CN204705825U - No-manned plane three-dimensional solid aobvious control comprehensive training system - Google Patents
No-manned plane three-dimensional solid aobvious control comprehensive training system Download PDFInfo
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- CN204705825U CN204705825U CN201520154720.3U CN201520154720U CN204705825U CN 204705825 U CN204705825 U CN 204705825U CN 201520154720 U CN201520154720 U CN 201520154720U CN 204705825 U CN204705825 U CN 204705825U
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Abstract
The utility model discloses a kind of no-manned plane three-dimensional solid aobvious control comprehensive training system, comprise control system, display system and server, control system comprises touch surface display, touch surface display, throttle, jociey stick, 3D mouse, keyboard, it is the interaction platform of this system, display system is by 3 D stereo flexible displays, touch surface display and touch surface display composition, it is the emulation core of this system, server is by data computer, resolve computing machine and graphics workstation composition, resolving and storage center of data, control system sends the steering order of manipulation personnel to server, server completes flying quality and resolves and resolve control information, corresponding action and parameter is shown by display system.By this system, unmanned plane manipulation personnel can grasp unmanned aerial vehicle (UAV) control method, operating process and managing special situation method, the state of accurate perception aircraft three-dimensional space and environmental situation, maintenance personal can be familiar with principle, the 26S Proteasome Structure and Function of unmanned plane fast, grasps and ensures flow process and method for maintaining.
Description
Technical field
The utility model belongs to the no-manned plane three-dimensional solid aobvious control comprehensive training system of a kind of flight training for the manipulation personnel that fly and ground maintenance forces, relates to simulated training technical field.
Background technology
Have the cultivation of man-machine aircrew to depend on actual load flight training, the simulated flight time only accounts for 30% of total training time.And the training of unmanned plane manipulation personnel exists with it essential distinction, a large amount of trainings is all completed by ground surface simulated training.Therefore, ground simulation training system is needed to meet needs unmanned plane being manipulated to personnel education.Due to unmanned plane manipulation, personnel mostly do not have actual airflight experience, need to train its aerial situational awareness by three-dimensional stereo display system, accurate grasp unmanned plane is in the position of three-dimensional space and periphery state, to tackle aerial emergency case, and traditional three-dimensional stereo display system is expensive, serviceable life is limited, is difficult to satisfied training demand.Due to actual load limited amount, expensive, the training of ground maintenance forces's maintenance operation can only explain all kinds of parts by teacher by picture, the principles of construction of equipment and check process, or simple practical operation demonstration in actual load, student can the chance of practical operation little, this cultivation cycle just causing maintenance personal is longer, actual operational capacity is on the weak side, if Virtual Maintenance and Three-Dimensional Interaction Technology can be applied in the training of maintenance personal and will represent the assembly and disassembly methods of all kinds of parts equipment intuitively, check process and principle of work, greatly will shorten cultivation cycle, improve maintenance personal's maintenance operation ability.In addition, unmanned plane is compared with traditional manned aircraft, and maintaining method exists very large difference, and its singularity determines the height emulation adopting traditional simulator technology to be difficult to realize UAS, cannot meet training user demand.Therefore, need a kind of not only cheap but also can control to provide with maintenance support personnel the simulated training technical scheme of three-dimensional environment for flight.
Utility model content
The purpose of this utility model is to provide that a kind of feeling of immersion is good, interactivity is strong, integrated level is high, feature richness, be easy to the no-manned plane three-dimensional solid aobvious control comprehensive training system expanded, cost is low.
The technical solution of the utility model is: a kind of no-manned plane three-dimensional solid aobvious control comprehensive training system, comprise control system, display system and server, described control system comprises touch surface display (2), touch surface display (3), throttle (4), jociey stick (5), 3D mouse (6), keyboard (7), it is the interaction platform of this system, described display system is by 3 D stereo flexible displays (1), touch surface display (2) and touch surface display (3) composition, it is the emulation core of this system, described server is by data computer (8), resolve computing machine (9) and graphics workstation (10) composition, resolving and storage center of data, it is characterized in that: control system sends the steering order of manipulation personnel to server, server completes flying quality and resolves and resolve control information, corresponding action and parameter is shown by display system.
Effect of the present utility model is: the utility model can be used for middle-size and small-size unmanned plane fly control with maintenance personal's simulated training, unmanned plane can be made to manipulate personnel and to grasp unmanned aerial vehicle (UAV) control method, operating process and managing special situation method, the position of accurate perception aircraft three-dimensional space and environmental situation, maintenance personal is familiar with principle, 26S Proteasome Structure and Function without entering machine fast, grasp and ensure flow process and method for maintaining, reduce training cost, alleviate that actual load quantity is few, serviceable life is limited, hold the training difficult problems such as instruction number is limited.3D interaction technique and three-dimensional Driving technique apply in unmanned plane simulated training by the utility model, virtual environment is utilized to replace equipment in kind, use in profile and operation and be consistent with actual load, three-dimensional image effect is true to nature, have sense on the spot in person, meet visual thinking pattern, man-machine interaction is strong.An outstanding feature of the present utility model is when not changing system main hardware composition, the training software of the different type of machines that only needs to change the outfit, and without the need to hardware modifications, can be other type by system extension easily, highly versatile.
Accompanying drawing explanation
Fig. 1 is the topology layout of no-manned plane three-dimensional aobvious control comprehensive training system;
Fig. 2 is no-manned plane three-dimensional aobvious control comprehensive training system composition frame chart;
Fig. 3 is the three-dimensional vision product process figure based on map vector;
Fig. 4 is convergence type two centers imaging models;
Fig. 5 is monitoring software design flow diagram.
In figure: 1. 3 D stereo flexible displays; 2. touch surface display; 3. touch surface display; 4. throttle; 5. jociey stick; 6. 3D mouse; 7. keyboard; 8. data computer; 9. resolve computing machine; 10. graphics workstation.
Embodiment
A kind of no-manned plane three-dimensional solid aobvious control comprehensive training system, adopt the report control platform consistent with universal grounding station structure, improve fidelity and the training effect of simulated training, system architecture layout as shown in Figure 1.System hardware forms primarily of control system, display system and server.Control system comprises touch surface display (2), touch surface display (3), throttle (4), jociey stick (5), 3D mouse (6), keyboard (7), it is the interaction platform of this system, receive the steering order of manipulation personnel, transmission, to resolving computing machine (9), shows corresponding action and parameter by display system.Display system is by 3 D stereo flexible displays (1), touch surface display (2) and touch surface display (3) composition, it is the emulation core of this system, three-dimension curved surface three-dimensional display (1) is the flat aobvious three-dimensional vision picture of display superposition mainly, maintenance operation picture, plant maintenance cabin, aircraft, scene hung by crucial parts three-dimensional model and load dress, touch surface display (2) is display airplane synthetic information mainly, mission planning software, Virtual Maintenance detects interface, touch surface display (3) is display link monitoring software mainly, load control software design and PMA control inerface.Server by data computer (8), resolve computing machine (9) and graphics workstation (10) forms, resolving and storage center of data, data computer (8) stores flying quality, Maintenance Resource data, multimedia resource, electronic maintenance handbook and examination exam pool, resolve computing machine (9) to complete airplane motion Models computed, resolve control information and data call, distribution, graphics workstation (10) is used for storing virtual flight environment of vehicle data, equipment three-dimensional modeling data, generates 3 D stereo scene.
The integrated three kinds of training modes of the utility model, i.e. flight manipulation training mode, maintenance operation training mode and autonomous learning examination patterns.Under flight manipulation training mode, the flat aobvious three-dimensional virtual scene of curved surface three-dimensional monitor display superposition, touch surface display (1) display airplane synthetic information and mission planning interface, touch surface display (2) display link monitoring and load control inerface, teacher is by mission planning software set aerial mission, air route, environmental data and special feelings, student passes through jociey stick, throttle realizes aspect and controls, engine control, link management is realized by touch screen, Navigation Control and load control, to finish the work preparation, flight monitoring, manual control, the training such as load control topic.When running into special feelings, make correct disposal action.After flight terminates, mission planning software makes Comprehensive Evaluation to this flight, allows the person of participating in training search problem and corrected by data readback.Under maintenance operation training mode, curved surface three-dimensional monitor display no-manned plane three-dimensional model and visual plant surface structure, touch surface display (1) display Virtual Maintenance detects interface, touch surface display (2) display PMA control inerface, the person of participating in training carries out the disassembling section consistent with real scene by 3D mouse and realizes simulation assemblage and visual examination, maintenance interface and plug is controlled by 3D mouse, at maintenance conditions interface, input detects instruction, by PMA control inerface feedback testing result, realize the training of testing process.Under autonomous learning examination patterns, curved surface three-dimensional monitor Shows Picture, animation and video, touch surface display (1) display query guidance catalogue, touch surface display (2) display operation indicating, examination task and object information, the person of participating in training realizes the retrieval to equipment principle, check process and technical information by man-machine interaction, realizes autonomous learning.
The utility model comprises five functional modules such as flight simulation module, vision simulation module, flight control interactive module, maintenance operation training module and autonomous learning evaluation module, and the block diagram of system as shown in Figure 2.
Described flight simulation module utilizes the aerodynamic parameter of aircraft, kinetic parameter sets up flight model and control law, by the method for mathematical simulation emulation aircraft pneumatic and power system, steering wheel, fly the real equipment such as control, navigational computer, receive steering order, producing the parameter such as flight attitude, positional information, flying distance of aircraft, is the core of whole training system.Require to have a smooth flight under the state that unmanned plane is started shooting at loading device, the manipulation personnel that fly when being disturbed need manually to revise in time, therefore the utility model is analyzed the impact of airplane motion wind and turbulent flow, be based upon the airplane motion model under wind and turbulence prediction, meet the needs of unmanned plane training.
Described vision simulation module comprises virtual environment data storehouse, device model storehouse, virtual scene driving system and visual display system, mainly complete the work such as aspect 3-D display, the display of Virtual Space surrounding three-dimensional, atmospheric environment simulation, Specially Effect Simulation, the demonstration of parts disassembly process, for manipulation personnel provide virtual three-dimensional stereo scene.Adopt Creator such as software to carry out the modeling of three-dimensional scenic and device model, by Vega Prime software, all kinds of model integrated is driven, receive steering order by interface routine, realize man-machine interaction.Based on the three-dimensional driver of Direct3D technological development, be separated and right and left eyes three-dimensional signal occurs, obtaining stereo display effect true to nature.Emulation what comes into a driver's true to nature makes participant have sensation on the spot in person, three dimensional visual simulation effect depends on the degree of refinement of relief block and the degree true to nature of satellite imagery, but relief block is more careful, participates in data volume that is mutual, that calculate larger, reduce the speed that ground scape shows in real time.The effective ways addressed this problem simplify relief block, represents topographic details by satellite imagery true to nature.The utility model, using vector numerical map as constraint, generates the method for three-dimensional terrain, ensure that authenticity and the accuracy of topographic database in conjunction with earth's surface vein pattern, solve the problem cannot changed after terrain lib generates.Mathematical abstractions model is:
S
1+S
2+…+S
n+T＝R
S in formula
1, S
2, S
nrepresent different satellite imagery, and T represents map vector, R then represents the three-dimensional terrain of generation.
Divide according to function, above-mentioned flow process can be divided into four parts as shown in Figure 3: determine apex coordinate and attribute, drafting grid, select earth's surface vein pattern, grain table, idiographic flow is:
1. build vertex data structure and initialization.Read in metafile.Build vertical array, each summit is made up of three-dimensional coordinate and attribute two parts.
2. generate dem data by contour line data.Contour line data is imported the DEM analysis module in MAPGIS, obtain the dem data of regular grid.
3. the unknown spot elevation in pair dem data carries out interpolation.
4. by judging that the position relationship on summit and pel determines which pel each summit belongs to.
5. travel through all summits, for it composes D coordinates value.
6. draw terrain mesh according to apex coordinate.
7. the attribute on comprehensive all summits chooses suitable texture.
8. travel through summit, according to its attribute to terrain mesh mapping textures, and carry out grain table at primitive boundary place.
The stereo display realizing three-dimensional vision will adopt twin camera projection mode, the utility model adopts convergence type two centers imaging model as shown in Figure 4, binocular gaze central point C is limited in a dotted box, about center line each 65 °, assembling change angle is ± 1.5 °, make it the horizontal field of view scope meeting human eye, obtain good visual effect.
Left video camera A (x can be obtained
1, y
1, z
1) projection coordinate is:
Right video camera B (x
r, y
r, z
r) projection coordinate is:
Wherein d is the distance of video camera to XOY face, and e is the distance between two viewpoints.
1 C (x in what comes into a driver's
c, y
c, z
c) parallax i in left and right picture and binocular focal distance f, parallax range h, photocentre drift angle β relational model be:
According to position and the correlation parameter of the left and right cameras obtained, carry out arranging in Direct3D thus realize 3 D stereo display.Left camera position, direction and be depending on arranged in matrix code:
Right camera position, direction and be depending on arranged in matrix code:
Described flight controls interactive module and mainly to finish the work the simulation of planning, the fly functions such as monitoring, manual control, link control, load control, managing special situation, be made up of control module and display unit, realizing the display of aircraft various information and the input of steering order, is the platform of man-machine interaction.Control module comprises jociey stick, throttle, keyboard, 3D mouse and touch screen, for receiving the operation intention of manipulator, being converted into computer control language, carrying out information feed back by display unit.Display unit comprises airplane synthetic information, mission planning software, link monitoring software and load control software design.Airplane synthetic information spinner to show aspect, course, highly, speed, position, engine condition and airborne equipment information; The information such as the display of mission planning software way point, position, environmental situation; Link monitoring software display link mode and state, according to the changeable link mode of aircraft state; Load control inerface display loaded-up condition, by steering order control load mode of operation, receives and distributed tasks data.Mission planning software utilizes ArcGis Software on Drawing, is driven by VisioStudio environment.Airplane synthetic information, link monitoring software, load control software design, by GLStudio Software for Design, utilize VC++ environment to drive.As shown in Figure 5, concrete performance history is its performance history:
1. create texture, namely adopt image processing software to produce the picture of required texture;
2. according to the display requirement of display module, create polygon and stick texture, figure is renamed, specifying call back function and behavior etc.;
3. display module is created assembly, be convenient to reuse;
4. add code in the application, for display module creates behavior, call control function, as rotation, movement, convergent-divergent etc., complete the Dynamic controlling to display module;
5. the behavior code write and graph data are converted into C++ class code;
6. on VC++ platform, carry out compile and test, check display effect, if dissatisfied, get back to second step.
Described maintenance operation training module mainly realizes the maintenance operation training of the topics such as aircraft energising inspection, equipment appearance inspection, load carry.The functional status when outward appearance of unmanned plane and normal work can be simulated, i.e. dynamic similation unmanned plane constitute and function, the inspection route of demonstration unmanned plane, be pulled and the inner structure of disassembling section study unmanned plane and assembly and disassembly methods by consistent with actual load.According to training and operation and the equipment operating setting of actual load, state relation between different system and checkout equipment is described, concrete function according to checkout equipment PMA sets up functional simulation unit, the truth function of mock survey equipment, make the operation response consistent with actual load, make maintenance personal grasp check criteria and flow process, reach the effect of Reality simulation operation.Adopt the method that virtual detection panel and 3 D stereo Dynamic Announce based on touch technology combine, utilize by plane touch control display and 3D mouse sending controling instruction, by 3 D stereo flexible displays feedback control action, strengthen the feeling of immersion of Virtual Maintenance Training.Utilize Creator software to carry out modeling to the equipment resemblance of critical component, physical features, active characteristics, set up three-dimensional model.GLStudio software development is utilized to detect operation and control interface, by the driving of Vega Prime software simulating model and the mutual of manipulation information.
Described autonomous learning evaluation module comprises repair message unit and examination unit.Repair message is divided into equipment principle introduction, basic function describes, operating process is resolved and maintaining knowledge, entry corresponding in the person's of participating in training selective system framework, enter into corresponding knowledge point to learn, namely watch the text, picture, three-dimensional animation and the video resource that call out.Examination unit provides the examination exam pool be made up of aspects such as unmanned plane principle, function, structure, check process, maintainings for the person of participating in training, the person of participating in training carries out answer operation according to examination task alternately in virtual equipment object or examination interface, marks at the end of examination to Check.Adopt Authorware software to build software frame, link text file, picture file, video file, database file etc., form the repair message query unit of overall package.The mode of intelligent retrieval is taked to retrieve repair message, with operation task and the result of appraisal were compared in the past, namely according to maintenance personal's operant level, current operation status and fallibility examination point, by the examination exam pool that optimized algorithm provides the degree of correlation high for maintenance personal, improve participant learning efficiency.
Claims (1)
1. a no-manned plane three-dimensional solid aobvious control comprehensive training system, comprise control system, display system and server, described control system comprises touch surface display (2), touch surface display (3), throttle (4), jociey stick (5), 3D mouse (6), keyboard (7), it is the interaction platform of this system, described display system is by 3 D stereo flexible displays (1), touch surface display (2) and touch surface display (3) composition, it is the emulation core of this system, described server is by data computer (8), resolve computing machine (9) and graphics workstation (10) composition, resolving and storage center of data, it is characterized in that: control system sends the steering order of manipulation personnel to server, server completes flying quality and resolves and resolve control information, corresponding action and parameter is shown by display system.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108521797A (en) * | 2017-07-27 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Flight simulation control method, server, terminal device |
| CN109240129A (en) * | 2018-11-28 | 2019-01-18 | 湖北安心智能科技有限公司 | A kind of unmanned plane analog simulation display & control system of oriented manipulation |
| CN110706551A (en) * | 2019-10-25 | 2020-01-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Multi-mode unmanned aerial vehicle operator training simulator |
| CN111831487A (en) * | 2019-04-15 | 2020-10-27 | 丰鸟航空科技有限公司 | Data source output method, device, system and storage medium |
| CN112166388A (en) * | 2019-08-30 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Simulation method and device for unmanned aerial vehicle and computer readable storage medium |
| CN113593357A (en) * | 2021-06-30 | 2021-11-02 | 中国人民解放军陆军航空兵学院 | Unmanned aerial vehicle control training simulation system and method based on parallel system theory |
-
2015
- 2015-03-13 CN CN201520154720.3U patent/CN204705825U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108521797A (en) * | 2017-07-27 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Flight simulation control method, server, terminal device |
| CN109240129A (en) * | 2018-11-28 | 2019-01-18 | 湖北安心智能科技有限公司 | A kind of unmanned plane analog simulation display & control system of oriented manipulation |
| CN111831487A (en) * | 2019-04-15 | 2020-10-27 | 丰鸟航空科技有限公司 | Data source output method, device, system and storage medium |
| CN112166388A (en) * | 2019-08-30 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Simulation method and device for unmanned aerial vehicle and computer readable storage medium |
| CN110706551A (en) * | 2019-10-25 | 2020-01-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Multi-mode unmanned aerial vehicle operator training simulator |
| CN113593357A (en) * | 2021-06-30 | 2021-11-02 | 中国人民解放军陆军航空兵学院 | Unmanned aerial vehicle control training simulation system and method based on parallel system theory |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151014 Termination date: 20160313 |