JP2642985B2 - Formation flight training system with formation set function - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a formation flight training system having a formation set function, and more particularly to a formation flight training system using a flight simulator having a simulated viewing device. At the time of performing, the acquisition of the formation captain aircraft to be the target of tracking is reliably performed, and a predetermined extrapolation process is performed on a program for calculation performed in the flight simulator in order to realize formation flight training. Thus, the present invention relates to a formation flight training method having a formation set function, in which the time required for the calculation can be reduced.

[Prior Art] In the simulation of a conventional formation commander, there were the following two difficulties.

(1) When the trainee loses sight of the formation captain on the simulated field of view (lost), the conventional flight simulator requires time and effort to bring the captain of the formation onto the field of view.

(2) The introduction of a mass model of the captain's aircraft in accordance with the laws of physics required a great deal of calculation time.

[Problems to be Solved by the Invention] The conventional formation flight training method is as follows: (1) When the trainee loses (or loses) the formation captain in the simulated field of view, the conventional flight simulator uses It took time and effort to bring the formation captain.

(2) The introduction of a mass model of the captain's aircraft in accordance with the laws of physics required a great deal of calculation time. There was such a problem.

[Means for Solving the Problems] Regarding Problem (1): By operating the switch "Formation Set" at the instructor's desk, formation with the formation commander is instantaneously performed. Has a new function that allows the formation commander to see a fixed position in the simulated field of view even after changing positions (hereinafter referred to as the formation set).

Regarding the problem (2): The calculation time can be reduced by developing the following three means.

(A) In consideration of the motion characteristics of the formation commander, a simple physical model, that is, a small disturbance equation was introduced. In addition, when introducing the equation of the microturbulence, appropriate parameters were selected and their values were determined by considering the maneuverability at the instructor's desk.

(B) A method (algorithm) that is much simpler than the conventional feedback method has been developed for the operation in the posture holding mode.

(C) An algorithm (for extrapolation) that does not adversely affect even if the time interval during which the program is executed (hereinafter referred to as frame interval) is developed.

[Operation] In the present invention, formation flight training to be a target of tracking is reliably performed when formation flight training is performed using a flight simulator having a simulated view device, and formation flight training is realized. For the flight
By performing a predetermined extrapolation process on a program for calculation performed in the simulator, the time required for the calculation can be reduced.

[Embodiment] FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. In FIG. 1, (1) is an instructor's desk, and the instructor's desk (1) is provided with an instructor's instrument (11), a throttle, and a throttle for performing a function as a formation commander.
Lever (12), joystick (13), formation set function key (14), posture hold (ATTITUDE H
OLD) function key (15). (2) is a trainee table. The trainee table (2) includes a trainee instrument (21), a speaker (22), and a steering force generator (2).
3), a simulated visual field image display unit (24) and the like, and the trainee table (2) provided with such various means is supported by a rocking device (25) that operates by, for example, hydraulic pressure. (3) is a simulated view image generator, which is based on required signals from the instructor table (1) and the trainee table (2), and a simulated view image display section (24) in the trainee table (2). Is displayed. Reference numeral (4) denotes an electronic computer. The computer provided in the electronic computer (4) has a function of functioning as a formation commander based on various signals from the instructor's desk (1). The simulation program (41) and the # 2 simulation program (42) for performing a function as the own machine based on a required signal from the trainee table (2).

In the above-described embodiment, it is assumed that the trainee in the trainee table (2) has undergone the steering training, for example, the pilot operation generated from the steering force generator (23) based on the lever operation by the trainee. The signal is supplied to the computer (4). And, based on this pilot operation signal,
A # 2 simulation program (42) for performing the function of the self-machine is executed, and an instruction value signal of the trainee meter (21), an operation sound signal of an engine or the like for the speaker (22),
The calculation and output of the drive signal of the rocking device (25), the position / posture signal of the own vehicle, the radar information, the steering reaction force, and the like as the required simulated view video signal for the simulated view image generating device (3) are performed.

On the other hand, assuming that the instructor at the instructor's desk (1) is operating the formation captain machine, for example, a predetermined signal based on the instructor's lever operation is supplied to the computer (4). And
On the basis of the signal from the instructor's desk (1), the # 1 simulation program (41) for performing the function as the formation commander is executed to execute the instructor's instrument (1) when performing the function as the formation commander.
The command value signal of 1) and the position / posture signal of the formation commander to the simulated visual field image generating device (3) are calculated and output.

In the simulated visual field image generating device (3), it is converted into corresponding image data based on the above-mentioned position / posture signal of the formation captain machine and the position / posture signal of its own aircraft, and performs formation flight. The flight chief aircraft at the time, as a feature of the shape seen from the pilot trainee, as a simulated view video display unit (2
4) will be displayed. The video of this captain aircraft
It is made movable by the operation of the trainee at the trainee table (2) and the throttle lever (12) and the joy stick (13) of the instructor at the instructor table (1). For this reason, formation of a formation in various flight forms can be realized by the instructor operating the throttle lever (12) and the joystick (13) at the instructor's desk (1). The following functions can be performed by the formation set function key (14) and the attitude holding (ATTITUDE HOLD) function key (15) provided on the instructor's desk (1).

1. Formation set function This formation set function is used to make the relative relationship (relative position / relative attitude) between the captain's aircraft and its own aircraft constant, as shown in Fig. 2. In addition, it is as if the flight commander flies fixedly to the tip of an invisible rigid rod coming out of his own aircraft. FIG. 2 is an illustration of the relative positional relationship between the formation commander and the own aircraft for explaining the above embodiment. In FIG. 2, (5) is the formation commander, (6) is the own aircraft,
For example, the centers of gravity of both are connected by a rigid rod (7). As a result, the formation commander displayed on the simulated view image display unit (24) of the trainee table (2) appears to be completely stopped at a fixed position on the screen.

The values shown in the following Table 1 (formation set position) indicate the positional relationship of the formation commander (5) with respect to its own aircraft (6) when the formation set function is performed. It is.

Table 1 The values shown in Table 1 are, for example, adopted based on feelings and other comments and opinions at the time of test drive from pilots and the like who participated as trainees. machine (5) positions ship origin coordinate system with its origin at the centroid of its own _{(6) (X B, Y} B,
Z _B ). Incidentally, FIG. 3 is an illustration of an example of an image displayed on the simulated view image display section (24) of the trainee table (2) when flying in a formation in training execution. Then, in FIG. 3, (24A)
Is a display screen part in the simulated visual field image display part (24), and in the field of view (24B) as seen from the trainees therein, a flying captain (5), a horizon (24C) ,
The runway (24D) is visible. (6A) is a window frame of the own machine (6) on the trainee table (2).

Next, the formation set function as described above will be described in more detail.

(1) such as those set in the calculation Figure 2 position, the inertial coordinate system position _{(X e, Y e, Z} e) position C of flight length machine based on (5)
(X _e , Y _e , Z _e ) is the inertial coordinate system position S of the own aircraft (6)
(X _E , Y _E , Z _E ) and the coordinate transformation matrix are obtained as follows.

Where the coordinate transformation matrix is: It is.

(2) Attitude calculation The quaternion (e ₁ , e ₂ , e ₃ , e ₄ ) relating to the own aircraft is used as it is for the attitude of the flight commander, and the attitude is calculated based on this value. As a result, the captain's aircraft always assumes the same attitude as his own.

(3) Speed of formation commander The speed (U, V, W) of formation commander can be obtained from the following formula.

The second term of the above equation (2A) is a speed generated based on the angular speed of the own device when the posture of the own device changes (see FIG. 4). Here, FIG. 4 is a view showing an example of the velocity vector of the formation commander based on the angular velocity of the own aircraft.

(4) The position and orientation of the release (release) the release of formations set function, _{respectively, C (X e, Y e} , Z e) and _{(e 1, e 2, e} 3, e 4) is It becomes the initial value and shifts continuously and smoothly. As for the speed, by adding the second term of the above equation (2),
The addition of the formation set function has been facilitated. FIG. 5 is an explanatory diagram relating to the addition of the formation set function as described above. In FIG. 5, FIG. 5 (A) is an exemplary view when the aircraft is flying without a change in attitude, and FIG. 5 (B) is an exemplary view when the attitude is changed. is there. In particular, in FIG. 5 (B), even if the release is performed while the posture is changing, as shown as the formation commander (5),
It appears on the screen of the simulated visual field image display unit (24) and does not immediately disappear from the screen as its posture changes. On the other hand, when the second term of the above formula (2) does not exist, the player is out of the field of view of the own aircraft as shown as the formation commander (51), and immediately changes from the screen as the attitude changes. It will disappear.

2. Equation of motion of small disturbance According to the aircraft model based on the conventional laws of physics, its aerodynamic derivative may change depending on the surrounding conditions. Now, assuming that the aerodynamic derivative is a function of a predetermined surrounding condition, the aerodynamic derivative is obtained by performing an interpolation operation by a required subroutine in a table of several variables corresponding to the surrounding condition. Therefore, a great deal of time was required for this calculation.

Normally, when flying in formation, the altitude, speed, and attitude of the formation commander are in a very limited range, so there is almost no need to change the aerodynamic derivative according to the surrounding conditions. Conceivable. Further, since formation flight is mainly performed, rapid movements (ie, sudden changes in attitude) such as rapid roll-in and roll-out are not performed.

Therefore, it has been proposed to use a simple equation of motion of small disturbance that conforms to the laws of physics and is simple. The equation of motion of the microturbulence here is the equation of motion of force and moment, which is established when micromotion from a steady flight state is assumed in a coordinate system as shown in FIG. Now, assuming that _Xa and ω are the position and angular velocity vector of the coordinate system in FIG. 6, the calculation of the position and attitude of the formation commander is performed as shown in FIG. In FIG. 7, in a block (71), the motion equation of the small disturbance is solved by the signals x _a , θ, ω and the operation signals of the joystick and the like, and the signals x _a and ω as the solutions are obtained. . Next block (72)
In the integration of the signals x _a and ω is performed,
The signals x _a and ω as the solution are obtained. Signal x _a is,
While being fed back to the block (71), is converted been inertial coordinate transformation to the signal x _e in block (73), is integrated and then in the subsequent block (74) signal x _e is obtained. The signal ω is integrated in the block (75) to obtain a signal θ. Then, these signals x _e and θ are given to the simulated view display device in block (76), and the corresponding image is displayed. Note that, as described above, the signal θ is also fed back to the block (71).

The graph shown in FIG. 8 is an example of the impulse response of δ _e and δ _a when using the values of the aerodynamic derivatives of the existing T-2 aircraft for the above model. . The characteristics of the movement of the formation commander are: 1. The limited range of altitude, speed, and attitude changes; and 2. The rapid movement due to formation flight. Do not do.

In addition, the instructor had to perform other tasks besides maneuvering. Therefore, taking into account the ease of flight operation with the joystick, the aerodynamic derivative was appropriately adjusted.
FIG. 9 shows the impulse response of δ _e and δ _a as a result of the adjustment. And the features observed in this Fig. 9 are: 1. Stable due to better damping, and 2. Longer longitudinal periods and easier posture holding. ,.

By the way, as inputs for the two simulation experiments as described above, a steering angle (δ _e , δ _a ) having _a magnitude of −1.72 (deg) is set to 0.3se
FIGS. 8 and 9 are applied only during the period c.
This shows the result of calculation using Multi 16 (product name).

3. Attitude hold function (ATTITUDE HOLD FUNCTION) Here, the attitude hold (hereinafter referred to as ATT HOLD)
With the pitch (θ) and the roll (φ) kept constant, the heading (Ψ) based on the heading rate (r)
The only thing that changes.

As an ATT HOLD of a so-called T-2 type aircraft, an auto pilot function as shown as a block in FIG. 10 is used. In this FIG.
# 1 adding unit (101A) in theta _COM, q and theta are added according to the polarity of the corresponding, [delta] _e can be obtained is suitably amplified in # 1 amplifier section (102A). In the # 2 adder (101B), φ _COM , p and φ are added according to the corresponding polarities, and
It is suitably amplified by the second amplifying unit (102B) and [delta] _a is obtained.
With respect to δ _e and δ _a thus obtained, the equation of motion is solved in block (103), and q, r and p as the solutions are obtained. In the next block (104), the angular velocities are calculated for these q, r, and p, and the resulting q, r, and p are obtained. Here, q and p are respectively the # 1 adder (101
A) and are fed back to the # 2 adder (101B). In the final block (105), the above q, r
Euler angles are calculated for and p, resulting in θ, Ψ, and φ. Also here,
θ and φ are # 1 adder (101A) and # 2, respectively.
This is fed back to the adding unit (101B). Meanwhile, according to the auto-pilot function, theta, phi, p, by feeding back the q [delta] _e, by moving the [delta] _a, said theta, phi is a constant. In other words, theta, p such as to the φ constant, q is, [delta] _e, will be defined by [delta] _a.

On the other hand, according to the embodiment of the present invention, attention is paid to the relationship between the Euler angles (θ, φ, Ψ) and the body angular velocity, and the posture is maintained by using an appropriate equation. (See FIG. 11). That is, in FIG. 11, a calculation based on θ _COM , φ _COM and r is performed in block (111) using the following equations (4) and (5), and the resulting q, r And p are obtained. Then, in the next block (112), Euler angles are calculated for the above q, r, and p, and the resulting θ,
Ψ and φ are obtained.

The relationship between the Euler angles (θ, φ, Ψ) and the body angular velocity is expressed by the following equation.

= P + q sinφtanθ + r cosφtanθ (1) = q cosφ−r sinφ (2) = q sinφsecθ + r cosφsecθ (3) Here, in order to keep φ and θ constant, formula (1) and By solving equation (2) with p and q as zero, the following equation is obtained.

p = −rtanθ / cosφ (4) q = rtanφ (5) Based on such a relational expression, p and q are calculated from θ, φ, and の when the posture is to be held. Thereby, the same function as the conventional ATT HOLD can be performed.

4. Extrapolation In order to reduce the calculation time by the computer, a method of increasing the interval between the execution frames of each program is adopted. However, when the frames related to the program for solving the equation of motion are thinned, a problem such as the screen of the simulated view display device vibrating occurs, and there is no other way than to perform the calculation for each frame. Therefore, the above-described vibration is prevented by approximating (extrapolating) the position information and the posture information output to the simulated view display device by a simple formula.
FIG. 12 illustrates a conventional method, and FIG. 13 illustrates a method using extrapolation which is an embodiment of the present invention. First, in FIG. 12, a normal program (121) is flowing, and data as a result of execution in an even frame (122) and data as a result of execution in an odd frame (123) generate a simulated view. It is adapted to join the device (124). Also,
In FIG. 13, the normal program (131A) is executed in the even frame (132), and the extrapolated simplified program (131B) is executed in the odd frame (133).
The resulting data is applied to the simulated view generator (134). By using this extrapolation method, the number of executions of the program corresponding to the exercise or the like can be reduced, and the calculation time can be reduced.

 Next, this extrapolation method will be described.

The functional block diagram shown in FIG. 14 is an explanatory diagram of the execution of a program relating to the position and the attitude with respect to the formation commander. In FIG. 14, first, the block (14
1) In been solved minute disturbances motion equation in the stable coordinate system, x _a and ω is obtained consequently. In the next block (142), and these integrals have been made, x _a and ω is obtained consequently. In the subsequent block (143), conversion to an inertial coordinate system relative to x _a is made based on the attitude matrix, x _e consequently obtained. In the next block (144), the position and orientation are calculated based on _xe and ω, and the resulting _xe and L are obtained, which are then sent to the simulated view display device in block (145). Will join.

The extrapolation process is performed as follows.

1. Extrapolation of position: When the position (X _e ) is subjected to Taylor expansion as a function of time t, the following expression is obtained.

Also, It is a coordinate transformation matrix from the body axis to the inertia axis.

In FIG. 14, since the differential values of the third and subsequent orders are not obtained, Taylor expansion up to the second order is performed.

2. Postural extrapolation: There are two ways to extrapolate the quaternion and the other way to extrapolate the Euler angle directly. Choose a way.

here, Is obtained by the following equation.

However, For extrapolation of the posture angle, first, the posture angle The following equation is obtained by Taylor expansion of.

However, For more information, see the literature [Introduction to Aircraft Mechanics] (Kanichiro Kato, Akio Oya, Kenji Karasawa: University of Tokyo Press (November 20, 1982)
The following equation is obtained by differentiating the equation 1.36 in (Sun) first edition.

However, if A (i, j) is the (i, j) element of A, A (1,1) = 0 A (1,2) = cosφtan θ + cosφsec ² θ A (1,3) = − sinφtanθ + cosφsec ^{2 θ A (2,1) = 0} A (2,2) = - sinφ A (2,3) = - cosφ A (3,1) = 0 A (3,2) = (cosφcosθ + sinφsinθ) / cos 2 θ a (3,3) = - a ^{(sinφcosθ + cosφsinθ) / cos 2} θ.

Symbol table: flight length machine symbol X _e: inertial coordinate system X-axis Y _e: inertial coordinate system Y axis Z _e: inertial coordinate system Z axis U: speed of X-axis V: speed of the Y-axis W: speed of the Z-axis p : Rolling angular velocity q: Pitching angular velocity r: Yawing angular velocity: Rolling angular acceleration: Pitching angular acceleration: Yawing angular acceleration X: Position matrix W: Angular velocity matrix L: Posture matrix e: quaternion matrix E: Posture angle matrix δ (L) t: Potentiometer value (horizontal) δ (L) n: Potentiometer value (vertical) Kθ, Kφ: Feedback gain Own machine symbol X _E : Inertial coordinate system X axis Y _E : Inertial coordinate system Y axis Z _E : Inertial coordinate system Z axis U _AC : Speed of X axis V _AC : Speed of Y axis W _AC : Speed of Z axis p _AC : Rolling angular velocity q _AC : Pitching angular velocity r _AC : Yawing angular velocity L _1-3 , M _1-3 , N _{1 to 3:} as described pose matrix element [effect of the invention] above, this A formation flight training method having a formation set function according to Ming is a method based on a flight simulator having a simulated viewing device. The captain's aircraft can be seen at a fixed position on the simulated field of view, and when the captain's aircraft is lost, it can immediately form a formation with the captain's aircraft. By performing a predetermined extrapolation process on a program for calculation performed in the flight simulator in order to realize the above, the time required for the calculation can be reduced, so that a more accurate formation flight The effect is that training is performed in a short time.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing one embodiment of the present invention, and FIG.
FIG. 3 is a view showing an example of the relative positional relationship between the formation captain and the own aircraft for explaining the above-described embodiment. FIG. 3 is a view showing a simulation of a trainee table when training formation flight. FIG. 4 is a view showing an example of an image displayed on the view image display unit, FIG. 4 is a view showing an example of a velocity vector of the formation commander based on the angular velocity of the own aircraft, and FIG. 5 is a case where a formation set function is added in the above embodiment. FIG. 6 is an illustration of a coordinate system applied to the above embodiment, FIG. 7 is an illustration of the calculation of the position and attitude of the formation commander in the above embodiment, FIG. 8 and FIG. FIG. 9 is a diagram showing an example of the impulse response of δ _e and δ _a when the value of the aerodynamic derivative of an existing aircraft is used for a given model. FIG.
FIG. 11 is an illustration of an auto-pilot function unit for achieving ATT HOLD, FIG. 11 is an explanatory diagram when achieving ATT HOLD according to an embodiment of the present invention, and FIG. 12 is an example of program execution by a conventional computer. FIG. 13 is an illustration of an example of program execution by an electronic computer when extrapolation is used in the present invention, and FIG. 14 is an explanatory diagram of execution of a program relating to the position and attitude to the formation commander. (1) Instructor desk, (11) Instructor instrument, (12) Throttle lever, (13) Joystick, (14) Formation set function key, (15) Attitude hold (ATTITUDE HOLD) ) Function key, (2) trainee table, (21) trainee instrument, (22) speaker, (23) steering force generator, (24) simulated view image display, (25) Shaking device, (3) simulated view image generating device, (4) electronic computer, (41) # 1 simulation program,
(42) is # 2 simulation program.

Continued on the front page (72) Inventor Tetsuo Furumura 345 Kamimachiya, Kamakura City, Kanagawa Prefecture Inside Mitsubishi Precision Co., Ltd. (56) References JP-A-57-85076 (JP, A) U) Hikaru 3-127371 (JP, U)

Claims (1)

(57) [Claims] In a formation flight training method using a flight simulator having a simulated view device, a formation set function is provided so that a formation-capturing target aircraft to be tracked can be simulated regardless of a change in its attitude. The formation set function is characterized in that it is made visible at a certain position above, and when the captain machine is lost, the formation with the formation captain machine can be immediately reconfigured. Formation flight training system.