JP3245911B2 - Tracking editing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to real tracking data such as position data of a moving object (aircraft, ship, car, etc.) in the real world, and virtual tracking data virtually inputted based on characteristics of the moving object. The present invention relates to a tracking editing apparatus capable of displaying and synthesizing data and recording / editing input data.

[0002]

2. Description of the Related Art Conventionally, moving objects (aircraft,
Tracking data such as the trajectory of a ship, a car, etc. (hereinafter, this data is referred to as actual tracking data), and the recorded result is faithfully displayed three-dimensionally on a display device. In other words, the main focus has been on literally reproducing the locus of the moving object faithfully on a display device or the like. As such an example, for example, Japanese Patent Laid-Open No. 1-2
There is one described in Japanese Patent No. 70611.

[0003]

The prior art described above focuses on reproducing the trajectory of a moving object faithfully on a display device or the like. It is effective for the purpose of accurately reproducing (reproducing) the trajectory and monitoring the trajectory, and since it is possible to accurately grasp the training status of various types of mobile operation, it is possible to perform some evaluation.

[0004] However, it is difficult to compare a basic pattern or a set of stones, for example, with a simulated situation in which such a maneuver is performed. There has been a problem that it is not possible to efficiently evaluate the trajectory of the moving object and the control amount itself.

The present invention combines and displays a trajectory actually navigating a moving object and all possible imaginary trajectories, and effectively describes the actual and virtual trajectories of the moving object and the moving object itself. The purpose is to provide a tracking editing device that can be evaluated.

[0006]

A feature of the present invention to achieve the above object is that real tracking data input means for inputting at least actual tracking data of a moving object, virtual tracking data of the moving object (moving in a virtual world). Virtual tracking data input means for inputting data such as body trajectory), data synthesizing means for synthesizing the real tracking data and the virtual tracking data to obtain synthetic data, and display means for displaying the synthetic data. In a tracking editing device.

That is, the problem can be solved by efficiently fusing the data of the real world and the data of the virtual world. Specifically, in order to acquire data of the real world, a tracking device that collects the position, speed, posture, and the like of the movement in a time series is used. In order to acquire virtual world data, an input device such as an aircraft that can input a control amount is used. A function to save and edit both data will be added in order to efficiently merge real world data. The position, speed, attitude, and the like of the moving object acquired by the tracking device are recorded as time-series data in a tracking data file. The data of the maneuver amount input from an input device capable of inputting the maneuver amount of an aircraft or the like is handled as a time-series data file, combined with the data stored in the tracking data file, and stored in the edited data file. The time series data stored in the edited data file is reproduced on a display device.

Further, in order to obtain consistency between the data acquired from the input device and the tracking data, a motion model of the moving body is used when generating the input data of the operation amount as a time-series data file.

Further, in order to combine and display all possible trajectories with the trajectory of the real world without actually navigating the moving body, the data obtained from the input device can be modified.

Furthermore, in order to combine the data of the real world and the data of the virtual world, when inputting the data of the virtual world, the data of the real world is displayed in real time so that time consistency can be obtained.

In addition, in order to facilitate input of tracking data from the standpoint of a pilot, the input device is provided with a simulated steering device for a target object and a display device for reproducing and simulating a visual field. Has made it possible to input the amount of maneuver while viewing the display along with real world data.

In addition, in order to facilitate input of tracking data from a training instructor's point of view,
The trajectory of a moving object displayed on the display device can be corrected with a mouse or an electronic pen.

[0013]

When the operation amount data is input from an input device capable of inputting the operation amount of an aircraft or the like, by adding time data at a certain cycle timing, the operation amount data can be treated as time-series data. .

Synthesizing and editing the tracking data and the virtual tracking data generated based on the maneuvering amount can be realized by reading out both data at the same time from the time data and forming one new data.

To obtain consistency between the data acquired from the input device and the tracking data, a motion model of a moving object (for example, an aircraft) focused on a mathematical model is described by a motion equation, and the environment system, the engine system, and the aviation system are described. It can be realized by calculation including dynamics system and control system. Correction of the data acquired from the input device can be realized by rearranging the data before correction by time data and replacing the input data according to the time.

For example, in an aircraft, an input device that simulates a control stick, a foot pedal, or the like is prepared so that all parameters necessary for solving the equation of motion of the motion model can be input. .

In order to correct the trajectory of the moving object with a mouse or an electronic pen, the trajectory of the moving object and the position of the mouse or the electronic pen are simultaneously displayed on the display device, and the movement of the mouse or the electronic pen is adjusted. This can be realized by newly rewriting the virtual trajectory of the moving object.

As described above, the present invention is effective for improving the operation training for aircraft and ships, and for improving the efficiency of running test evaluation of a new type of vehicle.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be specifically described below with reference to the drawings.

FIG. 1 is a block diagram showing a main configuration of a system of a tracking recording / editing apparatus as an example of a tracking editing apparatus.

"Tracking" as used herein refers to measuring the trajectory and state of a moving object. Reference numeral 1 indicates a tracking recording / editing device, and reference numeral 2 indicates a tracking device. The tracking recording / editing device includes a recording processing unit 10, a reproduction / editing processing unit 11, a display device 14 as a display means for displaying the tracking data file 12, the edited data file 13, and the combined data,
An input device 15 is provided.

An example of actual tracking data input means for inputting actual tracking data of a moving object will be described. The recording processing unit 10 inputs the actual tracking data of the moving object measured by the tracking device 2, stores the data in the tracking data file 12, and reproduces / edits the data from the tracking data file 12 as necessary. Actual tracking data is input to the processing unit 11.

The reproducing / editing processing unit 11, which is an example of data synthesizing means for synthesizing the real tracking data and the virtual tracking data to generate synthesized data, outputs the data to the display device 14 as display data and edits the edited data. -Store in file 13.

Further, the modified input data, which is the virtual tracking data from the input device 15, which is the virtual tracking data input means for inputting the virtual tracking data of the moving object, is combined with the actual tracking data to create edited data. The data is stored in the file 13, and the display data created based on the change input data and the edit data is output to the display device 14. The display device 14 displays the display data from the reproduction / edit processing unit 11. The input device 15 outputs change input data based on the operation amount of the operation device of the user to the reproduction / edit processing unit 11.

FIG. 2 is a diagram showing an outline of a tracking device of a comparative example. In this figure, an aircraft tracking device is shown as an example.

The tracking device of the comparative example tracks on the ground the manner in which the aircraft 21 flies along the trajectory 22 above the ground 23 in the real world 20 representing the actual state, and obtains the position data and attitude data as the tracking results. The graphic display screen 25 of the display device 14
The three-dimensional display of the state in which the aircraft symbol 26 flies on the graphic display 28 on the ground with the aircraft trajectory display 27 is displayed thereon.

FIG. 3 is a diagram showing a problem of the tracking device of the comparative example.

The graphic display screen 25 of the display device 14
In the above, on the one hand, the aircraft symbol a (30) flies on the trajectory of the aircraft trajectory display a (32), on the other hand, the aircraft symbol b (31) flies on the trajectory of the aircraft trajectory display b (33), As a means for analyzing the cause of the occurrence of a dangerous state 34 when they approach each other, only a function of reproducing actual tracking data exists. It was not enough. In addition, it has been insufficient to newly develop a moving object to be tracked and to develop an optimum trajectory.
In addition, the moving body here means the whole moving object. Further, conventionally, there have been flight simulators and the like that reproduce the trajectory and state of a moving object based on virtual data, but there is no function of inputting real tracking data of a moving object in the real world and synthesizing it with virtual data. However, it was insufficient for evaluation and analysis of moving objects.

FIG. 4 is a diagram showing a typical screen output example on the display device 14 of the tracking record editing apparatus of the present embodiment. In STEP 1 of FIG. 4, the user sets one point of the aircraft trajectory display 27 of the aircraft symbol 26 to the virtual input start point 4.
The virtual aircraft trajectory 41 of the virtual aircraft symbol 40 is input from the designated point using the input device 15. Next, in STEP 2 of FIG. 4, the aircraft trajectory display 27 and the virtual aircraft trajectory 41 are edited and combined, and the virtual input aircraft symbol 40 and the combined trajectory 42 are displayed on the display device 14.

FIG. 5 is a diagram showing an example of evaluation / analysis of the tracking recording / editing apparatus of this embodiment. Aircraft symbol 26 and aircraft trajectory display 27 as tracking results
For the evaluation and analysis, a virtual input aircraft symbol a (50) and a virtual input aircraft trajectory display a (53) are input from the input device 15 from the specified virtual input start point 43. Similarly, the virtual input aircraft symbol b (51), the virtual input aircraft trajectory display b (54), the virtual input aircraft symbol c
(52) and the virtual input aircraft trajectory display c (55) are repeatedly input from the input device 15, and a search for a danger avoidance method, a search for an optimal trajectory, and the like can be performed, and evaluation and analysis can be performed.

FIG. 6 is a block diagram showing the relationship between the real world and the display screen in the tracking recording and editing apparatus of this embodiment. The tracking device 2 measures actual tracking data 60 such as the position (X, Y, Z) and attitude (roll, pitch, yaw) of the aircraft 21 in the real world 20, and the recording processing unit 10 converts the actual tracking data 60 into a tracking device. 2 and output to the tracking data file 12. The reproduction / editing processing unit 11 inputs the actual tracking data 60 from the tracking data file 12, edits the data, and outputs the edited data to the edited data file 13. The playback / edit processing unit 11 inputs, edits, synthesizes and displays the change input data 63, which is virtual tracking data based on the user's operation information from the input device 15, and the actual tracking data from the edit data file 13. The data is output to the device 14 as display data. The edited and combined data is also output to the edited data file 13. The aircraft 21, the aircraft trajectory 22, and the ground 23 of the real world 20 are represented by an aircraft symbol 26,
This corresponds to an aircraft trajectory display 27 and a graphic display 28 on the ground. The virtual input aircraft symbol 40, the virtual input aircraft trajectory 41, and the virtual input start point 43 are the results of editing the changed input data 63 from the input device 15, respectively. The edited and combined data is also output to the edited data file 13.

FIG. 7 shows an example of a device configuration of the tracking device 2 and an example of a device configuration of the tracking recording / editing device 1 of the present embodiment. The tracking device 2 includes a tracking antenna 70, a processing device a (71), and a display device b (72). The tracking device 2 receives actual tracking data from the aircraft 21 via an antenna 70 by radio waves, and the processing device a (71) inputs and edits the data and outputs the data to the display device a (72). Further, the input / edited data is output to the tracking recording / editing device 1.

The tracking recording / editing apparatus 1 includes a recording device 73, a processing device b (74), a pseudo cockpit 75, and a display device 14. The recording device 73 records data from the tracking device and data from the processing device b (74). The user performs an input operation through the input device 75 while viewing the display device 14, and the input device 75 outputs change input data based on the input operation to the processing device b (74). The processing device b (74) inputs the real tracking data recorded from the recording device 73, creates virtual aircraft trajectory data based on the changed input data from the input device 75, and combines the trajectory data with the real tracking data. Is converted into display data and output to the display device 14. The virtual aircraft trajectory data is obtained as an output of an aircraft model in the processing device b (74) using the changed input data as an input parameter. The conversion of the synthetic trajectory data to the display data is performed mainly on the coordinate conversion processing.

FIG. 8 is a diagram showing the correspondence between an example of an aircraft control method and an input device and a display device in a pseudo cockpit of the tracking recording and editing device in the embodiment of the present invention. As an example of an aircraft control method, a control system 80 shown in FIG. 8 will be described. In this figure, an example of the manual operation method is given, but the pseudo cockpit can be applied to the case of the manual operation method. The aircraft has an auxiliary wing, an elevator, and a rudder as three rudders for steering. By operating a control stick 81, the elevator 83,
The right auxiliary wing 85 and the left auxiliary wing 86 operate, and the foot pedal 8
By operating 2, the rudder 84 operates. Also,
Although not shown in FIG. 8, the thrust adjusts the propulsion of the aircraft. The pseudo cockpit 75 of the tracking record editing device has a control stick 81, a foot pedal 82, and a throttle 89 as operating devices, similar to an aircraft. A user 87 can operate these operating devices while watching the display screen of the display device 14. To change the locus. The processing device c (88) generates signals corresponding to the operation amounts of the auxiliary wing, the elevator, the rudder, and the throttle based on the conversion dynamic characteristic model, and outputs the signals as change input data 63 to the outside (the processing device b (74) in FIG. 7). ). Further, for example, a keyboard 88a for inputting a start point of the change input is provided. The input method may be an electronic pen or a mouse input method other than the keyboard input.

FIG. 9 is a view showing a part of the input device in the pseudo cockpit and a display example of the display device in the embodiment.
Here, the input from the pseudo cockpit is shown,
For example, there is a method of simplifying the input and inputting the trajectory from the standpoint of a third party with an electronic pen or the like. The user can check the field of view from the own aircraft on the graphic display screen 25 of the display device 14 in the pseudo cockpit. On a graphic display screen 25 which is a field of view from the own aircraft, an aircraft symbol 26 of another aircraft, an aircraft trajectory display 27, a graphic display 28 on the ground, an instrument display 90 indicating the status of the aircraft, and the like are displayed. When the user operates the control devices such as the control stick 81, the foot pedal 82, and the throttle 89, the display data changes, and the operation is reflected on the graphic display screen 25. Reflecting the operation of the control equipment
According to the aircraft model in the processing device b (reference numeral 74 in FIG. 7). This input method allows the user to input data from the position of an aircraft pilot. Further, a keyboard 88a is provided for inputting a start point of the change input. As described with reference to FIG. 8, the input method may be an input method using an electronic pen or a mouse other than the keyboard input.

FIG. 10 is a block diagram showing an example of an aircraft model in this embodiment. The aircraft model 106
Mathematical model 101, aerodynamics system 102, engine system 10
3, composed of an environment system 104 and a control system 105.
The mathematical model 100 acts on the pilot 101 or the user, and the pilot 101 or the user acts on the control system. The mathematical model 100 describes the physical characteristics of the wings and body of the aircraft, the aerodynamics system 102 describes the properties such as lift and resistance acting on the aircraft, the engine system 103
Describes characteristics such as thrust and inertia, the environment system 104 describes properties such as air density / temperature and wind, and the control system 105 describes machine abnormalities and the like.

FIG. 11 is a diagram showing the body axis and motion variables of the aircraft according to the present embodiment. Here, a method is described in which an aircraft's equation of motion is described by focusing on a mathematical model of the aircraft, and a virtual aircraft wake is calculated in accordance with an input from an input device. X, Y, and Z indicate the X body axis 110, the Y body axis 111, and the Z body axis 112, u, v, and w indicate the velocities in the respective axis directions, P, Q, and R indicate the angular velocities of the respective axes, L, M, and N are moment components of the angular axis formed around the center of gravity. The aircraft weight is m, the gravitational acceleration is g, the roll angle is Φ, the pitch angle is Θ, the yaw angle is Ψ,
The aerodynamic force and thrust acting on the fuselage are defined as F _a = (X _a , Y _a , Z _a )
Furthermore, ailerons, elevators, the angle of the rudder (δ _a, δ _e, δ
_r), the X-coordinate of the hinge line _{(x ha, x he, x} hr), ailerons, elevators, hinge moment (H _a acting on the rudder, H _e, when the H _r), the equation of motion of the aircraft It is described as follows. For further details, see, for example, “Introduction to Aircraft Mechanics” (published by the University of Tokyo), 1982, p.
p. 1-2.

[0038] m {(du / dt) + Qw-Rv} = - mgsinΘ + X a ... ( number 1) m {(dv / dt ) + Ru-Pw} -S zr (d 2 δ r / dt 2) = mgcosΘsinΦ + Y _a ... (number 2) m {(dw / dt ) + Pv-Qu} + S ye (d 2 δ e / dt 2) = mgcosΘcosΦ + Z a ... ( number 3) I _xx (dP / dt ) -I _xz (dR / dt) + (I _zz -I _yy ) QR-I _xz PQ-2J _xya (d ² δ _a / dt ² ) + J _xzr (d ² δ _r / dt ² ) = L… ( _Equation 4) I _yy (dQ / dt) + (I _xx -I _zz ) RP + I _xz (P ² -R ² ) + (I _ye -x _he S _ye ) (d ² δ _e / dt ² ) = M ... ( _Equation 5) -I _xz (dP / dt) + I _zz (dR / dt) + (I _yy -I _xx ) PQ + I _xz QR + (I _zr -x _hr S _zr ) (d ² δ _r / dt ² ) = N… (Equation 6) 2I _ya (d ² δ _a / dt ² ) -2J _xya (dP / dt) = ΣH _a … (Equation 7) I _ye (d ² δ _e / dt ² ) + (I _ye -x _he S _ye ) (dQ / dt) + S _ye {(dW / dt) PV-QU} = gcosΘcosΦS _ye + H _e … (Equation 8) I _zr (d ² δ _r / dt ² ) + J _xzr (dP / dt) + (I zr -x hr S zr) (dR / dt) -S zr {(dV / dt) + RU-PW} = -gcosΘsinΦS zr + H r ... ( number 9), the aircraft center of gravity If the coordinates in the ground fixed coordinate system are (x _e , y _e , z _e ), the following equation is obtained.

[0039] _{dx e / dt = ucosΘcosΨ + v} (sinΦsinΘcosΨ-cosΦsinΨ) + w (cosΦsinΘcosΨ-sinΦsinΨ) ... ( number _{10) dy e / dt = ucosΘsinΨ} + v (sinΦsinΘsinΨ + cosΦcosΨ) + w (cosΦsinΘsinΨ-sinΦcosΨ) ... ( number _{11) dz e / dt = -usinΘ} + vsinΦcosΘ + wcosΦcosΘ ... one (number 12), is established the following relationship.

DΦ / dt = P + QsinΦtanΘ + RcosΦtanΘ (Equation 13) dΘ / dt = QcosΦ-RsinΦ (Equation 14) dΨ / dt = QsinΦsecΘ + RcosΦsecΘ (Equation 15) Accordingly, (Equation 1) to (Equation 15) According to equation 15), x _e , y _e ,
The initial conditions of the six parameters z _e , Φ, 条件, Ψ and u,
Given the time histories of v, w, P, Q, and R, it can be seen that the position and orientation of the center of gravity of the aircraft are determined. Here, the change amount of the operation in the direction of operating the auxiliary wing of the control stick (the body axis X-axis direction) is Δc _a , the change amount of the operation in the direction of operating the elevator (the body axis Y-axis direction) is Δc _e , the change amount of the operation of the foot pedal Δu _r, Δc _s change amount of the throttle operation
And _{then, Δc a, Δc e, Δc} r, Δc s a _{δ a, δ e, δ r} ,
For example, if the conversion dynamic model to be converted to F _a is f ₁ (·), f
Assuming that they are represented by ₂ (•), f ₃ (•), and f ₄ (•), the following equation holds.

Δ _a = f ₁ (Δc _a ) (expression 16) δ _e = f ₂ (Δc _e ) (expression 17) δ _r = f ₃ (Δc _r ) (expression 18) F _a = f ₄ (Δc _s ) (Equation 19) From this, as an example, the reproduction / edit processing unit 11 according to the present invention calculates the position (x _e , y _e , z) of the aircraft 21 at the virtual input start point 43 from the tracking data file. _e) and attitude (Φ, Θ, read the Ψ), in addition, the input data (Δc _a processing device (c) of the input device 15 (88) from the steering equipment _{81,82,89, Δc e, Δc r,} Δc _s ) (Equation 16)
Data converted to (δ _a , δ _e , δ _r , F _a ) based on (Equation 19) is read from the input device 15, and according to (Equation 1) to (Equation 15), the virtual input aircraft shown in FIG. The trajectory 41 is calculated.

FIG. 12 is a flowchart illustrating the flow of the software processing of the tracking record editing apparatus according to the embodiment of the present invention.

In step 120, actual tracking data (reference numeral 6 in FIG. 6) of the aircraft in the real world (reference numeral 20 in FIG. 2) is used.
0) is faithfully reproduced. In step 121, change input data from the user (reference numeral 87 in FIG. 8) (FIGS. 6, 6)
Virtual input aircraft trajectory calculated by 3) (reference numeral 4 in FIG. 4)
1) is displayed on a display device (reference numeral 14 in FIG. 1). In step 122, the actual tracking data (reference numeral 6 in FIG. 6)
0) and the virtual input aircraft trajectory (reference numeral 41 in FIG. 4) are displayed on the display device (reference numeral 14 in FIG. 1).

FIG. 13 is an operation flow for explaining an example of processing for displaying a change input in the embodiment of the present invention.

In step 130, a virtual input start point (reference numeral 4 in FIG. 4) specified by the user while viewing the reproduced screen.
3) is input to the reproduction / editing processing unit (reference numeral 11 in FIG. 1) via the processing device c (reference numeral 88 in FIG. 8) in the input device (reference numeral 15 in FIG. 1). In step 131, step 13
Based on the virtual input start point input at 0, a control amount such as an operation amount of an aircraft operating device or a steering angle is calculated, and an initial value of the aircraft model is calculated. In step 132, the pseudo cockpit (reference numeral 7 in FIG. 7)
5) The operating device (reference numerals 81 to 82 in FIG. 8) is operated to input the changed data. Processing device c (reference numeral 88 in FIG. 8) which is a component in the input device (reference numeral 15 in FIG. 1).
Converts the operation data of the control equipment into signals corresponding to the operation amounts of the three rudders and throttles of the aircraft, and converts the data into change processing data (reference numeral 63 in FIG. 6).
4) and output to the reproduction / editing processing unit (reference numeral 11 in FIG. 1). In step 133, the reproduction / edit processing unit (reference numeral 11 in FIG. 1) transmits the input change input data (reference numeral 63 in FIG. 6).
Is used as an input parameter of the aircraft model, and a virtual input aircraft trajectory (reference numeral 41 in FIG. 4) as an output is calculated. The virtual input aircraft trajectory (reference numeral 41 in FIG. 4) data as an output is output to the edited data file (reference numeral 13 in FIG. 1) in the recording device (reference numeral 73 in FIG. 7). In step 134, after performing coordinate conversion for display on the virtual input aircraft trajectory (reference numeral 41 in FIG. 4) which is the output of the aircraft model, the display device (reference numeral 1 in FIG. 1) is used as display data (reference numeral 61 in FIG. 6).
Output to 4). As a result, the graphics display screen (reference numeral 25 in FIG. 2) changes in accordance with the virtual input aircraft trajectory (reference numeral 41 in FIG. 4), and the user (reference numeral 87 in FIG. 8) is operated by the control device (reference numerals 81 to 82 in FIG. 8). ), A graphics display screen viewed by a change input operation (reference numeral 25 in FIG. 2).
Know what was reflected in. This allows the user (reference numeral 87 in FIG. 8) to display data in which data based on the real world (reference numeral 20 in FIG. 2) and virtual input data are mixed on the graphics display screen (reference numeral 25 in FIG. 2). You can see.
In step 135, it is confirmed whether the user intends to modify the virtual input aircraft trajectory (reference numeral 41 in FIG. 4),
If there is a correction, in step 136, the display is temporarily stopped, and the correction start point input by the user is input.
Return to 31. If there is no correction, the process proceeds to the next step. In step 137, it is confirmed whether or not the user intends to end the change input.

FIG. 14 is a data flow diagram for explaining an example of processing for displaying a change input in the embodiment of the present invention. Files without input (141, 147, 14
8) means that data was input at the time of initial setting of data before the operation of this apparatus was started. Tracking data
In the file 140, actual tracking data from the tracking device is input.

Process (corresponding to the steps in FIG. 13)
same as below. ) 130, the input device (reference numeral 15 in FIG. 1)
The coordinates (x _T , y _T , z _T ) of the virtual input start point (reference numeral 43 in FIG. 4) are output to the virtual input start point file 142 based on the input data from.

As shown by reference numerals 180 to 182 in FIG. 18, data is a data identifier, an aircraft NO. , A header indicating the time, and the coordinates (x _T , y _T ,
Also for z _T ), a header is added based on the data of the tracking data file, and output to the virtual input start point file (142). The coordinate _{(x T, y T, z} T) more about how described in Figure 15.

In the process 131, the attitude (Φ ₀ , Θ ₀ , Ψ ₀ ) and the speed (u ₀ , v ₀ , w) of the aircraft at the coordinates (x _T , y _T , z _T ) from the tracking data file 140.
₀ ), the aircraft characteristic parameters such as the x coordinate ( _xha , _xhe , _xhr ) of the hinge line from the aircraft characteristic file 141, and the virtual input start point (reference numeral 43 in FIG. 4) from the virtual input start point file 142. coordinates (x _T of), y _T, inputs the z _T). Then, based on these data, the initial value of the steering angle (δ _a0 , at the virtual input start point (reference numeral 43 in FIG. 4),
δ _e0 , δ _r0 ), initial value of aerodynamic force F _a0 , initial value of angular velocity
(P ₀ , Q ₀ , R ₀ ) is calculated, and the initial position value (x _T , y _T ,
z _T ), velocity initial values (u ₀ , v ₀ , w ₀ ), attitude initial values (Φ ₀ , Θ ₀ , Ψ ₀ ), etc., and output them to the aircraft model initial value file 143. Note that the angular velocity is obtained from the attitude of the aircraft by the following equation.

P = (dΦ / dt) − (dΘ / dt) sinΨ (Equation 20) Q = (dΘ / dt) cosΦ + (dΨ / dt) sinΦcosΘ (Equation 21) R = − (dΘ / dt) sinΦ + (dΨ / dt) cosΦcosΘ (Expression 22) In the process 132, the input device (reference numeral 1 in FIG.
Steering amount of the code 81,82,89) of manipulators (Figure 8 _{5) (Δc a, Δc e} , Δc r, Δc s) from equation (16) to
The steering angles (δ _a , δ _e , δ _r ) and the aerodynamic force _Fa are calculated based on (Equation 19) and output to the change input data file 144. In the process 133, based on the aircraft model represented by (Equation 1) to (Equation 15), the initial values from the aircraft model initial value file 143 and the steering angles (δ _a , δ _e , δ) from the change input data file 144 are used. according _r) and the air force F _a, calculates the aircraft trajectory of the virtual outputs to the aircraft model output file 146. Further, the state variables of the aircraft determined periodically are output to the aircraft state variable file 145. The calculated virtual aircraft trajectory is stored in process 13
In 4, the coordinates are transformed into display data using the data of the coordinate transformation data file 147 in which the radius of the earth and the like are stored, and further combined with the data of buildings on the ground, etc., and the display device (reference numeral 14 in FIG. 1) is displayed. ). When there is data that is not included in the actual tracking data among the input parameters necessary for the aircraft model, the parameters are estimated using a state observer.

FIG. 15 is a diagram for explaining a method of inputting a virtual input start point.

Switching is performed using a keyboard 88a as an input device, for example, as shown in FIG.
6 and the aircraft trajectory display 27 are represented by XZ plane 150, YZ
Each is displayed on the plane 151. Note that the input device may be an electronic pen, a mouse, or the like, in addition to the keyboard. The symbol of the virtual input designation point 152 is displayed on the screen according to the operation of the input device, and the XZ plane 150 and the YZ plane 15 are displayed.
By moving the designated point on one plane on one, the other is linked. The reproduction / editing unit 11 calculates a distance r from the coordinates (x _p , y _p , z _p ) of the designated virtual input designated point 152 to the coordinates (x _Ti , y _Ti , z _Ti ) of the point orthogonal to the aircraft trajectory. _i selects the shortest aircraft trajectory and sets it as a candidate for the virtual aircraft trajectory. The distance r _i is calculated as follows.

[0053] _{r i = {(x Ti -x} p) 2 + (y Ti -y p) 2 + (z Ti -z p) 2} 0 · 5 ... ( number 23) of the virtual input specified point 152 coordinates ( x _p , y _p , z _p ) and the distance r _T between the coordinates (x _T , y _T , z _T ) of the point on the selected aircraft trajectory are arbitrary small amounts r _th and r _T ≦ r _th (Equation 24), and the coordinates (x _p ,
When y _p , z _p ) is within the specifiable range 153 having a radius of r _th , the virtual input start point 43 is set to the coordinates (x _T , y _T , z _T ) of the point on the aircraft trajectory. At other times, the user is required to input again.

FIG. 16 is a data flow diagram illustrating an example of processing for calculating an initial value in the embodiment of the present invention.

In the process 160, the initial values (δ _a0 , δ _e0 , δ _e0 , δ _e0 ) of the steering angles are solved by solving the differential equations (Equation 7) to (Equation 9) using the actual tracking data, aircraft characteristic data, and virtual input start point coordinate data. δ _r0 ), and the initial value of the aerodynamic force F _a0 is obtained by ( _Equation 1) to ( _Equation 3), and the initial values (c _a0 , c _e0 ,
c _r0 , c _s0 ) is calculated as follows (see ( _Equation 16) to (Equation 19)). Here, f1 ′ (•), f2 ′ (•), f
3 '(.) And f4' (.) Are conversion models for converting the steering angle and the aerodynamic force into the manipulated variables.

C _a0 = f1 ′ (δ _a0 ) ( _Equation 25) c _e0 = f2 ′ (δ _e0 ) ( _Equation 26) _cr0 = f3 ′ ( _δr0 ) ( _Equation 27) c _s0 = f4 ′ (F _a0 ) ( _Equation 28) The manipulated variable c obtained here = (c _a0 , c _e0 , cr ₀ , c _s0 )
The control device of the input device (reference numerals 81, 82, 8 in FIG. 8)
Reset the position of 9). Further, the initial value (δ _a0 , δ _e0 , δ _r0 ) of the steering angle and the initial value F _a0 of the aerodynamic force are output to the control amount initial value file 162. In the process 161, the initial value of the steering angle (δ _a0 , δ _e0 , δ _r0 ), the initial value of the aerodynamic force F _a0 ,
The initial values of the angular velocities (P ₀ , Q ₀ , R ₀ ) are calculated, and the initial values of the positions (x _T , y _T , z _T ), the initial values of the velocities (u ₀ , v ₀ , w ₀ ),
It is output to the aircraft model initial value file (143 in FIG. 14) together with the initial values of the attitude (Φ ₀ , Θ ₀ , Ψ ₀ ).

FIG. 17 is a diagram showing reproduction / playback in the embodiment of the present invention.
It is a process flow explaining the example of a process of an edit.

In step 170, the reproducing / editing processing unit (reference numeral 11 in FIG. 1) in the processing device b (reference numeral 74 in FIG. 7) transmits the actual tracking data (reference numeral 12 in FIG. 1) from the tracking data file (reference numeral 12 in FIG. 1). 6), and enter
In step 171, virtual input aircraft trajectory (reference numeral 41 in FIG. 4) data is input from the edit data file (reference numeral 13 in FIG. 1) in the recording device (reference numeral 73 in FIG. 7). In step 172, the actual tracking data (reference numeral 6 in FIG. 6)
0) and the virtual input aircraft trajectory (reference numeral 41 in FIG. 4) are edited and combined to calculate a combined trajectory (reference numeral 42 in FIG. 4).
The data is output to a display device (reference numeral 14 in FIG. 6) as display data (reference numeral 61 in FIG. 6) by performing coordinate conversion and the like, and is displayed on a graphics display screen (reference numeral 25 in FIG. 2). Step 1
At 73, the combined trajectory (reference numeral 42 in FIG. 4) is output to the edited data file (reference numeral 13 in FIG. 1) in the recording device (reference numeral 73 in FIG. 7).

FIG. 18 is a diagram for explaining an example of a tracking information data structure, an example of a change input information data structure, and an example of a combined information data structure of the tracking recording / editing apparatus according to the embodiment of the present invention.

Each data is provided with a data identifier so that the tracking information data 180,
The change input information data 181 and the combined information data 182 can be distinguished. In synthesizing the combined information data 182, the time of the tracking information data 180 and the change start point time of the change input information data 181 are compared, and | (time of the tracking information data 180)-(change start of the change input information data 181) (Point time) | ≦ ε (Equation 29) (where “ε” is a data sampling interval, for example, ε = 100 msec).
The position data (X, Y,
Z), the actual tracking data such as the attitude data (roll, pitch, yaw) and the like as the position data (X, Y, Z) and the attitude data (roll, pitch,
Yaw). When (Equation 29) is satisfied, the position data (X, Y, Z) and the attitude data (roll, pitch, yaw) of the change input information data 181 are now obtained.
And the like are added to the position data (X, Y,
Z), posture data (roll, pitch, yaw) and the like. This process is performed for all the aircraft that have been changed and input, and the aircraft is identified by the aircraft No. in the data. Done by

FIG. 19 is a diagram showing a part of an input device of a tracking recording and editing device for a car and a display example of a display device according to the embodiment of the present invention. The block diagram of the tracking record editing device shown in FIG. 1 can be applied to the configuration of the main part of the system in this embodiment. The display device shown in FIG. A part of the input device of the editing device is the input device 15 of FIG.
Corresponding to a part of.

The user operates the steering wheel 19 based on the running course graphics display 192 displayed on the graphics display screen 25 of the display device 14.
3, clutch pedal 195, shift lever 194,
By operating the accelerator pedal 197, the brake pedal 196, etc., the change input data is input. In response to the change input data, the graphics display screen 25 changes based on the output of the vehicle model in the reproduction / edit processing unit (reference numeral 11 in FIG. 1) using the change input data as an input parameter. On the graphics display screen 25, a car symbol 190, which faithfully reproduces the tracking result of a real-world car,
An automobile trajectory display 191, a graphics display 192 of the traveling course, and an instrument display 90 are displayed. The reproduction / edit processing unit combines the tracking result of the real world in the tracking data file and displays the result on the display device 14.

As described above, for example, it is possible to combine the basic functions of the tracking device for training the operation of the moving body with the training simulator having the same purpose, so that the hardware can be reduced. As a result, cost can be reduced.

Further, the real world data of the moving object by the tracking and the virtual data inputted by the user are synthesized,
Both data can be reproduced simultaneously and instantly. As a result, the evaluation function is dramatically enhanced, and the operability can be improved, so that the evaluation time can be significantly reduced.

Further, by combining the functions of the conventional tracking device and the training simulator, it is also possible to reduce the number of operating personnel and operating costs.

[0066]

According to the present invention, the trajectory of the moving object and all possible imaginary trajectories are synthesized and displayed, and the actual and virtual trajectories of the moving object and the moving object itself are effectively displayed. It is possible to provide a tracking editing device that can be evaluated efficiently.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a main configuration of a system of a tracking recording / editing apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram showing an outline of a tracking device of a comparative example.

FIG. 3 is a diagram showing a problem of a tracking device of a comparative example.

FIG. 4 is a diagram showing a typical screen output example on a display device of the tracking recording / editing apparatus according to the embodiment of the present invention.

FIG. 5 is a diagram showing an example of evaluation / analysis of the tracking recording / editing apparatus according to the embodiment of the present invention.

FIG. 6 is a block diagram showing a relationship between a real world and a display screen in the tracking recording / editing apparatus according to the embodiment of the present invention.

FIG. 7 is a diagram illustrating an example of a device configuration of a tracking device and an example of a device configuration of a tracking recording and editing device according to an embodiment of the present invention.

FIG. 8 is a diagram showing an example of an aircraft control method and a correspondence between an input device and a display device in a pseudo cockpit of the tracking recording and editing device in the embodiment of the present invention.

FIG. 9 is a view showing a part of an input device in a pseudo cockpit and a display example of a display device in the embodiment of the present invention.

FIG. 10 is a block diagram showing an example of an aircraft model in the embodiment of the present invention.

FIG. 11 is a diagram showing an aircraft body axis and motion variables in the embodiment of the present invention.

FIG. 12 is a flowchart illustrating a flow of software processing of the tracking recording and editing apparatus according to the embodiment of the present invention.

FIG. 13 is an operation flow illustrating a processing example of a change input display according to the embodiment of the present invention.

FIG. 14 is a data flow diagram illustrating an example of a process of displaying a change input in the embodiment of the present invention.

FIG. 15 is a view for explaining a method of inputting a virtual input start point in the embodiment of the present invention.

FIG. 16 is a data flow diagram illustrating an example of processing for calculating an initial value in the embodiment of the present invention.

FIG. 17 is a processing flow illustrating an example of reproduction / editing processing according to the embodiment of the present invention.

FIG. 18 is a diagram illustrating an example of a tracking information data structure, an example of a change input information data structure, and an example of a combined information data structure of the tracking recording / editing apparatus according to the embodiment of the present invention.

FIG. 19 is an exemplary view showing a part of an input device of a vehicle tracking record editing device and a display example of a display device according to the embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Tracking recording / editing apparatus, 2 ... Tracking apparatus, 10 ... Recording processing part, 11 ... Reproduction / editing processing part, 12
... Tracking data file, 13 ... Edited data file, 14 ... Display device, 15 ... Input device, 20 ...
Real world, 21 ... aircraft, 22 ... aircraft trajectory, 23 ... ground, 25 ... graphics display screen, 26 ... aircraft symbol, 27 ... aircraft trajectory display, 28 ... ground graphics display, 30 ... aircraft symbol a, 31 ... Aircraft symbol b, 32 ... Aircraft trajectory display a, 33 ... Aircraft trajectory display b, 34 ... Dangerous state, 40 ... Virtual input aircraft symbol, 41 ... Virtual input aircraft trajectory, 42 ... Composite trajectory, 43
... virtual input start point, 50 ... virtual input aircraft symbol a,
51 virtual input aircraft symbol b, 52 virtual input aircraft symbol c, 53 virtual input aircraft trajectory display a, 54
... virtual input aircraft trajectory display b, 55 ... virtual input aircraft trajectory display c, 60 ... real tracking data, 61 ... display data, 62 ... real tracking data / virtual input data /
Edit data, 63: Change input data, 70: Tracking antenna, 71: Processing device a, 72: Display device a,
73 ... Recording device, 74 ... Processing device b, 75 ... Pseudo cockpit, 80 ... Aircraft control system, 81 ... Control stick, 82 ...
Foot pedal, 83, elevator, 84, rudder, 85, right aileron, 86, left aileron, 87, user, 88, processor c, 88a, keyboard, 89, throttle, 90 ...
Instrument display, 100: mathematical model, 101: pilot,
102: Aerodynamics system, 103: Engine system, 104: Environmental system, 105: Control system, 106: Aircraft model, 110
... body axis X, 111 ... body axis Y, 112 ... body axis Z, 1
50 ... XZ plane display, 151 ... YZ plane display, 15
2 ... virtual input designated point, 153 ... specifiable range, 180 ...
Tracking information data, 181: Change input information data, 182: Synthetic information data, 190: Car symbol, 191: Car trajectory display, 192: Graphic display of running course, 193: Handle, 194: Shift lever, 195: Clutch -Pedal 196: brake pedal, 197 ... accelerator pedal.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Takeshi Hiroki 5-2-1 Omikacho, Hitachi City, Ibaraki Prefecture Inside the Omika Plant, Hitachi, Ltd. (72) Yoshiro Sekiyama 5-chome Omikacho, Hitachi City, Ibaraki Prefecture No. 1 Hitachi, Ltd. Omika Plant (72) Inventor Hitoshi Fushimi 5-2-1 Omika-cho, Hitachi City, Ibaraki Prefecture Hitachi, Ltd. Omika Plant (56) References JP-A-58-34315 (JP, A) JP-A-59-163580 (JP, A) JP-A-1-176913 (JP, A) JP-A-3-271790 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 21/00-21/18 G09B 9/00-9/56

Claims (5)

(57) [Claims] 1. A real tracking data input means for inputting at least actual tracking data of a moving body, a virtual tracking data input means for inputting virtual tracking data of a moving body, and combining the real tracking data and the virtual tracking data. A tracking editing apparatus comprising: data synthesizing means for generating synthesized data; and display means for displaying the synthesized data. 2. The virtual tracking data input unit according to claim 1, wherein the virtual tracking data input unit includes a control input unit for inputting a control amount of the moving object, and a time data adding unit for adding time data to the control amount. A tracking editing device characterized by the following. 3. The steering amount input means according to claim 2, wherein the control amount input means includes a control simulation input means simulating the control means of a moving body.
A tracking editing device, comprising: a control visual field simulation means for simulating a control visual field of a moving object. 4. The tracking editing apparatus according to claim 1, further comprising a moving body trajectory correcting means for correcting the trajectory of the moving body displayed on said display means. 5. The tracking editing apparatus according to claim 1, further comprising storage means for storing at least one of the real tracking data, the virtual tracking data, and the composite data.