JPH07129074A - General training device and general training system - Google Patents

Abstract

PURPOSE:To provide the general training device which enables plural persons to be trained to simultaneously make training with plural moving body simulators under the same training conditions. CONSTITUTION:The plural moving body simulators and a joint unit are connected by networks. The moving body simulators have functions to impart time information to data and to transmit the data. The joint unit has a time processing section 47 which sets the reference time of the joint unit and the moving body simulators, a communication processing section 40b which inputs and outputs the data to and from the moving body simulators via the networks and a joint processing section 40 which predicts the future data in accordance with the time information imparted to the data inputted from the communication processing section 40b, a reference time set by the time processing section 47, and the data transmission time to the respective simulators, imparts the time information to this future data and applies the data to the communication processing section 40b. As a result, the situations similar to the situations where the plural persons to be trained existing in remote places meet at the training facilities at one place and make training simultaneously are created.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a comprehensive training system and a comprehensive training system for integrating a plurality of mobile simulators into a single training system, and more particularly to organic combination of simulators located at remote locations. Related to the common things.

[0002]

2. Description of the Related Art In a training system using a plurality of mobile simulators, it is necessary for each simulator to share software.

Conventionally, in the case of sharing software between a plurality of computers, by storing the software in a host computer and connecting the plurality of computers to the host computer, the software of the host computer can be obtained from each computer. I am doing it.

As a typical example of the prior art, Japanese Unexamined Patent Publication No.
Network gauge described in Japanese Patent No. 156876.
There is a game system, and the game software of the host computer is read from each game system of each home through a telephone line so that a plurality of users can obtain the game software.

[0005]

The above-mentioned prior art focuses on software acquisition means, and is effective in sharing software resources between systems connected to a host computer. However, it was not possible to simultaneously execute games under the same conditions in a plurality of systems.

The present invention uses a plurality of moving body simulation devices to
It is an object of the present invention to provide a comprehensive training device and a comprehensive training system capable of simultaneously training a plurality of trainees under the same training condition.

[0007]

The above object can be achieved by connecting a plurality of mobile simulators via a network and using an integrated device connected to each simulator via the network.

Here, the mobile simulating device has a function of adding time information to data and transmitting the data.

Further, in the integrated device, the data transmitted by the simulation device is sequentially input, each data is edited under the same condition, and then distributed to each simulation device. In order to edit under the same conditions, the integrated device sets the reference time of each simulated device and the integrated device, and considers the time required for data transmission based on this reference time and the time information of the input data. By predicting future data, time information is added to this future data and output to the simulation device.

[0010]

[Operation] The time is matched between each simulation device and the integration device according to the reference time set by the integration device, and the delay due to the data transmission time when data is exchanged between the simulation devices by predicting future data Can be compensated. This makes it possible to create a situation in which the trainees operating each of the simulators meet together and train at the same time.

[0011]

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

FIG. 1 is a diagram showing a schematic configuration of a passenger aircraft comprehensive training device as an example of a system of the comprehensive training device.

In the passenger aircraft comprehensive training device, a simulation device of components and an integrated device are installed nationwide, and the devices are integrated as a single training device through a wide area network (16). The training will cover the takeoff, landing and guidance of passenger aircraft. Is an integrated device, is a passenger airplane simulator, is a tow vehicle simulator, and is a virtual reality guide member simulator.

The trainee of each passenger plane simulation device (11a) can select, for example, a training scenario from the training conditions such as the topographic map of the airport and the environmental conditions (wind speed, wind power, etc.) set by the training controller (13) in advance. Take off and landing training for passenger aircraft according to In the passenger plane simulator (11a), the trainee operates a simulated platform to generate motion data or the like according to the manipulated variable, and outputs it to the integrated device (10a). The integrated device edits the data input from each simulation device and executes statistical processing, and distributes the data to each simulation device. For example, in the case where the trainee (14a) of the passenger plane simulation device has a positional relationship in which the image of the passenger plane simulated by the passenger plane simulation device (14b) can be seen in the visual field of the trainee (14a), the display device of the passenger plane simulation device (10b) of The integrated device (10a) displays the position data of the passenger plane simulating device (10b) so that the data of the passenger plane simulating device (10b) is displayed in real time. Output to. The real-time as used herein means that the time difference from the occurrence of an event to the display is within a range that does not hinder training. Similarly, for example, a passenger plane simulation device (10b)
If there is a scenario in which the guideman guides to a predetermined position after the landing, the data of the guideman simulator (10e) is reflected in real time on the display device of the passenger plane simulator (10b). , And outputs data such as the position of the trainee (14d) and the movement of the limbs of the guide member simulation device (10e). Position data and the like of the passenger plane are output to the guide member simulation device (10e), and the trainee (14d) recognizes the position data and conducts the guide training of the passenger plane. Further, for example, when there is a scenario in which a passenger plane is towed by a vehicle to a predetermined position, the data of the towing vehicle is reflected in real time on the display device of the passenger plane simulation device (10b). Output position data etc. The integrated device (10a) displays the data from each of the simulation devices (10b to 10e) on the display device (1).
7) Collectively displayed on the above, the training controller (13) can centrally monitor the training status, and can appropriately give instructions and cautions by voice or the like to the trainees (14a to 14d). In the integrated device (10a) and each simulation device (10b to 10e), the times are synchronized in order to perform training under the same conditions (1
2a-12e).

FIG. 2 is a diagram showing an example of the main configuration of the comprehensive training device.

The integrated device (10a) and a plurality of simulation devices (1
0b to 10e) are connected by, for example, a network (30). The network is constructed by using, for example, a satellite communication system, and connects devices located at remote places. The simulation device (10b to 10e) simulates one or more types of objects, and each simulation device (10b to 10e) includes a simulation platform of a moving object to be trained, a wearing device for virtual reality, and the like. This realizes the simulated environment of the trainee in a form close to the real environment. Each simulator (10b-10
e) is the position data as the trainees (14a to 14d) operate the simulated platform (11a to 11c).
Data, posture data (32b to 32d), etc. are output to the network (30). The timing of outputting the data to the network (30) is asynchronous between the simulation devices,
The integrated device inputs these data (32a) at an arbitrary timing. Time information is added to the input data by each simulation device, and the integrated device (10a) converts the input data into data of a fixed cycle by interpolation or the like, or the future data. Editing such as predicting data and converting format is performed. The edited data is on the network (30).
It is output to the above and is distributed (31a) to each simulation device, or is output to the display device of the integrated device (10a). In the distribution method, the data of the simulation device of another target (passenger aircraft, vehicle, etc.) that influences the visual field / sound simulated by the simulation device in some way is output to one simulation device. .

FIG. 3 is a block diagram showing an example of the main configuration of the integrated device.

The integrated device manages the time of the comprehensive training device, and the time processing unit (47) executes the process of setting and setting the reference time and synchronizing the time with each of the simulation devices.
The time processing unit (47) is connected to the integration processing unit (40) and outputs the reference time and the synchronization signal to the integration processing unit (40) (40q). The integration processing unit (40) interpolates data by interpolation, predicts future data by extrapolation, and forwards data.
Main processing such as matte conversion and data distribution is executed.
Communication processing unit (41) connected to integrated processing unit (40)
Then, data is input / output to / from each of the simulation devices via the network (40a to 40d). Integrated processing unit (4
A display device (46) is connected to 0), and information (40 l) such as position data from each simulation device is collectively displayed on the display device (46) to support centralized monitoring of the training situation. To do. The input device (45) connected to the integrated processing unit (40) is composed of a keyboard, a mouse, etc., for example, for selecting a screen to be displayed on the display device (46) and for initial setting of training. Used for data input (40k). Display device (4
The hard copy of the screen displayed in 6) can be output to the output device (48) composed of a color hard copy device or the like (4
0p), support the evaluation of training. Since the training status screen displayed on the display device (46) is output in synchronization with the conversation between the trainee and the training controller, the voice processing unit (49a) connected to the communication processing unit (41). On the other hand, the integration processing unit (40) outputs the synchronization data or signal (40m) to the audio processing unit (49a). In the voice processing unit (49a), the digital voice data (40e) input from the communication processing unit (41) is digital-analog converted, and the converted speed is converted.
The analog audio signal (40n) is output to the audio input / output device (49b) configured by a mosquito or the like. In addition, the voice processing unit (49
In a), analog voice data (40o) input from a voice input / output device (49b) having a microphone as a constituent element is converted from analog to digital in a), and converted digital voice data ( 40f) to the communication processing unit (4
It is distributed to each simulation device via 1) (40b). FIG. 4 is a block diagram showing an example of the main configuration of the simulator.

The simulator has a mathematical model of a moving body or the like to be simulated in the simulator section (52). For example, the mathematical model when the simulation target is an aircraft is as follows (Reference: Engineering optimal control p13 to p14,
Kanichiro Kato, published by The University of Tokyo Press).

(D / dτ) M = C _T −S _W · M ² (C _D0 + K · C _L ² ) −sin γ (Equation 1) (d / d τ) γ = (S _W · M ² · _{C L · cosσ-cosγ) /} M ··· ( number 2) (d / dτ) ψ = S W · M · C L · sinσ / cosγ ··· ( number 3) (d / dτ) ξ = M · cos ψ · cos γ (Equation 4) (d / d τ) η = M · sin ψ · cos γ (Equation 5) (d / d τ) ζ = −M · sin γ (Equation 6) where: M: Mach number γ: Flight path angle ψ: Flight azimuth ξ, η, ζ: Non-dimensionalized position coordinates with a ² / g (a is sound velocity, g is gravitational acceleration) σ: Lateral tilt of the aircraft (Roll angle) _CT : Thrust coefficient (thrust dimensionless by weight) _CL : Thrust coefficient (thrust dimensionless by product of dynamic pressure and blade area) _SW : Dimensionless blade Area (1/2 ρ a ² S dimensionless by weight, ρ is air density, S is blade area) C _D0 : Harmful resistance coefficient K: Induction resistance Correction coefficient τ: Dimensionless time (= t / (a / g)) The trainee (56) has a pseudo control device (50d) such as a control stick.
Input the operation amount by operating the input processing unit (51d)
Takes this as input and generates operation data for the mathematical model. The input processing unit (51d) outputs the operation data to the simulator unit (52), and the simulator unit (52) simulates the output of a mathematical model using the operation data as an input. The new position data and the like of the moving body or the like to be obtained are obtained. The position data and the like calculated by the simulator unit (52) are output to the integrated device by the interface unit (5).
Output to (3) (55c). Interface unit (53)
Then, editing such as formatting for outputting the data to the network which is the data communication path is executed. After that, the edited data is the data between the simulation device and the integrated device.
The data is output to the integrated device via the communication unit (54) that controls the data transmission protocol. Further, the voice of the trainee is input from a microphone that is a component of the voice input / output device (50a), and the input analog voice signal is input to the voice processing unit (51a).
Convert analog to digital with. The converted digital voice data (55a) is output to the interface unit (53) and then to the integrated device via the communication unit (54).

From the integrated device, data of another simulation device is input via the communication unit (54), and the interface unit (53) edits the data. Of the edited data,
The digital voice data (55a) is used by the voice processor (51).
a) to digital / analog conversion, and then outputs an analog audio signal to the speaker which is a component of the audio input / output device (50a). The data edited by the interface section (53) is output to the simulator section (52) (55
c), depending on the type of data, it is distributed to any of the display processing unit (51b), the instrument information processing unit (51c), and the shaking control unit (51c). Data necessary for generating an object (passenger plane, towing vehicle, guide, etc.) displayed on the display device (50b) is output to the display processing unit (51b). Data necessary for simulating a measuring instrument (speedometer, altimeter, etc.) of a moving body is output to the measuring instrument information processing unit (51c). The data output here is edited by the instrument information processing unit and then the instrument simulation device (50
Output to c). The shaking control section (51e) is supplied with data (a simulation target of the simulation target) required to control a shaking device (50e) for shaking the simulated platform on which the trainee (56) is riding in accordance with the simulation target. Acceleration, posture, etc.) is output.

FIG. 5 is a diagram showing an outline of a simulator which can be simulated by itself.

The simulation device (10b, 61) can be simulated by itself by disconnecting (62) the connection with the comprehensive training device (60). The disconnection is logically performed between the simulator section (52) and the interface section (53) (63). In the case of simulating by itself, the motion data (position data, posture data, etc.) to be simulated according to the operation of the trainee (56) is simulated.
Data generated by the data unit (52) and used as a basis for controlling the display device (50b), the instrument simulator (50c), and the shaking device (50e) according to the generated motion data are displayed on the display processing unit ( 51
b), instrument information processing unit (51c), shaking control unit (51)
output to e).

FIG. 6 is a schematic block diagram of a general training device having an information processing device for inputting information from an artificial satellite.

The information processing device (70) has a receiving device (7
Weather information (7) from the artificial satellite (72) via 1)
Input 3) and calculate the training conditions such as wind speed, wind direction, and weather in the assumed training area. The calculated training conditions are output (79) on the network (75) connected to the information processing device (70). The integrated device (74a) inputs this (77
a) Then, after performing processing such as editing the input data,
It outputs to each simulation device (74b-74c). The information processing device (70) calculates new training conditions from the weather information (73) according to the training condition calculation request (76a, 78) from the integration device (74a). The integrated device (74a) is
For example, a training condition calculation request is made to the information processing device at regular intervals, and the training conditions are updated periodically according to the calculation result. The training condition request cycle at this time is determined by the information processing device (7
0) needs to be sufficiently larger than the time required to calculate the training conditions. In each of the simulation devices (74b to 74c), the training conditions are input from the integrated device (74a) (76b).
~ 76c), which is reflected in the mathematical model of the training subject to be simulated. For example, if the wind speed at altitude y is V _w = (10.0,5.0,1.0), a passenger plane that flies at altitude y at speed Vp in a windless state has a speed Vp 'determined by the following formula (Equation 7) due to the effect of wind. Simulate by correcting the speed.

Vp ′ = Vp + Vw (Equation 7) Further, for example, in a scenario of carrying out a landing training of a passenger aircraft, when clouds of an altitude of 1000 m are distributed in an area corresponding to a simulated training area, The integrated device (74a) outputs data to the passenger plane simulation training device for carrying out the landing training so as to simulate a cloud at an altitude of 1000 m, and in the training, 1000 m of data is displayed on the display device of the passenger plane simulation device. Reflects the high altitude cloud graphics image. In addition to clouds, training conditions such as the position of the sun, rain, fog, and snow are displayed graphically on the display device of the airliner. In addition, the terrain map of the simulated training area is calculated by the map data according to the information from the artificial satellite (72). As a result, for example, an altitude of 5 that entered the landing position
In a passenger plane simulation device that simulates a passenger airplane of 00 m, a landscape such as an airfield from an altitude of 500 m is graphically displayed on a display device.

FIG. 7 is a flow chart showing a processing example of the integrated device when the training is carried out by the comprehensive training device.

In carrying out the training, the integrated device firstly includes a communication ID for inputting / outputting data between the integrated device and each simulation device, a name of a trainee of the simulation device, a work location, and the like. Initialize the data in the integrated device and for each simulated device (80). When carrying out the training, if there is a change in the initial data at the previous training, the training controller looks at the initial data setting screen displayed on the display device,
Change the change point of the initial data from the input device such as keyboard or mouse. Further, in the initial setting (80) of the data, the connection confirmation between the integrated device and each simulation device is performed. Next, the time of each simulation device is synchronized according to the reference time set and managed by the time processing unit of the integrated device (81). The synchronization executed here is the reset of the training time, and the synchronization of the time of the elapsed time from the start of the training is executed in the data integration process (83) described later. The detailed method of time synchronization is shown in Fig. 1.
This will be explained in Section 7. Next, the integrated device waits for a training start signal input from the training controller (82). When the training start signal is received, the training data and the like from each simulation device are input, and the integrated processing of data (83 ) Is executed.

Data that the integrated device does not input from each simulation device at equal time intervals is corrected to data at equal time intervals by the integrated device. For example, the pseudo position X coordinate x ₁ from the passenger plane simulator,
Assuming that x ₂ and x ₃ are input at times t ₁ , t ₂ and t ₃ , the time intervals Δt ₁ and Δt ₂ are Δt ₁ = t ₂ -t ₁ (Equation 8) Δt ₂ = t ₃ -t ₂ (Equation 9) Δt ₁ ≠ Δt ₂ ... (Equation 10) Assume that the time interval for executing editing of the pseudo position X coordinate is Δt ₃ (<Δt ₁ , Δt ₂ ),
Time t ₁ , t ₁ + Δt ₃ (t ₁ <(t ₁ + Δt ₃ ) ≦ t ₂ ), t ₁ + 2 · Δt _{3
Three data} X ₁ in (t ₂ <(t ₁ + 2 · Δt ₃ ) ≦ t ₃ ),
If X ₂ and X ₃ are required to perform editing, etc., the integrated device
X ₁ , X ₂ , X ₃ can be expressed as X ₁ = x ₁ (Equation 11) X ₂ = x ₁ + Δt ₃ · (x ₂ -x ₁ ) / Δt ₁ (Equation 12) X ₃ = x ₂ + (2 · Δt ₃ − Δt ₁ ) · (x ₃ − x ₂ ) / Δt ₂ (Equation 13)

The integrated data is edited for display on the display device of the integrated device, output to each simulation device, or output to the database. In the database, training data such as position data from each simulation device and the result of statistical processing of training data are recorded. The statistical processing counts how much the angle of attack of the simulated passenger aircraft operated by the trainee exceeds the limit value during training, for example, in a passenger aircraft simulator. Next, the integration device determines whether or not the training end signal from the training controller has been received (84), and if not received, the data integration process (83) is executed again. If the training end signal is received, the process transitions to the evaluation process (85). In the evaluation process (85), the training data recorded in the data base in the data integration process (83) is reproduced on the display device, and the statistically processed result is reproduced on the display device. . In the evaluation process (85), the content displayed on the display device is switched by the training controller according to the display screen selection menu on the display device. The training ends when the evaluation process ends.

FIG. 8 shows the initial data of the simulation device and the integrated device.
It is a figure which shows the example of a data format. Each simulator is
Initialize the individual data (90) of the trainee. The personal data (90) is set to manage the history of the trainees who participated in the training, and is output to the integrated device after the setting. For example, if the integrated device wants to refer to the individual data of the trainee of any simulated device during training, the individual device from each simulated device is recorded and the trained individual Personal data of the person is searched and output. As an example of the configuration of personal data, first, a training ID (90a) for which training is about to be performed is input. Training ID (90a)
Shall be managed by the training controller with a consistent number, and the trainee shall be notified in advance before the training. The simulation device ID (90b) is an ID for identifying a simulation target or the like of the simulation device, and indicates, for example, whether the simulation device simulates a passenger plane or a towing vehicle. Trainee ID (9
0c) is an ID for identifying the trainee by a number, a character, a code or the like. The trainee name (90d) indicates the name of the trainee in Kanji, Katakana or alphanumeric characters. The date of birth (90e), the date of joining the company (90f), and the gender (90g) show the data of the trainee. The call sign (90h) is used as a name when the training controller of the integrated device talks with each trainee during training or before and after training. For example, if a trainee named "Taro Yamada" is assigned a call sign "Swallow", the training controller of the integrated device will speak with the trainee "Taro Yamada" based on this call sign. At times, by calling "Swallow-Reply," etc., it is possible to avoid confusion in conversations with names that are difficult to hear. Work country ID (90i), work location I
D (90j) and working company ID (90k) indicate the data of the trainee. The total driving time (90 l) is set for how many hours the trainee has operated an actual machine such as a moving body to be simulated by the simulator, and is used to evaluate the training content of the trainee. The integrated device inputs the individual IDs of the trainees from the respective simulation devices and uses the data as initial data.
Set it to the base. When or after setting the initial data, the communication management data (91) in which each simulation device is associated with a node on the network is edited, and the simulation device is changed from the integrated device to each simulation device. Output to. Each simulation device inputs the communication management data (91) and outputs data from the simulation device to the integrated device, or communication data when outputting data from an arbitrary simulation device to another simulation device. -Use as data. For example, when digital audio data is output from the simulation device with the simulation device ID1 (91c) to the simulation device with the simulation device IDN (91e), the simulation device with the simulation device ID1 (91c) reads the communication management data. However, the simulated device IDN (91
e) The simulation device node 2 corresponding to e) is searched, and the digital voice data is sent from the simulation device node ID 1 (91d) node on the network to the simulation device node 2 (91f). Is output. Besides, as communication management data (91),
Training ID (91a), number of simulated devices participating in training (91b),
The integrated device node ID (91g) is set. The integrated device similarly sets the training identification data (92).
The training identification data (92) is data for obtaining a history of training and is given to the training data recorded in the data base or the like. , The training identification data (92) is the training ID (92
a), the number of training participants (92b), the date of training (92
c), training start time (92d), number of training participating simulation devices (92e) (= N), trainee IDs 1 to N of each simulation device
(92f, 92i), simulated device IDs 1 to N (92g, 9)
2j), trainee names 1 to N (92h, 92k), training controller ID (92m), training controller name (92n). Further, a synchronization time interval (9) which is time information for executing a process of synchronizing the time of the integrated device and each of the simulation devices.
2o) is set as training identification data.

FIG. 9 is a diagram showing an example of the format of training data output from the integrated device to each simulation device.

The training data (100) includes a transmission source (100a) as a head, a transmission destination (100b), a time (100c) as time information indicating what time the data is,
It has a group number of data (100d) (= M) and a data head address (100e). The transmission source (100a) and the transmission destination (100b) have a general device ID or a simulated device I.
Set D. After the header, data such as position data is grouped and added as effective data for each type of data. First, for each group, the group length (100f, 100i) indicating the data length of each group, and the group ID
(100g, 100j), category (100h, 100
k) is added. The categories are classified as shown in the table 101, for example. In the table 101, the data ID of the aircraft is 1 (101a), and the data of the category is helicopter.
The ID of the data is 2 (101b), the ID of the data of the towing vehicle is 3 (101c), the ID of the data of the guide is 4 (101d), and the category is the data of the control tower. I
Let D be 5 (101e). The group ID is, for example, 10
It becomes like the table of 2. In the table of 102, the group of simulation data is 1 (102a), the group of environment data is 2 (102b), and the group of digital voice data is 102.
3 (102c), safety monitoring data group 4
(102d), the group of the initial setting data is set to 5 (102
e), the evaluation data group is 6 (102f), and the connection confirmation data group is 7 (102g). After this, the data (10) of the data group whose group ID is 1
From 0h), the data (100 m) of the data group with the group ID of M is given.

FIG. 10 is a diagram showing an example of a coordinate system in which the integrating device integrates the respective simulation devices.

The coordinate system (110) is defined by the length (114a) of the X axis (118a), the length (114b) of the Y axis (118b), and the length of the Z axis (118c) of the three-dimensional Cartesian coordinate system. (119), step width of X axis (118a) (114
d), step size (114c) of Y axis (118b), and step size (124f) of Z axis (118c). The integration device integrates pseudo position coordinates and the like from each simulation device in the coordinate system (110) defined here. For example, when training is performed with the simulator simulation device (111) and the passenger plane simulation device (112), the integrated device inputs the training data from each simulation device, and the simulated position of the input training data is input. The change in coordinates is added to the previous pseudo position coordinates. For example, at the time t = t ₀ , the simulated position coordinate (11
5a) is set to X = x ₁₀ , Y = y ₁₀ , Z = z _10, and time t ₀ and t ₀ + Δ.
The change amount of the pseudo position coordinate according to the operation of the trainee (116a) during t is the X axis (118a), the Y axis (118b),
Assuming dx, dy, and dz on the Z axis (118c), pseudo position coordinates x ₁₁ , y ₁₁ , and z _{11 at} t = t ₀ + Δt.
Are respectively expressed by the following equations.

X ₁₁ = x ₁₀ + ∫ (dx / dt) Δt (Equation 14) y ₁₁ = y ₁₀ + ∫ (dy / dt) Δt (Equation 15) z ₁₁ = z ₁₀ + ∫ (Dz / dt) Δt (Equation 16) However, in the above equations (Equation 14) to (Equation 16), the description of the integration range (t = t _{0 to} t ₀ + Δt) is omitted.

The respective pseudo position coordinates represent the coordinates (113) on the same three-dimensional Cartesian coordinate system, and the mutual relationship between the guide member simulator (111) and the passenger plane simulator (112) is the respective simulators. (110).
That is, the induction membered simulation device (111) simulating simulates position coordinates _{(115a) X = x 10,} Y = y 10, Z = z 10 a trainee who is (eye position) (116a) is, aircraft simulator (11
Pseudo-position coordinates (115b) X = x of the passenger aircraft simulated in 2)
_When viewing the directions of ₂₀ , Y = y ₂₀ , and Z = z ₂₀ , the trainee (116a) of the guide simulator simulates the passenger plane at the elevation angle Θ and at the distance r from the viewpoint. Like flying 3
Display dimensional graphics. Elevation angle Θ, distance from viewpoint
r is calculated by the following formula. However, √ () is ()
It means to take √ in.

Θ = arctan ((Z ₂₀ -Z ₁₀ ) / √ ((X ₁₀ -X ₂₀ ) ² + (Y ₁₀ -Y ₂₀ ) ² )) (Equation 17) r = √ ((X ₁₀ -X ₂₀ ) ² + (Y ₁₀ -Y ₂₀ ) ² + (Z ₁₀ -Z ₂₀ ) ² ) ... (Equation 18) FIG. 11 shows how the integrated device integrates the mutual relationships among the simulated devices. FIG.

For example, between the passenger plane simulation device (121a) and the guide member simulation device (121b), the guide member simulation device (12) is provided.
Assume a training scenario (120) in which the trainee (123b, 124) of 1b) guides the simulated passenger aircraft (123) operated by the trainee (122a) of the passenger plane simulator (121a) to a predetermined simulated position. When the training is started, the guide member simulation device (121a) integrates a new pseudo position data (125c) or the like according to the change amount of the pseudo position data or the like according to the operation of the guide trainer (123b). 10a) (127a). The integrated device (10a) predicts future data such as the input pseudo position data (125c) and performs integrated processing (124) such as statistical processing on the integrated pseudo position data (125b). Passenger plane simulator (121a)
To (126b). Passenger plane simulator (121a)
According to the integrated pseudo position data etc.
The image of the guide member is output on the display device (123a). Similarly, the passenger plane simulation device (121a) outputs new pseudo position data (125a) and the like to the integrated device (10a) according to the change in the pseudo position data and the like according to the trainee's operation ( 126a). The integrated device (10a) predicts future data such as the input pseudo position data (125a) and performs integrated processing (124) such as statistical processing on the integrated pseudo position data (125d). Guidance agent simulation device (121b)
To (127b). Guidance agent simulation device (121b)
According to the input pseudo-position data of the passenger aircraft, etc.
The image of the airliner is output on the display device (122b).

FIG. 12 is a diagram showing a display processing flow of data input by the simulator.

For example, in the display processing of the data input by the passenger plane simulation device, first, from the header information of the input data,
The category of data is identified (130a to 130e).
As a result of the identification, when the data belongs to the category 1, the passenger plane display processing (131a) for generating the image of the passenger plane is executed. The generated image of the passenger plane is a three-dimensional polygon display with rendering added. When the data belongs to category 2, helicopter display processing (131b) for generating a helicopter image is executed. Data category is 3
If it belongs to, the towing vehicle display process (131c) for generating the image of the towing vehicle is executed. When the data category belongs to 4, a guide member display process (13 to generate a guide member image).
1d) is executed. When the data category belongs to 5, a control tower display process for generating a video of the control tower (131
Perform e). If the data does not belong to any of categories 1 to 5, an error process (132) is executed. In the error processing, for example, from the simulation device to the integrated device, the data
Notify that there is no function to process the data corresponding to the data category. When the data categorization is completed, next, a display process (1) in which the trainee superimposes and displays the image generated in the pre-process on the background viewed on the display device.
33) is executed.

FIG. 13 shows a processing flow for synchronizing the respective data when reproducing the audio data and the video data in the simulator.

The simulation device inputs the digitized voice data from the integrated device (140). For example, if the sampling frequency of digital audio data is F Hz and the input information is data for N audio channels, one sample data is 1 Word.
Assuming (4 Bytes), the simulator has a processing capability of inputting and processing 4 × F × N Bytes data at 1 second intervals.

Time information is given to the input audio data, and the simulation device uses this time information as a reference for the timing of generating the video data to be synchronized. Therefore, the simulation device reads out the time information added to the voice data (14
1) Next, training data such as pseudo position data necessary for generating image data is input (142). The time information of the data is given according to the time managed by the time processing unit of the integrated device. Similar to the voice data, the training data is provided with the time information, and the simulation device reads this time information (143). Since the voice data and the training data are input asynchronously, it is rare that the time information in the read voice data and the time information in the training data completely match. . Therefore, if the training data time is within a range of ± ε from the time of the voice data, it is considered that the times of both data match. It is determined whether the time of the voice data and the training data match (144), and if they match, the voice data is output to the trainee of the simulated training device (145), the video data, etc. The training data is processed in order to output to the trainee (146). If the times of the voice data and the training data do not match, the process ends. If no digital voice data is input, the simulator simulates the training data (1
Only 46) is executed.

FIG. 14 is a diagram showing an outline of how the integrated device outputs future prediction data to each simulation device. The integrated processing section 40 in FIG. 3 simulates the reference time set by the time processing section 47 and the simulated time. The processing performed based on the input data from the device and the time information thereof will be shown.

As shown in the processing block diagram 150, the integrated device reads training data (154a) such as simulated position data to be simulated from each simulation device in process 1 (153a).
The input processing 1 (153a) manages data communication between the integrated device and the simulation device, and executes conversion, editing, and statistical processing of the input data format.

The data after the data format is converted or edited is output to the process 3 (152) as required. Process 3 (152) predicts future data of the input data in consideration of the transmission time from the integrated device to each simulation device. Process 3 (152) is executed when the transmission time of data from the integrated device to the simulation device significantly affects the simulation contents of the simulation device. That is, for example, for highly mobile mobile data, etc. in which a trainee operates a simulated platform with a simulated device, and the result of the operation needs to be reflected in an image on a display device in a relatively short time. Run. If it is not necessary to reflect the training result of the trainee on the display device in a relatively short time according to the nature of the motion of the moving object to be simulated by the simulation device, the physical path is set to a path on which the process 3 (152) is not executed. Data from Process 1 (153a) is directly processed 2 (153) by dynamically or logically switching (154e).
Output to b). By performing this switching, the processing inside the integrated processing can be minimized. The data predicted in the process 3 (152) is output to the process 2 (153b). Process 2 (153b) manages data communication between the integrated device and the simulation device, executes conversion of data format for communication, etc., and then outputs the data to the simulation device (154b). .

A conceptual diagram of the overall processing of the processing block diagram 150 is shown in 151. It is assumed that N simulation devices are connected to the integrated device, and the time axis is horizontal (155a to 155d).
The processing contents of data from each simulation device in the integrated device are shown. For example, at the time t = T ₀ (156c), the integrated device changes from the time t = T ₀ -Δt (156b) to t = T ₀ (156c).
In the case of collectively processing the data from each simulation device during the period, the integrated device transmits from the simulation device 2 the data 10 (157a) to which the time information t = t ₁ is added from the simulation device 1. The data 20 (157b) to which the time information of t = t ₂ is added is the data _{N0 to which} the time information of t = t _N0 is _added from the simulator N.
Input (157c) asynchronously. The integration device inputs these data into the integration processing unit as reception data at t = T ₀ (158b) and executes integration processing (158a). In the integration processing, the future predicted data of each data is calculated in consideration of the data transmission time required from the integration device to each of the simulation devices 1 to N. The calculated data gives the time at the predicted time as time information and outputs it to each simulation device (1
58c). That is, assuming that the time transmitted from the integrated device to each simulation device is t = T ₀ + ΔT (156d), the time information at time t = T ₁ is added to the data 11 output to the simulation device 1, Time information of time t = T ₂ is added to the data 21 output to the simulation device 2, and the time is added to the data N1 output to the simulation device N.
If t = to impart time information T _N outputs (157e),
T ₁ (159a), T ₂ (159b) and T _N (159c) are represented by the following equations, respectively.

T ₁ = T ₀ + ΔT + α ₁ (Equation 19) T ₂ = T ₀ + ΔT + α ₂ (Equation 20) T _N = T ₀ + ΔT + α _N ... (Equation 21) where α ₁ (159d), α ₂ (159e), α _N (15
9f) represents the predicted transmission time from the integrated device to the simulation device 1, the simulation device 2, and the simulation device N, respectively.

FIG. 15 is a diagram showing a method of calculating prediction data.

The integrated device predicts future data by extrapolation using an interpolation formula when calculating training data such as pseudo position data input from each simulation device. For example, when the integrated processing unit inputs data from the simulator at equal intervals of width Δt, the time information given to the latest input data is time t = t ₆ (164f), and the value is x. Suppose it was ₆ (160f). For example, this data x ₆ and time t = t ₅ (164
From the data value x ₅ (160e) in e), time t =
When predicting future data x ₇ (161) at t ₇ (165), x ₇ = x ₆ + (x ₆ -x ₅ ) ・ (t ₇ -t ₅ ) / (t ₆ -t ₅ ). (Equation 22) Further, the number of past data used for improving the prediction accuracy can be increased as necessary to expand the calculation formula (Formula 16). For example, in order to calculate the data x ₇ (161), time t = t ₁ (164a), t ₂ (164b),
t ₃ (164c), t ₄ (164d), t ₅ (164e), t ₆
Data x ₁ (164a) in each of (164f),
x ₂ (164b), x ₃ (164c), x ₄ (164d), x ₅ (16
4e) and x ₆ (164f) are used, Lagrange
It can be obtained by the following equation using the interpolation equation of

X ₇ = {(t ₇ -t ₂ ) (t ₇ -t ₃ ) (t ₇ -t ₄ ) (t ₇ -t ₅ ) (t ₇ -t ₆ )} ÷ {(t ₁ -t ₂ ) (t ₁ -t ₃ ) (t ₁ -t ₄ ) (t ₁ -t ₅ ) (t ₁ -t ₆ )} × x ₁ + {(t ₇ -t ₁ ) (t ₇ -t ₃ ) (t ₇ -t ₄ ) (t ₇ -t ₅ ) (t ₇ -t ₆ )} ÷ {(t ₂ -t ₁ ) (t ₂ -t ₃ ) (t ₂ -t ₄ ) (t ₂ -t ₅ ) (t ₂ -t ₆ )} × x ₂ + {(t ₇ -t ₁ ) (t ₇ -t ₂ ) (t ₇ -t ₄ ) (t ₇ -t ₅ ) (t ₇ -t ₆ ) } ÷ {(t ₃ -t ₁ ) (t ₃ -t ₂ ) (t ₃ -t ₄ ) (t ₃ -t ₅ ) (t ₃ -t ₆ )} × x ₃ + {(t ₇ -t _{1 ) (t 7 -t 2) (} t 7 -t 3) (t 7 -t 5) (t 7 -t 6)} ÷ {(t 4 -t 1) (t 4 -t 2) (t 4 - t ₃ ) (t ₄ -t ₅ ) (t ₄ -t ₆ )} × x ₄ + {(t ₇ -t ₁ ) (t ₇ -t ₂ ) (t ₇ -t ₃ ) (t ₇ -t ₄ ) (t ₇ -t ₆ )} ÷ {(t ₅ -t ₁ ) (t ₅ -t ₂ ) (t ₅ -t ₃ ) (t ₅ -t ₄ ) (t ₁ -t ₆ )} × x ₅ + {(T ₇ -t ₁ ) (t ₇ -t ₂ ) (t ₇ -t ₃ ) (t ₇ -t ₄ ) (t ₇ -t ₅ )} ÷ {(t ₆ -t ₁ ) (t ₆ -t ₂ ) (t ₆ -t ₃ ) (t ₆ -t ₄ ) (t ₆ -t ₅ )} × x ₆ (Equation 23) FIG. 16 shows the time between the integrated device and each simulated device. It is a figure which shows the outline | summary of a synchronizing method.

The integrated device (10a) manages the reference time of the overall training device in the time processing unit, and the time processing unit is the time signal generator (170) and the processing device (1).
71) and a time synchronization signal generator (172).
The time signal generator (170) outputs a highly accurate time signal using a quartz clock or the like as a component. A processing device (171) is connected to the time signal generator (170),
When the time arbitrarily set by the processing device (171) is reached, an interrupt signal is generated from the time signal generation device (170) to the processing device (171). Subsequently, the processing device (171) instructs the time synchronization signal generation device (172) connected to the processing device to generate the time synchronization signal to be output to each simulation device (10b to 10d). In response to this, the time synchronization signal generator (172) receives the simulation devices (10b-10b).
The time synchronization signal is output to d). The output signal is, for example,
Outputs via a network connecting the integrated device and each simulation device.

Each of the simulation devices (10b to 10d) is a device for synchronizing the time, and includes a time synchronization signal receiving device (173a to 173c), a processing device (174a to 174c), and a time signal in the interface section. Generator (175a
~ 175c). Each simulation device (10b-1
0d), the time synchronization signal receiving devices (173a to 173c) that receive the time synchronization signal are in an idle state in a waiting state, and when receiving the synchronization signal from the integrated device, an interrupt signal is sent to the processing devices (174a to 174c). Occur. The processing devices (174a to 174c) receive this signal and generate a time reset signal to the time signal generation devices (175a to 175c), and the time signal generation device initializes the time or corrects the time.

The time synchronization processing can be executed at any time,
For example, it can be executed before training and periodically during other training.

FIG. 17 shows a WAN in which a plurality of comprehensive training devices in which the respective simulation devices are connected by a LAN (narrow area network) are connected.
It is a figure which shows the example of the comprehensive training system integrated by (wide area network).

A plurality of simulation devices (181a to 181f, 181k to 18) are provided by the integrated devices (180b to 180e).
1p) to LAN (narrow area network) (182b-18)
2e) A plurality of integrated training devices integrated on the above is connected to a WAN (wide area network) (182a) via a connecting device (183a to 183d) on the LAN of each integrated training device, and each integrated training device is connected. Training can be carried out in an integrated manner. WA
On the N (182a), the connecting device (183
a to 183d), a simulation device (181g to 1)
81j) and an integrated integrated device (180a) that executes integrated processing of all the simulation devices and the integrated training device. W
The integrated device (180a) on the AN performs prediction of future data, statistical processing, database management, etc.
Performs LAN network management. The operation of the integrated training device is similar to the integrated device in each integrated training device, and the data from the simulation device input to the integrated device is input from the integrated training device via the connecting device in this figure to the integrated training device. Corresponds to data.

[0058]

As described above, according to the present invention, the moving body simulating devices installed at remote locations can be integrated by the integrating device, so that a plurality of trainees need to gather at one training facility to carry out the training. Therefore, the travel time to the training facility and travel costs can be greatly reduced. Further, in the integrated device, the future data of the position data of the moving body or the like input from each simulation device is predicted, and the deterioration of the response due to the data communication between remote places is reduced. Can be secured. As a result, it is possible to perform a realistic training and significantly contribute to the improvement of the trainee's control technology and the like. In addition, since a plurality of comprehensive training devices can be organically combined and training between the comprehensive training devices can be performed, it is possible to flexibly respond to the target training scale, and a new design / manufacture of the training device for each training scale is possible. It is not necessary, and the cost of training device development can be reduced. Also, in order to simulate the weather, wind speed, etc. by processing the actual weather information from the artificial satellites,
It is possible to reduce the work time for creating the simulated environment by the maintenance worker's manual work.

[0059]

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a passenger plane comprehensive training apparatus as an example of a system of a comprehensive training apparatus.

FIG. 2 is a diagram showing a main configuration of a comprehensive training device.

FIG. 3 is a block diagram showing an example of a main configuration of an integrated device.

FIG. 4 is a block diagram showing an example of a main configuration of a simulation device.

FIG. 5 is a diagram showing an outline of a simulation device that can be simulated alone.

FIG. 6 is a schematic configuration diagram of a comprehensive training device having an information processing device for inputting information from an artificial satellite.

FIG. 7 is a diagram showing a processing example of the integrated device when the training is carried out by the comprehensive training device.

FIG. 8 is a diagram showing an example of a format of initial data of the simulation device and the integrated device.

FIG. 9 is a diagram showing an example of a format of training data output to the integrated device or each simulation device.

FIG. 10 is a diagram showing an example of a coordinate system in which the integration device integrates each simulation device.

FIG. 11 is a diagram showing how the integrated device integrates mutual relationships among the respective simulation devices.

FIG. 12 is a display processing flow of data input by the simulator.
FIG.

FIG. 13 is a diagram showing a processing flow for synchronizing the respective data when reproducing the audio data and the video data in the simulator.

FIG. 14 is a diagram showing an outline in which the integrated device outputs future prediction data to each simulation device.

FIG. 15 is a diagram showing a method of calculating prediction data.

FIG. 16 is a diagram showing an outline of a method of synchronizing time between the integrated device and each simulation device.

FIG. 17 is a diagram showing an example in which a plurality of comprehensive training devices in which the respective simulation devices are connected by a LAN are organically integrated by a WAN.

[Explanation of symbols]

10a ... Integrated device. 10b to 10e ... Simulated device. 11a
… Passenger plane simulator. 11b ... a towing vehicle simulator. 11c ...
Inducer simulator. 12a ... reference time. 12b ... Passenger plane simulation device time. 12c ... Passenger plane simulation device time. 12d ... time of the towing vehicle simulator. 12e ... Time of the simulator simulation device. Thirteen
… Training controller. 14a to 14d ... Trainees. 15a ... Tokyo. 15b ... Oita. 15c ... Osaka. 15d ... Sendai. 16
… Wide area network. 17 ... Display device. 18 ... Japan. Three
0 ... Network. 31a ... Integrated device output data. 31
b to 31d ... Simulation device input data. 32a ... Integrated device input data. 32b to 32d ... Simulation device output data. Four
0 ... Integrated processing unit. 40a-40q ... Data. 41 ... Communication processing unit. 42 ... Recording processing unit. 43 ... database. 44
… Playback section. 45 ... Input device. 46 ... Display device. 47 ... Time processing unit. 48 ... Output device. 49a ... Voice processing unit. 49
b ... Voice input / output device. 50a ... Voice input / output device. 50b
... display device. 50c ... Instrument simulator. 50d ... Pseudo control device. 50e ... Shaking device. 51a ... Voice processing unit. 51b
... Display processing unit. 51c ... Instrument information processing unit. 51d ... Input processing unit. 51e ... Shaking control unit. 52 ... Simulator part.
53 ... Interface unit. 54 ... Communication unit. 55a ... Digital voice data. 56 ... Trainee. 60 ... Comprehensive training device. 61 ... Simulated device. 62 ... Disconnecting the simulator. 63 ...
Demarcation line of the simulation device. 70 ... Information processing device. 71 ...
Receiver. 72 ... artificial satellite. 73 ... Weather information, etc. 74a
… Integrated device. 74b-74c ... Simulating device. 75 ... Network. 76a ... Integrated device output data. 76b to 76c
… Simulation device input data. 77a ... Integrated device input data.
77b to 77c ... Simulation device output data. 78 ... Information processing device input data. 79 ... Information processing device output data. 80
... Initial setting of data. 81 ... Time synchronization. 82 ... Judgment of acceptance of training start signal. 83 ... Integration of data. 84 ... Acceptance judgment of the training end signal. 85 ... Evaluation. 90 ... Individual data of the trainee. 90a ... Training data. 90b ... Simulated device ID.
90c ... Trainee ID. 90d ... Trainee name. 90e ... Date of birth. 90f ... Date of joining the company. 90g ... sex. 90h ...
Call sign. 90i ... Working country ID. 90j ... Work location I
D. 90k ... Working company ID. 90l ... Total driving time. 91
... data for communication management. 91a ... Training ID. 91b ... Number of simulated devices participating in training. 91c ... Simulated device ID 1.91d ... Simulated device node ID 1.91e ... Simulated device IDN. 91f
... simulated device node IDN. 91g ... Integrated device node I
D. 92 ... Training identification data. 92a ... Training ID. 92b
… Number of training participants. 92c ... Date of training implementation. 92d ... Training start time. 92e ... Number of simulated devices participating in training. 92f ... Trainer ID 1.92g ... Simulated device ID. 92h ... Trainee name 1.92i ... Trainee IDN. 92j ... Simulated device ID
N. 92k ... Trainee name N. 92l ... Number of instructors. 92m ...
Training controller ID. 92n ... Name of the training controller. 92o ... time interval for synchronization. 100 ... Training data. 100a ... Source. 100b ... destination. 100c ... time. 100d ... Group number. 100e ... Data start address. 100f,
100i ... Group length. 100g, 100j ... Group ID. 100h, 100k ... Category. 100l-10
0m ... data loop. 101 ... Category classification table. 10
1a ... Aircraft category ID. 101b ... helicopter
Category ID. 101c ... tow vehicle category ID. 101
d ... Inducer category ID. 101e ... Control tower category I
D. 102 ... Group classification table. 102a ... Simulation data ID. 102b ... Environmental data ID. 102
c ... Voice data ID. 102d ... Safety monitoring data ID.
102e ... Initial setting data ID. 102f ... Evaluation data ID. 102g ... Connection confirmation data ID. 110 ... Pseudo positional relationship on the coordinate system. 111 ... Guidance simulator. 112 ...
Airliner simulator. 113 ... Three-dimensional orthogonal coordinate system. 114a
… The length of the X axis. 114b ... Y-axis length. 114c ... Y-axis step size. 114d ... X-axis step size. 115a ... Pseudo position coordinates of guide member. 115b ... Pseudo position coordinates of the passenger plane. 1
16a-116b ... Trainees. 117a ... Pseudo position coordinate value of guide member. 117b ... Pseudo position coordinate values of the passenger aircraft. 11
8a ... X axis. 118b ... Y-axis. 118c ... Z axis. 119
... Z-axis length. 120 ... Training scenario. 121a ... A passenger plane simulation device. 121b ... an inducer simulator. 122a ... Trainee. 122b ... A display image of an inducer simulator. 123
a ... Display image of passenger plane simulator. 123b ... Trainee.
124 ... Integrated processing. 125a, 125c ... Pseudo position data
Ta. 125b, 125d ... Integrated pseudo position data. 126
a, 126b, 127a, 127b ... Data. 130a
... Category 1 judgment. 130b ... Category 2 judgment. 130
c ... Category 3 judgment. 130d ... Category 4 judgment. Thirteen
0e ... Category 5 judgment. 131a ... Passenger aircraft display processing. 1
31b ... Helicopter display processing. 131c ... Towing vehicle display processing. 131d ... Guide member display processing. 131e ... Control tower display processing. 132 ... Error processing. 133 ... Display processing. 14
0 ... Input of digital voice data. 141 ... Read out time information of voice data. 142 ... Input of training data. 14
3 ... Read out the time information of the training data. 144 ... voice data
Time comparison between training data and data. 145 ... Output of voice data. 146 ... Output of training data. 150 ... Processing block diagram. 151 ... Concept of processing. 152 ... Integrated processing. 153a
… Input processing. 153b ... Output processing. 154a ... Input data
Ta. 154b ... Output data. 154d ... A processing path when the integrated processing is not executed. 154e ... Switching of processing. 155a ~
155d ... Time axis. 156b ... Time T ₀ -Δt. 156c ...
Time T ₀ . 156d ... Time T ₀ + Δt. 157a ... Data 1
0.157b ... Data 20.157c ... Data N0.1
57d ... Received data at time T ₀ . 157e ... Time T ₀ + Δt
Transmission data. 158a ... Integrated processing. 158b ... Input data. 158c ... Output data. 159a ... Time T ₁ . 15
9b ... time T ₂ . 159c ... time T _3. 159d to 159f
… Expected transmission time. 160a ... time t ₁ of the de - data. 160b
… Data at time t ₂ . 160c ... time t ₃ of the de - data. 160
d ... time t ₄ of the de - data. 160e ... time t ₅ of the de - data. 16
0f ... de of time t ₆ - data. 161 ... Prediction data at time t ₇ .
163 ... Value of data. 164a to 164f ... Time. 16
5 ... time. 170 ... Time signal generator. 171 ... Processing device. 172 ... Time synchronization signal generator. 173a to 173
c ... Time synchronization new issue generator. 174a to 174c ... Processing devices. 175a to 175c ... Time signal generators. 176
… Time synchronization signal. 180a ... Comprehensive integrated device. 180b ~
180e ... Integrated device. 181a to 181p ... Simulating device.
182a ... WAN (wide area network). 182b-1
82e ... LAN (narrow area network). 183a-18
3d ... Connection device.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Takatoshi Kodaira 5-2-1 Omika-cho, Hitachi-shi, Ibaraki Hitachi Ltd. Omika factory

Claims (7)

[Claims] 1. A comprehensive training device having a plurality of mobile body simulators and an integrated device connected to each other via a network, wherein the mobile body simulator has a function of adding time information to data and transmitting the data. The integrated device includes a time processing unit that sets reference times for the integrated device and the mobile simulating device, a communication processing unit that inputs and outputs data to and from the mobile simulating device via the network, and the communication processing unit Based on the time information and the reference time by the time processing unit, future data is predicted by the transmission time to each simulation device, time information is added to the future data, and the integrated processing unit is given to the communication processing unit. An integrated training device characterized by having. 2. A comprehensive training device having a plurality of mobile body simulators and an integrated device connected to each other via a network, wherein the mobile body simulator has a function of adding time information to data and transmitting the data. The integrated device includes a time processing unit that sets a reference time for the integrated device and the mobile simulating device, a communication processing unit that inputs and outputs data to and from the mobile simulating device via the network, and the communication processing unit Based on the time information and the reference time by the time processing unit, future data is predicted by the transmission time to each simulation device, time information is added to the future data, and the integrated processing unit is given to the communication processing unit. And a display device that displays the future data of each of the simulation devices. 3. The integrated training device according to claim 1 or 2, wherein the integrated processing unit of the integrated device has a function of correcting data input from each simulation device at indefinite intervals to a fixed interval. Comprehensive training device characterized by having. 4. The integrated training apparatus according to claim 1, wherein the training information is connected to the network, the training condition is calculated based on information from an artificial satellite, and the training condition is output to the network. Comprehensive training device characterized by having a device. 5. The comprehensive training device according to claim 1 or 2, wherein the integrated device has a database for storing training data from each simulation device. . 6. The comprehensive training device according to claim 1 or 2, wherein the simulation device and the integration device digitize voice data and add time information to the digitized voice data. A comprehensive training device having means for synchronizing with video data during reproduction. 7. A comprehensive integrated device that connects a plurality of integrated training devices according to claim 1 or 2 through a wide area network and that controls a plurality of integrated training devices through the wide area network. Comprehensive training system characterized by.