CN117542252A

CN117542252A - Binocular point real image vision system and simulation method applied to flight simulator

Info

Publication number: CN117542252A
Application number: CN202311193784.XA
Authority: CN
Inventors: 雷励星; 冷晓杰
Original assignee: Unit 95840 Of Chinese Pla
Current assignee: Unit 95840 Of Chinese Pla
Priority date: 2023-09-15
Filing date: 2023-09-15
Publication date: 2024-02-09

Abstract

The invention provides a binocular point real image vision system and a simulation method applied to a flight simulator. Comprising the following steps: calculating the left and right channel view angles and the offset angle respectively according to the geometric relationship between the left and right pilot eyepoints and the 3D display screen, and generating a left and right pilot eyepoint view picture in real time according to the left and right channel view angles and the offset angle; synchronously processing the pilot's eye point visual pictures of the left seat and the right seat; the synchronized left seat pilot eye point visual picture signal and the right seat pilot eye point visual picture signal are synthesized to obtain a composite visual picture signal, and the visual picture signal is sent to a 3D display screen; the 3D display screen displays the left pilot eye point view picture by polarized light in a first polarization direction, and displays the right pilot eye point view picture by polarized light in a second polarization direction, wherein the first polarization direction and the second polarization direction are mutually perpendicular. The invention is particularly suitable for use in a double-seat aircraft flight simulator.

Description

Binocular point real image vision system and simulation method applied to flight simulator

Technical Field

The invention relates to the technical field of virtual reality, in particular to a binocular point real image vision system and a simulation method applied to a flight simulator.

Background

Aircraft are classified by the number of pilots, and can be classified into a single-seat type aircraft for one pilot and a double-seat type aircraft for two pilots. Such as Jian 20 and Jian 10C, etc. are single-seat airplanes; the transport 20, 9, 6, civil airliners and the like are left and right parallel seats type airplanes. Accordingly, the flight simulator vision system is also classified into a single-eye point vision system designed for a single-seat type aircraft and a double-eye point vision system designed for a double-seat type aircraft. The single-eye point vision system refers to a vision system designed based on a single observer in the field of flight simulation; the double-eye point vision system is a vision system designed based on two observers in the field of flight simulation, namely a vision system capable of providing correct vision pictures for two drivers (pilots) simultaneously.

The necessity of a binocular point view system design will be described below by taking a left-right side-by-side aircraft as an example. The distance between the left seat and the right seat of the aircraft is 1.1 meters, and a pilot on the left seat mainly drives the aircraft. The flight teaching provides that, in the takeoff position, for the left pilot, the runway center line is pressed on the right leg in front of the front view; for right pilots, looking forward, the runway center line is pressed against the left leg. In actual flight, it is natural that the pilots of the left and right seats cooperate with each other to pilot the aircraft according to the outside view observed by the pilots. However, it is difficult for a flight simulator vision system to allow both pilots 1.1 meters apart to see the correct vision at the same time. This is related to the display mode and the imaging distance.

Let P be the observation target point, e0 is left and right double seat eyepoint center, e1 is left seat pilot eyepoint, e2 is right seat pilot eyepoint, e1, e2 are 1.1 meter apart, P0, P1, P2 are the projection of P point on the display screen when eyepoint e0, e1, e2 respectively, display screen is x with e0 distance.

The image displayed on the screen is actually a perspective projection of the three-dimensional object. For a left-right parallel seat type aircraft, if a single-eye point view system is adopted, in order to consider both left and right seats, an eye point is set as the center e0 of a double seat, and alpha and beta are respectively set as the parallaxes of e1, e2 and e0, so that alpha=beta=atan (0.55/x). When x=1.5 m, α=β=20.13 °; when x=3.0 m, α=β=10.4°; when x=15m, α=β=2.1°; when x=30m, α=β=1.0 °. Theoretically, the larger the display system imaging distance x, the smaller the parallax.

The left and right pilots observe the same point P, and should see P1 and P2, respectively. In the case of a single-eye point vision system, two pilots see the same image point P0, if the imaging distance of the display system is only 1.5m, the parallax is surprisingly 20.13 degrees, the left and right pilots see completely different vision pictures, and the pilots cannot coordinate driving at all.

The virtual image display system is a display system commonly used for the prior flight simulator, and has the advantages of strong depth of field, clear image and the like. Because the imaging distance is long, the device has a certain exit pupil range, the parallax of the left and right pilots is small when the device simulates take-off and landing, the device is convenient for the coordination of units, and the device is particularly suitable for the parallel double-seat type flight simulator.

The virtual image display system mainly comprises a projector, a rear projection screen and a spherical collimating reflector. The projector projects an image onto the projection screen and presents a real image on the convex surface of the projection screen, the image presented on the projection screen is projected onto the concave surface of the spherical reflector, and an upright enlarged virtual image is presented on the concave surface of the spherical reflector.

The virtual image display system is a single-eye point vision system designed based on a single observer, and the designed eye point is positioned in the middle of the double seat positions. The virtual image display system has a far imaging distance, generally about 20m, and a certain exit pupil range is considered in design, so that the parallax between the left seat and the right seat is small, and the virtual image display system is particularly suitable for a side-by-side double-seat type flight simulator.

The virtual image display system has the disadvantages of high price and large occupied space. A set of virtual image display systems with 220 x 45 field of view has market offers of about 200 ten thousand yuan.

The spherical screen real image and cylindrical screen real image display system comprises a projector and a display screen, wherein the projector directly projects an image on the display screen to form a real image; the plate splicing real image is a large-view-field visual system formed by splicing a plurality of display screens, and the visual is directly presented on the display screens.

The real image display system has advantages of low price and large field of view compared with the virtual image display system, and has been widely used for flight simulators.

The real image display system is applied to a flight simulator and is divided into a single-seat type airplane of one pilot and a double-seat type airplane of two pilots. According to parallax analysis, if the aircraft flight simulator is a single-seat aircraft flight simulator, the designed eyepoint is the pilot eyepoint, and the vision system provides a parallax-free and correct vision picture for the pilot. In addition to the invention, the vision system designs the eye point to be a single eye point (one eye point) at present, and adopts the middle position of the left seat and the right seat as the design eye point, the vision system provides parallax vision pictures for pilots, and the pilots of the left seat and the right seat see incorrect vision pictures, so that the pilots cannot coordinate driving.

The left seat and the right seat pilots see parallax, but not the vision pictures designed based on the positions of the pilots, and can not coordinate driving.

Disclosure of Invention

In order to solve the technical problem that two pilots of a double-seat type airplane flight simulator cannot see parallax-free flight view pictures at the same time, the invention provides a binocular point real image view system and a simulation method applied to the flight simulator.

The invention provides a binocular point real image vision system applied to a flight simulator, which comprises: the system comprises a left seat imaging computer, a right seat imaging computer, an imaging management computer, a 3D signal processor and a 3D display screen;

the left seat imaging computer calculates a left channel view angle and a deviation angle according to the geometric relation between the left seat pilot eye point and the 3D display screen, and generates a left seat pilot eye point view picture in real time according to the left channel view angle and the deviation angle;

the right seat imaging computer calculates a right channel view angle and a deviation angle according to the geometric relationship between the right seat pilot eye point and the 3D display screen, and generates a right seat pilot eye point view picture in real time according to the right channel view angle and the deviation angle;

the imaging management computer synchronously processes the left pilot eye-point view picture and the right pilot eye-point view picture, and sends the signals of the left pilot eye-point view picture and the right pilot eye-point view picture after synchronization into the 3D signal processor;

the 3D signal processing processor synthesizes the left pilot eye point visual picture signal and the right pilot eye point visual picture signal to obtain a composite visual picture signal, and sends the visual picture signal to the 3D display screen;

the 3D display screen displays the left pilot eye point view picture by polarized light in a first polarization direction, and displays the right pilot eye point view picture by polarized light in a second polarization direction, wherein the first polarization direction and the second polarization direction are mutually perpendicular.

Further, the system includes: and the left seat pilot wears the polarized glasses with the left and right eyeglass polarization films in the first polarization direction to watch the 3D display screen, and the right seat pilot wears the polarized glasses with the left and right eyeglass polarization films in the second polarization direction to watch the 3D display screen.

Further, the first polarization direction is 0 °, and the second polarization direction is 90 °.

Further, it includes, have a plurality of left seat imaging computers, right seat imaging computers, 3D signal processor, 3D display screen, they form the vision channel of the multiunit claim 1 separately;

the first vision channel displays the vision picture of the left seat pilot's eye point on the first and second 3D display screens with the first polarized light,

the second vision channel displays the vision picture of the right pilot's eye point on the first and second 3D display screens with the second polarized light,

the third vision channel displays the vision picture of the left seat pilot's eye point on the third and fourth 3D display screens with the first polarized light,

the fourth vision channel displays a left seat pilot eye point vision picture on the fifth 3D display screen with the first polarized light,

the fifth vision channel displays the right pilot's eye point vision picture on the fifth 3D display screen with the second polarized light,

the sixth vision path displays a left pilot eyepoint vision picture on the sixth 3D display screen with the first polarized light,

the seventh vision channel displays the right pilot's eye point vision picture on the sixth 3D display screen with the second polarized light,

the eighth view channel displays the left seat pilot eye point view picture on the seventh and eighth 3D display screens with the first polarized light,

the ninth vision channel displays the vision picture of the right pilot's eye point on the seventh and eighth 3D display screens with the second polarized light,

and the tenth visual channel displays the right pilot eye point visual picture on a ninth and tenth 3D display frequency screen.

Further, the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth and tenth 3D display screens are arranged in a specified manner to form a display screen combination, and the display screen combination displays a complete flight picture.

Further, the 3D display screen is a non-blinking 3D display screen.

Further, the polarization glasses are non-flash circular polarization glasses.

The invention also provides a flight simulation method based on the binocular point vision system, which comprises the following steps:

calculating a left channel view angle and a deviation angle according to the geometric relation between the left seat pilot eye point and the 3D display screen, and generating a left seat pilot eye point view picture in real time according to the left channel view angle and the deviation angle;

calculating a right channel view angle and a deviation angle according to the geometric relation between the right seat pilot eye point and the 3D display screen, and generating a right seat pilot eye point view picture in real time according to the right channel view angle and the deviation angle;

synchronously processing the left pilot eye point view picture and the right pilot eye point view picture;

the synchronized left pilot eye point visual picture signal and the right pilot eye point visual picture signal are synthesized to obtain a composite visual picture signal;

and displaying the left pilot eye point view picture by polarized light in the first polarization direction, and displaying the right pilot eye view picture by polarized light in the second polarization direction, wherein the first polarization direction and the second polarization direction are mutually perpendicular.

The invention is based on polarized light 3D technology, and two polarized view pictures are displayed on a display system at the same time; the pilot of the left seat wears the polarized glasses with the polarization directions of the left eye and the right eye of 0 degrees, and the pilot of the right seat wears the polarized glasses with the polarization directions of the left eye and the right eye of 90 degrees, so that the pilot can see the correct extravehicular virtual scene (view) designed based on the position of the pilot, and the pilot of the left seat has high cost performance and is simple and convenient to use and maintain, and is particularly suitable for a double-seat aircraft flight simulator.

Drawings

FIG. 1 is a screen layout diagram of an embodiment of the present invention;

FIG. 2 is a schematic diagram of an image generation and display system according to the present invention;

FIG. 3 is a diagram of a two-eye 10 channel according to the present invention;

FIG. 4 is a left and right eyepoint design of the present invention;

fig. 5 is a live view of a flight simulator employing the present invention.

Detailed Description

In order to enable two pilots of a double-seat type airplane flight simulator to simultaneously see parallax-free visual pictures based on self design, the invention provides a binocular real-image visual system and a simulation method applied to the flight simulator, and the detailed description of the invention is given below with reference to the accompanying drawings.

The invention relates to a flight simulator based on a binocular point vision system, which comprises: left seat imaging computer, right seat imaging computer, formation of image management computer, 3D signal processor, 3D display screen.

The left seat imaging computer calculates a left channel view angle and a deviation angle according to the geometric relation between the left seat pilot eye point and the 3D display screen, and generates a left seat pilot eye point view picture in real time according to the left channel view angle and the deviation angle.

The right seat imaging computer calculates a right channel view angle and a deviation angle according to the geometric relation between the right seat pilot eye point and the 3D display screen, and generates a right seat pilot eye point view picture in real time according to the right channel view angle and the deviation angle.

The imaging management computer synchronously processes the left pilot eye point view picture and the right pilot eye point view picture, and sends the signals of the left pilot eye point view picture and the right pilot eye point view picture after synchronization into the 3D signal processor.

The 3D signal processing processor synthesizes the left pilot eye point visual picture signal and the right pilot eye point visual picture signal to obtain a composite visual picture signal, and sends the visual picture signal to the 3D display screen.

The 3D display screen displays the composite view in polarized form in front of the left and right pilots. Specifically, the 3D display screen displays the left pilot's eye point view picture with polarized light of a first polarization direction, and displays the right pilot's eye point view picture with polarized light of a second polarization direction, wherein the first polarization direction and the second polarization direction are mutually perpendicular.

The overall technical scheme of the binocular point vision system of the invention is illustrated by taking a certain double-seat type airplane flight simulator design of two drivers as an example.

The working principle of the double-eye-point vision system utilizes the polarized light type 3D technology and the one-screen double-picture display principle. Polarized 3D technology uses the characteristics of light in principle. The light is electromagnetic wave formed by mutually perpendicular electric field and magnetic field, and the display is added with the polarized light plate, so that pictures with two polarization directions can be transmitted to a user. A polarized light filter film (called as a polarized film for short) is stuck on the screen surface of the polarized 3D display screen and 3D glasses matched with the polarized 3D display screen, and has the functions of selecting and filtering polarized light. That is, only polarized light having the same polarization direction as the stretching direction of the own molecular chain is allowed to pass, and polarized light having a perpendicular polarization direction can be blocked. By attaching polarizing films with mutually perpendicular filter directions to the spectacle lenses, images with different polarization directions can be viewed without crosstalk.

The invention realizes one-screen double-picture based on polarized light type 3D technology principle. In general, a 3D display screen inputs a 3D signal composed of two pictures, and left and right eyes see two pictures having parallax through 3D glasses having a polarization direction of 90 ° with each other, thereby composing a stereoscopic image in the brain. If the polarization directions of the polarization films of the left eye and the right eye of the 3D glasses are 0 degrees, only one picture image can be seen, if a 3D signal source synthesized by 2 different image signals is input to the 3D display screen, 2 persons wear the polarization glasses with the polarization directions of the polarization films of the left eye and the right eye being 0 degrees and the polarization directions of the polarization films of the left eye and the right eye being 90 degrees respectively, and 2 persons can see 2 different images on the same 3D display screen, so that the display effect of one screen and two pictures can be realized.

The binocular point vision system is divided into a vision display system and a vision generation system. The display subsystem is composed of a 3D display screen and a bracket thereof, and the 3D display screen forms a view field of 210 degrees multiplied by 40 degrees. The generating system generates 10-channel visual pictures in real time.

The main principle of the system is as follows:

(1) By utilizing the characteristic that one screen of the 3D display screen can simultaneously display two pictures, the two polarized vision pictures are simultaneously displayed on the 3D display system through the optimal design of processing output signals of the imaging computer.

(2) And designing a visual system channel mathematical model according to the position of the pilot eyepoint, and generating two sets of visual pictures by an imaging system.

(3) The pilot of the left and right seats can see the correct extravehicular virtual scene (view) designed based on the position of the pilot wearing the polarized glasses with the polarization directions of the left and right eye polarizing films of 0 degrees and the polarized glasses with the polarization directions of the left and right eye polarizing films of 90 degrees respectively.

And (5) screen layout. In one embodiment of the invention, the screen layout of the binocular point vision system is shown in fig. 1, and the display system is composed of 8 42 inch 3D display screens and two 55 inch 3D display screens and supports thereof according to the field of view requirements of the simulator, taking the size of the aircraft frame and the cost performance of the system into consideration, as shown in fig. 1. The 3D display screen is a non-flash 3D hard screen, and the display mode is circular polarization type. Two 55 inch 3D display screens are positioned in front of the cabin, 4 42 inch 3D display screens are respectively arranged on two sides of the cabin, 8 of screens 1, 2, 3, 4, 7, 8, 9 and 10 are 42 inch screens, and screen 5 and screen 6 are 55 inch screens. The middle 55 inch screen is connected with a display card for outputting; the screen joints at two sides of the screen joint are respectively connected with two output ports (left and right expansion output (L+R)) of the same display card.

An image generation and display system. In one embodiment of the invention, the image generation and display system comprises an imaging computer, non-blinking circular polarized glasses, a 3D signal processor and a 3D display screen. The imaging computers are 11 in total, 1 imaging computer is used as an imaging management computer for system synchronous control, data transmission and state management, and the rest 10 imaging computers generate a view picture in real time; the 3D signal processor synthesizes the signal processing output by the two imaging computers into 1 path HMDI signals. A schematic diagram of the system is shown in fig. 2. Each imaging computer generates 1 channel view picture, two imaging computers respectively generate two channel view pictures of left and right eye points, and the two channel view pictures are synthesized into 3D signals through a 3D signal processor and provided for a 3D display screen.

A multi-channel binocular point model. In a binocular real image vision system, the vision seen by each pilot is built based on a multi-channel binocular mathematical model. Designing a binocular point mathematical model according to the comprehensive consideration of the field requirement of a simulator, the size of an airplane mouth frame, the position of a pilot seat, the position of a pilot eyepoint and the placement position of a 3D display screen, wherein the basic algorithm of the model is as follows:

(1) The imaging computers are divided into a left group and a right group, and the left group and the right group respectively correspond to a left seat pilot and a right seat pilot.

(2) And calculating the channel view angle and the offset angle according to the relation between the 3D display screen and the pilot eyepoint.

(3) Each eyepoint is processed in a single eyepoint multichannel design.

Fig. 3 is a diagram of a binocular eye point channel, and fig. 4 is a diagram of left and right eye point channels. The 1 st, 3 rd, 4 th, 6 th and 8 th vision channels provide vision for the left seat pilot, and the 2 nd, 5 th, 7 th, 9 th and 10 th vision channels provide vision for the right seat pilot.

The corresponding relation between the view channel and the screen is as follows:

the 1 st and 2 nd view channels are displayed on the 1 st and 2 nd screens.

The 3 rd view channel is displayed on the 3 rd and 4 th screens.

The 4 th and 5 th view channels are displayed on the 5 th screen.

The 6 th and 7 th view channels are displayed on the 6 th screen 6.

The 8 th and 9 th view channels are displayed on the 7 th and 8 th screens.

The 10 th view channel is displayed on the 9 th and 10 th screens.

The above layout manner can be adjusted according to the actual application scene, and the scope of the present invention is not limited to this embodiment only.

and calculating a left channel view angle and a deviation angle according to the geometric relation between the left seat pilot eye point and the 3D display screen, and generating a left seat pilot eye point view scene picture in real time according to the left channel view angle and the deviation angle.

And calculating a right channel view angle and a deviation angle according to the geometric relation between the right seat pilot eye point and the 3D display screen, and generating a right seat pilot eye point view scene picture in real time according to the right channel view angle and the deviation angle.

And synchronously processing the left pilot eye point view picture and the right pilot eye point view picture.

And synthesizing the synchronized left pilot eye point visual picture signal and the right pilot eye point visual picture signal to obtain a composite visual picture signal.

The 3D display screen displays the composite view in polarized form in front of the left and right pilots. That is, the left pilot's eye point view is displayed with polarized light of a first polarization direction, and the right pilot's eye view is displayed with polarized light of a second polarization direction, wherein the first polarization direction and the second polarization direction are perpendicular to each other.

The left seat pilot wears the polarized glasses with the left and right eyeglass polarization films in the first polarization direction to watch the 3D display screen, and the right seat pilot wears the polarized glasses with the left and right eyeglass polarization films in the second polarization direction to watch the 3D display screen. The left seat pilot and the right seat pilot can see the correct view picture designed based on the self position.

Examples

The flight simulator system can be used for simulation training of double-seat type aircraft pilots of civil aviation or military aviation. When in flight simulation training, a pilot of the left and right seats respectively wears the non-flashy circular polarized glasses with the polarization directions of the customized left and right eye polarization films of 0 degrees and the non-flashy circular polarized glasses with the polarization directions of the left and right eye polarization films of 90 degrees, so that a correct extravehicular virtual scene designed based on the position of the pilot can be seen, and the pilot can freely turn around and move in a larger range.

In the left seat view of fig. 5, the upper part shows view pictures for the left seat with two eye points, two overlapped images can be seen, and the lower part shows view pictures seen by the pilot wearing polarized glasses for the left seat; the upper part of the right seat view is a binocular point right seat display view picture, two overlapped images can be seen, and the lower part is a view picture seen by a right seat pilot wearing polarized glasses. Because the generated two pictures are two sets of vision pictures which are generated based on the respective position design of the two pilot eyepoints, the two vision pictures are not stereo pairs; therefore, the left eye and the right eye of each pilot can see the same picture, unlike stereoscopic images which need to be refocused by the left eye and the right eye, the stereoscopic images can not generate dizzy feeling in theory like driving with polarized glasses. In the takeoff position, for a left seat pilot, the center line of the runway is pressed on the right leg; for a right pilot, the runway center line is pressed on the left leg, consistent with the flight instructions. The pilot can not influence the health of the pilot when wearing the non-flashing circularly polarized glasses for a long time, and the vision system has high brightness, large contrast and large angle of view; the generated scene is clear, and the content is rich and lifelike; the pilot has no uncomfortable feeling after training for a long time, and the position relationship of the observed outdoor vision is correct.

The real-image double-eye-point vision system has reasonable hardware cost. The binocular point real image vision system based on the self position of the double-seat pilot not only greatly saves cost and reduces space occupancy, but also realizes zero parallax observed by the double-seat pilot, solves the problems that the difference of the images watched by the double-seat pilot of the flight simulator real image vision system is large and difficult to cooperate, and provides a brand new means for the design of the double-seat flight simulator vision system.

Claims

1. A binocular real image vision system for a flight simulator, comprising: the system comprises a left seat imaging computer, a right seat imaging computer, an imaging management computer, a 3D signal processor and a 3D display screen;

2. The binocular real image vision system for a flight simulator of claim 1, further comprising: a pair of polarized glasses, wherein the polarized glasses,

the left seat pilot wears the polarized glasses with the left and right eyeglass polarization films in the first polarization direction to watch the 3D display screen, and the right seat pilot wears the polarized glasses with the left and right eyeglass polarization films in the second polarization direction to watch the 3D display screen.

3. The binocular real image vision system for flight simulators according to claim 1 or 2, wherein the first polarization direction is 0 ° and the second polarization direction is 90 °.

4. The binocular real image vision system for a flight simulator of claim 1, further comprising a plurality of left seat imaging computers, right seat imaging computers, 3D signal processors, 3D display screens, each of which forms a plurality of sets of the vision channels of claim 1;

5. The binocular real image vision system for a flight simulator of claim 4, wherein the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth 3D display screens are arranged in a designated manner to form a display screen assembly that displays a complete flight view.

6. The binocular real image vision system for a flight simulator of claim 1, wherein the 3D display screen is a non-blinking 3D display screen.

7. The binocular real image vision system for flight simulators of claim 2, wherein the polarized glasses are non-blinking circular polarized glasses.

8. A flight simulation method based on a binocular point view system is characterized by comprising the following steps: