Flight parameter reproduction and simulation flight simulation state instant switching control method and system and medium

Abstract

The invention provides a flight parameter reproduction and simulated flight simulation state instant switching control method and system and a medium, and the method comprises the steps: carrying out flight reproduction driven by flight simulation data according to data recorded when a training person executes a simulated flight training task, obtaining control load data of the flight reproduction, and carrying out the simulation of the simulated flight training task; the method comprises the following steps: acquiring data of a control mechanism, comparing the data with standard control load data to obtain a deviation, performing reproduction channel arbitration according to the deviation, and switching to real-time operation data for reproduction, namely receiving real-time control data from a teacher to the control mechanism, replacing flight training data of a student as the real-time control data of the teacher, and outputting the real-time control data. And according to the real-time manipulation data of the teacher and the comparative representation of the flight process of the aircraft, through the dynamic synchronization of flight parameter reproduction and real-time switching of the simulated flight simulation state, the historical / real-time manipulation difference and the visual evaluation and commenting process are displayed in an overlapping manner, so that the timeliness and accuracy of flight simulation training teaching feedback and evaluation are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flight simulation, in particular to a flight parameter reproduction and simulation flight simulation state instant switching control method, system and medium. BACKGROUND

[0002] The flight simulation simulator uses a computer system, electromechanical equipment and special software to reproduce the motion characteristics, operating feeling, vision, hearing and instrument environment simulation system of the real aircraft in flight, mainly used for aircraft design verification and pilot training, providing flight simulation operation without actually entering the aircraft for flight control, simulating the scene, operation process, operation feedback and other perceptions when actually flying to provide the training personnel with the most realistic degree, realizing safe, efficient and low-cost flight training.

[0003] High-level flight training simulation systems typically include a cockpit system, a motion control system, a control load feedback system, a virtual scene system, and a flight computing control system. The cockpit system aims to adopt a cockpit layout consistent with the designed aircraft model, including control devices (joysticks, steering wheels, throttle pedals, and yaw pedals), instrument panels, switches, and buttons, etc. The motion control system is usually implemented by a multi-degree-of-freedom platform, typically a parallel six-degree-of-freedom Stewart motion platform or a seven-degree-of-freedom motion platform with an omnidirectional rotation degree of freedom. The cockpit system is fixed to the upper platform of the motion platform, and through platform motion control, high-degree-of-freedom motion transformation is achieved in the degrees of freedom of pitch, roll, yaw, up-down, left-right, forward-backward, and omnidirectional rotation, providing flight attitude change and acceleration sensory feedback to flight training personnel. The control load feedback system aims to simulate the actual human sensory feedback of flight control to flight personnel according to the state parameters of the training personnel controlling the aircraft. For example, by measuring the force, position, speed, and other control signals applied to the control stick or pedal by the training personnel through sensors, the corresponding channel servo motor driving signals are generated after calculation, the corresponding torque is generated by the corresponding channel servo motor, and the torque is transmitted to the steering wheel, control stick, pedal, and throttle through the connecting rod mechanism and further feedback to the control mechanism to the training personnel, thereby simulating the control feeling in real flight driving to achieve real simulation feedback of force feeling. The virtual scene system is a virtual flight scene world generated by a high-performance image computer and projected to a large screen outside the cockpit, including terrain, airport, weather, day-night change, light change, etc. The flight computing control system is the "brain" of the flight simulator, responsible for running the core flight dynamics model, aircraft system model (simulating hydraulic, electrical, fuel, avionics, flight control, landing gear on-board system), engine model, etc. and coordinating the synchronous operation of all subsystems. It should be understood that the core mathematical models such as flight dynamics model, flight dynamics model, and engine model provided by the flight data package are the core of the flight simulator, which are used to calculate the reaction and action of the aircraft in any state. The flight data package accurately corresponds to a specific aircraft model (Tail Number), ensuring that the simulator simulation is "which aircraft" and providing the only standard for qualification testing (QTG). Only after passing the QTG test, the simulator is recognized, and its training duration can be recorded in the flight personnel's recognized flight training and flight experience.

[0004] After entering the cockpit system, the trainee selects a training program, loads training content and scenarios, and then conducts simulation training using the controls (stick, steering wheel, accelerator pedal, and yaw pedal), instrument panel, switches, and buttons. Flight data (FDR data) is recorded via the flight data recorder, and flight parameter data (QAR data) is recorded via the flight parameter recorder. FDR and QAR data obtained from flight training simulation can be imported into a computer system (such as the instructor's host computer) and analyzed using flight simulation evaluation system software. For example, data alignment can be used to visualize the simulation process using two-dimensional tables / curves, or three-dimensional visualization analysis can be combined with aircraft attitude. The instructor then reviews the trainee's flight simulation control records, evaluating the effectiveness of their flight control and assessing the flight training results.

[0005] Existing flight reproduction and training effectiveness evaluation methods rely on two-dimensional or three-dimensional visualization of the FDR and QAR data themselves. This method uses real data contained in the flight data package and the instructor's experience to test and review training effectiveness. The real data serves as the standard answer, and each test case is accompanied by a data curve collected from actual aircraft test flights (i.e., time history data). The simulator runs each test case and compares the generated data curve with the standard answer. This benchmarking process is a test, and the deviations between the two must be within the tolerances specified by civil aviation regulations. During the testing and review process, deviations between the two rely on comparisons of two-dimensional or three-dimensional visualizations and oral evaluation by the instructor. This makes it difficult for trainees to intuitively perceive the aircraft's response and attitude due to the deviations, resulting in suboptimal review results. However, the method of having the trainee fly the flight simulator again, accompanied by an instructor for on-site review, is obviously difficult to implement and consumes scarce and limited flight simulator training resources. Summary of the Invention

[0006] In view of the technical problems existing in the prior art for flight reproduction and flight training effect evaluation in flight simulation training, according to the first aspect of the present invention, a method for controlling flight parameter reproduction and instant switching of simulated flight simulation states is proposed, comprising the following steps: Get the student flight training data package P, P={P1,P2,P3,P4,…,P i ,…,P n}, P i Indicates the i Flight training data at each moment, including QAR data at the i-th moment, i =1,2,3,…,n; The effective operation segments of the trainee flight training data packets are extracted through the sliding window algorithm, and the effective operation starting points are marked; Input the student flight training data package according to the default first reproduction channel, and reproduce the flight parameters according to the QAR data from the effective control starting point, and generate the flight state sequence and operation load data in time sequence; Compare the operating load data with the standard operating load data in time series to obtain the data at each moment. i Operational load deviation ΔF i , ΔF i = F ij – F ij_pref , F ij Indicates the i The moment j Operational load data for each channel, j =1,2,3,4; F ij_pref Indicates the i The moment j Standard operating load data for each channel; In response to | ΔF i | If the preset threshold is exceeded, the second recurrence channel is switched; Receive the instructor's real-time manipulation input data of the manipulation mechanism and ΔF Determine the time that is the same as the standard operation load data as the starting time; Starting from the starting time, within a preset period of time T, the instructor's control input data is input into the second reproduction channel for dynamic reproduction, and the flight state sequence and operation load data are generated in a time sequence; The flight state sequence and operation load data according to the first reproduction channel and the second reproduction channel are displayed synchronously and dynamically.

[0007] According to a second aspect of the present invention, a computer system is provided, comprising: one or more processors; A memory stores operable instructions, which, when executed by the one or more processors, enable the one or more processors to perform operations, including the operations of the flight parameter reproduction and simulated flight simulation state instant switching control method of the aforementioned embodiment.

[0008] According to a third aspect of the present application, there is also provided a computer-readable medium storing software comprising instructions executable by one or more computers, said instructions causing the one or more computers to perform operations comprising the operations of the flight parameter reproduction and simulation flight simulation state instant switching control method of the preceding embodiments when executed by the one or more computers.

[0009] The implementation of the flight parameter reproduction and simulation flight simulation state instant switching control method of the present application provides an innovative interactive way of flight training simulation and simulation training evaluation, which combines flight parameter reproduction, dynamic deviation analysis and real-time instructor takeover, realizes dynamic synchronization of student flight training and instructor takeover, and realizes visualization of training data deviation based on control load data analysis, superimposes historical / real-time operation differences, significantly improves the timeliness and accuracy of flight simulation training teaching feedback and evaluation, improves the efficiency and quality of flight simulation training, and is suitable for flight training tasks in multiple scenarios such as flight schools, airlines or pilot training.

[0010] The traditional flight training simulation review is a one-way review and evaluation method: the student first performs flight training on the flight simulation simulator, and then the instructor reviews or imports the flight data into the computer system for review through the data table, which is difficult to demonstrate the correct action in real time when the student makes mistakes / deviations. In view of this, the flight parameter reproduction and simulation flight simulation state instant switching control method proposed by the present application configures a double-channel reproduction path, which can be arbitrated based on system rules during the reproduction of student flight control. The instructor can take over the control stick, throttle and other control mechanisms, trigger the switch from student flight simulation virtual data-driven reproduction to instructor real-time operation data-driven reproduction, and synchronize and compare the parameter deviations of the two, and visualize the synchronization and comparison, so that the student can see how the flight operation leads to changes in the attitude and state of the aircraft, and when the instructor intervenes, the student can directly compare his own operation with the instructor's operation, quickly find the differences, improve the training effect, and improve the understanding of operation-state association, avoid the problem of low training efficiency caused by abstract data, and faster establish and improve flight operation logic.

[0011] It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below (provided such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter. Additionally, all combinations of claimed subject matter are contemplated as being part of the inventive subject matter.

[0012] The foregoing and other aspects, embodiments and features of the present teachings can be better understood from the following description of the present teachings taken in conjunction with the accompanying drawings. Other features of the present teachings, such as exemplary embodiments thereof, will be apparent from the following description of the present teachings, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are not intended to be drawn to scale. In the accompanying drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the present invention will now be described by way of example and with reference to the accompanying drawings.

[0014] Figure 1 It is a principle diagram of a method for controlling the instant switching of flight parameter reproduction and simulated flight simulation states according to an embodiment of the present invention.

[0015] Figure 2 The present invention is a flowchart of a method for controlling the instant switching of flight parameter reproduction and simulated flight simulation states according to an embodiment of the present invention.

[0016] Figure 3 It is a schematic diagram of the dynamic synchronous reproduction of the flight parameter reproduction and the instant switching control method of the simulated flight simulation state according to an embodiment of the present invention.

[0017] Figure 4 is a schematic diagram of a computer system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to better understand the technical content of the present invention, specific embodiments are given and described below with reference to the accompanying drawings.

[0019] Various aspects of the present invention are described in this disclosure with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. The embodiments of the present disclosure are not necessarily intended to include all aspects of the present invention. It should be understood that the various concepts and embodiments introduced above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed herein are not limited to any embodiment. In addition, some aspects of the present disclosure may be used alone or in any appropriate combination with other aspects disclosed herein.

[0020] {Example 1} Combine Figure 1 、 Figure 2As shown, the flight parameter reproduction and simulated flight simulation state instant switching control method according to an embodiment of the present invention is implemented in a flight training auxiliary teaching device equipped with a cockpit system, a control load feedback system, a virtual vision system, and a flight computing control system. The method performs flight simulation data-driven flight reproduction. Based on data recorded by trainees performing simulated flight training tasks, such as QAR data or FDR data (the compilation and decoding of FDR data requires additional processing), flight replicated control load data is obtained and compared with standard control load data to obtain a deviation. Reproduction channel arbitration is performed based on the deviation, and the system switches to real-time operation data for reproduction. Specifically, the method receives real-time control data of the control mechanism from the instructor, replaces the trainee's flight training data with the instructor's real-time control data, and compares the instructor's real-time control data with the aircraft's flight process. Based on the comparison of the instructor's real-time control data and the aircraft's flight process, the system dynamically synchronizes flight parameter reproduction with the instantaneous switching of simulated flight simulation states, overlays and displays historical / real-time control differences, and visualizes the assessment and commentary process, significantly improving the timeliness and accuracy of flight simulation training feedback and assessment.

[0021] In an embodiment of the present invention, flight parameter reproduction is set to be implemented based on an operational load system to provide feedback on the trainee's displacement of the main joystick, the opening of the accelerator pedal, the angle of the yaw pedal, etc. during training, and provide feedback on operational load data, which is manifested as the force of the real-time system driving the corresponding channel, which matches the force applied by the trainee, thereby reproducing the control process.

[0022] Combine Figure 1 、 2 As shown, the flight parameter reproduction and flight simulation state instant switching control method according to this embodiment includes the following processes: Get the student flight training data package P, P={P1,P2,P3,P4,…,P i ,…,P n}, i =1,2,3,…,n,P i Indicates the i Flight training data at each moment; The effective operation segments of the trainee flight training data packets are extracted through the sliding window algorithm, and the effective operation starting points are marked; Input the student flight training data package according to the default first reproduction channel, and reproduce the flight parameters according to the QAR data from the effective control starting point, and generate the flight state sequence and operation load data in time sequence; Compare the operating load data with the standard operating load data in time series to obtain the data at each moment. i Operational load deviation ΔF i , ΔF i = F ij – F ij_pref , F ij Indicates the i The moment j Operational load data for each channel, j =1,2,3,4; F ij_pref Indicates the i The moment j Standard operating load data for each channel; In response to | ΔF i | If the preset threshold is exceeded, the second recurrence channel is switched; Receive the instructor's real-time manipulation input data of the manipulation mechanism and ΔF Determine the time that is the same as the standard operation load data as the starting time; Starting from the starting time, within a preset period of time T, the instructor's control input data is input into the second reproduction channel for dynamic reproduction, and the flight state sequence and operation load data are generated in a time sequence; The flight state sequence and operation load data according to the first reproduction channel and the second reproduction channel are displayed synchronously and dynamically.

[0023] It should be understood that i The flight training data at each moment includes the QAR data at the i-th moment, such as the main joystick displacement (X1, Y1, Z1), where X1 is the lateral deflection (-10°~10°), Y1 is the longitudinal push and pull (-15°~15°), and Z1 is the rotation angle (-30°~30°); the accelerator pedal position T (0~100%); the yaw pedal displacement R (-20°~20°); the control wheel angle S (-90°~90°); the aircraft track angle θ (-15°~30°), the airspeed V (50~600km / h), the altitude H (0~12000m) and other core parameters, with a sampling frequency of f=100Hz.

[0024] As an optional embodiment, the extracting effective operation segments from the student flight training data packet by a sliding window algorithm and marking effective operation starting points includes: The flight training data of the trainees {P1, P2, P3, P4, ..., P i ,…,P n}, when any of the following conditions are met for three consecutive moments, it is marked as a valid operation starting point: |T i+1 - T i |≥ε 1 ; |R i+1 - R i |≥ ε 2 ; |S i+1 -S i |≥ ε 3 ;as well as |M i+1 -M i |≥ ε 4 ; Among them, T i+1 With T i Represents the accelerator pedal position at time i+1 and time i respectively; R i+1 With R i Represents the yaw pedal displacement at time i+1 and i, respectively, S i+1 With S i Represents the steering wheel angle at time i+1 and time i respectively; M i+1 With M i represent the displacement of the main joystick at time i+1 and time i respectively; ε 1 、 ε 2 、 ε 3 、 ε 4 They represent the minimum control thresholds of the accelerator pedal, yaw pedal, steering wheel and main joystick respectively.

[0025] Therefore, by traversing the student data through the sliding window, only when the control parameters (throttle T i , Yaw R i 、Steering wheel S i 、Main joystick M i ) is ≥ the corresponding threshold (ε1-ε4), it is marked as the starting point of a valid operation to eliminate noise data containing invalid actions caused by students accidentally touching the joystick or fluctuations in data collection.

[0026] In the embodiment of the present invention, a single false touch can be filtered out by determining three consecutive moments, and different channel thresholds can be used to filter the single false touch. ε 1 - ε 4 Adapt to the sensitivity of different control mechanisms, such as the minimum effective throttle opening ε 1 =2%, minimum deflection of the main joystick ε 4 =0.5°.

[0027] The flight training data after noise preprocessing only retains meaningful maneuver actions, providing a basis for subsequent reproduction accuracy and deviation calculation.

[0028] As an optional implementation, the student flight training data packet is input according to the default first reproduction channel, and the flight parameter reproduction is performed according to the QAR data from the effective maneuver starting point, and the flight state sequence and operation load data are generated in time sequence, including: receiving the student flight training data packet input by the first reproduction channel; extracting the aircraft state parameters and flight control parameters from the QAR data of each time point i from the effective maneuver starting point; inputting the aircraft state parameters into the flight calculation control system for calculation, and generating the flight state sequence in time sequence through the virtual visual system; obtaining the control load data of the corresponding channel according to the control load driving force of the pitch channel, roll channel, yaw channel and throttle channel generated by the student's manipulation of the main control stick, steering wheel, yaw pedal and throttle pedal according to the flight control parameters.

[0029] It should be understood that, compared with the traditional flight state deviation (such as height difference, speed difference) based evaluation, in the embodiments of the present application, the flight training effect is evaluated by comparing and deviation of the control load, which can overcome the influence of the flight state deviation which may be affected by environmental factors and cannot be directly attributed to the student's operation, while the operation load data is the direct physical feedback of the student's manipulation action (such as the force of pushing the control stick, the driving force of the servo motor corresponding to the opening of the throttle pedal, etc.), which directly reflects the student's manipulation accuracy and precision. For example, when the student lands, the throttle control deviation is evaluated by the operation load deviation ΔF=15%, which is more accurate than the speed deviation of 8km / h in positioning the problem of the student's throttle control strength, directly reflecting the difference between the student's manipulation action and the standard action, which is the "cause" of the change of flight state, consistent with the causal logic of "manipulation action → force feedback → state change" in flight teaching, and the evaluation dimension is more scientific. While the traditional evaluation based on state data deviation is the difference between the student's flight state and the standard state, which is the "result" of the manipulation action, and needs to be deduced inversely to be related to the specific manipulation action, and the flight state deviation (such as a height of 50 meters) may be caused by "student's improper manipulation", or indirectly caused by environmental disturbances (such as sudden airflow) in the virtual visual system, physical model errors of the simulator, etc., and it is difficult to realize the positioning and cause analysis of the deviation.

[0030] In the embodiments of the present application, the control load data (F ijbe regarded as the "physical mirror" of the trainee's simulated flight control behavior, and intuitively reflect the trainee's operation actions and processes in the training scene, for example: If ΔF i (the throttle channel) = 20%, directly indicating that the trainee's throttle force is 20% greater than the standard value, without the need to deduce in reverse that "is the throttle or the control stick causing the speed anomaly" through the speed difference AV = 8 km / h; If ΔF i (the yaw channel) = 12%, which can directly lock the trainee's insufficient yaw pedal force, rather than only seeing a 5° heading deviation and being unable to determine whether it is the yaw pedal or the control stick.

[0031] Thus, the method of the present application can solve the problem of "ambiguous deviation attribution" in traditional evaluation, directly locate "control action errors", avoid reverse deduction errors, and enable the instructor to quickly locate the trainee's "control short board" (such as unstable throttle control and insufficient yaw correction force), significantly improving the evaluation targeting.

[0032] As an optional implementation, according to the flight control parameters, the trainee's control of the main control stick, the control stick, the yaw pedal and the throttle pedal generates control load feedback force of the pitch channel, the roll channel, the yaw channel and the throttle channel, and the control load data of the corresponding channel is obtained, including: According to the state change parameters of the trainee's control of the main control stick, the control stick, the yaw pedal and the throttle pedal and the force applied during control, the driving force of the corresponding servo motor of the pitch channel, the roll channel, the yaw channel and the throttle channel is generated through the force sensing simulation calculation model of the control load feedback system, as the control load data of the corresponding channel.

[0033] As an optional implementation, the instructor's real-time control input is received and based on ΔF i The same time as the standard operation load data is determined as the starting time, including: The instructor's real-time control input of the main control stick, the control stick, the yaw pedal and the throttle pedal is received, and the state change parameters of the main control stick, the control stick, the yaw pedal and the throttle pedal generated according to the instructor's real-time control input are monitored in real time; According to the instructor's real-time control input and the state change parameters of the main control stick, the control stick, the yaw pedal and the throttle pedal, the driving force of the corresponding servo motor of the pitch channel, the roll channel, the yaw channel and the throttle channel is generated through the force sensing simulation calculation model of the control load feedback system, as the instructor's control load data of the corresponding channel; According to the instructor's control load data and the standard operation load data and ΔFFor comparison, the time when the load data reaches the same level as the standard operation load data is used as the starting time, which is used as the starting point for subsequent dynamic reproduction.

[0034] As an optional embodiment, starting from the starting time, within a preset time period T, the instructor's control input data is input into the second reproduction channel for dynamic reproduction, and the flight state sequence and operation load data are generated in a time sequence; Starting from the moment when the instructor's control load data reaches the same level as the standard operation load data, within a preset time period T, the instructor's real-time control input data is input into the second reproduction channel in a time sequence. The flight calculation and control system performs a calculation based on the instructor's control input data, and generates the instructor's flight state sequence in a time sequence through the virtual vision system. According to the instructor's real-time control input data and the state change parameters of the main joystick, steering wheel, yaw pedal and accelerator pedal, the driving force of the servo motor corresponding to the pitch channel, roll channel, yaw channel and throttle channel is generated through the force simulation solution model of the control load feedback system as the instructor's control load data for the corresponding channel.

[0035] Therefore, taking the moment when the instructor's control load data is aligned with the standard operation load data as the starting point, that is, the time point when the instructor's actual control data intervenes in the reproduction, can ensure that the reproduction switching is smoother, and switch based on the standard load alignment to avoid the tearing feeling in the flight state.

[0036] In some embodiments, for example, when the student's throttle control deviates ΔF i When the threshold is exceeded, the system first monitors the instructor's throttle load data and waits for it to F ij_pref When the throttle channel standard values ​​are aligned (i.e., the instructor's control meets the standard), the synchronous characterization after the channel switching is reproduced to ensure that the switched control action and force feedback are seamlessly connected and there is no sudden change in the aircraft attitude (such as speed and altitude).

[0037] Combine Figure 3 As shown, as an optional embodiment, the synchronous dynamic display of the flight state sequence and the operation load data according to the first recurrence channel and the second recurrence channel includes: The virtual visual system of the flight training auxiliary teaching equipment synchronously and dynamically displays the student's flight status sequence and operation load data generated according to the first reproduction channel, and the instructor's flight status sequence and operation load data generated according to the second reproduction channel in a projection manner.

[0038] In an optional embodiment, the trainee's flight status sequence and operation load data, as well as the instructor's flight status sequence and operation load data can be dynamically and synchronously displayed through split-screen display.

[0039] Thus, compared with the traditional evaluation relying on two-dimensional table / curve to show state deviation, it is difficult for the student to associate the state error such as "height difference 100 meters" with "the action of pulling the control stick during flight training"; and the control load evaluation realizes three intuitive feedbacks through "virtual view superimposed display": Control mechanism synchronization: when reproducing, the student can see the real-time comparison of the displacement of his own control stick and the displacement of the instructor's control stick (for example, the student pulls the control stick by 13 mm, and the instructor pulls it by 8 mm); Force feedback synchronization: through the control load system, the student can actually feel the difference between the "force feeling when he controls" and the "standard force feeling" (for example, the force of his own throttle is 5N greater than the standard force); State change synchronization: the attitude change caused by the student's control and the attitude change after the instructor's correction are superimposed and displayed in the virtual view, so that the student can directly see how the control load deviation leads to the state deviation.

[0040] Through the embodiment of the present application, the direct correlation between control action, control load data and aircraft state is established, the highly visualized feedback of training results is realized, which is more beneficial for the instructor's evaluation and the establishment of the logical relationship between the student's control action and flight state, improves the timeliness and pertinence of the feedback and evaluation of flight simulation training teaching, and improves the effect and efficiency of flight training simulation.

[0041] As an optional implementation, the aforementioned flight training auxiliary teaching device is matched with a flight training simulation simulator, and is integrated with the same cockpit system, control load feedback system, virtual view system and flight calculation control system as the flight training simulation simulator, so as to ensure that the flight training parameter reproduction process is matched and consistent with the flight simulator of the trained aircraft type, and ensure the legality and rationality of reproduction, evaluation and evaluation.

[0042] However, the flight training auxiliary teaching device of the embodiment of the present application does not include a motion control platform and its control system, and can be realized based on a computer system and with the aid of computer software, and is matched with a virtual view system and a projector for synchronous dynamic representation.

[0043] It should be understood that the aforementioned flight training auxiliary teaching device receives the control data of the control mechanism from the instructor according to the deviation of the control load data of the flight reproduction and the standard control load data, replaces the flight data of the student with the control data of the instructor in real time for flight parameter reproduction, and superimposes and displays the historical / real-time control difference according to the real-time control data of the instructor and the dynamic synchronous comparison representation of the aircraft state.

[0044] {Embodiment 2} The solutions of the present invention are described from the perspective of method execution, in conjunction with the flight parameter reproduction and flight simulation state real-time switching control methods of the above embodiments. It is understood that the implementation of the methods of the above embodiments, combined with the processing steps and processes of the various examples described in the above embodiments, can be implemented in the form of a computer system (e.g., a combination of hardware and computer software).

[0045] In an alternative example, combined with Figure 4 As shown, according to the present invention, a computer system is also proposed, including: one or more processors, memories, communication interfaces and a communication bus for connecting the processors, memories, and communication interfaces, and data transmission and interaction are performed among the processors, memories, and communication interfaces through the communication bus.

[0046] It should be understood that memory is configured to store operable instructions and transmitted data. Memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), and erasable programmable read-only memory (EPROM).

[0047] The processor includes one or more CPUs for performing calculations and processing tasks, such as calling instructions stored in the memory to perform predetermined program operations and executions.

[0048] It should be understood that when the aforementioned instructions are executed by one or more processors, the operations performed by the one or more processors include the operations of the flight parameter reproduction and simulated flight simulation state instant switching control method of the aforementioned embodiment.

[0049] In this embodiment, the various operation processes and specific implementation methods of executing instructions can be adopted Figure 1 、 2 The method of the illustrated embodiment is implemented in a corresponding manner so that the computer system can execute the method of the aforementioned embodiment.

[0050] {Example 3} In combination with the flight parameter reproduction and simulated flight simulation state instant switching control method of the above embodiment, according to the third aspect disclosed in the present invention, a computer-readable medium for storing software is also proposed, and the software includes instructions that can be executed by one or more computers.

[0051] As mentioned above, these instructions, through such execution, enable the one or more computers to perform operations, including the operations of the flight parameter reproduction and simulated flight simulation state instant switching control method of the aforementioned embodiment.

[0052] While the application has been described by way of example with reference to preferred embodiments, it is to be understood that this application is not limited to the embodiments disclosed, but is intended to cover various arrangements or modifications thereof which fall within the spirit and scope of the application. Hence, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and / or as a representative way by which the features can be practiced. Therefore, it is to be understood that other alternatives and modifications thereof can be employed apart from the various embodiments disclosed and that the scope of the following claims is not to be limited to the preceding description.

Claims

1. A method for controlling the instant switching of flight parameter reproduction and simulated flight state, characterized in that: The following processes are included: Get the student flight training data package P, P={P1,P2,P3,P4,…,P i ,…,P n }, P i Indicates the i Flight training data at each moment, including i QAR data at the moment, i =1,2,3,…,n; The effective operation segments of the trainee flight training data packets are extracted through the sliding window algorithm, and the effective operation starting points are marked; Input the student flight training data package according to the default first reproduction channel, and reproduce the flight parameters according to the QAR data from the effective control starting point, and generate the flight state sequence and operation load data in time sequence; Compare the operating load data with the standard operating load data in time series to obtain the i Operational load deviation ΔF i , ΔF i = F ij – F ij_pref , F ij Indicates the i The moment j Operational load data for each channel, j =1,2,3,4; F ij_pref Indicates the i The moment j Standard operating load data for each channel; In response to | ΔF i | If the preset threshold is exceeded, the second recurrence channel is switched; Receive the instructor's real-time manipulation input data of the manipulation mechanism and ΔFi Determine the time that is the same as the standard operation load data as the starting time; Starting from the starting time, within a preset period of time T, the instructor's control input data is input into the second reproduction channel for dynamic reproduction, and the flight state sequence and operation load data are generated in a time sequence; The flight state sequence and operation load data according to the first reproduction channel and the second reproduction channel are displayed synchronously and dynamically.

2. The flight parameter reproduction and flight simulation state instant switching control method according to claim 1 is characterized in that: The step of extracting effective operation segments of the student flight training data packet by a sliding window algorithm and marking effective operation starting points includes: The flight training data of the trainees {P1, P2, P3, P4, ..., P i ,…,P n }, when any of the following conditions are met for three consecutive moments, it is marked as a valid operation starting point: |T i+1 - T i |≥ ε 1 ; |R i+1 - R i |≥ ε 2 ; |S i+1 -S i |≥ ε 3 ;as well as |M i+1 - M i |≥ ε 4 ; Among them, T i+1 With T i Represents the accelerator pedal position at time i+1 and time i respectively; R i+1 With R i Represents the yaw pedal displacement at time i+1 and i, S i+1 With S i Represents the steering wheel angle at time i+1 and time i respectively; M i+1 With M i denote the displacement of the main joystick at time i+1 and time i respectively; ε 1 、 ε 2 、 ε 3 、 ε 4 They represent the minimum control thresholds of the accelerator pedal, yaw pedal, steering wheel and main joystick respectively.

3. The flight parameter reproduction and flight simulation state instant switching control method according to claim 1 is characterized in that: The method includes inputting the student flight training data packet according to the default first reproduction channel, reproducing the flight parameters according to the QAR data starting from the effective control starting point, and generating the flight state sequence and operation load data according to the time sequence, including: receiving a student flight training data packet inputted by a first reproduction channel; Starting from the effective control starting point, for each moment i Extract aircraft status parameters and flight control parameters from QAR data; The flight calculation control system is calculated based on the aircraft state parameters, and the flight state sequence is generated in time sequence through the virtual vision system; According to the flight control parameters, the control load driving force of the pitch channel, roll channel, yaw channel and throttle channel generated by the trainee operating the main joystick, control wheel, yaw pedal and accelerator pedal, the control load data of the corresponding channel is obtained.

4. The flight parameter reproduction and flight simulation state instant switching control method according to claim 3 is characterized in that: Based on the flight control parameters, the control load feedback forces of the pitch channel, roll channel, yaw channel, and throttle channel generated by the trainee's manipulation of the main joystick, control wheel, yaw pedal, and throttle pedal are used to obtain the control load data of the corresponding channels, including: According to the state change parameters of the trainee's operation of the main joystick, control wheel, yaw pedal and accelerator pedal in the flight control parameters and the force applied by the operation, the driving force of the servo motors corresponding to the pitch channel, roll channel, yaw channel and throttle channel is generated through the force simulation solution model of the control load feedback system as the control load data of the corresponding channel.

5. The flight parameter reproduction and flight simulation state instant switching control method according to claim 1 is characterized in that: The receiving instructor's real-time manipulation input and based on ΔFi Determine the same time as the standard operating load data as the starting time, including: Receive the instructor's real-time inputs from the main joystick, steering wheel, yaw pedal, and accelerator pedal, and monitor in real time the state change parameters of the main joystick, steering wheel, yaw pedal, and accelerator pedal generated by the instructor's real-time inputs; Based on the instructor's real-time control input and the state change parameters of the main joystick, control wheel, yaw pedal, and accelerator pedal, the force simulation solution model of the control load feedback system is used to generate the driving force of the servo motors corresponding to the pitch channel, roll channel, yaw channel, and throttle channel as the instructor's control load data for the corresponding channels; According to the instructor's operating load data and standard operating load data and ΔFi For comparison, the time when the load data reaches the same level as the standard operation load data is used as the starting time, which is used as the starting point for subsequent dynamic reproduction.

6. The flight parameter reproduction and flight simulation state instant switching control method according to claim 5 is characterized in that: Starting from the starting time, within a preset time period T, the instructor's input data is input into the second reproduction channel for dynamic reproduction, and a flight state sequence and operation load data are generated in a time sequence; Starting from the moment when the instructor's control load data reaches the same level as the standard operation load data, within a preset time period T, the instructor's real-time control input data is input into the second reproduction channel in a time sequence. The flight calculation and control system performs a calculation based on the instructor's control input data, and generates the instructor's flight state sequence in a time sequence through the virtual vision system. According to the instructor's real-time control input data and the state change parameters of the main joystick, steering wheel, yaw pedal and accelerator pedal, the driving force of the servo motor corresponding to the pitch channel, roll channel, yaw channel and throttle channel is generated through the force simulation solution model of the control load feedback system as the instructor's control load data for the corresponding channel.

7. The flight parameter reproduction and flight simulation state instant switching control method according to claim 1 is characterized in that: The synchronous dynamic display of the flight state sequence and the operation load data according to the first reproduction channel and the second reproduction channel includes: The virtual visual system of the flight training auxiliary teaching equipment synchronously and dynamically displays the student's flight status sequence and operation load data generated according to the first reproduction channel, and the instructor's flight status sequence and operation load data generated according to the second reproduction channel in a projection manner.

8. The method for controlling flight parameter reproduction and flight simulation state instant switching according to any one of claims 1 to 7, characterized in that: The flight training auxiliary teaching equipment is matched with a flight training simulation simulator, and integrates and deploys the same cockpit system, control load feedback system, virtual vision system and flight calculation control system as the flight training simulation simulator, but does not include a motion control platform and its control system; the flight training auxiliary teaching equipment receives the instructor's control data on the control mechanism based on the deviation between the flight reproduced control load data and the standard control load data, and instantly replaces the student's flight data with the instructor's control data to reproduce the flight parameters, and based on the instructor's real-time control data and the dynamic synchronous comparison representation of the aircraft status, superimposes and displays the historical / real-time control differences.

9. A computer system, characterized in that: include: one or more processors; A memory storing operable instructions, wherein when the instructions are executed by the one or more processors, the one or more processors are caused to perform operations, wherein the operations include the operations of the flight parameter reproduction and simulated flight simulation state instant switching control method described in any one of claims 1 to 8.

10. A computer-readable medium storing software, characterized in that: The software includes instructions that can be executed by one or more computers, and the instructions enable the one or more computers to perform operations through such execution, and the operations include the operations of the flight parameter reproduction and simulated flight simulation state instant switching control method described in any one of claims 1 to 8.

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