized only, namely the simulation fidelity is poor.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a flight simulator, which at least solves the technical problem of poor fidelity of flight simulation in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a flight simulator, comprising: a hardware system, a visual system, a sound effect system and a dynamic system; the system comprises a hardware system, a vision system and a control system, wherein the hardware system is used for sending a motion control instruction for controlling the motion of an aircraft model in the vision system to the vision system; the vision system is used for outputting first motion data of the operation of the aircraft model based on the motion executed by the aircraft model according to the motion control instruction; the dynamic system is used for processing the first motion data to obtain second motion data of the six-degree-of-freedom dynamic platform in the dynamic system after receiving the first motion data so as to control the six-degree-of-freedom dynamic platform to move; and the sound effect system is used for controlling the sound effect of an engine of the flight simulator according to the first motion data after receiving the first motion data.
Optionally, the first motion data comprises: acceleration at which the aircraft model operates and angular velocity at which the aircraft model operates.
Optionally, the second motion data comprises: the position information of the six-degree-of-freedom dynamic platform to be moved and the angle information of the six-degree-of-freedom dynamic platform to be moved.
Optionally, in the case that the acceleration of the aircraft model operation included in the first motion data is used to indicate the aircraft model to operate at a reduced speed, the sound effect system is further used to control the engine to emit a sound effect of reduced speed; the sound effect system is further configured to control the engine to emit an acceleration sound effect in a case where the first motion data includes an acceleration of the operation of the aircraft model indicating an acceleration of the operation of the aircraft model.
Optionally, the motion system is further configured to control the six-degree-of-freedom motion platform to start and shake after receiving a start instruction of the view system, and control the six-degree-of-freedom motion platform to close and wait after receiving a stop instruction of the view system; the sound effect system is also used for controlling the engine to send out starting sound effect after receiving a starting instruction of the visual system and controlling the engine to send out stopping sound effect after receiving a stopping instruction of the visual system.
Optionally, the vision system is also used for setting a flying ground scene and loading an aircraft model and a pilot model in the vision system into the flying ground scene; and the sound effect system is also used for determining and emitting the environmental sound effect corresponding to the ground scene according to the ground scene.
Optionally, the dynamic system transmits the second motion data to the six-degree-of-freedom dynamic platform in a user datagram protocol UDP communication mode.
Optionally, the hardware system comprises: the device comprises a handle and a handle signal processing module, wherein the handle is used for responding to the operation of a user on the handle and generating a first signal corresponding to the operation; the handle signal processing module is used for acquiring the motion information of the first signal, determining a first processing mode corresponding to the motion information according to the motion information, and processing the first signal according to the determined first processing mode to obtain a motion control instruction; the motion sensing system comprises: the system comprises a dynamic algorithm processing module and a dynamic platform motion processing module, wherein the dynamic algorithm processing module is used for determining a second processing mode corresponding to first motion data according to the first motion data after receiving the first motion data, and sending third motion data obtained by processing the first motion data according to the second processing mode to the dynamic platform motion processing module; and the motion platform motion processing module is used for determining a third processing mode corresponding to the third motion data according to the third motion data and transmitting second motion data obtained by processing the third motion data according to the third processing mode to the six-degree-of-freedom motion platform.
Optionally, the motion information of the first signal comprises: a speed value of the operating handle and an acceleration value of the operating handle.
Optionally, the first processing manner includes at least one of: taking the first signal as a motion control instruction when the speed information included in the motion information of the first signal is less than a first threshold; under the condition that the speed information included in the motion information of the first signal is larger than a first threshold value, smoothing the first signal; and under the condition that the speed information included in the motion information of the first signal is greater than a first threshold value and the acceleration information included in the motion information of the first signal is greater than a second threshold value, ignoring the first signal and taking the signal generated by the handle responding to the operation of the user on the handle last time as the motion control signaling.
Optionally, the second processing manner includes at least one of: processing the first motion data by adopting a washout algorithm under the condition that the speed information included in the first motion data is less than a first threshold value; under the condition that the speed information included in the first motion data is larger than a first threshold value, processing the first motion data by adopting a washout algorithm to obtain fourth motion data, and adding a jitter value corresponding to the speed information included in the first motion data to the fourth motion data to obtain third motion data; and directly outputting a reset signal when the speed information included in the first motion data is larger than a first threshold value and the acceleration information included in the first motion data is larger than a second threshold value.
Optionally, the third processing mode includes at least one of: under the condition that the speed information included in the third motion data is smaller than a first threshold value, judging whether the position information included in the third motion data is within a preset range, and under the condition that the position information exceeds the preset range, adjusting the position information included in the third motion data; under the condition that the speed information included in the third motion data is larger than a first threshold, judging whether the speed information included in the third motion data exceeds a preset threshold, and under the condition that the speed information included in the third motion data exceeds the preset threshold, adjusting the speed information included in the third motion data; and under the condition that the speed information included in the third motion data is larger than the first threshold value and the acceleration information included in the third motion data is larger than the second threshold value, smoothing processing is carried out on the acceleration included in the third motion data.
In the embodiment of the invention, the aircraft model in the vision system is adopted to move based on the motion control command sent by the hardware system to output the first motion data, the first motion data is transmitted to a dynamic system and a sound effect system at the same time, the dynamic system converts the first motion data into motion data of a dynamic platform with six degrees of freedom after receiving the first motion data to control the motion of the dynamic platform with six degrees of freedom, the sound effect system controls a mode that an engine sends out corresponding sound effect after receiving the first motion data, through the interaction of the hardware system, the visual system, the dynamic system and the sound effect system of the flight simulator, the flight simulation feedback from a plurality of dimensions of operation feeling, visual sense, dynamic feeling and auditory sense is realized, the aim of multi-dimensional flight simulation is achieved, therefore, the technical effect of improving the fidelity of flight simulation is achieved, and the technical problem of poor fidelity of flight simulation in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a flight simulator provided in accordance with an embodiment of the present invention;
FIG. 2 is a logic diagram of an integrated control system provided in accordance with a preferred embodiment of the present invention;
FIG. 3 is a diagram of motion control logic provided in accordance with a preferred embodiment of the present invention;
FIG. 4 is a diagram of sound effect control logic provided in accordance with a preferred embodiment of the present invention;
FIG. 5 is a diagram of safety flight control logic provided in accordance with a preferred embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, a production embodiment of a flight simulator is provided. Fig. 1 is a schematic structural diagram of a flight simulator provided according to an embodiment of the present invention, as shown in fig. 1, the flight simulator includes: a hardware system 12, a visual system 14, a sound effect system 16 and a dynamic system 18; wherein,
a hardware system 12 for issuing motion control instructions to vision system 14 for controlling the motion of the aircraft model in vision system 14;
a vision system 14 connected to the hardware system 12 for outputting first motion data of the aircraft model operation based on the motion executed by the aircraft model according to the motion control command;
the dynamic system 18 is connected with the vision system 14, and is used for processing the first motion data to obtain second motion data of the six-degree-of-freedom dynamic platform in the dynamic system 18 after receiving the first motion data so as to control the motion of the six-degree-of-freedom dynamic platform;
and the sound effect system 16 is connected with the visual system 14 and is used for controlling the sound effect of the engine of the flight simulator according to the first motion data after receiving the first motion data.
Through the flight simulator, the aircraft model in the visual system 14 moves based on the motion control instruction sent by the hardware system 12 to output first motion data, the first motion data is simultaneously transmitted to the dynamic system 18 and the sound effect system 16, the dynamic system 18 converts the first motion data into the motion data of the six-degree-of-freedom dynamic platform after receiving the first motion data to control the motion of the six-degree-of-freedom dynamic platform, the sound effect system 16 controls the engine to send out the corresponding sound effect after receiving the first motion data, and the interaction among the hardware system 12, the visual system 14, the dynamic system 18 and the sound effect system 16 of the flight simulator realizes the flight simulation fed back from multiple dimensions of operation feeling, visual feeling, dynamic feeling and auditory feeling, achieves the aim of multi-dimensional flight simulation, and further realizes the technical effect of improving the fidelity of the flight simulation, and further the technical problem of poor fidelity of flight simulation in the related technology is solved.
It should be noted that the first motion data may include: acceleration at which the aircraft model operates and angular velocity at which the aircraft model operates. The second motion data may include: the position information of the six-degree-of-freedom dynamic platform to be moved and the angle information of the six-degree-of-freedom dynamic platform to be moved.
It should be noted that the hardware system 12 may include a handle, etc., but is not limited thereto. That is, the motion control command may be a motion control command issued by the hardware system in response to the operation of the user, and optionally, in a case where the operation received by the hardware system 12 is different, the motion control command issued by the hardware system 12 is also different.
It should be noted that the vision system 14 further includes a pilot model, and the pilot model and the aircraft model move together when the aircraft model moves.
It should be noted that, in the case that the acceleration of the aircraft model operation included in the first motion data is used to indicate the deceleration operation of the aircraft model, the sound effect system 16 is also used to control the engine to emit a deceleration sound effect; where the first motion data includes an acceleration of the aircraft model operation indicative of an acceleration of the aircraft model operation, the sound effect system 16 is also configured to control the engine to emit an acceleration sound effect.
It should be noted that the sound effect system 16 controls the engine to generate the deceleration sound effect or the acceleration sound effect, which can be implemented by the sound effect control program of the engine, but is not limited thereto.
It should be noted that, in the case of the deceleration operation of the aircraft model, after receiving the first motion data, the dynamic system 18 processes the first motion data to obtain second motion data, which may be represented as: the first motion data are transmitted to a wash-out algorithm subprogram, the acceleration of the aircraft model operation included in the first motion data is subjected to acceleration high-pass filtering to calculate a position control instruction (namely the position information of the six-degree-of-freedom dynamic platform to be moved included in the second motion data), and meanwhile, the value of the acceleration additional influence angle value output is obtained after low-pass filtering, inclination coordination and angular velocity amplitude limiting are carried out on the acceleration additional influence angle value through a low-pass filtering channel; and the angular velocity of the aircraft model operation included in the first motion data passes through an angular velocity high-pass filtering channel, an angular output value influenced by angular velocity input is calculated, and the angular output value influenced by the angular velocity input is added to the angular output value additionally influenced by the acceleration signal to obtain an angular output value (namely the information of the angle to be moved of the six-degree-of-freedom dynamic platform included in the second motion data).
In an embodiment of the present invention, the motion sensing system 18 is further configured to control the six-degree-of-freedom motion sensing platform to start and shake after receiving a start instruction of the view system 14, and control the six-degree-of-freedom motion sensing platform to close and wait after receiving a stop instruction of the view system 14; the sound effect system 16 is also used for controlling the engine to send out a start sound effect after receiving a start command of the vision system 14 and controlling the engine to send out a stop sound effect after receiving a stop command of the vision system 14.
In an embodiment of the present invention, the vision system 14 is further configured to set a ground view of a flight, and load an aircraft model and a pilot model in the vision system 14 into the ground view of the flight; and the sound effect system 16 is also used for determining and emitting the environmental sound effect corresponding to the ground scene according to the ground scene.
It should be noted that the environmental sound effect may include, but is not limited to, urban environmental sound, natural environmental sound, seaside environmental sound, and the like.
It should be noted that the motion system 18 transmits the second motion data to the six-degree-of-freedom motion platform through a UDP communication manner.
In an embodiment of the present invention, the hardware system 12 further includes: the device comprises a handle and a handle signal processing module, wherein the handle is used for responding to the operation of a user on the handle and generating a first signal corresponding to the operation; the handle signal processing module is used for acquiring the motion information of the first signal, determining a first processing mode corresponding to the motion information according to the motion information, and processing the first signal according to the determined first processing mode to obtain a motion control instruction; the above-mentioned active system includes: the system comprises a dynamic algorithm processing module and a dynamic platform motion processing module, wherein the dynamic algorithm processing module is used for determining a second processing mode corresponding to first motion data according to the first motion data after receiving the first motion data, and sending third motion data obtained by processing the first motion data according to the second processing mode to the dynamic platform motion processing module; and the motion platform motion processing module is used for determining a third processing mode corresponding to the third motion data according to the third motion data and transmitting second motion data obtained by processing the third motion data according to the third processing mode to the six-degree-of-freedom motion platform.
It should be noted that the motion information of the first signal may include: a speed value of the operating handle and an acceleration value of the operating handle.
The first processing method may include at least one of the following: taking the first signal as a motion control instruction when the speed information included in the motion information of the first signal is less than a first threshold; under the condition that the speed information included in the motion information of the first signal is larger than a first threshold value, smoothing the first signal; and under the condition that the speed information included in the motion information of the first signal is greater than a first threshold value and the acceleration information included in the motion information of the first signal is greater than a second threshold value, ignoring the first signal and taking the signal generated by the handle responding to the operation of the user on the handle last time as the motion control signaling.
The second processing method includes at least one of the following: processing the first motion data by adopting a washout algorithm under the condition that the speed information included in the first motion data is less than a first threshold value; under the condition that the speed information included in the first motion data is larger than a first threshold value, processing the first motion data by adopting a washout algorithm to obtain fourth motion data, and adding a jitter value corresponding to the speed information included in the first motion data to the fourth motion data to obtain third motion data; and directly outputting a reset signal when the speed information included in the first motion data is larger than a first threshold value and the acceleration information included in the first motion data is larger than a second threshold value.
The third processing method includes at least one of the following: under the condition that the speed information included in the third motion data is smaller than a third threshold value, judging whether the position information included in the third motion data is within a preset range, and under the condition that the position information exceeds the preset range, adjusting the position information included in the third motion data; under the condition that the speed information included in the third motion data is larger than a third threshold, judging whether the speed information included in the third motion data exceeds a preset threshold, and under the condition that the speed information included in the third motion data exceeds the preset threshold, adjusting the speed information included in the third motion data; and under the condition that the speed information included in the third motion data is larger than a third threshold value and the acceleration information included in the third motion data is larger than a fourth threshold value, smoothing processing is carried out on the acceleration included in the third motion data.
It should be noted that, in the case where the speed information included in the motion information of the first signal is smaller than the first threshold or the speed information included in the third motion data is smaller than the third threshold, it may be considered that the handle is slowly operated; in the case where the first motion data includes speed information greater than the first threshold or the third motion data includes speed information greater than the third threshold, it may be considered that the handle is rapidly operated; in the case where the first motion data includes velocity information greater than the first threshold and the first motion data includes acceleration information greater than the second threshold or the third motion data includes velocity information greater than the third threshold and the third motion data includes acceleration information greater than the fourth threshold, it may be considered that the handle is released after being quickly operated.
Through above-mentioned three kinds of processing methods, to every kind of processing method, select different processing methods under the different condition, can realize the safety simulation of flight, effective filtration is because of the bad experience that operator's maloperation brought, ensures flight safety and experiences.
For a better understanding of the present invention, the present invention is further explained below with reference to preferred examples.
Fig. 2 is a logic diagram of the integrated control system according to the preferred embodiment of the present invention, which includes a main control system, a hardware system, a sound effect system, a visual system, and a dynamic system. The main control system is used as a planning and management module of other systems, and a hardware system comprises operation handle state monitoring, display system output processing and six-degree-of-freedom platform state monitoring; the sound effect system comprises engine sound effect control, urban environment sound control, natural environment sound control and seaside environment sound control; the visual system comprises flight ground scene management, aircraft model action, pilot model action, flight special effect control and sky box effect; the dynamic system comprises engine shake control, landing impact control, flight attitude control and dangerous driving state control.
Fig. 3 is a dynamic control logic diagram provided in accordance with a preferred embodiment of the present invention, which is composed of a hardware system, a view system, and a dynamic system, wherein an operation handle in the hardware system sends a motion control command of an aircraft, the view system receives the motion control command and then responds according to a dynamic model of the aircraft, the aircraft model in the view system and a pilot model move together and output acceleration and angular velocity data (equivalent to the first motion data in the above embodiment) of the aircraft, the dynamic system obtains the data and processes the data through a wash-out algorithm to obtain position and angle output information of a flight simulator, and transmits the position and angle output information to a six-degree-of-freedom dynamic platform through UDP communication to drive the platform to move. The washout algorithm is composed of a proportion link, a low-pass filter, a high-pass filter, an inclination coordination module and an angular velocity amplitude limiting module and is divided into an acceleration high-pass filtering channel, an angular velocity high-pass filtering channel and a low-pass wave channel. The six-degree-of-freedom dynamic platform can realize the large-range motion feeling of the aircraft in the vision system in the limited space through the washout algorithm. In fig. 3, g represents the gravitational acceleration; 1/s is an integral function (e.g., velocity is equal to velocity after integration by acceleration, and velocity is equal to position after integration); ls represents a coordinate transformation matrix for transforming an aircraft coordinate system (a body coordinate system) into an inertial coordinate system (a ground coordinate system); ts represents a transformation matrix for converting angular velocity to the rate of change of euler angle.
The dynamic control algorithm of the invention realizes the consistency of the motion of the six-freedom dynamic platform and the motion of the visual system model, thereby achieving the high coincidence of vision and dynamic.
Fig. 4 is a logic diagram of sound effect control provided according to the preferred embodiment of the present invention, which is composed of a hardware system, a view system and a sound effect system, wherein the view system sets a flight ground scene, and loads an aircraft model and a pilot model into the ground scene. The sound effect system selects and triggers city environment sounds according to the flight ground, and the city environment sounds are mainly street sounds when the aircraft flies near the ground. The hardware system sends aircraft motion control instructions through an operating handle to control the motion of the aircraft in the visual system, and the sound effect system controls the sound change of the engine according to the operating instructions, such as the sound effect of the engine starting, the sound effect of the engine closing, the booming sound of the engine when the engine is driven by different throttles, and the sound effect of the oncoming wind at different flight speeds. The sound effect control algorithm of the invention realizes the consistency of the sound effect output of the aircraft and the action of the visual system model, and achieves the high coincidence of vision and hearing.
Fig. 5 is a logic diagram of safe flight control provided according to a preferred embodiment of the present invention, which is composed of a hardware system, a vision system, and a dynamic system, wherein the motion of the aircraft is mainly controlled by an operating handle of the hardware system, and the operating handle has different modes, different operating proficiency, and can cope with different dangerous flight states and other situations, and there are phenomena of rapid abrupt flight, rapid abrupt turning, misoperation under dangerous situations, and the like during the operation of the aircraft. In order to ensure that the flying experience is improved under the condition of safe flying, a safe flying control algorithm is designed, and the safe flying control algorithm mainly comprises a handle signal processing module, a dynamic algorithm safety processing module and a dynamic platform movement safety processing module, wherein the handle signal processing module is nested with three algorithms (equivalent to the first processing mode) which are respectively a normal signal direct output algorithm (the input signal is directly output as an output signal), a sudden change signal smooth transition output algorithm (the input signal is subjected to smooth processing) and a no signal preserving previous value output algorithm (the input signal which is kept for the last time is subjected to operation); the dynamic algorithm processing module is embedded with three algorithms (equivalent to the second processing mode), namely a normal washing algorithm output algorithm (classic washing algorithm), an additional jitter output algorithm (data processed by the washing algorithm is added with a corresponding jitter value) and an automatic reset output algorithm (output reset signal); three algorithms (equivalent to the third processing mode) are nested in the motion processing module of the dynamic platform, namely a position limit safe output algorithm, a speed limit safe output algorithm and an acceleration smooth output algorithm. The safe flight control algorithm effectively filters bad experience caused by misoperation of an operator, and ensures flight safety experience.
Preferred embodiment 1
In the dynamic control logic diagram shown in fig. 3, under the condition that all hardware and software states are normal and the aircraft is completely opened, the dynamic flow processing modes of starting, accelerating flight, decelerating flight and stopping of the aircraft are as follows:
starting a processing process: an experiencer clicks a starting button on an operating handle, a vision system receives a starting instruction, an engine in an aircraft model is triggered to rotate to drive a turbofan to rotate, the dynamic system receives the starting instruction of the vision system, a six-degree-of-freedom dynamic platform starting program is triggered, and the dynamic platform enters a starting shaking state;
and (3) accelerating the flight processing process: the experiencer rotates the operating handle to increase the given amount of the accelerator, the vision system analyzes the handle signal to accelerate and propel the aircraft to move, the dynamic system receives the acceleration and angular speed signals of the aircraft and transmits the signals to the washing algorithm subprogram, and the acceleration signals pass through an acceleration high-pass filtering channel to calculate a position output instruction; meanwhile, after low-pass filtering, inclination coordination and angular velocity amplitude limiting are carried out through a low-pass wave channel, a value of the acceleration signal additionally influencing the output of the angular value is obtained; the angular velocity signal passes through an angular velocity high-pass filtering channel, an angular output value influenced by angular velocity input is calculated, and the angular output value influenced by the angular velocity input is added to the angular output value additionally influenced by the acceleration signal to obtain an angular output value; the position output value and the angle output value are sent to a six-degree-of-freedom dynamic platform together in a UDP communication mode, an input instruction is analyzed by a dynamic platform motion control algorithm, the dynamic platform is driven to move, and acceleration dynamic is provided;
deceleration flight processing: the experience person rotates the operation handle in the direction to reduce the given amount of the accelerator, the vision system analyzes the handle signal to decelerate and propel the aircraft to move, the dynamic system receives the deceleration and angular speed signals of the aircraft and transmits the signals to the washing algorithm subprogram, and the deceleration signals pass through an acceleration high-pass filtering channel to calculate a position output instruction; meanwhile, after low-pass filtering, inclination coordination and angular speed amplitude limiting are carried out through a low-pass wave channel, a value which additionally influences the output of the angular value by the deceleration signal is obtained; the angular velocity signal passes through an angular velocity high-pass filtering channel, an angular output value influenced by angular velocity input is calculated, and the angular output value influenced by the angular velocity input is added to the angular output value additionally influenced by the deceleration signal to obtain an angular output value; the position output value and the angle output value are sent to a six-degree-of-freedom dynamic platform together in a UDP communication mode, and the input instruction is analyzed by a dynamic platform motion control algorithm to drive the dynamic platform to move so as to provide deceleration dynamic;
stopping the treatment process: an experiencer clicks a stop button on an operation handle, a vision system receives a stop instruction, an engine in an aircraft model is triggered to rotate, a turbofan is driven to rotate, the dynamic system receives the stop instruction of the vision system, a six-degree-of-freedom dynamic platform is triggered to stop a program, and the dynamic platform enters a closing waiting state.
Preferred embodiment 2
In the sound effect control logic diagram shown in fig. 4, under the condition that all hardware and software states are normal and all the aircraft are opened, the processing modes of the starting, accelerating flight, decelerating flight and stopping sound effect flow of the aircraft are as follows:
starting a processing process: an experiencer clicks a starting button on an operating handle, a vision system receives a starting instruction, an engine in an aircraft model is triggered to rotate to drive a turbofan to rotate, a sound effect system receives the starting instruction of the vision system, the engine is triggered to start a sound effect program, and an engine starting sound effect is output;
and (3) accelerating the flight processing process: the experiencer rotates the operating handle to increase the given amount of the accelerator, the vision system analyzes the handle signal to accelerate and propel the aircraft to move, the sound effect system receives the accelerated flight signal of the aircraft, an engine sound effect control program is triggered, and the engine acceleration sound effect is output;
deceleration flight processing: the experiencer rotates the operating handle to reduce the given quantity of the accelerator, the vision system analyzes the handle signal to accelerate and propel the aircraft to move, and the sound effect system receives the deceleration flight signal of the aircraft, triggers the sound effect control program of the engine and outputs the deceleration sound effect of the engine;
stopping the treatment process: the experiencer clicks a stop button on the operating handle, the vision system receives a stop instruction, an engine in the aircraft model is triggered to rotate, the turbofan is slowly stopped to rotate, the sound effect system receives the stop instruction of the vision system, the engine is triggered to stop a sound effect program, and the engine stop sound effect is output.
Preferred embodiment 3
In the safety flight control logic diagram shown in fig. 5, in the case where all hardware and software states are normal and all are turned on, the normal operation, malfunction and no operation of the aircraft are handled as follows:
and (3) normal operation processing: the experiencer slowly controls the operating handle, the handle signal processing module checks the current value, the speed value and the acceleration value of an input signal, the handle signal processing algorithm is judged to use a normal signal direct output algorithm, the processed handle signal value is transmitted to the visual system, the visual system controls the aircraft model to move, the acceleration value and the angular velocity value of the aircraft are transmitted to the dynamic system, the dynamic algorithm processing module in the dynamic system detects the current value, the acceleration variation and the angular velocity variation of the input signal, the dynamic algorithm processing algorithm is judged to use a normal washout algorithm output algorithm, the pose output value of the dynamic platform is solved and transmitted to the dynamic platform movement processing module, the dynamic platform movement processing module checks the current value and the speed variation of the input signal, and the dynamic platform movement safety processing algorithm is judged to use a position limit safety output algorithm, solving the output value of the safety pose, finally sending the value to a six-degree-of-freedom dynamic platform through UDP communication, analyzing the input instruction by a dynamic platform motion control algorithm, and driving the dynamic platform to realize gentle motion;
and (3) misoperation processing: the experiencer quickly operates the handle, the handle signal processing module checks the current value, the speed value and the acceleration value of an input signal, the handle signal processing algorithm is judged to use a sudden change signal smooth transition output algorithm, the processed handle signal value is transmitted to a visual system, the visual system controls the aircraft model to move, the acceleration value and the angular velocity value of the aircraft are transmitted to a dynamic system, the dynamic algorithm processing module in the dynamic system detects the current value, the acceleration variation and the angular velocity variation of the input signal, the dynamic algorithm processing algorithm is judged to use an additional jitter output algorithm, the pose output value of a dynamic platform is solved and transmitted to a dynamic platform movement processing module, the dynamic platform movement processing module checks the current value and the speed variation of the input signal, and the dynamic platform movement processing algorithm is judged to use a speed limit safety processing algorithm, solving the output value of the safety pose, finally sending the value to a six-degree-of-freedom dynamic platform through UDP communication, analyzing the input instruction by a dynamic platform motion control algorithm, and driving the dynamic platform to realize shaking motion;
no operation treatment process: an experiencer quickly operates a handle and then releases the handle, a handle signal processing module checks the current value, the speed value and the acceleration value of an input signal, a judgment handle signal processing algorithm uses a no-signal pre-holding value output algorithm, the processed handle signal value is transmitted to a vision system, the vision system controls the aircraft model to move and transmits the acceleration value and the angular velocity value of the aircraft to a dynamic system, a dynamic algorithm processing module in the dynamic system detects the current value, the acceleration variation and the angular velocity variation of the input signal, the judgment dynamic algorithm processing algorithm uses an automatic reset algorithm to process, the pose output value of a dynamic platform is solved and transmitted to a dynamic platform movement safety processing module, the dynamic platform movement safety processing module checks the current value and the speed variation of the input signal, and judges that the dynamic platform movement processing algorithm uses an acceleration smooth processing algorithm, and solving the output value of the safety pose, finally sending the value to a six-degree-of-freedom dynamic platform through UDP communication, analyzing the input instruction by a dynamic platform motion control algorithm, and driving the dynamic platform to realize rapid reset motion.
The comprehensive control system of the stand-type flight simulator provided by the preferred embodiment of the invention comprises a master control system module, a vision system module, a sound system module and a dynamic system module, and the flight dynamic simulation is realized by feeding back multiple dimensions from vision, hearing, operational feeling and dynamic feeling. The motion fidelity of the standing type flight simulator can be effectively improved.
In the preferred embodiment of the invention, the visual system is modeled by a high-precision vision engine 1:1, and the flight scene is highly restored, so that the flight visual simulation of the aircraft is realized; the sound system directly collects sound effects of various working conditions of a real aircraft, and parametrization management is carried out to realize vivid sound effect simulation of the aircraft; the dynamic system directly reads acceleration and angular velocity signals of an aircraft in the vision system, calculates motion control values required by the six-degree-of-freedom dynamic platform through the washout algorithm module, and drives the platform to move through UDP communication, so that dynamic simulation is realized.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (12)
1. A flight simulator, comprising: a hardware system, a visual system, a sound effect system and a dynamic system; wherein,
the hardware system is used for sending a motion control instruction for controlling the motion of the aircraft model in the vision system to the vision system;
the vision system is used for outputting first motion data of the operation of the aircraft model based on the motion executed by the aircraft model according to the motion control instruction;
the dynamic system is used for processing the first motion data to obtain second motion data of a six-degree-of-freedom dynamic platform in the dynamic system after receiving the first motion data so as to control the motion of the six-degree-of-freedom dynamic platform;
and the sound effect system is used for controlling the sound effect of an engine of the flight simulator according to the first motion data after receiving the first motion data.
2. The flight simulator of claim 1, wherein the first motion data comprises: an acceleration at which the aircraft model operates and an angular velocity at which the aircraft model operates.
3. The flight simulator of claim 1, wherein the second motion data comprises: the position information of the six-degree-of-freedom dynamic platform to be moved and the angle information of the six-degree-of-freedom dynamic platform to be moved.
4. The flight simulator of claim 1, wherein the sound effect system is further configured to control the engine to emit a deceleration sound effect if the first motion data comprises an acceleration of the aircraft model operation indicative of a deceleration of the aircraft model operation; and under the condition that the acceleration of the operation of the aircraft model included in the first motion data is used for indicating the acceleration operation of the aircraft model, the sound effect system is also used for controlling the engine to emit acceleration sound effects.
5. The flight simulator of claim 1,
the dynamic system is also used for controlling the six-degree-of-freedom dynamic platform to start and shake after receiving a starting instruction of the visual system, and controlling the six-degree-of-freedom dynamic platform to close and wait after receiving a stopping instruction of the visual system;
the sound effect system is also used for controlling the engine to send out a starting sound effect after receiving a starting instruction of the visual system and controlling the engine to send out a stopping sound effect after receiving a stopping instruction of the visual system.
6. The flight simulator of claim 1,
the vision system is also used for setting a flying ground scene and loading an aircraft model and a pilot model in the vision system into the flying ground scene;
and the sound effect system is also used for determining and sending out an environmental sound effect corresponding to the ground scene according to the ground scene.
7. The flight simulator of claim 1, wherein the motion system transmits the second motion data to the six degree of freedom motion platform via UDP communication.
8. The flight simulator of claim 1,
the hardware system includes: the device comprises a handle and a handle signal processing module, wherein the handle is used for responding to the operation of a user on the handle and generating a first signal corresponding to the operation; the handle signal processing module is used for acquiring motion information of the first signal, determining a first processing mode corresponding to the motion information according to the motion information, and processing the first signal according to the determined first processing mode to obtain the motion control instruction;
the motion sensing system comprises: the motion platform comprises a motion algorithm processing module and a motion platform motion processing module, wherein the motion algorithm processing module is used for determining a second processing mode corresponding to the first motion data according to the first motion data after receiving the first motion data, and sending third motion data obtained by processing the first motion data according to the second processing mode to the motion platform motion processing module; the motion platform motion processing module is configured to determine a third processing mode corresponding to the third motion data according to the third motion data, and transmit second motion data obtained by processing the third motion data according to the third processing mode to the six-degree-of-freedom motion platform.
9. The flight simulator of claim 8, wherein the motion information of the first signal comprises: operating a speed value of the handle and operating an acceleration value of the handle.
10. The flight simulator of claim 8,
the first processing mode comprises at least one of the following steps: taking the first signal as the motion control instruction when the speed information included in the motion information of the first signal is less than a first threshold;
performing smoothing processing on the first signal when the speed information included in the motion information of the first signal is greater than the first threshold;
and under the condition that the speed information included in the motion information of the first signal is greater than the first threshold value and the acceleration information included in the motion information of the first signal is greater than a second threshold value, ignoring the first signal, and taking the signal generated by the handle responding to the operation of the user on the handle last time as the motion control signaling.
11. The flight simulator of claim 8, wherein the second processing means comprises at least one of:
processing the first motion data with a wash-out algorithm if the first motion data includes velocity information less than a first threshold;
under the condition that the speed information included in the first motion data is larger than the first threshold, processing the first motion data by adopting a wash-out algorithm to obtain fourth motion data, and adding a jitter value corresponding to the speed information included in the first motion data to the fourth motion data to obtain third motion data;
and directly outputting a reset signal under the condition that the speed information included in the first motion data is greater than the first threshold value and the acceleration information included in the first motion data is greater than a second threshold value.
12. The flight simulator of claim 8, wherein the third processing means comprises at least one of:
under the condition that the speed information included in the third motion data is smaller than a first threshold value, judging whether the position information included in the third motion data is within a preset range, and under the condition that the position information exceeds the preset range, adjusting the position information included in the third motion data;
under the condition that the speed information included in the third motion data is larger than the first threshold, judging whether the speed information included in the third motion data exceeds a preset threshold, and under the condition that the speed information included in the third motion data exceeds the preset threshold, adjusting the speed information included in the third motion data;
and under the condition that the speed information included in the third motion data is larger than the first threshold and the acceleration information included in the third motion data is larger than a second threshold, smoothing is carried out on the acceleration included in the third motion data.
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