CN117437829A - Novel aircraft training method and system based on VR visual simulation - Google Patents

Novel aircraft training method and system based on VR visual simulation Download PDF

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Publication number
CN117437829A
CN117437829A CN202311477386.0A CN202311477386A CN117437829A CN 117437829 A CN117437829 A CN 117437829A CN 202311477386 A CN202311477386 A CN 202311477386A CN 117437829 A CN117437829 A CN 117437829A
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China
Prior art keywords
aircraft
flight
angle
display system
speed
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CN202311477386.0A
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Chinese (zh)
Inventor
杨宇
方海红
王菁华
董春杨
李巍
鞠晓燕
司文文
张甜
谢雨霖
宋得良
程光耀
王东东
凌咸庆
李焕东
王玥兮
蔡志旭
张超
宋景亮
苏连明
王洁
秦卓
张竑颉
王晨
刘洋
郭彤旭
苗悦
张雪娇
姚跃民
牛秦生
吴骁航
林鑫
苏峰
赵振杰
赵志光
张伟伟
戴得德
张勇亮
栾晓岩
杨征
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Beijing Aerospace Changzheng Aircraft Institute
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Beijing Aerospace Changzheng Aircraft Institute
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Priority to CN202311477386.0A priority Critical patent/CN117437829A/en
Publication of CN117437829A publication Critical patent/CN117437829A/en
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/30—Simulation of view from aircraft
    • G09B9/307—Simulation of view from aircraft by helmet-mounted projector or display
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/12—Geometric CAD characterised by design entry means specially adapted for CAD, e.g. graphical user interfaces [GUI] specially adapted for CAD
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators

Abstract

The invention discloses a novel aircraft training method and system based on VR visual simulation. The VR display system is integrated with real flight. The aircraft flies under a real aircraft in a safer state, such as levitation or low-speed movement. Meanwhile, the pilot wears virtual display equipment in the VR display system, such as VR glasses, and the corresponding flight state after the pilot operates is displayed through the VR display system, but the flight state of the aircraft does not completely respond according to the pilot operation, so that the flight state with larger risk, such as scenes of higher altitude, higher speed and the like, is simulated. Finally, the real environment state is achieved, the real suspension feeling is provided for the pilot, and meanwhile, the flight training is finished for the pilot under the relatively safe condition.

Description

Novel aircraft training method and system based on VR visual simulation
Technical Field
The application relates to the technical field of aircraft training, in particular to a novel aircraft training method and system based on VR visual simulation.
Background
Various forms of single-person aircraft are currently being developed, including those employing electric large manned 4-rotor aircraft, those employing turbojet engines, as well as those employing backpack or foot-operated aircraft. The single aircraft has the characteristics of novel design, multiple application of leading edge technology and high man-machine coupling, and pilots of traditional manned aircraft such as aircrafts indirectly control the aircrafts through button control rods and the like, and cannot directly control the aircrafts. But the novel single aircraft flight process is extremely large in variation coupling with human body gestures, gravity centers and the like, a whole set of simulation system is hardly built on the ground in a traditional aircraft mode to simulate and train a pilot, but the pilot directly carries out free flight and has huge safety risks, so that a set of system which can train on an actual aircraft and relatively ensure safety is urgently required to be developed.
Disclosure of Invention
Aiming at the problems of high difficulty, high risk and high cost of pilot training of a single aircraft, the invention provides a novel aircraft training method and system based on VR visual simulation. Unlike conventional aircraft, the flight effect and flight state of a single aircraft are greatly affected by the personal ability and operation of a pilot, the full simulation effect is difficult to create a real state, and the risk of the pilot in the real state to directly conduct large maneuver training is high. The scheme that this application provided is applied to novel single aircraft's flight training system, combines VR visual simulation and actual flight, combines through simulation reality with the help of VR and true aircraft and realizes that the pilot is to single flight training.
In a first aspect, a novel aircraft training method based on VR vision simulation is provided, including:
controlling the aircraft and the VR display system to enter a working mode;
the coordination control between the aircraft and the VR display system comprises the steps of displaying corresponding flight effects in the VR display system according to pilot control instructions received by the aircraft, and controlling the attitude angle displayed by the VR display system to be matched with the attitude angle of the aircraft.
With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes:
determining a training mode;
after training is started, instructions are sent to the VR display system and the aircraft according to the set training mode.
With reference to the first aspect, in certain implementations of the first aspect, the training mode includes a pure VR mode and a flight mode;
if the mode is the pure VR mode, after training is started, an in-situ standby instruction is sent to the aircraft;
if the flying mode is adopted, after training is started, a suspension instruction or a low-speed flying instruction is sent to the aircraft.
With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes:
determining flight information;
after training is started, sending an instruction to the VR display system according to the set flight information, so that the VR display system displays a picture corresponding to the flight information.
With reference to the first aspect, in certain implementations of the first aspect, the flight information includes at least one of: position information, flight status, flight path, maximum flight speed.
With reference to the first aspect, in some implementation manners of the first aspect, the sending, according to the set flight information, an instruction to the VR display system includes:
according to the preset position information, calling a global terrain elevation database to obtain corresponding terrain data;
acquiring a satellite picture, combining the satellite picture with terrain data, and loading a landform on the terrain;
controlling a VR display system to display and load the topography and the landform;
and planning an expected flight route according to a preset flight route and a maximum flight speed, and displaying the estimated flight route through a VR display system.
With reference to the first aspect, in some implementation manners of the first aspect, according to a pilot control instruction received by the aircraft, displaying a corresponding flight effect in the VR display system, and controlling the attitude angle displayed by the VR display system to match with the attitude angle of the aircraft, including:
invoking a flight simulation model, and calculating simulation information of the flight of the aircraft under the control instruction of a pilot in real time, wherein the simulation information comprises simulation speed, simulation position and simulation gesture information;
transmitting all simulation information to a VR display system, and updating display content by the VR display system according to the received simulation information;
and sending the simulated gesture information in the simulated simulation information to the aircraft so as to enable the aircraft to realize corresponding gesture change under the control instruction of the pilot.
With reference to the first aspect, in certain implementations of the first aspect, the pilot manipulation instruction includes a handgrip rocker instruction for indicating a flight effect displayed by the VR display system.
With reference to the first aspect, in certain implementations of the first aspect, the flight effect includes a flight speed, and the handle rocker instruction solves the flight speed by:
Vx cmd ＝(Ka1×Px+Ka2×Px×Px×Px)×Kv_x
Vy cmd ＝(Ka1×Py+Ka2×Py×Py×Py)×Kv_y
Vz cmd ＝(Ka1×Pz+Ka2×Pz×Pz×Pz)×Kv_z
wherein Ka1, ka2 and Kv are respectively a calculation coefficient and a speed proportional coefficient, vx cmd Is the desired forward flight speed, vy cmd Is the desired lateral flight speed, vz cmd The desired speed in the height direction is Px, the rocker swing amount in the forward and backward directions is Py, the rocker swing amount in the left and right directions is Pz, the rocker swing amount is the height push rod swing amount, the rocker swing amounts are-1 to +1 for Px, py and Pz, when the rocker is at the middle position, the swing amount is 0, the output desired flying speed is 0, the rocker swings to the bottom, the swing amount is 1, and the output is the maximum desired speed Kv m/s.
With reference to the first aspect, in certain implementations of the first aspect, the flight effect includes a flight altitude, and the handle rocker instruction solves the flight altitude by:
Vz＝[c5 c6]z
Z＝Z old +Tz*Vz
wherein Vz is the speed of the VR display system in the height direction, Z is the current height, Z old The height of the last step, tz is the time step of height calculation, and the coefficients of c1 to c6 are calculated through the speed transfer function in the height direction.
With reference to the first aspect, in certain implementation manners of the first aspect, the flight effect includes a flight attitude angle, and the solving of the flight attitude angle by the handle rocker instruction is performed by the following equation:
Angle_x＝Vx*K
Angle_y＝Vy*K
angle_x is the pitch Angle displayed by the VR display system, angle_y is the azimuth Angle displayed by the VR display system, vx is the forward speed displayed by the VR display system, vy is the lateral speed displayed by the VR display system, and K is a coefficient.
With reference to the first aspect, in certain implementation manners of the first aspect, the controlling the matching between the attitude angle displayed by the VR display system and the attitude angle of the aircraft includes:
and determining a control instruction of the attitude angle of the aircraft according to the deviation of the current angle of the aircraft and the current attitude angle output by the VR display system.
With reference to the first aspect, in certain implementation manners of the first aspect, the controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft further includes:
and determining a control instruction of the attitude angle of the aircraft according to the accumulated deviation of the attitude angle of each step of aircraft and the attitude angle output by the VR display system.
With reference to the first aspect, in certain implementation manners of the first aspect, the controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft further includes:
and determining a control instruction of the attitude angle of the aircraft according to the angular speed output by the IMU on the aircraft.
With reference to the first aspect, in certain implementations of the first aspect, the control instructions of the attitude angle of the aircraft satisfy:
Angle_x_Cmd＝Angle_x_Error*Kp+Angle_x_Int*Ki+Wx*Kd
Angle_y_Cmd＝Angle_y_Error*Kp+Angle_y_Int*Ki+Wy*Kd
anlge_i_cmd is the desired Angle command sent to the aircraft, anlge_i_error is the deviation of the current Angle of the aircraft and the current attitude Angle output by the VR display system, angle_i_int is the cumulative deviation of each step of aircraft Angle and attitude Angle output by the VR display system, wi is the angular velocity output by the IMU on the aircraft, kp, ki, kd are coefficients, i=x, y.
With reference to the first aspect, in certain implementation manners of the first aspect, the controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft further includes at least one of:
correcting a control instruction of an attitude angle of the aircraft according to the centroid deviation and the corresponding correction coefficient K1;
and correcting a control instruction of the attitude angle of the aircraft according to the angle obtained by integrating the feedback angular speed angle of the IMU on the aircraft and a corresponding correction coefficient K2, wherein i=x, y.
With reference to the first aspect, in certain implementations of the first aspect, the resolving of the centroid deviation is performed by the following equation:
A sj (s=1, 2,3, 4j=1, 2,3, 4) the pressure value collected for each pressure pedal, G is the weight of the flight person, B sj (s=1, 2,3, 4j=1, 2,3, 4) is a coefficient for calculating centroid deviation, press x And Press y Reflecting the unbalanced load degree of the centroid in the forward and backward directions and the left and right directions respectively.
In a second aspect, an aircraft motion simulation system is provided for performing the method as described in any one of the implementations of the first aspect described above.
In a third aspect, there is provided a novel aircraft training system based on VR vision simulation, the system comprising an aircraft, an aircraft motion simulation system and a VR display system, the aircraft motion simulation system being an aircraft motion simulation system as described in any one of the implementations of the second aspect above.
Compared with the prior art, the scheme provided by the application at least comprises the following beneficial technical effects:
for a single aircraft, an effective training method is lacking at present, the flight capability and the flight skill of a pilot can be trained only through actual flight, the risk is high, the training duration is seriously insufficient, meanwhile, other similar VR training technologies, such as automobile VR training, are trained in a pure VR technical state, and have great differences from a real environment.
Drawings
Fig. 1 is a schematic block diagram of a novel aircraft training system based on VR vision simulation provided in an embodiment of the present application.
Fig. 2 is a schematic block diagram of an aircraft motion simulation system provided in an embodiment of the present application.
Fig. 3 is a schematic flow chart of a novel aircraft training method based on VR vision simulation provided in an embodiment of the present application.
Fig. 4 is a schematic diagram of an angle control command for an aircraft according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and specific examples.
The scheme that this application provided is used for carrying out flight training to single aircraft pilot through VR and physical device combination. Fig. 1 illustrates a novel aircraft training system based on VR vision simulation, which may include an aircraft, an aircraft motion simulation system, and a VR display system, to which the present application relates. Fig. 2 is a schematic diagram of an aircraft motion simulation system provided in an embodiment of the present application. The aircraft of the training system can be applied to a real flight environment, namely, the real aircraft flies in a real space. The aircraft motion simulation system performs the simulation calculation of the kinematics and dynamics in real time, and the current flight state is correctly displayed by the VR display system driven by data, so that the VR display system simulates the sensory experience of the pilot flying in the air through VR glasses. The aircraft motion simulation system comprises a receiving and transmitting module and a processing module, wherein the receiving and transmitting module is used for exchanging information between an aircraft and a VR display system, and the processing module is used for achieving calculation of control instructions of the aircraft and the VR display system.
The scheme thinking that this application provided is to combine VR display system with real flight. The aircraft flies under a real aircraft in a safer state, such as levitation or low-speed movement. Meanwhile, the pilot wears virtual display equipment in the VR display system, such as VR glasses, and the corresponding flight state after the pilot operates is displayed through the VR display system, but the flight state of the aircraft does not completely respond according to the pilot operation, so that the flight state with larger risk, such as scenes of higher altitude, higher speed and the like, is simulated. Finally, the real environment state is achieved, the real suspension feeling is provided for the pilot, and meanwhile, the flight training is finished for the pilot under the relatively safe condition.
Fig. 3 is a schematic flow chart of a novel aircraft training method based on VR vision simulation provided in an embodiment of the present application. The specific training process is as follows.
(1) The aircraft motion simulation system determines training patterns and flight information.
The selectable training modes include, for example, a pure VR mode and a flight mode. The pure VR mode may indicate that the current aircraft is not performing flights, including hover and low speed flights, among others. The flight mode may instruct the aircraft to perform a flight during training.
After the training mode is set, the flight information is set. The flight information may include location information, flight status, flight path, maximum flight speed, etc. The positional information includes, for example, positional information of a departure point and an end point. The position information can be represented by longitude, latitude, altitude, and the like, for example. The flight state includes, for example, a levitation state and a low-speed flight state. The flight path may be one determined from a plurality of paths from the departure point to the destination point. The maximum flight speed may be used to indicate that the flight speed of the aircraft must not exceed the maximum flight speed.
(2) The VR equipment is dressed to personnel, and VR display system gets into standby mode, and the aircraft gets into the state of readying to take off.
(3) The aircraft motion simulation system controls the aircraft and the VR display system to enter a working mode; after training is started, the aircraft motion simulation system sends instructions to the VR display system and the aircraft according to the set training mode. If the mode is the pure VR mode, only sending an in-situ standby instruction to the aircraft; if in flight mode, both flight data and flight instructions are sent to the VR display system.
(4) The aircraft motion simulation system coordinates and controls between the aircraft and the VR display system, displays corresponding flight effects in the VR display system according to pilot control instructions received by the aircraft, and controls the attitude angle displayed by the VR display system to be matched with the attitude angle of the aircraft.
The aircraft motion simulation system can call a global terrain elevation database according to preset position information (longitude, latitude and altitude) to obtain the terrain of the position. The aircraft motion simulation system can acquire satellite pictures so as to combine the satellite pictures with the topographic data, and thus load the topography (wherein the topography refers to the height fluctuation of the topography, and the topography refers to the land environment buildings such as grasslands, forests, cities and the like) on the topography. And the aircraft motion simulation system performs the display loading of the topography and the landform in real time through the VR display system. The aircraft motion simulation system can also plan an expected flight route according to a preset flight route and a preset maximum flight speed, and the estimated flight route is displayed through the VR display system.
The aircraft motion simulation system may control the aircraft to hover (but not substantially move) while simultaneously controlling the aircraft to be attitude synchronized with the VR display system, i.e., the flight conditions of the aircraft are adapted to the VR simulated scene. After the aircraft starts to fly, the aircraft motion simulation system can call the six-degree-of-freedom simulation model and the human body flexible simulation model, calculate the current simulation speed, simulation position and simulation gesture information of the aircraft under the control of a pilot in real time, and transmit all the information to the VR display system, and the VR display system updates display content according to the received simulation speed, simulation position and simulation gesture information, so that the effect of high-speed movement in vision is achieved. In addition, the aircraft motion simulation system only updates the attitude information to the aircraft, and the attitude of the aircraft changes along with the suspension, so that the real attitude action of the aircraft is achieved.
Therefore, the pilot combines the flight actions which the pilot wants to perform with the real somatosensory content on the aircraft according to the content displayed by the current VR display system, controls through the handle button rocker and the somatosensory, and the aircraft motion simulation system collects all flight action instructions and inputs all flight action instructions into the simulation model for calculation, so that flight training is performed. When the pilot sends out a command for ending the flight, the aircraft ends suspension landing, and the VR display system ends working.
The dynamic matching of the VR display system and the aircraft requires that the visual effect in the view of the VR display system is consistent with the feeling that the pilot should obtain after operating on the aircraft (while the aircraft remains suspended or flies at a low speed during actual training, and does not respond completely according to the pilot's control instructions). For example, in VR display systems for accelerated flight, a larger tilt angle is required for human senses, etc.
In some embodiments, the human body posture information is obtained by collecting pressure from a human foot pedal on the aircraft, while the flight control information is obtained by manipulating buttons and rockers on the handle. After the aircraft motion simulation system collects all the information, the control effect of the attitude information and the control information is calculated through the model of the aircraft.
The flight control information is input into an online kinematics and dynamics solving equation combining six degrees of freedom and human flexible motion as an instruction, current speed, position and attitude information is obtained, and data are distributed to a VR display system and an aircraft. The VR display system continuously receives the position information and the posture information settled in real time. When the position changes, the scene in the pilot's field of view is updated. The faster the position changes, the faster the pilot sees the scene changes, which is reflected in the effect of flying at a higher speed, either horizontally or vertically.
The VR display system and the aircraft may also accept pose information. And the vision line in the VR vision displayed by the VR display system is consistent with the gesture change. For example, if the aircraft is in a low head state, the vision in the VR display system gradually looks towards the ground, and at the same time, the aircraft also has the same posture change in the air, so that the human visual perception is consistent with the physical perception. The unified integrated operation method for the gesture change sensed by the human body and the speed change displayed by the VR can enable the VR simulation system to be consistent with the state of the aircraft, and the optimal dynamic matching effect is achieved.
The aircraft motion simulation system can be used as a VR display system and a control system of an aircraft, and is the core of the whole aircraft training system. The aircraft motion simulation system may have instruction resolution, kinematics, kinetic simulation and output data synchronization functions.
In one embodiment, the command resolution may be to resolve the handle rocker command to a pilot desired action. The rocker command solution equation is as follows:
Vx cmd ＝(Ka1×Px+Ka2×Px×Px×Px)×Kv_x
Vy cmd ＝(Ka1×Py+Ka2×Py×Py×Py)×Kv_y
Vz cmd ＝(Ka1×Pz+Ka2×Pz×Pz×Pz)×Kv_z
wherein Ka1, ka2 and Kv are respectively a calculation coefficient and a speed proportional coefficient, vx cmd Is the desired forward flight speed, vy cmd Is the desired lateral flight speed, vz cmd The desired speed in the height direction is Px, the rocker amount in the forward/backward direction, py, the left and right rocker amounts, and Pz, the height putter amount. For Px, py and Pz, the rocker swing amounts are all-1 to +1 variation. When the rocker is in the middle position, the swing amount is 0, the output expected flying speed is also 0, the rocker swings to the bottom, the swing amount is 1, and the output is the maximum expected speed Kv m/s.
In one embodiment, the instruction resolution may be to resolve centroid bias disturbances from human body posture changes. Centroid bias disturbances may reflect human body posture changes. The principle of analyzing centroid deviation interference is to calculate pressure change values of different parts through a pressure pedal. The total 4*4 of the pressure pedals, 16 pressure acquisition points are as follows:
A 11 A 12 A 13 A 14
A 21 A 22 A 23 A 24
A 31 A 32 A 33 A 34
A 41 A 42 A 43 A 44
A sj (s=1, 2,3, 4j=1, 2,3, 4) is a pressure value for each pressure acquisition point, and the calculation formula for acquiring centroid variation is as follows:
g is the weight of the flight crew. B (B) sj (s=1, 2,3, 4j=1, 2,3, 4) is a coefficient for calculating the total pressure deviation (centroid deviation). At the position ofIn one embodiment, B s1 ＝B s2 ＝B s3 ＝B s4 。Press x And Press y The unbalanced load degree of the mass center in the forward and backward directions and the left and right directions can be respectively reflected.
After the instruction is resolved, the aircraft motion simulation system can send the resolving result to the VR display system. And the VR display system displays the current position change and the posture change in real time according to the resolving result (namely posture information and position information, wherein the posture information can be obtained by calculating the pressure value of the pressure pedal, and the position information can be obtained by calculating the speed information).
Visual changes in VR display systems can be categorized into height changes, horizontal position changes, and attitude changes. Wherein the height change is performed independently and the horizontal position and attitude change are coupled.
For example, the state space equation is as follows:
Vz＝[c5 c6]z
where Vz is the speed of the VR display system in the height direction. The specific coefficients c1 to c6 of the matrix in the state space equation can be set according to actual conditions. The VR display system is set to calculate the current position every 16.66ms according to the output height direction speed, and the calculation formula is as follows
Z＝Z old +Tz*Vz
Z is the current height, Z old Is the height of the last step, tz is the time step of height calculation. From the continuously calculated altitude, the altitude of the aircraft within the VR may be determined. Thus, a real-time display update of the height picture of the VR display system can be realized, tz=16.66 ms.
The transfer function and the lateral state equation of the advancing direction are the same as the state space equation of the speed in the height direction, wherein the matrix coefficient takes a value according to the actual situation.
Vx＝[a5 a6]x
X＝X old +Tx*Vx
Wherein Vx is the forward speed displayed by the VR display system, X is the current forward position, X old The forward position of the last step, tx is the time step calculated for the forward position, and the coefficients a1 to a6 are calculated by the forward speed transfer function.
Vy＝[b5 b6]y
Y＝Y old +Ty*Vy
Wherein Vy is the lateral velocity displayed by the VR display system, Y is the current lateral position, Y old The lateral position of the last step, ty is the time step of the lateral position calculation, and the coefficients of b1 to b6 are calculated by the lateral velocity transfer function.
The corresponding attitude angle calculation formula is as follows:
Angle_x＝Vx*K
Angle_y＝Vy*K
after the aircraft receives the instruction, the aircraft motion simulation system starts to control the attitude of the aircraft. Because the aircraft does not fly, and at most, the aircraft is in a suspension state, the aircraft motion simulation system only needs to control the attitude angle of the aircraft.
The aircraft motion simulation system adopts PID to control the attitude angle of the aircraft, and the control equation is as follows:
Angle_x_Cmd＝Angle_x_Error*Kp+Angle_x_Int*Ki+Wx*Kd
Angle_y_Cmd＝Angle_y_Error*Kp+Angle_y_Int*Ki+Wy*Kd
anlge_i_cmd (i=x, y) is the desired angle command sent to the aircraft, and Anlge_i_error (i=x, y) is the deviation of the current angle of the aircraft from the current attitude angle output by the VR display system. Due to the deviation, the aircraft motion simulation system can output an angle control instruction to enable the attitude angle of the aircraft to be closer to the attitude angle output by the VR display system.
Angle_i_int (i=x, y) is the amount of error integration, i.e. the deviation of the current Angle and the desired Angle (attitude Angle output by the VR display system) of each aircraft step is integrated. Such deviation accumulation is advantageous for eliminating constant deviation between the aircraft and the VR display system. The specific cause and degree of such constant deviation is generally unknown, and if not considered, the attitude angles of each aircraft and VR display system may deviate, and it is difficult to gradually narrow the gap between the two.
Wi (i=x, y) is the angular velocity of the IMU output on board the aircraft. When the aircraft is in attitude adjustment, the aircraft has certain acceleration, so that the attitude of the aircraft can be changed even if the aircraft control command is not set in the next step. By considering the acceleration of the aircraft itself, it is advantageous to make the subsequent attitude control of the aircraft easier to approach the desired attitude angle.
The above-mentioned ange_i_cmd (i=x, y) can be regarded as a theoretical command value for the aircraft. Because the actual physical complexity of the aircraft cannot be fully represented by a mathematical model, and meanwhile, the human body mass center changes, the gesture of the aircraft is inconsistent with the gesture calculated by the VR mathematical model, and the gap is gradually enlarged along with time, so that the gesture synchronization of VR and the gesture of the aircraft is required to be performed in real time. In some embodiments, the aircraft attitude angle control input may include two parts, one part being the centroid deviations pressure x and pressure y mentioned above and the other part being the angular velocity of the aircraft, the control system principle being as follows. That is, the output angular velocity command ange_i_cmd (i=x, y) above is corrected by acquiring the pressure of the foot pedal on the aircraft, thereby acquiring the human body posture information and the gravity center change, that is, the pressure i (i=x, y) above, and the actual aircraft inertial unit IMU feedback angular velocity Wi (i=x, y), as shown in fig. 4.
In fig. 4, the actuator may be a control actuator such as a transmitter or a steering engine according to the type of the aircraft, and the target attitude model is as follows:
in the above formula, θ, φ is the angular velocity of the gesture angle_x, angle_y, ψ is the spin gesture Angle, and may not be controlled. And p, q, r are angular velocities, r is a vector diameter, parameters K1 and K2 are adjusted according to the model through calculation of the model so as to realize Pressx and Pressy, and actual inertial components IMU feedback angular velocities Wx and Wy correction amounts of the aircraft, so that the attitude control of the aircraft and the attitude dynamic matching in the vision of the VR display system are realized. The combined correction of the adjustment parameter K1 and the centroid offsets Pressx and Pressy can be used for correcting the influence on the attitude angle of the aircraft due to the change of the pilot centroid. The combined correction of the adjustment parameter K2 and the angles Angle and Angle (obtained by integrating 1/s of the feedback angular velocities Wx and Wy of the aircraft IMU) can be used to improve the efficiency of the aircraft attitude angle approaching the VR display system attitude angle.
In some embodiments provided herein, substantial motion or other conditions are unavoidable when the human body is in a VR environment. At this time, the aircraft is required to perform human body motion self-adaptation in a training state, and training is stopped if necessary, and the key point is to identify the dangerous degree of the current pilot motion. The long-time VR vision experience is prone to losing the current actual spatial sense of the pilot, namely that the actual aircraft angle change perceived by the pilot is inconsistent with the angle of the actual aircraft. If the actual aircraft has reached a state with a large angle, but the pilot still feels the angle small, and continues to send out instructions for increasing the angle, the risk of the aircraft being overturned is easily caused.
One possible solution is to monitor the pilot centroid attitude change and the current attitude of the aircraft in real time, set two angle thresholds of the aircraft, namely an early warning angle and a dangerous angle, and if the aircraft attitude angle reaches the early warning angle, the aircraft enters a protection mode which does not execute the instruction of continuously increasing the angle and the speed of personnel any more and only accepts the instruction of reducing the angle and the speed. If the attitude angle is still further increased and reaches the dangerous angle due to misoperation or instability of the action attitude of the pilot, the aircraft directly enters a safe mode, does not fly any more, directly executes landing, and the VR display system exits to display no virtual pictures any more.
As an emerging aircraft, the single aircraft has the characteristics of flexible use, portability, easy belt, free control, low requirements on take-off and landing, rapid use response, strong maintainability and the like. However, the weight of the aircraft is similar to or even smaller than the weight of a human body, and strong man-machine coupling is necessarily present. The effect brought by the coupling is difficult to simulate through ground modeling, and the control effect is verified by directly adopting real flight, so that the potential safety hazard is huge. Therefore, on the premise that single aircraft are popular and are more widely focused, the development of a set of simulation training method capable of combining VR visual simulation with a real aircraft has great use requirements and application prospects. The system simulates flight scenes with high risk such as fierce motion state and high-speed motion through VR, combines with safer flight states such as actual suspension, has the characteristics of outstanding effect and high safety, and has strong practicability in cooperation with a single aircraft.
While the invention has been described in terms of the preferred embodiment, it is not intended to limit the invention, but it will be apparent to those skilled in the art that variations and modifications can be made without departing from the spirit and scope of the invention, and therefore the scope of the invention is defined in the appended claims.

Claims (19)

1. A novel aircraft training method based on VR visual simulation is characterized by comprising the following steps:
controlling the aircraft and the VR display system to enter a working mode;
the coordination control between the aircraft and the VR display system comprises the steps of displaying corresponding flight effects in the VR display system according to pilot control instructions received by the aircraft, and controlling the attitude angle displayed by the VR display system to be matched with the attitude angle of the aircraft.
2. The method according to claim 1, wherein the method further comprises:
determining a training mode;
after training is started, instructions are sent to the VR display system and the aircraft according to the set training mode.
3. The method of claim 2, wherein the training modes include a pure VR mode and a flight mode;
if the mode is the pure VR mode, after training is started, an in-situ standby instruction is sent to the aircraft;
if the flying mode is adopted, after training is started, a suspension instruction or a low-speed flying instruction is sent to the aircraft.
4. A method according to any one of claims 1 to 3, further comprising:
determining flight information;
after training is started, sending an instruction to the VR display system according to the set flight information, so that the VR display system displays a picture corresponding to the flight information.
5. The method of claim 4, wherein the flight information comprises at least one of: position information, flight status, flight path, maximum flight speed.
6. The method of claim 5, wherein the sending an instruction to the VR display system based on the set flight information comprises:
according to the preset position information, calling a global terrain elevation database to obtain corresponding terrain data;
acquiring a satellite picture, combining the satellite picture with terrain data, and loading a landform on the terrain;
controlling a VR display system to display and load the topography and the landform;
and planning an expected flight route according to a preset flight route and a maximum flight speed, and displaying the estimated flight route through a VR display system.
7. The method of any one of claims 1 to 6, wherein the displaying the corresponding flight effect in the VR display system and controlling the VR display system to display a pose angle matching the pose angle of the aircraft according to the pilot manipulation instruction received by the aircraft comprises:
invoking a flight simulation model, and calculating simulation information of the flight of the aircraft under the control instruction of a pilot in real time, wherein the simulation information comprises simulation speed, simulation position and simulation gesture information;
transmitting all simulation information to a VR display system, and updating display content by the VR display system according to the received simulation information;
and sending the simulated gesture information in the simulated simulation information to the aircraft so as to enable the aircraft to realize corresponding gesture change under the control instruction of the pilot.
8. The method of any one of claims 1 to 7, wherein the pilot manipulation instruction comprises a handgrip rocker instruction for indicating a flight effect displayed by a VR display system.
9. The method of claim 8, wherein the flight effect comprises a flight speed, and wherein the handle rocker command solves for the flight speed by:
Vx cmd ＝(Ka1×Px+Ka2×Px×Px×Px)×Kv_x
Vy cmd ＝(Ka1×Py+Ka2×Py×Py×Py)×Kv_y
Vz cmd ＝(Ka1×Pz+Ka2×Pz×Pz×Pz)×Kv_z
wherein Ka1, ka2 and Kv are respectively a calculation coefficient and a speed proportional coefficient, vx cmd Is the desired forward flight speed, vy cmd Is the desired lateral flight speed, vz cmd The desired speed in the height direction is Px, the rocker swing amount in the forward and backward directions is Py, the rocker swing amount in the left and right directions is Pz, the rocker swing amount is the height push rod swing amount, the rocker swing amounts are-1 to +1 for Px, py and Pz, when the rocker is at the middle position, the swing amount is 0, the output desired flying speed is 0, the rocker swings to the bottom, the swing amount is 1, and the output is the maximum desired speed Kv m/s.
10. The method of claim 9, wherein the flight effect comprises a flight altitude, and wherein the handle rocker command solves for the flight altitude by:
Vz＝[c5 c6]z
Z＝Z old +Tz*Vz
wherein Vz is the speed of the VR display system in the height direction, Z is the current height, Z old The height of the last step, tz is the time step of height calculation, and the coefficients of c1 to c6 are calculated through the speed transfer function in the height direction.
11. The method of any one of claims 8 to 10, wherein the flight effect comprises a flight attitude angle, and wherein the handle rocker command solves for the flight attitude angle by:
Angle_x＝Vx*K
Angle_y＝Vy*K
angle_x is the pitch Angle displayed by the VR display system, angle_y is the azimuth Angle displayed by the VR display system, vx is the forward speed displayed by the VR display system, vy is the lateral speed displayed by the VR display system, and K is a coefficient.
12. The method of claim 11, wherein controlling the VR display system to display a matching attitude angle with an aircraft comprises:
and determining a control instruction of the attitude angle of the aircraft according to the deviation of the current angle of the aircraft and the current attitude angle output by the VR display system.
13. The method of claim 12, wherein controlling the VR display system to display a pose angle that matches a pose angle of an aircraft further comprises:
and determining a control instruction of the attitude angle of the aircraft according to the accumulated deviation of the attitude angle of each step of aircraft and the attitude angle output by the VR display system.
14. The method of claim 12 or 13, wherein controlling the VR display system to display a pose angle that matches a pose angle of an aircraft further comprises:
and determining a control instruction of the attitude angle of the aircraft according to the angular speed output by the IMU on the aircraft.
15. The method according to any one of claims 12 to 14, characterized in that the control instructions of the attitude angle of the aircraft satisfy:
Angle_x_Cmd＝Angle_x_Error*Kp+Angle_x_Int*Ki+Wx*Kd
Angle_y_Cmd＝Angle_y_Error*Kp+Angle_y_Int*Ki+Wy*Kd
anlge_i_cmd is the desired Angle command sent to the aircraft, anlge_i_error is the deviation of the current Angle of the aircraft and the current attitude Angle output by the VR display system, angle_i_int is the cumulative deviation of each step of aircraft Angle and attitude Angle output by the VR display system, wi is the angular velocity output by the IMU on the aircraft, kp, ki, kd are coefficients, i=x, y.
16. The method of any one of claims 12 to 15, wherein the controlling the VR display system to display a pose angle that matches a pose angle of an aircraft further comprises at least one of:
correcting a control instruction of an attitude angle of the aircraft according to the centroid deviation and the corresponding correction coefficient K1;
and correcting a control instruction of the attitude angle of the aircraft according to the angle obtained by integrating the feedback angular speed angle of the IMU on the aircraft and a corresponding correction coefficient K2, wherein i=x, y.
17. The method of claim 16, wherein the centroid bias is solved by the following equation:
A sj (s=1, 2,3, 4j=1, 2,3, 4) the pressure value collected for each pressure pedal, G is the weight of the flight person, B sj (s=1, 2,3, 4j=1, 2,3, 4) is a coefficient for calculating centroid deviation, press x And Press y Reflecting the unbalanced load degree of the centroid in the forward and backward directions and the left and right directions respectively.
18. An aircraft motion simulation system for performing the method of any one of claims 1 to 17.
19. A novel aircraft training system based on VR vision simulation, wherein the system comprises an aircraft, an aircraft motion simulation system and a VR display system, wherein the aircraft motion simulation system is the aircraft motion simulation system of claim 18.
CN202311477386.0A 2023-11-07 2023-11-07 Novel aircraft training method and system based on VR visual simulation Pending CN117437829A (en)

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