KR102370321B1 - A method for training visual lean illusion based on spatial disorientation training system - Google Patents

Abstract

Provided is a visual sloping illusion training method using a spatial disorientation training system. The method comprises: a step of, by a computing device, generating a first reference cloud disposed from a first altitude to a second altitude in a simulation space according to an aircraft training system, and a sloping cloud disposed to be adjacent to the first reference cloud in an altitude direction and sloping at a predetermined first angle from the horizontal direction; and a step of transmitting an altitude change command toward the sloping cloud to a user of the aircraft training system in a state that a simulation target of the aircraft training system is positioned in the first reference cloud. According to the present invention aircraft accidents by human factors can be reduced.

Description

A METHOD FOR TRAINING VISUAL LEAN ILLUSION BASED ON SPATIAL DISORIENTATION TRAINING SYSTEM

The present invention relates to a flight training system, and more particularly, to a flight training system capable of providing training for spatial misalignment or misalignment based on a motion platform equipped with a turntable, and a method for training spatial misalignment accordingly. will be.

Simulation means implementing a function of a predetermined target by simulating or simulating it by using other means. For example, techniques for testing, analysis, and training exist as a method for implementing a model on the time axis, and simulation includes a real system, and the real or conceptual world may be represented by a model.

In this regard, simulators for air vehicles such as aircraft or helicopters have been developed at the forefront. Manned Flight Virtual Training Simulator is an equipment that provides a virtual environment and situation that can occur in a manned aircraft to provide trainees with training effects similar to the real one. For example, a simulator, such as a manned vehicle virtual training simulator, is configured to provide a simulator user with a motion similar to riding on a simulated object along with an audiovisual simulation. A motion platform such as, for example, a Stewart-platform may be used to provide a simulation of such a motion.

More specifically, the classification of the flight simulator can be variously classified according to the purpose of training, but according to the certification criteria of the flight simulator, FFS (Full Flight Simulator), FTD (Flight Training Devices), ATD (Advanced It can be classified as Aviation Training Devices, FAA regulations) or FNPT (Flight Navigation and Procedures Trainer, EASA regulations).

FFS (Full Flight Simulator) is a system that can faithfully reproduce the feeling of flight by means of cockpit instruments, visuals outside the window, and movement according to control input, as it is produced for the purpose of performing most of the training performed in real aircraft. is made with FFS should be simulated by accurately reflecting the cockpit and aerodynamic data of the actual aircraft, and it should be composed of a system that can analyze scenarios and training results for various and efficient training.

FTD (Flight Training Device) is composed of a system with no or limited movement according to the visual image or control input outside the window, and is mainly used to train some specialized skills such as instrument flight procedures. Because FTD focuses on flight learning procedures rather than faithful reproduction of flight, it is widely used in small flight schools that mainly train private airplane pilots.

In this regard, in particular, in an FFS-class flight training system, a motion system that controls the orientation and/or motion of a trainee's seat in order to reproduce a simulated object more similarly to a real situation, and a video display device and sound for realizing virtual reality An output device may be provided.

On the other hand, spatial disorientation (hereinafter, hereinafter, may be referred to as 'SD') or may experience an illusion of flight (Vertigo). This spatial dislocation or flight illusion can mean an illusion that occurs when various external phenomena are distortedly reflected in the pilot's sensory organs during flight, and the pilot can temporarily experience sensory illusions regardless of the pilot's health status. do.

It is required to train the trainee to experience the loss of spatial orientation or illusion of flight in advance and prepare for the actual situation by causing the loss of spatial orientation or illusion of flight to the user of the flight training system using the simulator.

Korean Patent Publication No. 10-2021-0064571 ("Training management system for virtual training system for loss of spatial orientation", Korea Electronics Technology Institute)

One object of the present invention for solving the above problems is to make the flight training system to include a motion platform having a turntable, and to effectively simulate a situation in which spatial orientation loss may occur to have a more realistic sense of space, thereby allowing the trainee to It is to provide a flight training system capable of performing training for the situational loss situation by experiencing and adapting in advance.

Another object of the present invention for solving the above problems is, based on the flight training system, for example, metastatic illusion, visual tilt illusion, motion tilt illusion, body rotation illusion, forward illusion, eye rotation illusion, vision An object of the present invention is to provide a method for performing spatial displacement training including at least one of self-movement of a chair.

However, the problem to be solved by the present invention is not limited thereto, and may be variously expanded without departing from the spirit and scope of the present invention.

A flight training system for spatial disorientation training according to an embodiment of the present invention for achieving the above object includes: a boarding unit having a cockpit device, an image display device and an audio output device; a motion platform disposed under the boarding part and configured to control at least one of a posture and movement of the boarding part; and a main control unit for controlling at least one of a cockpit device, an image display device, a sound output device, and a motion platform of the passenger; The motion platform, a plurality of actuators (Actuator); a plate whose motion is controlled by the plurality of actuators; and a turntable rotatable in a plane parallel to the plate, wherein the turntable is configured to exceed a control range for the plate according to the actuator in order to develop a spatial displacement loss for a user of the flight training system. It can be configured to control the heading angle (Yaw).

According to one aspect, the flight training system for the spatial misalignment training provides the user of the flight training system with a transitive illusion (Vection Illusion), a motion lean illusion (Motion Lean Illusion), a body rotational illusion (Somatogyral Illusion), an eyeball It may be configured to provide at least one of an Occulogyral Illusion, an Autokinesis Illusion, a Visual Lean Illusion, or an Coriolis Illusion.

According to one aspect, the turntable, in response to a determination that the simulation object of the flight training system is in flight, a predetermined speed or a predetermined and adapted to adapt the vestibular organ of the flight training system user to the continuous rotational state of the turntable by being controlled to rotate continuously with an acceleration, wherein the motion platform allows the ride to move through the simulating object despite rotation of the turntable. It can be driven by a conversion control command calculated based on the rotation angle of the turntable to maintain a simulation for the roll angle and the pitch angle of the turntable.

According to one aspect, the adaptation of the vestibular organ of the flight training system user may be that at least one semicircular canal of the three semicircular canals of the flight training system user adapts to the continuous rotational state of the turntable.

According to one aspect, the flight training system for the spatial misalignment training is configured to provide a transitive illusion to a user of the flight training system, and the main control unit, the image display device, the simulation target display at least one reference vehicle traveling at the same speed and in the same direction as the traveling direction of the simulation object at at least one position of the front, left, or right side of the ; The video display device, after a predetermined time has elapsed since the display of the one or more reference vehicles, at least one of the one or more reference vehicles advances at a faster speed by a predetermined value than the traveling speed of the simulation object, or the simulation display to proceed in a direction different from the moving direction of the object by a predetermined angle; and in response to determining that the user of the flight training system accelerates to exceed the prescribed speed in response to the progress of the reference vehicle, based on the video display device or the sound output device, the user of the flight training system exceeds the prescribed speed It may be configured to deliver alert information.

According to one aspect, the flight training system for spatial misalignment training is configured to provide a motion lean illusion to a user of the flight training system, and the main control unit is, the image display device or the sound cause at least one of the output devices to provide distraction information to a user of the flight training system; cause the motion platform to change the roll direction posture of the boarding part up to a predetermined angle at or below a predetermined angular velocity or angular acceleration; And in response to the determination that the roll direction attitude control command by the user of the flight training system is not input and the motion platform has changed the roll direction attitude to the predetermined angle based on the image display device or the sound output device and may be configured to deliver tilt generation warning information to a user of the flight training system.

According to an aspect, the predetermined angular velocity may be 0.07 deg/sec, the predetermined angular acceleration may be 2.5 deg/sec ² , and the predetermined angle may be 3 deg.

According to one aspect, the dispersion of attention information, the first dispersion flight of the first attention is displayed on at least one position of the front, left, right side of the simulation target through the image display device to fly along a preset flight path; At least one second dispersive vehicle of at least one second attention displayed so as to fly toward the replica object through a preset time interval from the front of the replica object through the image display device and fly past the rear surface of the replica object; And it may include at least one of a plurality of query delivery voice for the user of the flight training system that is output through the sound output device.

According to one aspect, the flight training system for spatial misalignment training is configured to provide a Somatogyral Illusion to a user of the flight training system, and the main control unit is to the turntable of the motion platform. cause the body to rotate at a constant velocity greater than or equal to a predetermined body rotation illusion threshold; and to provide a body rotation illusion to a user of the flight training system by changing the rotation speed of the turntable rotating at the constant speed, wherein the providing the body rotation illusion stops the constant speed rotation of the turntable generating the illusion of rotation in a direction opposite to the rotational direction of the turntable in the user of the flight training system by causing or reducing the rotational speed of the turntable with an acceleration above a predetermined deceleration threshold; creating the illusion of upward movement in the user of the flight training system by increasing the rotational speed of the turntable; and reducing the rotational speed of the turntable to create the illusion of a descending motion in the user of the flight training system.

According to one aspect, the flight training system for spatial misalignment training is configured to provide an Occurologyral Illusion to a user of the flight training system, and the main control unit is, the video display device and the motion reproduce the turning flight situation beyond a predetermined time interval based on the platform; In response to the determination that the turning flight has been performed in excess of the predetermined time interval, based on the image display device or the sound output device, an instrument panel gaze instruction command is transmitted to the user of the flight training system, and the user of the flight training system may cause the instrument panel to experience the illusion of moving in a direction opposite to the turning flight direction.

According to one aspect, the flight training system for spatial misalignment training is configured to provide a visual autokinesis illusion to a user of the flight training system, and the main control unit is based on the image display device. displaying a gaze point of a predetermined size and brightness on the front surface of the simulation object; Based on the image display device or the sound output device, a flight command is transmitted to the user of the flight training system to fly toward the gazing point over a predetermined time interval, and the gazing point is provided to the user of the flight training system. It may provide an illusion as if the gaze point is moving in a fixed state.

In the Visual Lean Illusion training method using the flight training system for spatial disorientation training according to another embodiment of the present invention for achieving the above object, the spatial displacement training for The flight training system includes: a boarding unit having a cockpit device, an image display device, and an audio output device; a motion platform disposed under the boarding part and configured to control at least one of a posture and movement of the boarding part; and a computing device for controlling at least one of a cockpit device, an image display device, a sound output device, and a motion platform of the passenger compartment, wherein the computing device configures the computing device at a first altitude in a simulation space according to the flight training system. generating a first reference cloud disposed to a second altitude from and an inclined cloud disposed adjacent to the first reference cloud in an elevation direction and inclined from the horizontal direction at a predetermined first angle; And it may include the step of transmitting an altitude change command toward the inclination cloud to the user of the flight training system in a state where the simulation target of the flight training system is located inside the first reference cloud.

According to one aspect, in the method, according to the altitude change command, the replication target is separated from the first reference cloud, the inclined cloud is displayed on the image display device, and the roll of the replication target is a horizontal state The method may further include transmitting tilt generation warning information to a user of the flight training system through at least one of the image display device or the sound output device in response to the determination that the vehicle deviated.

According to one aspect, the generating of the gradient cloud may further generate a second reference cloud disposed from a third altitude to a fourth altitude in the simulation space according to the flight training system.

According to one aspect, one end of the inclined cloud may be disposed adjacent to the first reference cloud, and the other end of the inclined cloud may be disposed adjacent to the second reference cloud.

According to one aspect, the second reference cloud is disposed at a higher altitude than the first reference cloud, the fourth altitude is set higher than the third altitude, and the third The altitude may be set to be close to the fourth altitude.

According to an aspect, the second elevation may be set higher than the first elevation, and the second elevation may be set to be closer to the first elevation along the moving direction of the simulation target.

According to one aspect, the step of transmitting the altitude change command toward the inclination cloud is to change the traveling direction by a predetermined angle from the traveling direction of the replication object so that the replication object has a roll direction inclination. transmitting a direction change command to a user of the flight training system; And it may include the step of transmitting an altitude change command toward the inclination cloud to the user of the flight training system in a state in which the change of the traveling direction is in progress.

According to one aspect, the simulation target deviates from the first reference cloud in a state with a roll direction inclination according to the progress direction change command, and the motion platform is controlled by the computing device so that the boarding unit rolls The inclination cloud may be displayed on the image display device in a state inclined in the (Roll) direction.

According to one aspect, the predetermined angle from the traveling direction of the replication target of the traveling direction change command is the angle at which the roll direction inclination of the replication target according to the traveling direction change command is inclined with respect to the horizontal direction of the inclination cloud may be set to be different from

According to one aspect, the inclined cloud may be formed to have an inclination of 15 degrees or less from the horizontal direction.

In the omnidirectional illusion (Coriolis Illusion) training method using the flight training system for spatial disorientation training according to another embodiment of the present invention for achieving the above object, the flight for the spatial disorientation training The training system includes: a boarding unit having a cockpit device, an image display device, and an audio output device; a motion platform disposed under the boarding unit and configured to control at least one of posture and movement of the boarding unit; and a computing device for controlling at least one of a cockpit device, an image display device, a sound output device, and a motion platform of the boarding unit, wherein the computing device includes: separately from the control for simulating, controlling the motion platform to continuously rotate the ride in a predetermined direction at a predetermined speed or with a predetermined acceleration; And by using the image display device or the sound output device, the user of the flight training system comprising the step of transmitting a direction change command for causing the user to change the direction of the user's head at a speed greater than or equal to a predetermined speed can

According to one aspect, the motion platform, a plurality of actuators (Actuator); a plate whose motion is controlled by the plurality of actuators; and a turntable rotatable in a plane parallel to the plate, and the controlling to rotate may be configured to control the riding unit to rotate by rotating the turntable.

According to one aspect, the command to change the direction of the hill is, through the image display device, from the front of the object to be simulated by flying toward the object at a preset speed or higher and flying over to the rear of the object to be simulated. may include displaying.

According to an aspect, the head direction change command may include transmitting voice information instructing to change the head to the user of the flight training system through the sound output device.

According to one aspect, the sound output device includes at least one of a left rear speaker disposed on the left rear side of the user's seat of the flight training system and a right rear speaker arranged on the right rear side of the user's seat, the head direction The switching command may include outputting a predetermined sound through at least one of the left rear speaker and the right rear speaker.

According to one aspect, prior to the step of controlling to rotate, further comprising the step of instructing a user of the flight training system to turn around, the step of controlling to rotate, the flight training system of the user and rotate the ride in response to a determination that a gyration flight of the simulation object is being simulated under control.

According to one aspect, by changing the direction of the user's head through the command to change the direction of the hill, the semi-circular canal stimulated according to the rotation of the boarding part among the three semi-circular canals of the user can be changed.

According to one aspect, the motion platform converts calculated based on the rotation angle of the turntable so that the boarding unit maintains the simulation for the roll angle and the pitch angle of the copy object despite the rotation of the turntable. It can be driven by a control command.

According to one aspect, further comprising the step of simulating the spin situation of the target to be simulated, wherein the simulating the spin situation includes: displaying a rotational view image according to the spin situation of the copy target through the image display device; And it may be configured to rotate the boarding unit according to the spin situation of the copy target through the turntable.

According to an aspect, the rotation amount of the boarding part through the turntable during a predetermined time period may be set to be greater than the rotation amount of the view rotation image during the predetermined time period.

The disclosed technology may have the following effects. However, this does not mean that a specific embodiment should include all of the following effects or only the following effects, so the scope of the disclosed technology should not be understood as being limited thereby.

According to the flight training system for spatial misalignment training according to an embodiment of the present invention described above, the flight training system includes a motion platform having a turntable, and a situation in which spatial misalignment may occur has a more realistic feel. It is possible to make the trainee perform training for spatial stereotactic loss by effectively simulating the

In addition, based on such a flight training system, for example, spatial orientation including at least one of transitive illusion, visual tilt illusion, motion tilt illusion, body rotation illusion, forward illusion, eye rotation illusion, and self-movement of vision Loss training can be provided.

Therefore, in addition to case analysis-oriented research and education based on the pilot survey results in relation to the conventional spatial orientation loss, the trainee can directly experience the spatial orientation loss and perform training to overcome it, and accordingly It can significantly reduce the incidence of aviation accidents caused by human factors such as spatial orientation loss, which has not been improved despite the development and development of safety systems.

1 is a block diagram showing an exemplary configuration of a flight training system for spatial misalignment training according to an embodiment of the present invention.
FIG. 2 is an exemplary implementation diagram of the flight training system of FIG. 1 ;
FIG. 3 shows the configuration of the motion platform of FIG. 1 .
4 shows driving specifications of an exemplary motion platform.
5 shows the structure of the vestibular system of the human body.
6 is an exemplary flowchart of transitive illusion training through a flight training system according to an embodiment of the present invention.
7 is an exemplary diagram of a reference vehicle display for a transitive illusion.
8 is an exemplary diagram of a reference vehicle progression for a transitive illusion.
9 is an exemplary flowchart of Motion Lean Illusion training through a flight training system according to an embodiment of the present invention.
10 is an exemplary diagram of an initial stage of training for motion tilt illusion.
11 is an exemplary diagram of a start point of inclination change for motion tilt illusion.
12 is an exemplary view of the completion time of tilt change for motion tilt illusion.
13 is an exemplary flowchart of Somatogyral Illusion training through the flight training system according to an embodiment of the present invention.
14 is an exemplary detailed flowchart of the step of generating an illusion of body rotation of FIG. 13 .
15 is an exemplary flowchart of Occulologyral Illusion training through a flight training system according to an embodiment of the present invention.
16 is an exemplary flowchart of visual self-movement (Autokinesis) illusion training through a flight training system according to an embodiment of the present invention.
17 is an exemplary diagram of the display of the gaze point related to the self-movement of the eye.
18 is an exemplary view at the time of start of landing on the runway.
19 is an exemplary view of a viewpoint approaching a runway.
20 is an exemplary flowchart of a Visual Lean Illusion training method using a flight training system according to an embodiment of the present invention.
21 is a detailed flowchart of an altitude change command transmission step of FIG. 20 .
22 is an exemplary diagram of a reference cloud position for a visual tilt illusion.
23 is an exemplary view for displaying a reference cloud departure and an inclined cloud.
24 is an exemplary diagram of a horizontal recovery state based on a gradient cloud.
25 is an exemplary diagram for generating upper and lower reference clouds and inclined clouds.
26 is an exemplary flowchart of a directional illusion (Coriolis Illusion) training method using a flight training system according to an embodiment of the present invention.
27 is an exemplary flowchart of simulating a spin situation according to omni-directional illusion training.
28 is an exemplary diagram of a state before spin start.
29 is an exemplary diagram of a first state of a spin state.
30 is an exemplary diagram of a second state of a spin situation.
31 is an exemplary diagram of a third state of a spin state.
Fig. 32 is an explanatory diagram of posture control according to the motion platform driving before the turntable rotation.
FIG. 33 is an explanatory diagram of posture control according to driving of the motion platform after the turntable is rotated in the motion platform of FIG. 32 .
34 is a diagram illustrating a control command conversion according to an embodiment of the present invention.
35 is a block diagram illustrating a configuration of a computing system capable of performing a training method according to an embodiment of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, in order to facilitate the overall understanding, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

loss of spatial orientation

As described above, in particular, in the FFS-class flight training system, a motion system that controls the orientation and/or motion of the trainee's seat in order to reproduce a simulated object more similar to a real situation, and a video display device for realizing virtual reality and a sound output device.

In relation to this, spatial disorientation (hereinafter referred to as spatial disorientation) is a condition in which the pilot of an aircraft cannot instantaneously grasp the attitude (inclination), position, direction, elevation, speed, etc. of himself or the aircraft he is controlling at a specific moment. , which may be referred to as 'SD'). This spatial dislocation is an illusion that occurs when various external phenomena are distortedly reflected in the pilot's sensory organs during flight. Spatial phase loss may collectively refer to illusions or optical illusions that occur during flight.

Although it is required to train the trainer to experience the loss of spatial orientation in advance and prepare for the actual situation by causing the user of the simulator to cause the loss of spatial orientation, the conventional flight training simulator uses a virtual reality flight to drive a vehicle and to operate in an emergency situation. Virtual training centered on response training content is only performed, and training for spatial misalignment is limited to case analysis-centered research based on pilot survey results. In relation to spatial orientation loss, studies on interfaces (HUDs, warning messages, etc.) for accident prevention and systems for determining spatial orientation loss based on aircraft status parameters have been conducted. For this purpose, research has been conducted on a method of predicting spatial orientation loss based on body signals and flight conditions (airplane tilt maintenance time, etc.). However, there is a need for a flight training system for spatial orientation loss and a spatial orientation loss training method using the same, which implements spatial orientation loss by applying it to a virtual training system and allows trainees to directly experience and overcome spatial orientation loss.

More specifically, aircraft are physically incomparable to those at the time when aircraft began to be produced in earnest due to continuous technology development and rapid development of safety systems, and education and management through systematic safety management techniques as well as aircraft performance. Although safety is guaranteed, the frequency of aircraft accidents due to human factors such as loss of spatial orientation of pilots is not decreasing.

In the recent situation in which aircraft are becoming larger, the damage caused by an aircraft accident is so great that it cannot be compared with any other means of transportation, so not only human loss, but also economic loss and social repercussions from the accident are likely to occur. can In fact, it has been reported that, in the US Air Force alone, 101 lives were lost, 65 aircraft were lost, and $2.32 billion in property damage was caused by SD from 1993 to 2013.

Spatial displacement that occurs to pilots during flight is an extremely natural phenomenon that occurs to anyone due to the physiological characteristics of the human body. Even in the same situation and surrounding environment, the difference in the degree of occurrence and coping ability is very different depending on the pilot's health or physical and mental state.

Therefore, in order to prevent spatial orientation loss, it is very important to identify a factor that causes spatial orientation loss and to prepare a plan to prevent possible aircraft accidents in advance.

In relation to aviation policy, from 2018, ICAO, FAA, and EASA international organizations have enacted legislation to renew licenses only when they must complete simulation training such as recovery of abnormal posture. training was added. Simulation training for civil aircraft such as light aircraft is also compulsory, but due to the lack of a simulation training base, it is being replaced by a written test.

The present invention is to solve the problems of the importance of spatial misalignment training and the lack of training environment as described above, and the flight training system according to an embodiment of the present invention calls the pilot for spatial disorientation. The turntable can be configured on top of the motion system included in the flight training system to apply a physical element that can cause it.

More specifically, in order to maximize the effect of spatial disorientation training, a turntable capable of performing 360-degree infinite rotation may be further added to a conventional, for example, 6-axis motion platform. Therefore, it is possible to overcome the limiting limitations of the motion platform and maintain the roll angle and pitch angle as control command values to reflect the state of the simulation target, while allowing the trainee to experience the loss of spatial orientation more realistically.

Example configuration of flight training system

1 is a block diagram showing an exemplary configuration of a flight training system for spatial misalignment training according to an embodiment of the present invention, and FIG. 2 is an exemplary implementation diagram of the flight training system of FIG. Hereinafter, an exemplary configuration of a flight training system according to an embodiment of the present invention will be described in more detail with reference to FIGS. 1 to 2 .

As shown in FIG. 1 , the flight training system for spatial misalignment training according to an embodiment of the present invention includes a boarding unit 200 , a motion platform 100 , a main control unit 300 , a utility 400 and Instructor's seat device 500 may be included.

Referring to FIG. 1 , the boarding unit 200 may include a cockpit device 210 , an image display device 220 , and a sound output device 230 .

The cockpit device 210 may be provided in the form of a simulated cockpit equipped with equipment necessary for a pilot, and may include a cockpit structure, an instrument panel, a cockpit, a chair, and the like. The cockpit device 210 may be provided in a form that simulates the cockpit of an aircraft, which is a simulation target of the flight training system. The cockpit of the aircraft to be simulated may be implemented in the same way as in reality, and at least a part of the cockpit system may be implemented, for example, through a touch screen capable of outputting an image.

The image display device 220 may provide a visual realism to the user of the flight training system by simulating and outputting the scenery outside the vehicle that can be witnessed inside the vehicle to be simulated by the flight training system. For example, the image display device 220 may be implemented as an image system, and may be configured as an image generating computer, a beam projector, and image generating software as a device for providing visual information to a training pilot. According to one aspect, the image display device 220 may be configured to provide a wide viewing angle by having a plurality of projectors and a curved screen, and to allow the trainee to experience a visual experience similar to boarding an actual flying vehicle. For example, the image display device 220 may include three projectors and one curved wide viewing angle screen, and each of the three projectors is configured to output image information to different parts of the curved wide viewing angle screen. can be The image information may be displayed appropriately on a curved screen by transferring the image information to the projector through a warping process, and may be displayed so that the boundaries of images displayed by three projectors match each other to be recognized as one screen.

The sound output device 230 may be configured to output a simulation sound according to the flight of the flight object to be simulated, such as, for example, an engine sound. The user of the flight training system has a similar sensation to boarding the flight object to be simulated by boarding the boarding unit 200 equipped with the cockpit device 210, the image display device 220 and the sound output device 230 in this way. can experience

Meanwhile, the video display device 220 may be configured to transmit information or commands from the flight training system to the trainer in the form of a visual message, and the sound output device 230 provides information from the flight training system in the form of a voice message. Or it may be configured to communicate the command to the trainee.

Referring back to FIG. 1 , the motion platform 100 may be, for example, disposed under the vehicle 200 and configured to control at least one of posture and movement of the vehicle 200 . The motion system is a device that allows the training pilot to feel the movement, and may be composed of, for example, a 6-axis motion platform, a turntable, a motion control device, a motion computer, and motion software. More specifically, the motion platform 100 may include a actuator 110 , a plate 120 , and a turntable 130 , which are described in more detail herein below with reference to FIG. 3 .

As shown in FIG. 1 , the main control unit 300 includes a cockpit device 210 , an image display device 220 , a sound output device 230 , a motion platform 100 , and a utility 400 of the boarding unit 200 . ) and may include a main control unit for controlling at least one of the instructor's seat device (500). The main control unit 300 may be implemented as a computer system, and may be configured as a HOST computer in which aircraft dynamics software is run, an instrument display computer, network equipment, and a KVM system. Meanwhile, for convenience of explanation, the main control unit 300 is exemplarily shown to control other components alone, but for example, each The components may have a computer or processor for their control. Hereinafter, the main control unit 300 of the present invention is a component for controlling such other components, and it should be understood that the main processor transmits/receives information and transmits commands. The main control unit 300 by controlling each component, it is possible to change and set the environment in the simulation space including the object to be simulated by the flight training system of the present invention. For example, by changing the weather in the simulation space, a precipitation or snowfall environment can be formed, and the degree of precipitation or snowfall can be controlled. In addition, it is possible to adjust the amount of light in the external simulated environment, such as day or night. Furthermore, it is possible to change the visibility state, for example to form fog, and implement other weather conditions such as thunder and lightning or wind.

Referring back to FIG. 1 , the flight training system according to an embodiment of the present invention may include an instructor's seat device 500 . The instructor's seat device 500 may be configured with an instructor's seat computer, an instructor's seat software, an instructor's seat console, and console components. Separately from the trainee through the flight training system, more efficient training of spatial displacement may be possible by having the instructor direct/supervise or control the training situation. The instructor's seat device 500 may be configured to control each component of the flight training system or scenario progression in response to an instructor's input.

Meanwhile, the utility 400 may refer to other components constituting the simulator. Utility 400 may include, for example, a power supply 410 , a power distribution device 420 , a communications device 430 , and a CCTV device 440 .

Above, an exemplary configuration of a flight training system according to an embodiment of the present invention has been described with reference to FIG. 1, but the configuration of the flight training system of the present invention is not limited to that shown in FIG. It should be understood that any combination of elements for implementation may also be included in the spirit of the present invention.

In this regard, FIG. 2 is an exemplary implementation diagram of the flight training system of FIG. 1 . The motion platform according to an aspect of the present invention may be classified as, for example, a Stewart platform, and for example, as shown in FIG. By simulating a movement, such as a change in position or posture of an object, and providing it to the user of the boarding unit 20, the user can experience the simulation more realistically.

Motion platform with turntable

3 shows the configuration of a motion platform according to an embodiment of the present invention. Hereinafter, a motion platform according to an embodiment of the present invention will be described in more detail with reference to FIG. 3 .

As shown in Figure 3, the motion platform (Motion-platform) 100 that may be provided in the flight training system according to an embodiment of the present invention, a plurality of actuators (Actuator) (110-1, 110-2) , 110-3, 110-4, 110-5, 110-6) and a plate 120 whose motion is controlled by a plurality of drivers. Such a motion platform, for example, may be classified as a Stewart-platform, but the motion platform according to embodiments of the present invention is not limited to the Stewart platform, and any control that controls the movement of the plate 120 It should be understood that the motion platform of can be applied to embodiments of the present invention.

In relation to this, the Stewart platform is a parallel exercise apparatus proposed by Stewart in 1965, and was proposed as a parallel exercise apparatus using six actuators connected in parallel to simulate the motion of an aircraft. Such an apparatus has been developed to more safely and effectively train a pilot who requires highly skilled piloting skills, such as an airplane or a helicopter, and the field of application to the simulator is being expanded.

With respect to the Stewart platform, kinematic analysis and control aspects can be considered. Kinematic analysis includes forward kinematics analysis, which calculates the shape of the platform based on information on the length of each actuator, and inverse kinematics analysis, which calculates the length of each actuator based on the shape of the platform. In order to obtain a solution of forward kinematics, iterative numerical analysis methods, analytical methods, and methods using an estimator may be included. As a numerical method, the Newton-Raphson method can be mainly used. As a method of using the estimator, a method using a Kalman filter algorithm and a method using a neural network may be considered.

Regarding the control of the Stewart platform, single input/output control and multi-variable control can be considered. Single input/output control is a method of designing a controller for each length of the actuator, and the controller configuration is simple and the control input calculation is simple. There is a difficulty in high-speed and precise control. In multivariate control, the control target is the 6-DOF displacement of the upper plate, not the length of each actuator. do. An action force sub-controller that requires force feedback of the actuator to obtain the 6-DOF motion displacement to be used as a control input through forward kinematics and generate the required driving force as an output is needed.

Referring back to FIG. 3 , the motion platform according to an aspect of the present invention includes a plurality of actuators 110-1, 110-2, 110-3, 110-4, 110-5, 110-6 and a plurality of actuators. and a plate 120 whose motion is controlled by the . That is, the position and / or angle of the plate 120 according to the length of each of the plurality of drivers (110-1, 110-2, 110-3, 110-4, 110-5, 110-6) is adjusted can be controlled. The motion platform can be configured to control movement in 6 degrees of freedom, including Roll, Pitch, Yaw and Surge, Sway and Heave.

On the other hand, as described above, the flight training system according to an embodiment of the present invention is a motion system included in the flight training system to apply a physical element that can cause spatial disorientation to the pilot. You can configure a turntable.

More specifically, in order to maximize the effect of spatial disorientation training, a turntable capable of performing 360-degree infinite rotation may be further added to a conventional, for example, 6-axis motion platform. Therefore, it is possible to overcome the limiting limitations of the motion platform and maintain the roll angle and pitch angle as control command values to reflect the state of the simulation target, while allowing the trainee to experience the loss of spatial orientation more realistically.

In relation to FIG. 3 , the motion platform according to an embodiment of the present invention may further include a turntable 130 rotatable in a plane parallel to the plate. Since the movement control of the plate based on the plurality of actuators 110-1, 110-2, 110-3, 110-4, 110-5, 110-6 may have a limitation in the movable range, the plate 120 By further providing the turntable 130 rotatable in a plane parallel to , the range of change of at least the heading angle Yaw with respect to an object disposed on the upper portion of the motion platform can be expanded indefinitely. According to one aspect, the turntable 130 may be disposed on the plate 120 . When the turntable 130 is disposed on the plate 120, the actuators 110-1, 110-2, 110-3, 110-4, 110-5, 110-6 of the motion platform 100 The control commands may be rotationally converted and are specifically described herein below.

4 shows driving specifications of an exemplary motion platform. As a motion platform according to embodiments of the present invention, for example, a motion platform having a specification as shown in FIG. 4 may be applied. For example, the motion platform is a 7-axis motion manufactured by Genstem Co., Ltd. (Z6-600-200), and a turntable may be applied to the upper plate of 6-axis motion, and the available load is 2 ton including the turntable structure. It may be a 6-axis Stewart platform type of actuator applying LS Industrial Systems' electric motor to Parker's eth80 cylinder with a stroke of up to 600mm. However, the motion platform related to the embodiments of the present invention is not limited thereto.

Here, the turntable 130 is the actuators 110-1, 110-2, 110-3, 110-4, 110-5, 110- to express spatial disorientation for the user of the flight training system. 6) may be configured to control the heading angle Yaw of the ride 200 beyond the control range for the plate.

Transformation control that reflects the turntable rotation of the motion platform

As mentioned above, the posture and/or movement of the boarding unit 200 of the flight training system according to an embodiment of the present invention may be controlled by the motion platform 100 . In this regard, the motion platform 100 may simulate the roll and/or pitch of the replica object of the flight training system such that the occupant of the vehicle 200 experiences the same roll and/or pitch as possible as the replica object. can control In relation to this, according to an embodiment of the present invention, the motion platform 100 may further include a turntable 130 to control the heading angle of the boarding unit 200 beyond the control range according to the control of the drivers. It is required to control the actuator in consideration of the rotation of

More specifically, the control of the motion platform according to an embodiment of the present invention, first, a plurality of actuators 110-1, 110-2, 110-3, 110-4, 110 to control the movement of the plate 120. -5 and 110-6), a control command for operating at least one of them may be generated. Thereafter, based on the rotation angle of the turntable 130 , the conversion control command may be generated by rotationally converting the control command. Here, the conversion control command may be configured to apply a change in the heading angle according to the rotation of the turntable to the riding unit 200 on the turntable while maintaining the roll angle and the pitch angle according to the control command. . Then, the movement of the plate may be controlled by actuating at least one of the actuators based on the transformation control command.

In this regard, referring again to FIG. 3 , in accordance with one aspect of the present invention, a motion platform is configured to control movement in six degrees of freedom relative to a plate 120 , wherein the turntable 130 includes a ride disposed over the plate. It may be configured to control the negative heading angle (Yaw). On the other hand, in the motion platform according to an embodiment of the present invention, the turntable 130 is generated based on a value for a heading angle of a simulating target of a boarding unit disposed on a plate and a value for a current heading angle of the motion platform. It may be configured to be rotated by a turntable control command.

에 대한 체감은 고전 제어에 따라 6축 모션의 상부 플레이트에 대한 high-pass wash-out filter 를 적용하여 각각 분리 구성할 수 있다. 따라서, 본 발명의 일 측면에 따르면 항공기 헤딩 각도 변화에 따라 상부 턴테이블이 회전하고 회전 각도를 기반으로 모션 시스템 제어기 구조가 변경될 수 있다. According to one aspect of the present invention, the rotation command of the turntable can be applied as a coordination channel angle and speed command using the difference between the aircraft heading value and the initial motion value, and the aircraft angular acceleration

According to the classical control, the high-pass wash-out filter for the upper plate of 6-axis motion can be applied separately to configure each. Accordingly, according to an aspect of the present invention, the upper turntable rotates according to a change in the aircraft heading angle, and the structure of the motion system controller may be changed based on the rotation angle.

More specifically, FIG. 32 is an explanatory diagram of posture control according to motion platform driving before turntable rotation, and FIG. 33 is an explanatory diagram illustrating posture control according to motion platform driving after turntable rotation in the motion platform of FIG. 32 . For example, as shown in FIG. 32 , the movement of the plate 12 may be controlled according to the operation of the actuator 11 in a state in which the turntable 13 is not rotated. Here, the control command may be to reproduce the pitch (Pitch) of the copy object 21 . On the other hand, as shown in FIG. 33 , the same control command is applied, but assuming that the turntable 13 is rotated 90 degrees clockwise, for example, to reproduce the pitch of the copy object 21 In spite of the control command, there may be a problem that the roll of the simulation target is reproduced in reality. Accordingly, when the turntable is implemented on the upper portion of the motion platform according to an aspect of the present invention, the converted control command may be generated by performing rotational transformation based on the rotational angle of the turntable 130 for the control command. According to the converted control command, while implementing a change in the heading angle (Yaw) of the target based on the turntable 130, the roll angle and the pitch angle may be maintained as values according to the existing control commands.

34 is a formula showing control command conversion according to an embodiment of the present invention. As described above, according to an embodiment of the present invention, the conversion control command may be generated by rotationally converting the control command in consideration of the rotation of the turntable. In the motion platform according to an embodiment of the present invention, unlike applying the motion platform on the turntable, the turntable may be applied to the upper plate of the motion platform. In this case, rotation transformation may be applied to all command values including the posture value based on the equation shown in FIG. 34 . By inputting the rotation result of the turntable to the algorithm of Classical Motion Control, the position of angle command (Angle_cmd), position command (Position_cmd), and CRP (Command Reference Position) can be converted into rotation.

34 , the term of the equation may be understood as follows.

Inducing vestibular confusion

5 shows the structure of the vestibular system of the human body. As shown in FIG. 5 , the vestibular system of the human body includes a semicircular canal 50 and a cochlea 60 . Here, the semicircular canal 50 is a form in which three ring-shaped tubes 51, 53, 55 are placed in a three-dimensionally vertical form, respectively, and is an auditory organ that senses rotation and acceleration of the body. Thanks to this shape, you can feel the acceleration in all directions in three-dimensional space. The inside of each semicircular canal is filled with lymphatic fluid and there are short cilia. When the body accelerates, the lymphatic fluid is initially at rest due to inertia, but only the semicircular canal moves first. At this time, at least one semicircular canal cilia is laid down in the same way as when lymph flows to one side. When the cilia are laid down in this way, an action potential is generated in the hair cells in which the cilia are planted, and the body's acceleration is sensed.

In the case of an aircraft that can be a target of the flight training system according to an embodiment of the present invention, since it proceeds at a very high speed in a certain direction, after a predetermined time has elapsed, the semicircular canal of the human body moves in the direction of travel of the vehicle. You will adapt to the movement and your body will feel a sense of calm. For example, the adaptation of the human body to movement in one direction is that at least one of the three semicircular canals 51 , 53 , 55 constituting the semicircular canal 50 as previously salvaged is adapted to movement in a predetermined direction. can

At least one of the spatial stereotactic loss items can be expressed more reliably in a state in which the human body is adapted to continuous movement in a predetermined direction as described above. However, since the conventional flight training system has a limitation in the displacement of the boarding unit 200, for example, the movement of the simulation target is limitedly simulated by controlling the acceleration or speed, such as applying a washout filter. Therefore, it was not possible to provide the user of the flight training system with the adaptation or confusion of the vestibular system according to the continuous movement in a predetermined direction.

The flight training system according to an embodiment of the present invention may further include a turntable 130 on the motion platform 100 as described above, and an unrestricted boarding unit 200 based on the rotation of the turntable 130 . It is possible to implement changing the heading angle of . In this regard, the flight training system according to an embodiment of the present invention may confuse the user's vestibular system by continuously rotating the turntable 130 in order to more effectively express the spatial misalignment.

According to one aspect, the turntable 130 of the motion platform 100 according to an embodiment of the present invention may be controlled to continuously rotate in a predetermined direction at a predetermined speed or with a predetermined acceleration. Thus, it is possible to adapt the vestibular organs of the flight training system user to the continuous rotational state of the turntable. That is, by applying rotation of a certain speed and/or acceleration to the vestibular organ in charge of equilibrium using a turntable, it is possible to feel an artificially created static equilibrium state rather than to feel an actual equilibrium state. The user of the flight training system adapts to the state in which the turntable is rotating and can recognize the state in which the turntable is rotating as an equilibrium state, and can be understood as a state of confusion of the vestibular system.

Here, the adaptation of the vestibular organs of the flight training system user may be that at least one semicircular canal of the flight training system user's three semicircular canals adapts to the continuous rotation state of the turntable. Among the semi-circular canals 51, 53, and 55 shown in FIG. 5, for example, the semi-circular canal 51 may be adapted to the rotational state of the turntable. However, the semicircular canal adapted according to the rotation of the turntable may be changed by changing at least one of various setting factors, such as the rotation direction of the turntable, the coupling relationship between the turntable and the boarding part, and the arrangement of the seat inside the boarding part.

On the other hand, according to one aspect, the rotation of the turntable for the confusion of the vestibular system may be performed in response to a determination that the simulation target of the flight training system is in flight. That is, when the simulation target of the flight training system is in flight, the turntable may be rotated to simulate the state in flight. In addition, according to one aspect, the rotation of the turntable for the confusion of the vestibular organ may be performed separately from the control for simulating the posture or movement of the object to be simulated. For example, a constant speed of the turntable for simulating a continuous flight state, regardless of whether there is a change in the posture of the simulated object, more specifically, for example, a change in heading angle (Yaw) when the simulated object of the flight training system is in flight. Alternatively, rotation with acceleration may be performed. In this case, the video display device of the flight training system may be configured so that the field of view displayed through the video display device does not rotate despite the rotation of the turntable.

On the other hand, the motion platform performs the conversion control command calculated based on the rotation angle of the turntable so that the boarding unit 200 maintains the simulation for the roll angle and the pitch angle of the copy object despite the rotation of the turntable. It can be driven as described above. In other words, even when the turntable is rotated to confuse the vestibular system, the control command for the driving unit of the motion platform is converted based on the degree of rotation of the turntable so that the user can feel the same simulation for the roll angle and pitch angle of the simulation target. can be controlled by

At least some of the plurality of items of spatial displacement training that can be performed through the flight training system according to an embodiment of the present invention reproduce the adaptation of the vestibular system to the continuous movement state through the rotation of the turntable as described above. By being performed together with the above, it is possible to more reliably cause the user of the flight training system to fall into the loss of spatial orientation. Hereinafter, each spatial stereotactic loss item will be described in more detail.

metastatic illusion

The transitive illusion can mean the illusion that I am not moving, but that I am moving due to the movement of surrounding objects. In order to implement this through the flight training system according to an embodiment of the present invention, a visually moving object is positioned through an image display device, and it is possible to confuse the vestibular system through a turntable to effectively immerse in the illusion.

In this regard, for example, in the automatic car washing equipment, even though the actual vehicle does not move, a phenomenon may be experienced in which the vehicle feels as if it has moved forward due to the rearward movement of the surrounding configuration. In the flight training system according to an embodiment of the present invention, when a predetermined object abruptly proceeds from front to rear through the image surrounding the user displayed through the image display device, an illusion such as the user's body progressing forward It is possible to manifest

According to one aspect of the present invention, for example, three airplanes (front, left, right) can be arranged on the image displayed through the image display device, and the simulation object and image moving according to the control of the user of the flight training system Physical calculation is performed, for example, by software driven through the main control unit so that the planes displayed in the . For example, if it is performed under the control of the instructor, if the instructor software running through the instructor's seat device sends a "start illusion" command to the main control unit, at least some of the three surrounding planes are physically calculated to further accelerate Through the display device, the planes can advance forward and away from the replica object at a faster speed, and the user of the flight training system can move forward even though the flight training system has progressed at the same speed, so that the aircraft that is the object of the simulation is pushed back. You can make the mistake of making the mistake of accelerating faster than the prescribed speed.

In this regard, FIG. 6 is an exemplary flowchart of transitive illusion training through the flight training system according to an embodiment of the present invention, and FIG. 7 is an exemplary diagram of a reference vehicle display for transitive illusion, and FIG. It is an exemplary diagram of the reference vehicle progression for the transitive illusion.

Flight training system for spatial misalignment training according to an embodiment of the present invention may be configured to provide a transitive illusion to a user of the flight training system. For transitive illusion training, for example, the main controller 300 of the flight training system according to an aspect of the present invention may control at least one or more components of the flight training system.

More specifically, as shown in Fig. 6, the main control unit 300 first, the image display device 220, the same speed as the moving direction of the simulation object in one or more positions of the front, left, or right side of the simulation object and one or more reference vehicles traveling together in the same direction (step 610). In relation, as shown in FIG. 7 , the image display device 200 includes at least one of a first reference vehicle 710 , a second reference vehicle 720 , and a third reference vehicle 730 of the flight training system. It may be displayed at one or more positions of the front, left, or right side of the replica object in the replica space. However, the number of displayed reference vehicles is not limited to three as illustrated by way of example in FIG. 7 , and any number of reference vehicles capable of implementing a transitive illusion may be displayed on the image display device 220 .

Referring back to Figure 6, the main control unit 300, the video display device 220, after a predetermined time has elapsed after the display of one or more reference vehicles at least one of the one or more reference vehicles is faster than the moving speed of the simulation target. It can be displayed to advance at a faster speed by a predetermined value or to proceed in a direction different from the traveling direction of the simulation object by a predetermined angle (step 620).

According to one aspect, the change in the speed or direction of travel of the reference vehicle may be initiated after a predetermined time has elapsed since the display of the reference vehicle by the provision of a training scenario according to the operation of the flight training system. Or it is started after a predetermined time has elapsed randomly through random number generation, or, according to one aspect, when the instructor’s seat device 500 is provided, the reference aircraft responds to the instructor’s input of a training start command through the instructor’s seat device movement may be initiated.

For example, as shown in FIG. 8 , the second reference vehicle 720 and the third reference vehicle 730 among the plurality of reference vehicles increase their traveling speed to see a scene such as moving forward compared to the replica object can be displayed At this time, the user of the flight training system may feel the illusion that the simulation object is moving toward the rear even though it continues at the prescribed speed, and may exceed the prescribed speed by additionally accelerating.

The movement of the reference vehicle is not limited to the form of increasing the traveling speed as shown in FIG. 8 , and a form in which at least one of the plurality of reference vehicles advances in a direction different from the traveling direction of the simulation target by a predetermined angle is also possible. For example, the second reference vehicle 720 may be configured to change direction in a direction to increase altitude, and the third reference vehicle 730 may be configured to change direction in a direction to decrease altitude. Such a change of direction may be implemented rapidly, and the user of the flight training system may be embarrassed about the situation and give a change to the control of the replicating object.

Referring back to FIG. 6 , the main control unit 300 provides, in response to determining that the user of the flight training system has accelerated to exceed the prescribed speed in response to the progress of the reference vehicle, warning information about exceeding the prescribed speed to the user of the flight training system. may be transmitted (step 630). That is, when a user who has experienced a transitive illusion changes the control of the simulation target, warning information including information that such a control change has occurred can be delivered to the user of the flight training system. Based on this information, the user recognizes that he or she has experienced a loss of spatial orientation, adapts to the situation by repeating training, and is able to avoid performing wrong control in the next training or actual flight situation.

According to one aspect, the prescribed speed exceeding warning information may be transmitted to the user of the flight training system based on the image display device 220 or the sound output device 230 . A warning message may be displayed through an image display device, and a warning voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device.

motion tilt illusion

Motion Lean Illusion may mean the illusion that the pilot feels that he is flying horizontally even though he has entered the inclined position when the incline occurs slowly without being felt by humans. In order to implement this through the flight training system according to an embodiment of the present invention, for example, a motion system and an image display device may be provided, and the angle change through the motion system is controlled to proceed slowly at a predetermined speed or less. skills are required

According to one aspect of the present invention, information for distracting attention can be delivered to the user through the flight training system, for example, during a conversation with an instructor while the user is flying while maintaining the level of the simulated object. And, for example, the instructor can forcefully control the angle of the plane through software. According to one aspect of the present invention, for example, when the rotation target in the roll direction is 5 degrees, the target rotation angle is input through the instructor's seat device, for example, the roll direction of the copying target in steps of 0.1 degrees every predetermined time. It can be controlled to change the slope. Considering that the semicircular canal of the human body does not recognize a change in the inclination angle of the velocity or acceleration below the threshold value, in an embodiment of the present invention by making the imitation object and the motion platform move at the velocity or acceleration below the threshold value It is possible to implement motion gradient illusion training through the flight training system. The user of the flight training system is paying attention to something other than the inclinometer on the instrument cluster (e.g., directing conversations with the instructor), and the angle changes with velocity or acceleration below the threshold value of the vestibular system, for example. After about 1 minute has elapsed, you may fall into the illusion of not recognizing that an inclination of, for example, about 5 degrees may already occur. Afterwards, for example, if information that the roll direction is already tilted is transmitted, the user of the flight training system may realize that he was not aware of it only then.

In this regard, Fig. 9 is an exemplary flowchart of Motion Lean Illusion training through a flight training system according to an embodiment of the present invention, and Fig. 10 is an exemplary diagram of an initial stage of training for motion lean illusion, 11 is an exemplary diagram of a start point of inclination change for a motion tilt illusion, and FIG. 12 is an exemplary view of a tilt change completion time for a motion tilt illusion.

As shown in FIG. 10 , in the initial stage of training for motion inclination illusion, the state of the plane to be simulated can be maintained horizontally. Accordingly, the image display device 220 displays the external landscape according to the horizontal flight, and the posture system 1010 also indicates the horizontal direction.

Subsequently, referring to FIG. 11 , a command to tilt in one direction may be executed so that the pilot does not recognize it at the start of the inclination change. When the end of the posture system 1010 is looked at, it can be recognized that the inclination is generated, but the inclination can be controlled to occur at a very fine speed. During the incline, for example, the instructor can have a conversation so that the pilot does not look at the attitude meter, and as shown in FIG. 11, for example, poor visibility or multiple clouds can be displayed You may. For example, you can control the slope to occur over 40 seconds so that it is tilted at 0.07 degrees per second.

Referring to FIG. 12 , for example, a state in which an inclination of 3 degrees has occurred may be displayed. The state in which the plane to be simulated is also being tilted in one direction is shown.

In this regard, the flight training system for spatial misalignment training according to an embodiment of the present invention may be configured to provide a motion lean illusion to a user of the flight training system. For motion gradient illusion training, for example, the main controller 300 of the flight training system according to an aspect of the present invention may control at least one or more components of the flight training system.

More specifically, as shown in FIG. 9 , the main controller 300 may first control at least one or more components of the flight training system to provide distraction information to a user of the flight training system (step 910 ).

The distraction information may be, for example, additional information provided to reduce the concentration on the inclination of the simulated object of the user of the flight training system, and the user of the flight training system, recognizing this, does not look at the instrument device and provides additional information can be made to respond to Attention dispersion information, for example, may be transmitted from the flight training system to the user through at least one of an image display device or a sound output device of the flight training system according to an embodiment of the present invention, but is not limited thereto.

According to an aspect of the present invention, the distraction information is displayed in at least one position of the front, left, and right sides of the simulation target of the flight training system according to an embodiment of the present invention through the image display device to display a preset flight path It may include a first main dispersed vehicle flying along the . For example, the dispersed vehicle of the first week may be configured to repeatedly change the position of the front, left, right or rear of the replica object according to a predetermined scenario, and at least one of a distance, a direction of travel, and a speed relative to the replica object. may be configured to be iteratively changed. Therefore, the user of the flight training system may be observing the movement of the flying vehicle with the first attention, and may not be able to pay attention to the inclination of the simulation object.

According to another aspect of the present invention, the distraction information is at least one or more second information displayed so as to fly toward the replica object through a preset time interval from the front of the replica object through the image display device and fly past the rear surface of the replica object. 2 may contain dispersed vehicles. The time interval of the approach of the plurality of secondary dispersed vehicles can be iteratively changed, so that the user of the flight training system is engrossed in whether the next approach of the secondary jetting vehicle is, and does not pay attention to the tilt of the replica object. may not be able to

In addition, according to one aspect of the present invention, the distraction information may include at least one of a plurality of voices for delivering a query to the user of the flight training system output through the sound output device. For example, when the instructor's seat device is provided, the flight training system according to an embodiment of the present invention provides voice information uttered by the instructor so that the instructor continues the conversation with the user of the flight training system to the user through the sound output device. can be configured to deliver. Alternatively, at least one or more of the voice query information on the pre-stored database may be delivered to the user through the sound output device through a predetermined time interval. According to another aspect, an artificial intelligence dialog model trained on the basis of a plurality of learning data to perform a conversation with the user may be provided to communicate with the user for a predetermined period or longer.

Referring back to FIG. 9 , the main control unit 300 may control the motion platform 100 to change the roll direction posture of the boarding unit 200 to a predetermined angle at or below a predetermined angular velocity or angular acceleration. There is (step 920).

On the other hand, unlike shown in FIG. 9 for convenience, the provision of the distraction information (step 910) and the control of the motion platform 100 (step 920) do not necessarily have a precedence relationship, and the provision of the distraction information and the Control of the motion platform may alternate with each other or with either of them temporarily suspended. For control below a predetermined angular velocity or angular acceleration, the motion platform according to an aspect of the present invention may be configured to enable low-speed gradient change control. In the motion platform according to an aspect of the present invention, each acceleration control range (for example, 2.5 deg/sec ² to 15 deg/sec ² ).

On the other hand, the target angle at which the motion platform 100 changes the roll direction posture in order to implement the illusion of motion inclination may also be determined according to the threshold value of the vestibular organ. In the actual flight situation of the aircraft, there have been reports of cases in which the pilot does not recognize the change in inclination of up to about 20 degrees. In the conventional conventional flight training system, the user of the flight training system can recognize the angle change even with a small angle change compared to the actual flight situation, but the flight training system according to an aspect of the present invention is provided with a turntable as described above and previously By continuously rotating at the determined speed or acceleration to confuse the vestibular system so that the user perceives the rotation state as an equilibrium state, it is possible to increase the limit angle of change of the roll direction inclination not recognized by the user compared to the case without a turntable. there is.

Referring again to FIG. 9 , the main control unit 300 may cause the motion platform to deliver tilt generation warning information to a user of the flight training system in response to determining that it has changed the roll direction posture by a predetermined angle ( step 930).

If the user of the flight training system does not recognize this despite the change in inclination of the motion platform, the roll direction attitude control command is not input by the user, so the roll direction attitude is up to an angle determined by the motion platform without a separate control change for the simulation target. will change Through this, the main control unit 300 can recognize whether a motion slope illusion situation has occurred, and provides the user with tilt generation warning information including information that the inclination of the simulation target and the motion platform has already changed, but does not recognize it. can be passed on to Here, the tilt generation warning information may be transmitted to a user of the flight training system based on the image display device 220 or the sound output device 230 . A warning message may be displayed through an image display device, and a warning voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device.

According to one aspect of the present invention, prior to delivering the inclination occurrence warning information to the user of the flight training system, the main control unit 300 controls the motion platform 100 to control the roll of the boarding unit 200 to which the motion platform 100 has changed to a predetermined angle. It can be controlled to change the orientation posture back to the horizontal state. The roll direction posture return from the predetermined angle to the horizontal state is an angular velocity faster than the predetermined angular velocity or angular acceleration faster than the predetermined angular acceleration that changed the roll direction posture from the horizontal state to the predetermined angle. It can be controlled to return. The user of the flight training system can recognize the change in the roll orientation according to the change in the roll orientation according to such a fast angular velocity or angular acceleration, and think that the roll orientation is out of the horizontal even though it is converted to a horizontal state. can be done According to one aspect, the step of allowing the main control unit 300 to transmit the slope generation warning information to the user of the flight training system (step 930), the user of the flight training system recognizes whether the slope occurs and the main control unit ( 300) to transmit information on whether or not an inclination has occurred, or in response to the user of the flight training system deviating from the horizontal direction by changing the roll direction angle of the simulated object by mistakenly mistaken the roll direction angle of the horizontal replica object for an inclination. It may also be configured to communicate occurrence alert information.

On the other hand, the critical angular velocity, the critical angular acceleration, and the final target value of the inclination change of the motion platform for performing the inclination change of the motion platform may be preset through the main controller 300 of the flight training system according to an embodiment of the present invention. . For example, the predetermined threshold angular velocity for angular change of the motion platform may be 0.07 deg/sec, and the predetermined threshold angular acceleration for angular change of the motion platform may be 2.5 deg/sec ² , and the motion platform wants to change The predetermined angle that is the target may be 3 deg, but is not limited thereto, and such a setting value may be set differently, for example, based on the training history of the user using the flight training system.

body rotation illusion

Somatogyral Illusion may refer to the illusion of giving a continuous heading angular direction (Yaw) rotation and then stopping the rotation to feel like turning in the opposite direction. Furthermore, when the rotational speed increases, an illusion of ascending may be felt, and when the rotational speed becomes slow, an illusion of descending may be felt. In order to implement this through the flight training system according to an embodiment of the present invention, a turntable may be provided on the motion platform, and turntable control software tailored to the training scenario may be required.

According to an aspect of the present invention, if the turntable is rotated at a constant speed above a threshold and then stops turning while decelerating, an illusion such as rotating in the opposite direction to the rotation direction may occur. The rotational speed or the acceleration to decelerate to stop the rotation may be predetermined. In relation to this, if rotation is stopped during constant speed rotation, the illusion of reverse rotation may be implemented, and by changing the rotation speed during rotation, an illusion such as ascending when accelerating, and an illusion of descending when decelerating can be implemented.

In this regard, FIG. 13 is an exemplary flowchart of Somatogyral Illusion training through the flight training system according to an embodiment of the present invention, and FIG. 14 is an exemplary detail of the step of generating a body rotation illusion of FIG. 13 It is a flow chart.

Flight training system for spatial misalignment training according to an embodiment of the present invention may be configured to provide a body rotational illusion (Somatogyral Illusion) to a user of the flight training system. For body rotation illusion training, for example, the main controller 300 of the flight training system according to an aspect of the present invention may control at least one or more components of the flight training system.

More specifically, as shown in FIG. 13 , the main control unit 300 may first control the turntable 130 of the motion platform 100 to rotate at a constant speed greater than or equal to a predetermined body rotation illusion threshold value ( step 1310). The body rotation illusion threshold value is a preset value and may be a value stored in the database of the flight training system according to an embodiment of the present invention, and according to one aspect, it is different for each user based on the user's conventional training result information may be decided.

Then, the main control unit 300 may cause the user of the flight training system to provide the illusion of body rotation by changing the rotation speed of the turntable 130 rotating at a constant speed (step 1320).

More specifically, referring to FIG. 14 , providing the illusion of body rotation to the user of the flight training system by stopping the constant rotation of the turntable or reducing the rotational speed of the turntable with an acceleration above a predetermined deceleration threshold and generating an illusion of rotation in a direction opposite to the rotation direction of the turntable (step 1321). That is, if the rotation of the turntable, which was rotating at a certain speed or more in a certain direction, is stopped, or the rotational speed of the turntable is reduced by more than a certain acceleration, the user of the flight training system may say that the turntable is not rotating or the speed has been reduced but still existing Even though you are rotating in the direction you were rotating, you may feel the illusion that you are rotating in the opposite direction to the direction in which you were rotating.

Referring again to FIG. 14 , providing the illusion of body rotation may include creating the illusion of upward movement in a user of the flight training system by increasing a rotational speed of the turntable (step 1323 ). That is, if the turntable rotates at a predetermined speed and then increases the rotating speed, the user of the flight training system may feel as if his or her body is rising. According to one aspect, the flight training system according to an embodiment of the present invention replaces or parallels the lift control of the plate 130 according to the control of the driving units 110 of the motion platform 100. By performing the control to increase from the rotation speed, the upward movement of the simulation object beyond the lifting limit of the motion platform is performed by the user of the flight training system, compared to performing the ascending control of the plate through the driving unit 110 without a turntable. can make you feel In addition, it is possible to make the user of the flight training system feel the sensation of the upward acceleration exceeding the limit acceleration of the ascending control through the driving unit 110 . According to one aspect, the flight training system provides the user with the movement of the simulation target by increasing the rotational speed of the turntable when a larger displacement rising situation occurs or a faster acceleration rising situation occurs in the simulation situation of the simulation target. can be configured to deliver.

Referring again to FIG. 14 , providing the illusion of body rotation may include generating the illusion of downward motion in a user of the flight training system by reducing a rotational speed of the turntable (step 1325 ). That is, if the turntable rotates at a predetermined speed and then decreases the rotating speed, the user of the flight training system may feel as if his or her body is descending. According to one aspect, the flight training system according to an embodiment of the present invention replaces or parallels the lowering control of the plate 130 according to the control of the driving units 110 of the motion platform 100. By performing the control to decrease from the rotational speed, compared to performing the lowering control of the plate through the driving unit 110 without a turntable, the lowering motion of the simulated object exceeding the lowering limit of the motion platform is performed by the user of the flight training system. can make you feel In addition, it is possible to make the user of the flight training system feel the sensation of the descending acceleration exceeding the limit acceleration of the descending control through the driving unit 110 . According to one aspect, the flight training system provides the user with the movement of the simulation object by reducing the rotational speed of the turntable when a descending situation of greater displacement occurs or a descending situation of faster acceleration occurs in the simulation situation of the simulation object. can be configured to deliver.

eye rotation illusion

Occurologyral Illusion can mean loss of spatial orientation, such as feeling the sensation of moving in the opposite direction when you stop turning and look at the instrument after continuous turning.

In this regard, FIG. 15 is an exemplary flowchart of Occurologyral Illusion training via the flight training system according to an embodiment of the present invention.

A flight training system for spatial misalignment training according to an embodiment of the present invention may be configured to provide an ocular rotational illusion to a user of the flight training system. For eye rotation illusion training, for example, the main controller 300 of the flight training system according to an aspect of the present invention may control at least one or more components of the flight training system.

More specifically, as shown in FIG. 15 , the main control unit 300 first, based on the video display device 220 and the motion platform 100, may reproduce the turning flight situation beyond a predetermined time period. (Step 1510). For example, the main control unit 300 may transmit a turning flight instruction command to the user of the flight training system based on the image display device or the sound output device, and the user of the flight training system responds to the turning flight instruction command to the cockpit In response to controlling the device 210, the image beacon device 220 and the motion platform 100 may be controlled to simulate a turning flight situation and be driven. According to another aspect, the flight training system may be configured to simulate a turning flight by automatic control of the main control unit 300, and each configuration of the flight training system may be controlled accordingly.

Referring back to FIG. 15 , the main control unit 300 may transmit an instrument panel gaze instruction command to the user of the flight training system in response to determining that the turning flight has been performed over a predetermined time interval. When the user of the flight training system watches the instrument panel according to the instrument panel notice instruction command, the user may experience the illusion that the instrument panel moves in the opposite direction to the preceding turning flight direction.

According to one aspect, the instrument panel gaze instruction command may be transmitted to the user of the flight training system based on the image display device 220 or the sound output device 230 . An instruction message may be displayed through an image display device, and an instruction voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device.

self-movement of sight

Autokinesis illusion of vision is, for example, when a distant dim light source is continuously stared at for a certain period of time or longer, the illusion is felt as if the light source is moving in a certain direction or in several directions even though there is no movement of the light source. can mean that

For example, during a night flight, a situation may arise in which it is necessary to perform a Visual Flight Rules (VFR). For example, there may be situations in which Instrument Flight Rules cannot be performed due to a malfunction of the instrument or the operation of a light aircraft or forest rescue helicopter without precision instrumentation. In particular, in VFR situations at night, it may be instructed to fly by connecting a reference point, for example a lighthouse on the shore. The pilot of the aircraft continuously looks at the light source for more than a predetermined time in order to fly the light source such as a lighthouse as a reference point, and the light source moves in a certain direction after continuous gaze You may experience the illusion of shaking in several directions.

According to one aspect, a predetermined light may be present in a flight situation and may be instructed to follow such light. In this case, it is highly probable that the pilot, in particular, will follow the lights without looking closely at the instrument. To the pilot, the horizon may or may not appear to be visible, creating confusion or optical illusions. Even though the pilot thinks that he is flying horizontally, in reality, the aircraft may move left and right, especially repeated ascending and descending at high altitudes. That is, when flying for a predetermined time or longer while watching a gaze point including at least one or more lights, a situation recognition error may be generated by the pilot. Concentrating on the light to perform the flight makes it difficult to control the airplane, and there may be problems with the attitude of the aircraft flowing left and right or the altitude change occurring.

In relation to this, Figure 16 is an exemplary flow chart of visual autokinesis illusion training through the flight training system according to an embodiment of the present invention, and Fig. am.

Flight training system for spatial misalignment training according to an embodiment of the present invention may be configured to provide a visual self-motion (Autokinesis) illusion to a user of the flight training system. For visual self-motion illusion training, for example, the main control unit 300 of the flight training system according to an aspect of the present invention may control at least one or more components of the flight training system.

More specifically, as shown in FIG. 16 , first, the main controller 300 may display a gaze point of a predetermined size and brightness on the front surface of the copy object based on the image display device 220 (step 1610 ). ). In relation to FIG. 17 , a gaze point 1710 having a predetermined size and brightness may be displayed on the external display area to be simulated of the image display device 220 . In addition, the external environment displayed on the video display device 220 may be a night environment, and the illuminance, light quantity and weather of the external environment are set based on a training scenario and/or a training level according to the training history of the user of the flight training system. may be The size and/or brightness of the gaze point 1710 may be configured to change over time. In addition, the number of the gaze points 1710 may be changed according to the training scenario, and the size, brightness, and color of the gaze points may be adjusted.

Referring back to FIG. 16 , the main controller 300 may transmit a flight command to the user of the flight training system to fly toward the gaze point in excess of a predetermined time interval (step 1620 ). Through this, it is possible to provide the user of the flight training system with the illusion that the gaze point moves even when the gaze point is fixed.

Here, the flight command may be transmitted to the user of the flight training system based on the image display device 220 or the sound output device 230 . A flight command message may be displayed through an image display device, and a flight command voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device.

Meanwhile, as described above, according to one aspect of the present invention, at least one of the number, color, size, illuminance and arrangement of the gazing point may be adjusted according to the training scenario, and according to one aspect, the training scenario is based on lighting at the time of landing on the runway. It may be self-exercise of the following vision or training to decrease judgment ability. In relation to this, FIG. 18 is an exemplary view of the runway landing start time, and FIG. 19 is an exemplary view of the runway proximity time. As shown in FIG. 18 , a plurality of lights on the runway exist at the start of landing on the runway, and the pilot flies while watching the lights on the runway. At least one more focus on one thing. In this regard, at the time of landing, it is particularly required to ensure that the airplane can land on the runway accurately without causing left and right displacement, and the elevation change must also maintain a predetermined descent angle, for example, 3 degrees. This avoids the problem of crashing into the tarmac or a lack of angle that makes it impossible to land within a given distance of the runway. That is, at the time of landing, particularly accurate left and right displacement control and altitude change angle control are required. However, as shown in FIGS. 18 and 19 , while watching at least one of the lights on the runway for a predetermined time or longer, the pilot actually thinks that he is flying horizontally, but in reality the aircraft moves left and right, especially the high-altitude ascending and descending repetition phenomenon. It can cause the same situational awareness error that occurs a lot. Concentrating on the light while flying makes it difficult to control the plane, and there may be problems with the attitude of the aircraft moving from side to side or altitude change.

According to one aspect of the present invention, the step of displaying the gaze point as described above with reference to FIG. 16 (step 1610) is a plurality of lights on the runway so that the situation recognition error situation due to the runway lighting can be trained in advance. may be configured to indicate as a gaze point, and transmitting the flight command (step 1620) may be configured to transmit a command to perform a procedure to land on the runway for a predetermined time. Accordingly, it is possible to provide the trainee of the flight training system to perform training on the occurrence of situational awareness errors in the landing procedure due to the runway lighting at night.

visual tilt illusion

Visual Lean Illusion is that the actual aircraft is level, but when you gaze at a reference target with an inclination, for example, an inclined cloud, you feel that your aircraft is tilted, and rather break the level and tilt the aircraft. It may mean the loss of spatial orientation of the same illusion.

In order to implement this through the flight training system according to an embodiment of the present invention, various gradient clouds and three-dimensional clouds of several layers are generated in the simulation space through the flight training system, and the simulation according to the control of the user of the flight training system Depending on the location of the target, it is possible to display an appropriate cloud among various clouds on the image display device, and to confuse the vestibular system through the turntable to effectively immerse in the illusion.

According to an aspect of the present invention, in the training of visual tilt illusion through the flight training system according to an embodiment of the present invention, the generation of a plurality of clouds in the simulation space may be involved. Generation of a plurality of clouds may be performed, for example, by the main control unit 300 , and a separate image generating device for cloud generation is performed directly by the main control unit 300 or according to an instruction of the main control unit 300 . It is possible to generate an image including a plurality of clouds.

According to an exemplary embodiment, in a situation in which an airplane to be simulated is flying, for example, at an altitude of 5 km, clouds may be generated, for example, at an altitude of 2 km and at an altitude of 7 km, respectively. That is, it is possible to form an upper cloud and a lower cloud. Here, since the upper cloud and the lower cloud may each have a thickness in the elevation direction, for example, the clouds may be formed so as to exist 1.5 to 2.5 km above and 7 to 8 km above. Instructs the user of the flight training system according to an embodiment of the present invention to penetrate the upper boundary of the lower cloud or the lower boundary of the upper cloud to enter the upper cloud or the lower cloud, It can be instructed to fly over a certain period of time, for example, 2-3 minutes. While the object to be simulated is flying inside the upper or lower cloud under the control of the user, an inclined cloud between the upper and lower clouds (for example, having an inclination of 15 degrees or less, for example 10 degrees or 3 degrees with respect to the horizontal direction) cloud), and the object to be simulated existed inside the upper or lower cloud, so the formation process of the oblique cloud may not be recognized. The user of the flight training system can be instructed to change the altitude to enter between the upper and lower clouds again. The user of the flight training system staring at the inclined cloud may mistake the simulation target as having an inclination in the roll direction and adjust the inclination in the roll direction of the simulation target, but in reality, the inclined cloud, not the simulation target, is tilted. It could be a photo. In other words, even though the plane, which is the actual simulation target, maintains a level state well and does not have a roll direction inclination, a user who gazes at a visually inclined reference object (for example, an inclined cloud) misunderstands the plane's horizontal inclination. It can make you experience the illusion of visual tilt that makes you do it. Here, according to one aspect, when the upper cloud and the lower cloud are present, both ends of the inclined cloud may be overlapped by the upper cloud and the lower cloud, respectively, compared with the case where either the upper cloud or the lower cloud is present This may make it less likely that users of the flight training system will perceive that a gradient cloud only has a gradient.

In this regard, FIG. 20 is an exemplary flowchart of a Visual Lean Illusion training method using a flight training system according to an embodiment of the present invention.

Flight training system for spatial misalignment training according to an embodiment of the present invention may be configured to provide a visual tilt illusion to a user of the flight training system. For visual tilt illusion training, for example, the main controller 300 of the flight training system according to an aspect of the present invention may control at least one or more components of the flight training system. According to one aspect, the flight training system includes a boarding unit 200 including a cockpit device, an image display device, and an audio output device, and a motion platform disposed under the boarding unit to control at least one of posture and movement of the boarding member ( 100), and the main control unit 300 may control at least one of a cockpit device, an image display device, a sound output device, and a motion platform of the passenger. The main control unit 300 may be implemented using, for example, a computing device.

More specifically, as shown in Figure 20, the main control unit 300 first, a first reference cloud disposed from a first altitude to a second altitude in the simulation space of the flight training system according to an embodiment of the present invention and , it is possible to generate an inclined cloud disposed adjacent to the first reference cloud in the elevation direction and inclined from the horizontal direction at a first predetermined angle (step 2010).

According to one aspect of the present invention, it is possible to create an inclined cloud with any one of an upper reference cloud and a lower reference cloud in the simulation space, which is a space in which the plane to be simulated according to the flight training system can move.

For example, the first reference cloud may be a lower reference cloud, and the lower reference cloud may be disposed from a first altitude to a second altitude. The inclined cloud may be formed to be inclined from the horizontal direction at a predetermined first angle (for example, 15 degrees or less, for example 10 degrees or 3 degrees), and one end of the lower reference cloud is in contact with the upper boundary surface. can Therefore, when the simulation target of the flight training system according to an embodiment of the present invention flies inside the lower reference cloud and breaks through the upper boundary surface of the lower reference cloud, the upper boundary surface of the inclined cloud connected to the upper boundary surface of the lower reference cloud is It can be displayed through the image display device of the boarding part.

Further, according to another aspect, the second reference cloud may be an upper reference cloud, and the upper reference cloud may be disposed from the first altitude to the second altitude. The inclined cloud may be formed to be inclined from the horizontal direction at a predetermined first angle (for example, 15 degrees or less, for example 10 degrees or 3 degrees), and one end to be in contact with the lower boundary surface of the upper reference cloud. can Therefore, when the simulation target of the flight training system according to an embodiment of the present invention flies inside the upper reference cloud and breaks through the lower boundary surface of the upper reference cloud, the lower boundary surface of the inclined cloud connected to the lower boundary surface of the upper reference cloud is It can be displayed through the image display device of the boarding part.

According to another embodiment of the present invention, the upper reference cloud and the lower reference cloud may be configured to be displayed together with the inclined cloud. In relation to this, FIG. 25 is an exemplary diagram for generating upper and lower reference clouds and inclined clouds.

25 , the gradient cloud generation step (step 2010) of FIG. 20 may be configured to further generate a second reference cloud disposed from a third altitude to a fourth altitude in the simulation space according to the flight training system. there is. More specifically, as shown in FIG. 25 , in the simulation space, for example, a lower reference cloud 2510 may be generated as a first reference cloud, and an upper reference cloud 2530 may be generated as a second reference cloud. . The oblique cloud 2520 may be disposed between the lower reference cloud 2510 and the upper reference cloud 2530 in the elevation direction.

According to one aspect, as shown in FIG. 25 , one end of the inclined cloud 2520 is disposed adjacent to the first reference cloud 2510 , and the other end of the inclined cloud 2520 is a second reference cloud 2530 . ) may be disposed adjacent to. Thus, for example, when the simulation target of the flight training system flies inside the first reference cloud 2510 and increases the altitude, the upper boundary surface 2511 of the first reference cloud 2510 and the upper portion of the inclined cloud 2520 The interface may be displayed through the video display device and shown to the user of the flight training system. Conversely, when the simulation target is allowed to descend from the altitude while flying inside the second reference cloud 2530, the lower boundary surface 2531 of the second reference cloud 2530 and the lower boundary surface of the inclined cloud 2520 are the image display device. can be displayed and shown to users of the flight training system. When the object to be simulated descends from the altitude while flying inside the second reference cloud 2530, the inclination of the inclination cloud with respect to the horizontal direction may be formed toward the opposite direction to that shown in FIG. 25 .

On the other hand, according to an embodiment of the present invention, the second reference cloud 2530 may be disposed at a higher altitude than the first reference cloud 2510, and the fourth altitude of the above-described second reference cloud is the third It may be set higher than the altitude 2531 , and the third altitude 2531 may be set to be closer to the fourth altitude along the moving direction of the simulation object.

In addition, the second altitude 2511 of the aforementioned first reference cloud may be set higher than the first altitude, and the second altitude 2511 along the moving direction of the simulation object may be set to be close to the first altitude. there is.

Accordingly, compared to the case where either the second elevation 2511 and/or the third elevation 2531 is set to the same elevation along the traveling direction of the simulation object, or the distance from the opposite interface of the reference cloud is set to be the same , the sky area in which the reference cloud is not shown can be displayed more widely on the image display device, and the oblique cloud 2520 in the sky area is more effective for the user of the flight training system according to an embodiment of the present invention. can be made to be expressed.

Referring back to FIG. 20 , the main control unit 300 provides the user of the flight training system with an altitude toward the oblique cloud in a state where the object to be simulated of the flight training system is located inside any one of the first reference cloud or the second reference cloud. It is possible to send a change command (step 2020). That is, for example, by transmitting an altitude change command to the user of the flight training system, the image display device can display the boundary surface of one side of the reference cloud and the inclined cloud together by causing the simulation target to deviate from the reference cloud.

Here, the altitude change command may be transmitted to the user of the flight training system based on, for example, the image display device 220 or the sound output device 230 . An altitude change instruction message may be displayed through an image display device, and a command voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device.

According to an embodiment of the present invention, the altitude change command is composed of a compound command, so that in a state where the inclination in the roll direction of the copying target is out of horizontal, the copying target deviates from the reference cloud so that the inclination cloud is displayed on the image display device. there is. In this regard, FIG. 21 is a detailed flowchart of the altitude change command transmission step of FIG. 20 .

As shown in FIG. 21 , the step (step 2020) of transmitting an altitude change command toward the inclination cloud according to an embodiment of the present invention is the moving direction of the replication object so that the replication object has a roll direction inclination. transmits a direction change command to the user of the flight training system (step 2021) to change the direction of travel by a predetermined angle from and send a change command (step 2023).

Here, the simulation target deviates from the first reference cloud or the second reference cloud in a state with a roll direction inclination according to the direction change command, and the motion platform 100 is controlled by the control of the main controller 300 It may be configured such that an inclined cloud is displayed on the image display device 220 in a state in which the boarding unit 200 is inclined in the Roll direction.

For example, if the moving direction is changed while the simulation target is in flight inside the reference cloud, the plane, which is the simulation target, is controlled to change the traveling direction and has a roll direction inclination corresponding to the degree of change in the traveling direction. As such, when the altitude is also increased in a state with a roll direction inclination, the reference cloud is deviated in a state with a roll direction inclination, and since an inclined cloud is displayed on the image display device in a state with a roll direction inclination, the progress direction When the change is finished and the roll direction slope is restored to maintain the horizontal direction, the probability of attempting to restore the horizontal direction based on the slope cloud increases. Therefore, it is possible to more effectively let the user of the flight training system fall into the illusion of a visual slope according to the slope cloud.

On the other hand, the predetermined angle from the traveling direction of the replication target of the traveling direction change command may be set so that the roll direction inclination of the replication target according to the traveling direction change command is different from the inclination angle of the inclination cloud with respect to the horizontal direction. . If the roll direction inclination generated due to the change in the direction of travel is the same as the inclination angle of the inclined cloud with respect to the horizontal direction, the user of the flight training system recognizes that the object to be simulated has a roll inclination in order to change the direction of travel. In this state, when observing an oblique cloud, it is already observed that the cloud is arranged in the same direction as the inclination of the object to be simulated. It may not be. Accordingly, the degree of the change in the traveling direction may be determined so that the inclination of the roll direction of the simulation target according to the change in the traveling direction and the inclination of the inclined cloud in the horizontal direction are different from each other.

Referring back to Figure 20, the main control unit 300, according to the altitude change command, the simulation target is deviating from the first reference cloud or the second reference cloud, the inclined cloud is displayed on the image display device, the copy target roll (Roll) In response to a determination that this level has been exceeded, it is possible to cause the user of the flight training system to deliver tilt occurrence warning information (step 2030). Here, the tilt generation warning information may be transmitted to the user of the flight training system based on the image display device 220 or the sound output device 230 . A warning message may be displayed through an image display device, and a warning voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device.

According to one aspect, when the altitude change command is a compound command, the main control unit 300 controls the roll direction slope of the simulation target after a predetermined time interval has elapsed since the simulation target deviated from the reference cloud and stopped changing the traveling direction. It may be configured to transmit tilt generation warning information in response to a determination that the horizontal state is out.

According to such slope occurrence warning information, the user of the flight training system can recognize the fact that he or she has fallen into the illusion of a visual slope due to the slope cloud, and as an effect of training, in the next training or actual flight, despite the slope cloud, visual It is possible to reduce the probability of falling into the oblique illusion.

22 to 24 show the state of the image display device 220 of the flight training system according to an embodiment of the present invention in an exemplary embodiment.

First, FIG. 22 is an exemplary diagram of a reference cloud position for a visual tilt illusion. As shown in FIG. 22 , the simulation target may be in a state of flying inside the reference cloud, and the state inside the reference cloud is displayed on the image display device 220 . 22 is a state that is rising inside the lower cloud according to an exemplary form of the present invention, and is instructed to change the direction of travel, for example, from the initial 180 degree direction to the 160 degree direction. may be in a state of The inclination of the simulation target may be displayed on the posture system 1010 .

23 is an exemplary view for displaying a reference cloud departure and an inclined cloud. As shown in FIG. 23 , for example, a state in which escape from the inside of the lower cloud is made to change the direction of travel in a 90-degree direction may be implemented. The image display device 220 may display the sky area and oblique clouds, and when the direction of travel is completed to 90 degrees, the boundary 2310 between the clouds and the sky is displayed to gaze at the external landscape rather than the instrument 1010 . can

24 is an exemplary diagram of a horizontal recovery state based on a gradient cloud. As shown in Figure 24, the user of the flight training system may try to recover the horizontal inclination of the simulation target, since the horizontal direction is restored based on the inclination cloud displayed on the image display device 220, the horizontal It can be restored to a state that is inclined at the angle of the inclined cloud rather than the inclination. In FIG. 24 , it is possible to recover the inclination in the roll direction of the copy object in a state inclined by about 5 degrees exemplarily.

As described above, it is possible to reproduce the visual inclination illusion by the inclination cloud, and the user of the flight training system according to an embodiment of the present invention can perform training for the visual inclination illusion, so that in the next training or actual flight situation, For example, even when a reference object having a predetermined inclination, such as an inclined cloud, is recognized in the field of view, the possibility of performing horizontal recovery using an instrument is increased without falling into the illusion of a visual inclination.

Forward illusion - vestibular adaptation

Coriolis Illusion may mean a spatial misalignment related to direction change. In this regard, based on the flight training system according to an embodiment of the present invention, for example, omni-directional illusion training related to the adaptation of the vestibular system is possible.

In one exemplary embodiment of the present invention, in a situation where visibility is poor with clouds, for example, a turn flight is performed at a normal turn rate (2 Min Turn), for example, an aircraft suddenly appears from the opposite side and is a simulation target of a flight training system If you direct a passing situation, the user of the flight training system according to an embodiment of the present invention may be surprised by this and suddenly turn his head to follow the aircraft and look at it. At this time, although the user's aircraft, which is actually the object of the simulation, does not change rapidly in either posture or movement, the user of the flight training system may be configured to feel a sudden change in the movement of the user's aircraft, which is the object of the simulation. This is because when one of the semicircular canals of the vestibular organ is adapted to the movement in a predetermined direction, when the direction of the head is changed abruptly, the orientation angle of the adapted semicircular canal is suddenly changed, and the other semicircular canals are moved in the predetermined direction described above. It can be attributed to any one of the sudden confrontation with the movement to

In order to implement this through the flight training system according to an embodiment of the present invention, for example, a hardware turntable may be provided, turntable control software according to a training scenario, and a control method of a motion platform having a turntable may be required. can

In this regard, although the plane flies at a very high speed during flight, the body in the plane can feel comfortable all of a sudden. The reason is that the airplane continuously travels at a predetermined speed, and the vestibular system of the body can adapt to this continuous movement. In such an adaptation situation, for example, if the head is suddenly lowered or raised within 0.5 seconds, that is, if there is a sudden head movement, even though the plane is actually moving in the same direction as previously examined without significant change, , you may get the feeling that the plane has taken a sudden hook in a certain direction. For example, if the plane is traveling forward only at a speed of 1000 km/h, for example, the semicircular canals of the body can feel only the forward force moving rapidly. Here, if the direction of the head is changed rapidly, it is possible to feel the other axis of the semicircular canal, for example, it is possible to receive a feeling as if the body moved rather than the head.

According to an aspect of the present invention, if the turntable is continuously rotated, for example, at a constant speed or a constant acceleration speed, it is possible to feel a continuous movement in a predetermined direction on one axis and move the head in a specific direction. For example, it is possible to realize that a specific aircraft suddenly passes by the simulation target in the video display device, so that the user of the flight training system can naturally raise their head up at a high speed. According to one aspect, for example, if the direction of the hill is suddenly changed to the upper left end, the change in the two axes of the semicircular canal is felt, so it is possible to effectively express the invertebrate illusion. Here, the turntable may be used to give the effect of constant velocity motion of the object to be simulated.

26 is an exemplary flowchart of a directional illusion (Coriolis Illusion) training method using a flight training system according to an embodiment of the present invention. Flight training system for spatial misalignment training according to an embodiment of the present invention may be configured to provide a forward-looking illusion to a user of the flight training system. For omni-directional illusion training, for example, the main controller 300 of the flight training system according to an aspect of the present invention may control at least one or more components of the flight training system. According to one aspect, the flight training system includes a boarding unit 200 including a cockpit device, an image display device, and an audio output device, and a motion platform disposed under the boarding unit to control at least one of posture and movement of the boarding member ( 100), and the main control unit 300 may control at least one of a cockpit device, an image display device, a sound output device, and a motion platform of the passenger. The main control unit 300 may be implemented using, for example, a computing device. According to one aspect, the motion platform 100 may include a plurality of actuators, a plate whose motion is controlled by the plurality of actuators, and a turntable rotatable in a plane parallel to the plate.

More specifically, as shown in FIG. 26 , the main control unit 300 may first, optionally, instruct a user of the flight training system to conduct a turning flight (step 2610). When the continuous rotation according to the predetermined speed or acceleration of the turntable is performed in a state where the flight training system simulates the turning flight of the simulation target, the rotation of the turntable can be performed more effectively and with less heterogeneity. The turning flight instruction may be transmitted to a user of the flight training system based on, for example, the image display device 220 or the sound output device 230 . A turning flight instruction message may be displayed through the video display device, and a turning flight instruction voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device. According to another aspect, the flight training system may be configured to simulate a turning flight by automatic control of the main control unit 300, and each configuration of the flight training system may be controlled accordingly.

Referring back to FIG. 26 , the main controller 300 may control the motion platform 100 to continuously rotate the boarding unit in a predetermined direction at a predetermined speed or a predetermined acceleration (step 2610 ). According to one aspect, such continuous rotation of the turntable may be performed separately from the control for simulating the posture or movement of the simulation target of the flight training system. Accordingly, in spite of the rotation of the turntable, the image output device 220 may output the scenery outside the image to be copied so that it does not rotate. According to one aspect, the rotation of the boarding part under the control of the main controller 300 may be configured to control the boarding part to rotate by rotating a turntable provided in the motion platform.

Here, according to one aspect, the control (step 2620) for the continuous rotation of the boarding part according to the control of the main controller 300 may be according to the procedure for confusion of the vestibular system as described above in this specification. For example, by continuous rotation of the turntable at a predetermined speed or acceleration, at least one of the semicircular canals of the user of the flight training system may be adapted to recognize the above-described rotational state of the turntable as an equilibrium state.

As mentioned above, according to one aspect, when the simulation target is instructed to perform a turning flight, the step of controlling the board to rotate (step 2610) is, the flight training system is controlled by the user or of the main control unit 300 . The automatic control may be configured to rotate the vehicle in response to a determination that it is simulating a turning flight of the simulation object.

On the other hand, according to one aspect, the motion platform responds to the conversion control command calculated based on the rotation angle of the turntable so that the boarding unit maintains the simulation for the roll angle and the pitch angle of the simulation target despite the rotation of the turntable. It may be driven by In this regard, according to one aspect, a procedure of transformation control reflecting the turntable rotation of the motion platform as described above in this specification may be applied.

Referring back to FIG. 26 , the main control unit 300 may transmit a hill direction change command for causing the user of the flight training system to change the direction of the user's hill at a speed greater than or equal to a predetermined speed (step 2630). According to one aspect, by changing the direction of the user's head of the flight training system through the command to change the direction of the head, the semicircular canal stimulated according to the rotation of the above-mentioned boarding part among the three semicircular canals of the user may be changed. For example, the semicircular canal that has been adapted to the continuous rotation of the turntable changes its orientation and abruptly becomes a state in which the movement according to the continuous rotation of the turntable is removed, and the other semicircular canals are in a state in which movement is applied according to the continuous rotation of the turntable, which did not exist can be

That is, the main control unit 300 may cause the user of the flight training system to change the direction of the head at an abrupt speed greater than or equal to a predetermined speed through the delivery of a predetermined command, and thus, the user of the flight training system may have an abrupt posture or Even if there is no change in movement, a sudden change of posture for the adapted semicircular canal can cause a loss of spatial orientation of the forward illusion, as if the simulated object of the flight training system undergoes a sudden change in posture or movement. .

According to an aspect of the present invention, the head direction change command may be transmitted to the user of the flight training system based on the image display device 220 or the sound output device 230 . A command message may be displayed through an image display device, and a command voice or a notification sound may be output through an audio output device. According to one aspect, the instructor's voice information may be configured to be output through the sound output device.

More specifically, the command to change the direction of the head according to an aspect of the present invention is to fly toward the replica object at a speed higher than a preset speed from the front of the replica object through the image display device 220 and fly past the rear of the replica object It may include displaying the vehicle for turning the hill. That is, when a predetermined aircraft flies from the front at a high speed on the image display device 220 and passes close to the object to be simulated, the user of the flight training system is startled by the sudden appearance of the aircraft and raises his head and the aircraft passes by It can be directed in the past. Alternatively, the head that was facing the front may be retracted and the direction of the head may be changed abruptly to the downward direction.

In addition, the head direction change command according to an aspect of the present invention may include transmitting voice information instructing to change the head to the user of the flight training system through the sound output device. The voice information may include, for example, emergency warning information such as "rear-rear collision warning", so that the user of the flight training system who recognized this voice information abruptly changes the head direction in a direction corresponding to the voice information can be done

Meanwhile, according to one aspect of the present invention, the sound output device 230 includes at least one of a left rear speaker disposed at the left rear of the user's seat of the flight training system and a right rear speaker disposed at the right rear of the user's seat can do. In this case, the head direction change command according to an aspect of the present invention may include outputting a predetermined sound through at least one of a left rear speaker and a right rear speaker. When a sound indicating urgency is output from the left rear or right rear speaker, the user of the flight training system surprised by this may change the direction of the head at a rapid speed toward the direction of the speaker where the sound is output.

According to the control of the main control unit 300 as described above, the user of the flight training system abruptly turns the head direction in a state in which the vestibular organ is adapted by the rotation of the turntable toward a predetermined direction, and You may experience a forward-looking illusion, such as a rapid movement of the simulated object, even if there is no rapid movement. Through realistic repetition training of repeated forward illusion, users of the flight training system can gradually adapt to forward illusion, improve coping ability in actual flight, and lower the risk of accidents caused by forward illusion.

Forward illusion - simulating spin due to stall

Coriolis Illusion may mean a spatial misalignment related to direction change. In relation to this, based on the flight training system according to an embodiment of the present invention, it is possible to simulate a spin situation due to stall and to train for spatial orientation loss accordingly.

According to one aspect of the present invention, by controlling at least one or more components of the flight training system, a spin situation due to the stall of the flight object that is the simulation object is given, for example, the heading angle of the simulation object (Yaw) using a turntable ) When the high-speed rotation of the axis occurs, the user of the flight training system pushes the yoke for recovery and kicks the rudder to the opposite side, and the spin of the aircraft to be simulated abruptly stops. It is possible to induce a situation in which the operation to stop is released. In other words, when the user of the flight training system who fell into a spin situation performed control to stop the spin in a high-speed rotation situation, the control was appropriate and the body remains in the previous high-speed spin state even though the spin has not been sufficiently stopped yet. Due to the adaptation, it is possible to experience the forward illusion of feeling a sense of rotation in the opposite direction to the previous spin, and to train for it.

In order to implement this through the flight training system according to an embodiment of the present invention, for example, a hardware turntable may be provided, turntable control software according to a training scenario, and a control method of a motion platform having a turntable may be required. can

According to one aspect of the present invention, based on the flight training system, it is possible to simulate an emergency situation, for example, a situation in which an airplane to be simulated is descending while rotating at a high speed. Through the flight training system, it is possible to control the board to rotate at the same speed as the plane to be simulated. A user of the flight training system may kick the rudder after, for example, about three turns, thereby slowing the rotational speed of the ride. Here, for example, when the rotation is stopped by kicking the rudder to a predetermined level or the rotational speed is reduced below a certain speed, by the flow of lymph in at least one of the semicircular canals among the semicircular canals, the operation of the rudder at a predetermined level is performed according to the continuous rotation Exceeding this required level, you may experience the illusion of manipulation. For example, even though the rudder is normally kicked, the rudder may be loosened because it is mistaken for excessive manipulation, and the flight object to be simulated may continue to rotate. Unlike the case of the omni-directional illusion training related to the adaptation of the vestibular system as previously salvaged, in the case of the omni-directional illusion training according to the spin situation simulation, the scenery outside the simulation target displayed on the image display device 220 is also rotated. that is required In relation to this, FIG. 28 is an exemplary diagram of a state before spin start, FIG. 29 is an exemplary diagram of a first state of a spin state, FIG. 30 is an exemplary diagram of a second state of a spin state, and FIG. 31 is a second state of a spin state It is an example diagram of 3 states. 28 to 31 , a rotating image may be displayed on the image display device 220 by simulating a scene in which the object to be copied descends while rotating at high speed in response to the rotation of the turntable.

Also, according to an aspect, the degree of rotation of the turntable according to a predetermined reference time and the degree of rotation of the image displayed on the image display device 220 may be configured to be different from each other. For example, the turntable may be controlled to rotate more than the degree of rotation displayed on the image display device 220 . That is, according to an embodiment of the present invention, the rotation amount of the boarding part through the turntable for a predetermined time period may be set to be greater than the rotation amount of the view rotation image during the predetermined time period. For example, in the video display device, while the screen rotates 360 degrees per minute, the turntable rotates, for example, 480 degrees, whereby more effective reproduction of realism may be possible.

In this regard, FIG. 27 is an exemplary flowchart of spin situation simulation according to omni-directional illusion training. The omni-directional illusion training method according to an aspect of the present invention may include the step of simulating the spin situation of the simulation target, and as shown in FIG. This may include displaying a view rotation image according to the spin situation (step 2710) and rotating the boarding unit according to the spin situation of the copy object through a turntable (step 2720). 27 shows the relationship between predetermined steps for convenience, the display of the view rotation image and the rotation of the boarding part may be performed at the same time or so that at least some viewpoints intersect.

According to the omni-directional illusion training method according to an embodiment of the present invention as described above, the user of the flight training system is capable of realistic training for the loss of spatial orientation due to the manipulation of the rudder in the spin situation according to the stall, It can strengthen the ability to respond in flight situations.

computing system

35 is a block diagram illustrating the configuration of an exemplary computing system that can be utilized as a device for performing a control function such as, for example, the main controller 300 of the flight training system according to an embodiment of the present invention. Referring to FIG. 35 , the computing system 800 may include a flash storage 810 , a processor 820 , a RAM 830 , an input/output device 840 , and a power supply device 850 . Also, the flash storage 810 may include a memory device 811 and a memory controller 812 . Meanwhile, although not shown in FIG. 8 , the computing system 800 may further include ports capable of communicating with a video card, a sound card, a memory card, a USB device, or the like, or communicating with other electronic devices. .

The computing system 800 may be implemented as a personal computer or as a portable electronic device such as a notebook computer, a mobile phone, a personal digital assistant (PDA), and a camera.

The processor 820 may perform certain calculations or tasks. According to an embodiment, the processor 820 may be a micro-processor or a central processing unit (CPU). The processor 820 includes a RAM 830, an input/output device 840, and a flash storage 810 through a bus 860 such as an address bus, a control bus, and a data bus. communication can be performed.

According to one embodiment, the processor 820 may also be coupled to an expansion bus, such as a Peripheral Component Interconnect (PCI) bus.

The RAM 830 may store data necessary for the operation of the computing system 800 . For example, any type of random access memory including DRAM (DRAM), mobile DRAM, SRAM (SRAM), PRAM (PRAM), FRAM (FRAM), MRAM (MRAM), RAM (RRAM) (830) can be used.

The input/output device 840 may include input means such as a keyboard, keypad, and mouse, and output means such as a printer and a display. The power supply 850 may supply an operating voltage necessary for the operation of the computing system 800 .

Meanwhile, the above-described control method according to the present invention may be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes any type of recording medium in which data that can be read by a computer system is stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage, and the like. In addition, the computer-readable recording medium may be distributed in computer systems connected through a computer communication network, and stored and executed as readable codes in a distributed manner.

Although described above with reference to the drawings and examples, it does not mean that the protection scope of the present invention is limited by the drawings or examples, and those skilled in the art will It will be understood that various modifications and variations of the present invention can be made without departing from the spirit and scope thereof.

Specifically, the described features may be implemented in digital electronic circuitry, or computer hardware, firmware, or combinations thereof. Aspects may be executed in a computer program product embodied in storage in a machine readable storage device, for example, for execution by a programmable processor. and features may be performed by a programmable processor executing a program of instructions for performing functions of the described embodiments by operating on input data and generating output. The described features include at least one programmable processor, at least one input device, and at least one output device coupled to receive data and instructions from, and transmit data and instructions to, a data storage system. can be executed in one or more computer programs that can be executed on a programmable system comprising A computer program includes a set of directives that can be used directly or indirectly in a computer to perform a particular action on a given result. A computer program is written in any form of programming language, including compiled or interpreted languages, and included as a module, element, subroutine, or other unit suitable for use in another computer environment, or as a standalone operable program. It can be used in any form.

Suitable processors for execution of a program of instructions include, for example, both general and special purpose microprocessors, and either a single processor or multiple processors of a different kind of computer. Storage devices suitable for implementing computer program instructions and data embodying the described features also include, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices, magnetic devices such as internal hard disks and removable disks. devices, magneto-optical disks and all forms of non-volatile memory including CD-ROM and DVD-ROM disks. The processor and memory may be integrated in or added by ASICs (application-specific integrated circuits).

Although the present invention described above has been described based on a series of functional blocks, it is not limited by the above-described embodiments and the accompanying drawings, and various substitutions, modifications and changes within the scope without departing from the technical spirit of the present invention It will be apparent to those of ordinary skill in the art to which the present invention pertains.

The combination of the above-described embodiments is not limited to the above-described embodiment, and various types of combinations may be provided as well as the above-described embodiments according to implementation and/or necessity.

In the foregoing embodiments, the methods are described on the basis of a flowchart as a series of steps or blocks, but the present invention is not limited to the order of the steps, and some steps may occur in a different order or at the same time as other steps as described above. there is. In addition, those of ordinary skill in the art will recognize that the steps shown in the flowchart are not exclusive, other steps may be included, or that one or more steps in the flowchart may be deleted without affecting the scope of the present invention. you will understand

The foregoing embodiments include examples of various aspects. It is not possible to describe every possible combination for representing the various aspects, but one of ordinary skill in the art will recognize that other combinations are possible. Accordingly, it is intended that the present invention cover all other substitutions, modifications and variations falling within the scope of the following claims.

Claims (10)

As a Visual Lean Illusion training method using a flight training system for spatial disorientation training,
The flight training system for the spatial misalignment training includes: a boarding unit having a cockpit device, an image display device, and an audio output device; a motion platform disposed under the boarding part and configured to control at least one of a posture and movement of the boarding part; and a computing device for controlling at least one of a cockpit device, an image display device, a sound output device, and a motion platform of the boarding unit,
The method includes:
a first reference cloud disposed from a first altitude to a second altitude in the simulation space according to the flight training system and an inclined cloud disposed adjacent to the first reference cloud in the elevation direction and inclined from the horizontal direction at a predetermined first angle creating a; and
Comprising the step of transmitting an altitude change command toward the inclination cloud to a user of the flight training system in a state where the simulation target of the flight training system is located inside the first reference cloud,
The step of transmitting an altitude change command toward the inclined cloud comprises:
Transmitting a moving direction change command to the user of the flight training system to change the moving direction by a predetermined angle from the moving direction of the replica object so that the replica object has a roll direction inclination; and
In a state in which the change of the direction of travel is in progress, the method comprising the step of transmitting an altitude change command toward the inclination cloud to a user of the flight training system using a flight training system for spatial misalignment training.
The method of claim 1,
In response to a determination that the simulation object deviates from the first reference cloud according to the altitude change command, the inclined cloud is displayed on the image display device, and the roll of the replication object is out of the horizontal state, the image A visual tilt illusion training method using a flight training system for spatial misalignment training, further comprising the step of transmitting tilt generation warning information to a user of the flight training system through at least one of a display device or the sound output device.
The method of claim 1,
The step of generating the gradient cloud comprises:
Visual oblique illusion training method using a flight training system for spatial destabilization training, further generating a second reference cloud disposed from a third altitude to a fourth altitude in the simulated space according to the flight training system.
4. The method of claim 3,
One end of the gradient cloud is disposed adjacent to the first reference cloud, and the other end of the gradient cloud is disposed adjacent to the second reference cloud, a visual tilt illusion using a flight training system for spatial dislocation training training method.
5. The method of claim 4,
the second reference cloud is disposed at a higher altitude than the first reference cloud,
The fourth altitude is set higher than the third altitude,
A visual tilt illusion training method using a flight training system for spatial stereotaxic training, wherein the third altitude is set to be close to the fourth altitude along the moving direction of the simulation object.
6. The method of claim 5,
the second altitude is set higher than the first altitude,
A visual tilt illusion training method using a flight training system for spatial stereotaxic training, wherein the second altitude is set to be close to the first altitude along the moving direction of the simulation object.
delete The method of claim 1,
The object to be simulated deviates from the first reference cloud in a state with a roll direction inclination according to the direction change command, and the motion platform is controlled by the computing device so that the boarding part moves in the Roll direction. A visual tilt illusion training method using a flight training system for spatial stereotaxic training, which is configured to display the tilt cloud on the image display device in a tilted state.
9. The method of claim 8,
The predetermined angle from the advancing direction of the copying target of the advancing direction change command is set to be different from the inclination angle of the inclination cloud with respect to the horizontal direction of the roll direction inclination of the copying target according to the advancing direction change command A visual tilt illusion training method using a flight training system for spatial stereotaxic training.
The method of claim 1,
The oblique cloud is
A visual tilt illusion training method using a flight training system for spatial displacement training, which is formed to have a slope of 15 degrees or less from the horizontal direction.

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