CN118070554A - Flight simulation mixed reality display system - Google Patents
Flight simulation mixed reality display system Download PDFInfo
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Abstract
A flight simulation mixed reality display system, comprising: the system comprises a physical simulation cabin, a head position measurement system, a virtual scene generation system and transmission type VR glasses; the virtual scene generating system corresponds the cabin in the virtual scene established by the virtual scene generating system to the cabin three-dimensional digital model; the head position of the trained person in the virtual scene established by the virtual scene generation system corresponds to the head posture position coordinates; the transmission type VR glasses reflect virtual scenes on the display screen through the concave semi-transparent semi-reflective mirror. In addition, the illuminated real object simulation cabin has the real scene passing through the concave semi-transparent semi-reflecting mirror, so that the virtual scene and the real scene are overlapped. The structure does not need to adopt an algorithm to fuse the virtual scene image and the real scene image, and effectively solves the problems that a flight simulation mixed reality display system in the prior art is limited by equipment processing capacity and is difficult to accurately process tiny characters and line symbols in an aircraft cabin at low cost.
Description
Technical Field
The invention relates to the technical field of flight simulators, in particular to a flight simulation mixed reality display system.
Background
A flight simulator is a machine used to simulate the flight of an aircraft. The flight simulator is used for flight simulation training in a mixed reality mode, and the key point is that objects in the aircraft cabin seen by trained personnel are seamlessly fused with virtual scene pictures outside the aircraft cabin. The real cabin is placed on the ground, and the trainee sits inside the cabin and can visually see the real cabin equipment in the cabin and the trainee himself when watching through the mixed reality equipment. But the actual environment outside the cabin, such as indoor facilities, wall surfaces, roofs, floors, etc., is not visible. By presenting the virtual scene to the trained personnel, the aircraft cabin is perceived to be overlooking the ground in the air or on an airport runway.
However, the flight simulators in the prior art all achieve the functions through VR glasses. In the prior art, a real scene of the real world is photographed by a camera in front of VR glasses, and is converted into a continuous video picture signal a. At the same time, a virtual world scene is generated by a computer, and a video picture signal b is output through a display output port. Then, the video picture signal a and the video picture signal b are cut through a special algorithm, and the corresponding part in the virtual world picture b is replaced, and the final virtual-real mixed scene picture c is formed through fusion. The virtual-real mixed scene picture c is displayed to trained personnel through VR glasses. The mixed reality system can achieve good effects in the industries of training, education, entertainment and the like.
However, when the device is popularized to pilot training, as many tiny characters and line symbols exist in the cabin of the aircraft, the tiny marks have the problem of insufficient resolution after being processed by the video picture signal processing mode, so that the pilot cannot accurately read the cabin instrument or the sign reading. The reason for the above problems is that: the camera replaces human eyes to observe the real world, and under the current technical level, the camera is limited by comprehensive factors such as dynamic focusing, resolution, environment brightness adaptability and video transmission bandwidth of the camera, and the level of the human eyes cannot be reached. As a result, the instruments and signs inside the physical cockpit and themselves are processed by existing flight simulators, and the pilot is blurred when looking at these characters or symbols, and even affects the simulation training in severe cases. In addition, no matter what algorithm is adopted, when the two video picture signals a and b are fused, the requirement on the computing power of the equipment is high, and even if expensive and heavy special hardware is adopted, the requirement on flight training is difficult to meet.
Therefore, a new flight simulation mixed reality display system is needed by those skilled in the art, so as to solve the problem that the existing mixed reality flight simulator cannot accurately process fine characters and line symbols in the aircraft cabin at low cost.
Disclosure of Invention
The invention aims to provide a flight simulation mixed reality display system, which aims to solve the problems that the flight simulation mixed reality display system in the prior art is limited by equipment processing capacity and is difficult to accurately process tiny characters and line symbols in an aircraft cabin at low cost. To this end, the present invention provides a flight simulation mixed reality display system comprising:
The real object simulation cabin is arranged in a dark environment and is in a visible state for trained personnel; generating a cabin three-dimensional digital model through the frame and the outer contour size information of the real simulation cabin;
The head position measuring system is used for collecting the head posture position coordinates of the trained personnel;
The virtual scene generation system acquires the cabin three-dimensional digital model and the head gesture position coordinates and establishes a virtual scene; corresponding a cabin in the virtual scene established by the virtual scene generation system to the cabin three-dimensional digital model; and the head position of the trained person in the virtual scene established by the virtual scene generation system corresponds to the head posture position coordinate;
Transmission-type VR glasses include: display screen and concave semi-transparent semi-reflecting mirror; the display screen is used for displaying the virtual scene established by the virtual scene generation system; the display screen is arranged opposite to the concave semi-transparent semi-reflecting mirror, and the content of the display screen is reflected to the concave semi-transparent semi-reflecting mirror so that trained personnel can see the virtual scene; the concave semi-transparent semi-reflecting mirror is arranged opposite to the real simulation cabin, and the illuminated real scene of the real simulation cabin is transmitted through the concave semi-transparent semi-reflecting mirror so that trained personnel can see the real scene; the virtual scene and the real scene overlap.
Optionally, the flight simulation mixed reality display system further comprises:
The shading shell body is made of non-reflective materials and used for shading external light, and the physical simulation cabin is arranged in the shading shell body.
Optionally, the flight simulation mixed reality display system further comprises:
the illumination mechanism is arranged opposite to the physical simulation cabin and is used for illuminating the physical simulation cabin; and, the lighting mechanism is arranged in a position which is not seen by trained personnel.
Optionally, the illumination mechanism is a white light source and is arranged at a position above the back of the seat back of the trained person.
Optionally, the cabin three-dimensional digital model is in a black model structure, and the position of the cabin three-dimensional digital model in the virtual scene corresponds to the position of the real simulation cabin in real time, so that the image information of the cabin three-dimensional digital model in the virtual scene is filled by the real simulation cabin.
Optionally, the head position measurement system includes: a six degree of freedom inertial module; the six-degree-of-freedom inertial module is arranged on the helmet of the transmission type VR glasses;
And the six-degree-of-freedom inertial module is used for measuring the head rotation gesture and the linear acceleration and the speed of the space movement of the trained personnel in an electrified state, sending the linear acceleration and the speed to the virtual scene generation system so as to measure the head gesture angle of the trained personnel in real time, and obtaining the head gesture information of the trained personnel through an integral algorithm so as to update the virtual scene.
Optionally, the head position measurement system further includes: the three-degree-of-freedom infrared measurement module; the three-degree-of-freedom infrared measurement module is arranged on the inner cavity wall of the shading outer shell and is opposite to the position of the seat of the trained person;
the three-degree-of-freedom infrared measurement module is used for correcting the accumulated error of the six-degree-of-freedom inertial module.
Optionally, the six-degree-of-freedom inertial module measures three attitude angles of the head of the trained person in real time;
the integration algorithm is as follows: head home + speed x time interval = head new position.
Optionally, when the six-degree-of-freedom inertial module and the three-degree-of-freedom infrared measurement module are used in cooperation, when the head of the trained person deviates from the infrared measurement range of the three-degree-of-freedom infrared measurement module, the head pose information of the trained person is obtained by adopting an integral algorithm of the six-degree-of-freedom inertial module.
The technical scheme of the invention has the following advantages:
1. the invention provides a flight simulation mixed reality display system, which comprises:
The real object simulation cabin is arranged in a dark environment and is in a visible state for trained personnel; generating a cabin three-dimensional digital model through the frame and the outer contour size information of the real simulation cabin;
The head position measuring system is used for collecting the head posture position coordinates of the trained personnel;
The virtual scene generation system acquires the cabin three-dimensional digital model and the head gesture position coordinates and establishes a virtual scene; corresponding a cabin in the virtual scene established by the virtual scene generation system to the cabin three-dimensional digital model; and the head position of the trained person in the virtual scene established by the virtual scene generation system corresponds to the head posture position coordinate;
Transmission-type VR glasses include: display screen and concave semi-transparent semi-reflecting mirror; the display screen is used for displaying the virtual scene established by the virtual scene generation system; the display screen is arranged opposite to the concave semi-transparent semi-reflecting mirror, and the content of the display screen is reflected to the concave semi-transparent semi-reflecting mirror so that trained personnel can see the virtual scene; the concave semi-transparent semi-reflecting mirror is arranged opposite to the real simulation cabin, and the illuminated real scene of the real simulation cabin is transmitted through the concave semi-transparent semi-reflecting mirror so that trained personnel can see the real scene; the virtual scene and the real scene overlap.
In the invention, a three-dimensional digital model of the cabin is generated by constructing a physical simulation cabin in a dark environment and according to the frame and outline size information of the cabin. And then, acquiring the head posture position coordinates of the trained personnel in real time through a head position measurement system. And a virtual scene is established through a virtual scene generation system, so that the cabin in the virtual scene corresponds to the cabin three-dimensional digital model, and the head position of the trained personnel in the virtual scene corresponds to the head posture position coordinate. The cabin three-dimensional digital model in the virtual scene is of a black model structure, and the position of the cabin three-dimensional digital model in the virtual scene corresponds to the position of the real-time simulation cabin in real time. The virtual scene on the display screen is reflected to the concave semi-transparent semi-reflecting mirror so that trained personnel can see the virtual scene. Meanwhile, the concave semi-transparent semi-reflecting mirror is arranged opposite to the real simulation cabin, the real scene of the real simulation cabin is overlapped with the cabin three-dimensional digital model in the virtual scene, and trained personnel can simultaneously see the reflected virtual scene image and the actual scene image on the opposite side of the lens. The concave semi-transparent semi-reflecting mirror can effectively realize preliminary mixing of the virtual scene and the real scene, the virtual scene image and the real scene image are not required to be fused by adopting an algorithm in the prior art, trained personnel can see the fused image of the virtual scene and the real scene, and the problems that a flight simulation mixed reality display system in the prior art is limited in equipment processing capacity and is difficult to accurately process tiny characters and line symbols in a cabin of an aircraft at low cost are effectively solved.
2. The invention provides a flight simulation mixed reality display system, wherein a shading outer shell is made of non-reflective materials and used for shading external light, and a physical simulation cabin is arranged in the shading outer shell.
In the invention, the volume of the shading outer shell is capable of accommodating trained personnel, a physical simulation cabin, a seat and the like, the appearance of the shading outer shell can be spherical or other shapes, and the inner wall is covered by black special paint or a wrapping layer, so that the reflecting light rays are as few as possible. Through the shading shell body, the pure black cabin three-dimensional digital model in the virtual scene can be effectively replaced by the visible physical simulation cabin, so that trained personnel can see the characters and symbols on the physical simulation cabin clearly through the concave semi-transparent semi-reflective mirror.
3. The invention provides a flight simulation mixed reality display system, which further comprises: the illumination mechanism is arranged opposite to the physical simulation cabin and is used for illuminating the physical simulation cabin; and, the lighting mechanism is arranged in a position which is not seen by trained personnel.
In the invention, the brightness and the illumination range of the illumination mechanism can be used for normally observing characters and instrument displays of equipment in the cabin through the transmission type VR glasses. The physical simulation cabin is illuminated by the light source, and the inner wall of the shading outer shell is always black to the trained personnel.
4. According to the flight simulation mixed reality display system provided by the invention, the cabin three-dimensional digital model is of a black model structure, and the position of the cabin three-dimensional digital model in the virtual scene corresponds to the position of the real simulation cabin in real time, so that the image information of the cabin three-dimensional digital model in the virtual scene is filled through the real simulation cabin.
In the present invention, because the cabin parts in the virtual scene seen by the trained personnel always coincide with the real world real-world simulation cabin. Meanwhile, the cabin three-dimensional digital model in the virtual scene is pure black, the inner wall of the shell of the shading shell is non-reflective, and trained personnel can only see the real simulation cabin and the virtual scene image attached to the real simulation cabin through the concave semi-transparent semi-reflective mirror. After the image reflected by the virtual scene image and the image projected by the physical simulation cabin enter the human eyes at the same time, the real cabin is seen to be integrated into the virtual scene, and the two images are not interfered with each other.
4. The invention provides a flight simulation mixed reality display system, which comprises: a six degree of freedom inertial module; the six-degree-of-freedom inertial module is arranged on the helmet of the transmission type VR glasses; and the six-degree-of-freedom inertial module is used for measuring the head rotation gesture and the linear acceleration and the speed of the space movement of the trained personnel in an electrified state, sending the linear acceleration and the speed to the virtual scene generation system so as to measure the head gesture angle of the trained personnel in real time, and obtaining the head gesture information of the trained personnel through an integral algorithm so as to update the virtual scene.
The six-degree-of-freedom inertial module can be used for realizing high-speed measurement of the rotation gesture of the head of a wearer and the linear acceleration and speed of space movement, the information is collected by a computer of a virtual scene generating system through a USB signal line, 3 gesture angles of the head of a trained person are measured in real time, and the three-dimensional inertial module is used for measuring the three-dimensional inertial module through an integral algorithm, namely: head original position + speed x time interval = head new position, thus the 3 position coordinates that get, provide the accurate information about head, human eye pose for computer imaging system, use for updating the virtual scene in the virtual scene generation system correspondingly.
5. The invention provides a flight simulation mixed reality display system, which comprises: the three-degree-of-freedom infrared measurement module; the three-degree-of-freedom infrared measurement module is arranged on the inner cavity wall of the shading outer shell and is opposite to the position of the seat of the trained person; the three-degree-of-freedom infrared measurement module is used for correcting the accumulated error of the six-degree-of-freedom inertial module.
Because the six-degree-of-freedom inertial module is adopted to collect inertial measurement information, when the position coordinates are calculated, time accumulated errors exist. Therefore, the head position of the trained person is measured through the infrared measurement module, and the accumulated error is corrected.
In the application, when the head of the trained person on the seat is near the normal position, the position of the trained person is obtained by integrating an infrared measurement value instead of an inertia signal, and the situation is the situation of most time. The inertial integration information is only used when the trainee's head deviates from the infrared measurement range, which is typically only a few seconds. In the practical use process, the deformation of limbs and bones can be large when the head of the trained person deviates from the infrared measurement range, and the situation can only happen when the trained person briefly observes the limit position. The trainee is in the normal position after a very short duration of the limit position, so that the position calculation time by using the inertial integral information is very short, and the accumulated error is not too large. At the same time, the pilot's head space range of movement is more limited, allowing for less opportunity to use inertial integral measurement locations, also taking into account the actual cockpit space and the volume of the flight helmets. Therefore, the head position measuring system provided by the application plays the advantages of two positioning modes to the maximum extent, and simultaneously ensures enough precision. Moreover, the head position measurement scheme in the present application further has: the light-emitting diode has the advantages of no visible light, no dead angle, compact occupied space and little influence by environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a flight simulation mixed reality display system provided by the invention;
fig. 2 is a schematic diagram of the working principle of the transmission VR glasses provided by the invention.
Reference numerals illustrate:
1-a physical simulation cabin; 2-trained personnel; 3-a display screen; 4-concave semi-transparent semi-reflecting mirror; 5-a light-shielding outer shell; 6-an illumination mechanism; 7-a virtual scene generation system; 8-a head position measurement system; 9-see-through VR glasses.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1
A flight simulation mixed reality display system is described, as shown in fig. 1, comprising:
The real object simulation cabin 1 is arranged in a dark environment, and the real object simulation cabin 1 is in a visible state for trained personnel 2; generating a cabin three-dimensional digital model through the frame and the outer contour size information of the real simulation cabin 1;
The shading shell body 5 is made of non-reflective materials and is used for shading external light, and the physical simulation cabin 1 is arranged in the shading shell body 5; of course, the shape and the shading mode of the shading outer shell 5 are not particularly limited in this embodiment, in other embodiments, the shape of the shading outer shell 5 may be spherical or other shapes, and the inner wall is covered with black special paint or a wrapping layer, so that the reflected light is as few as possible;
The illumination mechanism 6 is arranged opposite to the physical simulation cabin 1 and is used for illuminating the physical simulation cabin 1; the illumination mechanism 6 is a white light source and is arranged at the position above the back of the seat backrest of the trained person 2, so that the trained person 2 cannot see the light source; of course, the light source selection and the position setting of the illumination mechanism 6 in this embodiment are not particularly limited, and in other embodiments, the illumination mechanism 6 may be disposed at the top of the head of the trainee 2 or at a position not visible to other trainee 2. Meanwhile, whether the specific light source is white light is not particularly limited;
The head position measuring system 8 is used for collecting the head posture position coordinates of the trained personnel 2; when the head position measuring system 8 works normally, no matter how the head of the trained person 2 changes position and posture, the pure black cabin three-dimensional digital model in the virtual scene seen by the trained person 2 always coincides with the real-world physical simulation cabin 1;
The virtual scene generation system 7 is used for acquiring the three-dimensional digital model of the cabin and the head gesture position coordinates and establishing a virtual scene; corresponding a cabin in the virtual scene established by the virtual scene generation system 7 to the cabin three-dimensional digital model; and, the head position of the trained person 2 in the virtual scene established by the virtual scene generation system 7 is corresponding to the head posture position coordinates. The cabin three-dimensional digital model is in a black model structure, and the position of the cabin three-dimensional digital model in the virtual scene corresponds to the position of the real simulation cabin 1 in real time, so that the real simulation cabin 1 fills in the image information of the cabin three-dimensional digital model in the virtual scene. In this embodiment, the cabin parts in the virtual scene seen by the trainee 2 always coincide with the real world physical simulation cabin 1. Meanwhile, the cabin three-dimensional digital model in the virtual scene is pure black, and the inner wall of the shell body of the shading shell body 5 is made of non-reflective materials. Therefore, the physical simulation cabin 1 can be effectively used for replacing the cabin three-dimensional digital model in the virtual scene image;
As shown in fig. 2, the transmission VR glasses 9 include: a display screen 3 and a concave half mirror 4; the display screen 3 is used for displaying the virtual scene established by the virtual scene generation system 7; the display screen 3 is arranged opposite to the concave half-mirror 4, and the content of the display screen 3 is reflected to the concave half-mirror 4 so that the trained personnel 2 can see the virtual scene; the concave half mirror 4 is arranged opposite to the physical simulation cabin 1, and the illuminated physical simulation cabin 1 allows the real scene to be seen by the trained person 2 through the concave half mirror 4; the virtual scene and the real scene overlap.
In the present invention, since the cabin parts in the virtual scene seen by the trainee 2 always coincide with the real world physical simulation cabin 1. Meanwhile, the cabin three-dimensional digital model in the virtual scene is pure black, the inner wall of the shell body of the shading shell body 5 is non-reflective, and trained personnel 2 can only see the physical simulation cabin 1 and the virtual scene image attached to the physical simulation cabin 1 through the concave semi-transparent semi-reflective mirror 4. After the image reflected by the virtual scene image and the image projected by the physical simulation cabin 1 enter the human eyes at the same time, the real cabin is seen to be integrated into the virtual scene, and the two images are not interfered with each other. By means of the above-mentioned transmissive VR glasses 9 in the light-shielding outer shell 5, it is possible to make only the physical simulation cabin 1 in the actual field of view of the trained person 2 illuminated by the light source and reflecting light, i.e. dark except the cabin. The physical simulation cabin 1 reaches human eyes through the concave semi-transparent semi-reflecting mirror 4 of the transmission type VR glasses 9. The virtual scene picture generated by the computer is reflected by the concave semi-transparent semi-reflecting mirror 4 and also enters the human eye. However, since the frame portion corresponding to the cabin three-dimensional digital model in the virtual scene frame is pure black, which is equivalent to no corresponding light, the frame portion is dug out, and only the rest of the virtual scene frame can be reflected normally into human eyes. The three-dimensional digital model of the cabin is replaced by the image of the real simulation cabin 1, and after the two images reflected and projected simultaneously enter human eyes, the real cabin is fused into a virtual scene and does not interfere with each other.
In the invention, in order to exert the advantages of the six-degree-of-freedom inertial module and the three-degree-of-freedom infrared measurement module to the maximum extent, the head measurement precision of the trained personnel 2 is ensured. The head position measurement system 8 includes: the six-degree-of-freedom inertial module and the three-degree-of-freedom infrared measurement module;
The six-degree-of-freedom inertial module is arranged on the helmet of the transmission type VR glasses 9, and in the electrified state: the six-degree-of-freedom inertial module measures the 3 attitude angles of the head of the trained person 2 and the linear acceleration and the speed of the space movement in real time, sends the linear acceleration and the speed to the virtual scene generation system 7 to measure the head attitude angle of the trained person 2 in real time, and obtains the head pose information of the trained person 2 through an integral algorithm to update the virtual scene. The integration algorithm is as follows: head home + speed x time interval = head new position.
The head position measurement system 8 further includes: the three-degree-of-freedom infrared measurement module; the three-degree-of-freedom infrared measurement module is arranged on the inner cavity wall of the shading shell body 5 and is opposite to the seat of the trained person 2; the three-degree-of-freedom infrared measurement module is used for correcting the accumulated error of the six-degree-of-freedom inertial module.
When the six-degree-of-freedom inertial module and the three-degree-of-freedom infrared measurement module are matched, and the head of the trained person 2 deviates from the infrared measurement range of the three-degree-of-freedom infrared measurement module, the head pose information of the trained person 2 is obtained by adopting an integral algorithm of the six-degree-of-freedom inertial module.
When the head of the trainee 2 on the seat is near the normal position, the position of the trainee 2 is obtained by integrating the inertial signal instead of the infrared measurement value, which is the case for most of the time. The inertial integration information is only used when the head of the trained person 2 deviates from the infrared measurement range, which is usually only a few seconds. In the actual use process, the deformation of the limbs and bones can be large when the head of the trained person 2 deviates from the infrared measurement range, and the situation can only happen when the trained person 2 briefly observes the extreme limit. The trainee 2 is in the limit position for a very short time to return to the normal position, so that the time to calculate the position using the inertial integration information is short and the accumulated error is not too large. At the same time, the pilot's head space range of movement is more limited, allowing for less opportunity to use inertial integral measurement locations, also taking into account the actual cockpit space and the volume of the flight helmets. Therefore, the head position measuring system 8 of the present application takes full advantage of both positioning modes while ensuring sufficient accuracy. Moreover, the head position measurement scheme in the present application further has: the light-emitting diode has the advantages of no visible light, no dead angle, compact occupied space and little influence by environment.
Of course, in the present embodiment, the manner of illuminating the physical simulation cabin 1 is not particularly limited, and in other embodiments, the illumination mechanism 6 is not required, and the trainee 2 can see the fine characters and line symbols on the physical simulation cabin 1 through the self-luminous physical simulation cabin 1.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (9)
1. A flight simulation mixed reality display system, comprising:
the real object simulation cabin (1) is arranged in a dark environment, and the real object simulation cabin (1) is in a visible state for trained personnel (2); generating a cabin three-dimensional digital model through the frame and the outer outline size information of the real simulation cabin (1);
the head position measuring system (8) is used for collecting the head posture position coordinates of the trained personnel (2);
A virtual scene generation system (7) for acquiring the three-dimensional digital model of the cabin and the head gesture position coordinates and establishing a virtual scene; corresponding a cabin in the virtual scene established by the virtual scene generation system (7) to the cabin three-dimensional digital model; and, the head position of the trained person (2) in the virtual scene established by the virtual scene generation system (7) is corresponding to the head posture position coordinates;
Transmission VR glasses (9), comprising: a display screen (3) and a concave semi-transparent semi-reflecting mirror (4); the display screen (3) is used for displaying the virtual scene established by the virtual scene generation system (7); the display screen (3) is arranged opposite to the concave semi-transparent semi-reflecting mirror (4), and the content of the display screen (3) is reflected to the concave semi-transparent semi-reflecting mirror (4) so that trained personnel (2) can see the virtual scene; the concave semi-transparent semi-reflecting mirror (4) is arranged opposite to the physical simulation cabin (1), and the illuminated physical simulation cabin (1) enables the real scene to be seen by the trained personnel (2) through the concave semi-transparent semi-reflecting mirror (4); the virtual scene and the real scene overlap.
2. The flight simulation mixed reality display system of claim 1, further comprising:
The shading shell body (5) is made of non-reflective materials and used for shading external light, and the physical simulation cabin (1) is arranged in the shading shell body (5).
3. The flight simulation mixed reality display system of claim 1, further comprising:
the illumination mechanism (6) is arranged opposite to the physical simulation cabin (1) and is used for illuminating the physical simulation cabin (1); and the illumination mechanism (6) is arranged at a position which is not visible to the trained personnel (2).
4. A flight simulation mixed reality display system according to claim 3, characterized in that the illumination means (6) is a white light source arranged in an upper position behind the seat back of the trainee (2).
5. The flight simulation mixed reality display system according to claim 1, characterized in that the cabin three-dimensional digital model is of a black model structure, and the position of the cabin three-dimensional digital model in the virtual scene corresponds to the position of the physical simulation cabin (1) in real time to fill in image information of the cabin three-dimensional digital model in the virtual scene through the physical simulation cabin (1).
6. The flight simulation mixed reality display system according to claim 2, characterized in that the head position measurement system (8) comprises: a six degree of freedom inertial module; the six-degree-of-freedom inertial module is arranged on the helmet of the transmission type VR glasses (9);
And the six-degree-of-freedom inertial module is used for measuring the head rotation gesture and the linear acceleration and the speed of the space movement of the trained person (2) in an electrified state, sending the linear acceleration and the speed to the virtual scene generation system (7) so as to measure the head gesture angle of the trained person (2) in real time, and obtaining the head gesture information of the trained person (2) through an integral algorithm so as to update the virtual scene.
7. The flight simulation mixed reality display system of claim 6, characterized in that the head position measurement system (8) further comprises: the three-degree-of-freedom infrared measurement module; the three-degree-of-freedom infrared measurement module is arranged on the inner cavity wall of the shading outer shell (5) and is opposite to the seat of the trained person (2);
the three-degree-of-freedom infrared measurement module is used for correcting the accumulated error of the six-degree-of-freedom inertial module.
8. The flight simulation mixed reality display system of claim 6, characterized in that the six degree of freedom inertial module measures three attitude angles of the head of the trained person (2) in real time;
the integration algorithm is as follows: head home + speed x time interval = head new position.
9. The flight simulation mixed reality display system according to claim 7, wherein when the six-degree-of-freedom inertial module and the three-degree-of-freedom infrared measurement module are used in cooperation, when the head of the trained person (2) deviates from the infrared measurement range of the three-degree-of-freedom infrared measurement module, the head pose information of the trained person (2) is obtained by adopting an integration algorithm of the six-degree-of-freedom inertial module.
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