CN113778231A - Construction method of air roaming system - Google Patents
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Abstract
A construction method of an air roaming system relates to the technical field of virtual reality, and comprises the following steps: (1) any air roaming unit carries out real-time calculation aiming at the flight dynamics model in the unit; (2) a plurality of air roaming units are connected into a whole by utilizing underlying network communication, so that multi-user real-time roaming is realized; (3) establishing a human-computer interaction system supporting multiple operation modes; (4) and establishing a background database system. The invention expands the built-in component of the HLAPI of Unity by establishing a plurality of large three-dimensional scenes and three-dimensional models of the aircraft, thereby realizing the function of multi-user collaborative simulation; a complete human-computer interaction system is established, so that the simulation system is simple and visual in operation, and immersive experience is provided for a user; and finally, in order to make the simulation system more complete, the support of a background database is added, and a user can look up and modify the model, the wing, the scene information, the user information and the like.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a construction method of an aerial roaming system.
Background
The virtual reality technology, namely the environment technology, is a comprehensive technology which is developed in the last century and focuses on virtual scene reproduction, has a wide coverage range in the aspect of application to different technical fields, and mainly comprises a network communication technology, an image processing technology, a three-dimensional modeling technology, a sensing technology and the like. The main aim is to enable a user to interact with a virtual scene through body sense, so that man-machine unification is realized, and an immersive feeling is created.
The united states, as the most developed countries in the world, is also leading in research applications in the field of virtual reality. At the end of the last 70 s of the century, the U.S. military first related virtual reality technology to military simulation programs and conducted a study on "flying helmets". In a short time, a project group of the U.S. department of defense designs a first virtual battlefield system SIMNET for training army tank formation, and meanwhile, the U.S. space administration also adds a virtual reality technology into a research plan, so far, great success is achieved in the aspects of establishment of a virtual space station, design of a virtual training system for space maintenance and the like. The application of virtual reality is also considered to be important in other developed countries in the world, and especially in the aspect of virtual battlefield systems, the plan is focused on establishing a huge virtual battlefield system integrating sea, land and air battles and the forces of all countries.
In China, the virtual reality technology starts late, and compared with some countries, the virtual reality technology still has a small gap. However, with the progress of computer technology, the excellent performance of VR technology in military simulation, education, medicine and industry has attracted much attention in our country, and a considerable number of research units have been invested in this field and have developed specific research works. In the last 90 th century, a distributed virtual battlefield system based on a real environment was established by a plurality of units including a computer of Beijing aerospace university, and multiple times of allopatric cooperative combat training were successfully completed by using the system. Other colleges and universities in the same period also have trees in the aspect of military simulation training, such as a torpedo visual simulation system designed and developed by northwest industrial university and a missile launching simulation training system developed by a second cannon engineering college.
The typical full-motion flight simulator comprises a core simulation computer, a six-degree-of-freedom motion platform, a vision system, a sound system, a control load system, a teacher system and the like. It can satisfy two large aviation targets:
firstly, simulating the air flight and the ground operation of an airplane, training a pilot to take off, climb, cruise, approach, land, maneuver and the like, and also analyzing and researching the flight performance, the control quality and the performance of an airborne system of the airplane; meanwhile, good and vivid aircraft simulation software can test and further optimize aircraft structure parameters, flight performance, maneuvering actions and the like, design and shaping time is reduced, and dangerous conditions such as navigator failure, power loss, aircraft runaway and the like in real flight are avoided; second, in civilian airlines, instructor systems are used to provide virtual flight training, to periodically assess pilot performance, and to develop training courses ranging from pilot training to early commercial pilot licensing.
Currently, in combination with virtual reality and flight simulation technologies, the key problems of forming challenges and restricting the development of the air roaming research process mainly include the following two aspects:
(1) most flight simulation modules in the air roaming system only use simple Newton's law to simulate flight, do not use a flight dynamics model, and have a large difference with the real world;
(2) the air roaming system is mostly displayed by a display and cannot give people real immersion experience; if large simulation equipment is used, the cost is high, and the expandability is low.
Disclosure of Invention
The invention provides a construction method of an aerial roaming system, the aerial roaming system constructed by the method is modeled by flight dynamics and is resolved in real time, the real experience is closer, the defect that a common display lacks reality is overcome by an HTC (high-temperature video) helmet display, and an operator obtains immersive flight experience.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for constructing an air roaming system, said air roaming system including a plurality of air roaming units, said plurality of air roaming units being connected into a whole by means of data transmission, characterized in that: the construction method comprises the following steps:
(1) any air roaming unit carries out real-time calculation aiming at the flight dynamics model in the unit;
(2) connecting a plurality of air roaming units into a whole by utilizing underlying network communication, and resolving and participating in multi-user real-time roaming by the plurality of air roaming units in real time according to respective flight dynamics models;
(3) establishing a human-computer interaction system supporting multiple operation modes;
(4) and establishing a background database system, recording the information of the aircraft and the wings and the user operation record, and supporting the basic operation of the database.
Preferably, in the step (1), the real-time calculation of the flight dynamics model includes receiving all inputs from pilot control, wind power, aerodynamic force and an engine, and calculating variables simulating the state of the aircraft, wherein the variables simulating the state of the aircraft include the stress, motion, altitude, heading and speed of the aircraft.
Preferably, in the step (1), the real-time calculation of the flight dynamics model includes the following specific steps:
a1, defining a flight dynamics model coordinate axis;
b1, calculating the aerodynamic lift force of the aircraft, wherein the specific calculation formula is as follows:
where ρ is the air density, V is the airspeed, s is the wing area, CLIs the coefficient of lift;
c1, calculating the aerodynamic lateral force of the aircraft, wherein the specific calculation formula is as follows:
in the formula, CYIs the lateral force coefficient;
d1, integrating the stress and the moment of the aircraft, and calculating the force and the moment of the aircraft according to the stress magnitude and the stress position, thereby calculating the current acceleration, speed and position information of the aircraft, wherein the position information refers to the altitude, longitude and latitude position information of the aircraft.
Preferably, the specific step a1 includes coordinate axis definitions of a body coordinate system and a Unity object coordinate system, where the coordinate axes of the body coordinate system use the center of gravity of the aircraft as an origin, the x-axis is forward along a direction toward the front of the head of the body, the y-axis is forward along a direction toward the right of the right wing, and the z-axis is forward along a direction perpendicular to the lower surface of the body and facing downward; in a machine body coordinate system, the directions of linear force, acceleration and speed are positive in the X-axis positive direction or the Y-axis positive direction or the Z-axis positive direction, and the positive directions of moment and angular acceleration in each coordinate axis are the directions of positive anticlockwise rotation from an origin along the coordinate axis; the Unity object coordinate system takes the gravity center of the aircraft as an origin, the forward direction of the x axis is the rightward direction along the right wing, the forward direction of the y axis is the upward direction vertical to the upper surface of the fuselage, and the forward direction of the z axis is the direction towards the head of the fuselage along the fuselage.
Preferably, the specific steps of step (2) are as follows:
a2, constructing a network capable of synchronizing position information in real time based on a client-server architecture;
b2, when a client joins or leaves, the server broadcasts the joining or leaving information to other clients, and the clients with changed states are created and destroyed in time;
and C2, the server realizes the selection of the scene and the model by the client.
Preferably, in the step (3), the human-computer interaction system has a complete Graphical User Interface (GUI) and supports a plurality of peripherals, and the creating of the human-computer interaction system supporting a plurality of operation modes includes the following specific steps:
a3, dividing the interface of the system into a title interface, a hall interface and a simulation interface;
b3, adopting an HTC Vive helmet display, determining a display view angle, simulating the display view angle of the driver by using a SteamVR, and finally transmitting the view angle to the helmet display, so that the driver has three-dimensional immersive visual experience.
Preferably, the step (4) comprises the following specific steps:
a4, analyzing user requirements, data requirements and function requirements, and establishing and constructing an aircraft type information database and a wing information database;
b4, constructing a database in MySQL according to requirements;
and C4, connecting the human-computer interaction with the background MySQL in the Unity to realize the basic operation of the database.
The construction method of the air roaming system has the advantages that:
1. according to the invention, the wings are abstracted and customized model curves are used, so that different models and different dynamics curves can be rapidly modeled, a real simulation effect is provided, and the expandability of subsequent development is increased;
2. the invention organically combines the virtual reality technology with the traditional aircraft simulation, builds a flight simulation model on the basis of a flight dynamics model, and designs a complete air roaming system by utilizing the network communication technology and the virtual reality technology based on the Unity3D engine. The system can provide highly vivid scenes, models and sound field simulation, and can realize synchronous online roaming of multiple persons. The virtual reality technology-based vision system and the operating system can enable flight personnel to see a virtual world through the helmet display and operate the airplane through the control handle in hands, so that immersive flight experience is obtained, and good real-time performance is achieved.
3. The invention establishes an aircraft parameter database in the system background, and lays a foundation for future research, development, maintenance and expansion work;
4. in the prior art, an air roaming system is built in a distributed manner. The master control station is responsible for resolving the flight attitude, gathering the input operations of different users, uniformly resolving the state of the aircraft, and then distributing the resolving result to the users through a network function to realize multi-user air roaming. In the invention, a master control platform subsystem does not exist, the flight attitude of a simulation machine (an air roaming unit) used by each user can be solved, in the process of multi-user simulation, each machine locally solves a real-time state through a flight simulation model, and the real-time state is directly shared through a network function, so that multi-user air roaming is realized. Because the flight dynamics model needs to be solved with larger computational power, if only a master control console is used, the shortage of computing resources is inevitably caused; meanwhile, the master console also processes a large amount of data acquired through the network, which results in poor real-time performance. In summary, the following advantages are achieved by using the technology:
the calculation cost is greatly reduced;
reducing the input and output flows from the network to the local, and reducing the burden of the computer;
the network only shares information such as calculated position, speed and the like, so that the real-time performance is high and the user experience is good;
the user can experience air roaming without purchasing an expensive computer when using the system, and only a common computer in home.
5. The invention has a plurality of operation methods: the input can be performed through various devices, such as a keyboard and a mouse, a game handle, a flight control lever and the like; there are a variety of output modes: the VR mode and the non-VR mode can meet the requirements of users of different hardware equipment; the simulation machine type has diversity: the system has good expandability, can provide pneumatic parameters of different machine types, and can be imported into a database, and the system can calculate the flight state of the corresponding machine type in real time for simulation.
Drawings
FIG. 1 is a schematic view of a coordinate system provided by the present invention;
FIG. 2 is a schematic view of an interface operation logic provided by the present invention;
FIG. 3 is a schematic diagram of a kinematic equation implementation provided by the present invention;
FIG. 4 is a schematic view of a wing setting method provided by the present invention;
FIG. 5 is a flow chart of a multi-user roaming system provided by the present invention;
FIG. 6 is a diagram of a network function configuration provided by the present invention;
FIG. 7 is a schematic diagram of a simulation interface provided by the present invention;
FIG. 8 is a schematic diagram of a handle key mapping according to the present invention;
FIG. 9 is a schematic diagram of a Masster hardware peripheral;
FIG. 10 is a schematic diagram of a method for configuring a Master hardware peripheral;
FIG. 11, database management interface schematic;
FIG. 12, database management operation schematic.
Detailed Description
In the following, embodiments of the present invention are described in detail in a stepwise manner, which is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only used for describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, the present invention is not to be construed as being limited thereto.
The general embodiment of the invention is:
a method for constructing an air roaming system, said air roaming system including a plurality of air roaming units, said plurality of air roaming units being connected into a whole by means of data transmission, characterized in that: the construction method comprises the following steps:
(1) any air roaming unit carries out real-time calculation aiming at the flight dynamics model in the unit;
(2) connecting a plurality of air roaming units into a whole by utilizing underlying network communication, and resolving and participating in multi-user real-time roaming by the plurality of air roaming units in real time according to respective flight dynamics models;
(3) establishing a human-computer interaction system supporting multiple operation modes;
(4) and establishing a background database system, recording the information of the aircraft and the wings and the user operation record, and supporting the basic operation of the database.
In the step (1), the flight dynamics model carries out real-time calculation, including receiving all inputs from pilot control, wind power, aerodynamic force and an engine, and calculating variables for simulating the state of the aircraft, wherein the variables for simulating the state of the aircraft include the stress, the motion, the height, the altitude, the course and the speed of the aircraft.
In the step (1), the real-time calculation of the flight dynamics model comprises the following specific steps:
a1, defining a flight dynamics model coordinate axis;
b1, calculating the aerodynamic lift force of the aircraft, wherein the specific calculation formula is as follows:
where ρ is the air density, V is the airspeed, s is the wing area, CLIs the coefficient of lift;
c1, calculating the aerodynamic lateral force of the aircraft, wherein the specific calculation formula is as follows:
in the formula, CYIs the lateral force coefficient; cYIs usually usedβ and the rudder input; the lateral force term depends on Mach number, sideslip angle, flap position and body shape; for flaps, slats and spoilers, any failure of these subsystems can result in the generation of lateral forces;
d1, integrating the stress and the moment of the aircraft, and calculating the force and the moment of the aircraft according to the stress magnitude and the stress position, thereby calculating the current acceleration, speed and position information of the aircraft, wherein the position information refers to the altitude, longitude and latitude position information of the aircraft.
In the specific step a1, coordinate axes of a body coordinate system and a Unity object coordinate system are defined, where the coordinate axes of the body coordinate system use the center of gravity of the aircraft as an origin, the x-axis is forward along the forward direction of the head of the body, the y-axis is forward along the rightward direction of the right wing, and the z-axis is forward along the downward direction perpendicular to the lower surface of the body; in a machine body coordinate system, the directions of linear force, acceleration and speed are positive in the X-axis positive direction or the Y-axis positive direction or the Z-axis positive direction, and the positive directions of moment and angular acceleration in each coordinate axis are the directions of positive anticlockwise rotation from an origin along the coordinate axis; the Unity object coordinate system takes the gravity center of the aircraft as an origin, the forward direction of the x axis is the rightward direction along the right wing, the forward direction of the y axis is the upward direction vertical to the upper surface of the fuselage, and the forward direction of the z axis is the direction towards the head of the fuselage along the fuselage.
The specific steps of the step (2) are as follows:
a2, constructing a network capable of synchronizing position information in real time based on a client-server architecture (C/S architecture);
b2, when a client joins or leaves, the server broadcasts the joining or leaving information to other clients, and the clients with changed states are created and destroyed in time;
and C2, the server realizes the selection of the scene and the model by the client.
In the step (3), the man-machine interaction system has a complete Graphical User Interface (GUI) and supports a plurality of peripherals, and the establishment of the man-machine interaction system supporting a plurality of operation modes comprises the following specific steps:
a3, dividing the interface of the system into a title interface, a hall interface and a simulation interface; FIG. 2 shows the operation logic between the interfaces, the solid line rectangle boxes represent different interfaces, and the dotted line rectangle boxes represent different functions implemented (arrows represent setting events triggered by clicking corresponding buttons);
b3, adopting an HTC Vive helmet display, determining a display view angle, simulating the display view angle of the driver by using a SteamVR, and finally transmitting the view angle to the helmet display, so that the driver has three-dimensional immersive visual experience.
The step (4) comprises the following specific steps:
a4, analyzing user requirements, data requirements and function requirements, and establishing and constructing an aircraft type information database and a wing information database;
b4, constructing a database in MySQL according to requirements;
and C4, connecting the human-computer interaction with the background MySQL in the Unity to realize the basic operation of the database.
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings:
referring to fig. 1, an embodiment of the present invention includes: the method comprises the following steps: (1) real-time resolving of a flight dynamics model; (2) multi-person real-time roaming is realized by utilizing underlying network communication; (3) a good man-machine interaction system is established, and various operation modes are supported; (4) and (4) building a background database, recording the information of the aircraft and the wings and the user operation record, and supporting the basic operation of the database.
The following steps are described in detail in conjunction with the flow chart (fig. 1):
the first step, the real-time solution of the flight dynamics model, which can accept all inputs including pilot control, wind, aerodynamic, engine, calculates variables simulating the aircraft state, in particular force, motion, altitude, heading and speed, is as follows.
In order to realize the model easily and have higher universality, the empennage, the flap and the rudder of the aircraft are abstracted into wings, and finally, the effect of applying force and moment to the gravity center of the aircraft is calculated according to the size of the wings and the position relative to the center of the aircraft. The invention assumes the geometric center of the wing as the gravity center of the wing, so at the beginning of calculation, the position of the gravity center is calculated according to the shape of the wing, and the parameters of the aircraft and the parameters of the wing are initialized, including the mass, the moment of inertia, the wingspan and the aerodynamic curve of the wing. Finally, for ease of description, the present invention considers the amount of wing deflection and engine operating inputs to be known, with the air density set at 1.29kg/m ^3 (0 ℃ C., 1 atm under standard conditions), see FIG. 3.
The aircraft model is modeled according to actual dimensions, so input parameters required by a simulation calculation module can be easily calculated in a program. The invention calculates the size of the aircraft wing by drawing a line segment "stroking", as shown in fig. 5.
The lift force borne by the aircraft is calculated, and the attack angle needs to be calculated firstly. In the Unity coordinate system, the velocity direction is the z-axis component of the rigid body velocity, the longitudinal axis of the aircraft is the z-axis component in the own body coordinate system, the included angle between the two components in the world coordinate system is the attack angle alpha, and after the attack angle is obtained, the corresponding lift coefficient C in the current state can be easily calculated by the table lookup and interpolation methodLAnd then calculating the lifting force value of the aircraft.
The method for calculating the aerodynamic lateral force and the aerodynamic resistance is very similar to the lifting force, firstly, the yaw angle of the aircraft is calculated by utilizing the API in Unity, and then the lateral force coefficient C of the aircraft is obtained by looking up the tableYAnd coefficient of resistance CDThe force is calculated according to the formula mentioned in the above section.
The calculation of the moment is also very natural, because the wings are abstracted, the parameters of the wings such as the attack angle, the yaw and the like can be directly solved, the aerodynamic matrix coefficient is solved by looking up the table and looking up the table, and the moment is calculated according to a formula.
The second step is that: the multi-user cooperative roaming function is realized by using the underlying network communication, and the detailed steps are as follows (refer to fig. 6).
The method is realized by a Unity official component, The Multiplayer High Level API (HLAPI), which is established on a lower-Level communication layer and provides The most basic network communication functions, such as sharing The information of The position, The posture and The like of each operation object. The overall underlying network communication function flow diagram refers to fig. 5.
The network communication class in the HLAPI component is subjected to inheritance rewriting, the preset variable in the parent class is changed from single preset to a linked list, and the linked list is indexed to dynamically initialize a specific model.
After the selection of the model and the scene is completed and before the user joins the house owner server, model instantiation information of the user and the server scene need to be broadcasted. Referring to fig. 7, Offline Scene is a Scene of a hall interface of the system, and Online Scene is a user-selected interface, which can be dynamically adjusted through a pull-down menu of the hall interface. When a user creates a homeowner server, the roaming system automatically jumps to Online Scene; when a user joins the server in a client identity, automatically jumping to a scene set by a house owner server; if any user quits the server, the system automatically jumps to the Offline Scene of the hall interface.
The invention rewrites the information transmission class to carry the selection information of the scene and the user model. Meanwhile, in order to satisfy the synchronization of the messages when the user state changes, the callback method in the network communication father class needs to be inherited and rewritten, and functions of packaging, sending, receiving, unpacking and the like of the information transmission class content are added.
And thirdly, realizing a good human-computer interaction interface comprising a complete GUI and supporting various peripherals, and comprising the following detailed operation steps.
Since the system has two emulation modes, host and client, the click "start" will be slightly different in different modes. If the current mode is the 'host' mode, the system can establish a server for simulation by the identity of the server and wait for other members to join; if the current mode is a client mode, if a created war office exists, the simulation interface is jumped to and automatically joined to perform multi-person online synchronous simulation, and otherwise, no response is caused because no connectable server exists.
In the simulation interface (refer to fig. 8), pressing the START key of the handle pops up a setting menu, and unlike the setting menu in the title interface, an additional disconnection button is arranged here to realize the functions of disconnecting the network connection and quitting the multi-user roaming system. It should be noted that, since the emulation process has two modes of server establishment and client joining, the function of disconnection is different. The server side is disconnected, the whole simulation bureau can be directly closed, and all the client sides which join in the simulation can quit at the same time; and the client only quits after being disconnected, and other simulation members cannot be influenced.
TABLE 1 handle Key map
In the VR mode, after wearing the VR helmet display, an operator cannot observe the keyboard, and various inconveniences are caused if the keyboard is used, so that the Microsoft Xbox One handle is used as an input device in the simulation of the system. The handle has the advantages over the keyboard that the linear continuous input exists, which solves the disadvantage of insufficient discrete input of the keyboard; the handle key positions are distributed densely, the appearance accords with the human functional design, and the fatigue degree of a user is low after the user uses the electric bicycle for a long time; and finally, the handle is provided with vibration feedback, so that the operation feedback is more real and strong. The common Xbox One handle key distribution (refer to fig. 8), and table 1 is a handle key map.
TABLE 2 mouse and Key location operation summary sheet
(4) In the non-VR mode, the conventional display is used as the most basic output display device, and a mouse and a keyboard are used for input control of the aircraft. Because of the consistency of the system design, a summary table of mouse and keyboard key location operations in the non-VR mode is listed here (refer to Table 2).
(5) In order to enhance the reality of human-computer interaction in a non-VR mode, the system also supports other operation peripherals, such as a flight control rocker. A large number of flight external devices exist in the market, and the invention selects the existing HOTAS (hand-held accelerator and control lever) simulation rocker set of the American air force A-10C attack plane (HoustMaster) in a laboratory as an external device for experiment.
The peripheral device is composed of two parts, see fig. 9. The left side of the figure is provided with a double-simulation accelerator and a simulation control panel, which are provided with 17 operation buttons in total, and a mouse cap with a key and an eight-direction bitter cap are additionally arranged; the right side is a simulation rocker which has a brand new simulation appearance, and the joystick is provided with a 3D magnetic sensor (Hall effect). Because the peripheral has powerful functions, the invention only uses a part of the content for development.
To successfully apply the peripheral to the system, the core step is to acquire the peripheral operation and correctly map the peripheral operation to the aircraft operation. Because the peripheral and the Unity are both driven by using Direct as the bottom layer figure, the default movement and deflection operation of the operating rod just corresponds to the pitching and rolling operation of the system, and the peripheral and the Unity can be directly used without modification. The next job is to bind other operations including the throttle to the hardware.
The hardware driver is downloaded in the graphic horse official network, the system functions and the peripheral keys are mapped one by one in the option of 'configuration axis mapping' of the driver according to the rule of fig. 10, and table 3 is a function mapping binding summary table (note: the key numbers and the key names can be inquired from official documents).
TABLE 3 Maxter function mapping Table
The fourth step: designing a background database, and specifically realizing the following steps:
firstly, analyzing user requirements, data requirements and function requirements, and establishing and constructing an aircraft type information database and a wing information database; then, respectively constructing a database in MySQL according to tables 4, 5 and 6; since the database does not support the Chinese field, the system fields of tables 4, 5, 6 cannot be modified to Chinese, with the text explanation illustrated in the 'literal name' column.
Table 4 user information table
TABLE 5 wing information Table
TABLE 6 aircraft information Table
In order to achieve better human-computer interaction experience, the database is combined with a human-computer interaction system, and management of the database is finished visually.
Clicking the help menu on the lobby interface of the simulation system and selecting the database option pops up a database management interface as shown in fig. 11.
In the popped up interface, the database selects a pull-down menu to realize the switching of different data tables, and the four buttons respectively correspond to four functions. To demonstrate basic functionality, a simple test is performed using the model database, the test content being shown in FIG. 12.
Claims (7)
1. A method for constructing an air roaming system, said air roaming system including a plurality of air roaming units, said plurality of air roaming units being connected into a whole by means of data transmission, characterized in that: the construction method comprises the following steps:
(1) any air roaming unit carries out real-time calculation aiming at the flight dynamics model in the unit;
(2) connecting a plurality of air roaming units into a whole by utilizing underlying network communication, and resolving and participating in multi-user real-time roaming by the plurality of air roaming units in real time according to respective flight dynamics models;
(3) establishing a human-computer interaction system supporting multiple operation modes;
(4) and establishing a background database system, recording the information of the aircraft and the wings and the user operation record, and supporting the basic operation of the database.
2. A method of constructing an air roaming system as claimed in claim 1, wherein: in the step (1), the flight dynamics model carries out real-time calculation, including receiving all inputs from pilot control, wind power, aerodynamic force and an engine, and calculating variables for simulating the state of the aircraft, wherein the variables for simulating the state of the aircraft include the stress, the motion, the height, the altitude, the course and the speed of the aircraft.
3. A method of constructing an air roaming system as claimed in claim 2, wherein: in the step (1), the real-time calculation of the flight dynamics model comprises the following specific steps:
a1, defining a flight dynamics model coordinate axis;
b1, calculating the aerodynamic lift force of the aircraft, wherein the specific calculation formula is as follows:
where ρ is the air density, V is the airspeed, s is the wing area, CLIs the coefficient of lift;
c1, calculating the aerodynamic lateral force of the aircraft, wherein the specific calculation formula is as follows:
in the formula, CYIs the lateral force coefficient;
d1, integrating the stress and the moment of the aircraft, and calculating the force and the moment of the aircraft according to the stress magnitude and the stress position, thereby calculating the current acceleration, speed and position information of the aircraft, wherein the position information refers to the altitude, longitude and latitude position information of the aircraft.
4. A method of constructing an air roaming system as claimed in claim 3, wherein: in the specific step a1, coordinate axes of a body coordinate system and a Unity object coordinate system are defined, where the coordinate axes of the body coordinate system use the center of gravity of the aircraft as an origin, the x-axis is forward along the forward direction of the head of the body, the y-axis is forward along the rightward direction of the right wing, and the z-axis is forward along the downward direction perpendicular to the lower surface of the body; in a machine body coordinate system, the directions of linear force, acceleration and speed are positive in the X-axis positive direction or the Y-axis positive direction or the Z-axis positive direction, and the positive directions of moment and angular acceleration in each coordinate axis are the directions of positive anticlockwise rotation from an origin along the coordinate axis; the Unity object coordinate system takes the gravity center of the aircraft as an origin, the forward direction of the x axis is the rightward direction along the right wing, the forward direction of the y axis is the upward direction vertical to the upper surface of the fuselage, and the forward direction of the z axis is the direction towards the head of the fuselage along the fuselage.
5. A method of constructing an air roaming system as claimed in claim 1, wherein: the specific steps of the step (2) are as follows:
a2, constructing a network capable of synchronizing position information in real time based on a client-server architecture;
b2, when a client joins or leaves, the server broadcasts the joining or leaving information to other clients, and the clients with changed states are created and destroyed in time;
and C2, the server realizes the selection of the scene and the model by the client.
6. A method of constructing an air roaming system as claimed in claim 1, wherein: in the step (3), the man-machine interaction system has a complete graphical user interface and supports a plurality of peripherals, and the establishment of the man-machine interaction system supporting a plurality of operation modes comprises the following specific steps:
a3, dividing the interface of the system into a title interface, a hall interface and a simulation interface;
b3, adopting an HTC Vive helmet display, determining a display view angle, simulating the display view angle of the driver by using a SteamVR, and finally transmitting the view angle to the helmet display, so that the driver has three-dimensional immersive visual experience.
7. A method of constructing an air roaming system as claimed in claim 1, wherein: the step (4) comprises the following specific steps:
a4, analyzing user requirements, data requirements and function requirements, and establishing and constructing an aircraft type information database and a wing information database;
b4, constructing a database in MySQL according to requirements;
and C4, connecting the human-computer interaction with the background MySQL in the Unity to realize the basic operation of the database.
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