Helicopter flight training quality quantitative evaluation method

Abstract

The invention discloses a helicopter flight training quality quantitative evaluation method, and belongs to the technical field of information. According to the invention, a helicopter flight training quality evaluation three-level index system is established and comprises flight items, flight actions and basic actions from top to bottom; one flight training subject entity class is formed by combining p flight training action entity classes, and one flight training action entity class is formed by combining m basic action entity classes; thirdly, aiming at the basic action entity class, respectively establishing helicopter motion attribute evaluation indexes, and associating the helicopter motion attribute evaluation indexes with helicopter flight state data to obtain an evaluation rule model; and finally, respectively setting normalized evaluation weights for three levels of factors of flight training quality evaluation, and calculating a final flight training quality evaluation score according to a grading weight calculation method. The invention provides a specific modeling method for quantitative evaluation of the flight quality based on the flight state data of the helicopter, and the method is particularly suitable for analysis and evaluation of mass daily flight training data.

Description

Technical Field

[0001] This invention belongs to the field of information technology, and specifically designs a quantitative evaluation method for helicopter flight training quality, which is particularly suitable for quantitatively evaluating the flight level of helicopter flight technicians through easily collected massive amounts of flight status data. Background Technology

[0002] Helicopters are low-speed, manned aircraft operating at low and very low altitudes. They possess capabilities such as hovering and inverted flight, which are impossible for fixed-wing aircraft, and are less restricted by takeoff and landing sites, making them extremely versatile. However, due to their unique operating environment and operational structure, helicopters are very difficult to operate. Flight technicians are easily affected by unstable external factors, making helicopters the aircraft type with the highest accident rates. Therefore, how to accurately assess the quality of flight training, improve the skills of flight technicians, and effectively ensure helicopter flight safety is an important topic that researchers need to study in depth. Summary of the Invention

[0003] Based on the key points and technical requirements of helicopter flight training assessment, and by comprehensively utilizing the results of offline flight data statistics and mining from all pilots, this invention proposes a comprehensive evaluation index for flight quality. This index can objectively reflect the key points and technical requirements of different training courses, and provides a method for evaluating helicopter flight training quality. It can use helicopter flight training data to evaluate the quality of a pilot's single flight, and comprehensively evaluate the pilot's flight level throughout the year.

[0004] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0005] A method for quantitatively assessing the quality of helicopter flight training includes the following steps:

[0006] ① Establish a hierarchical structure for evaluating the quality of helicopter flight training, which consists of three layers from top to bottom: flight subject layer, flight maneuver layer, and basic maneuver layer;

[0007] ② Establish a physical model for the flight training subject layer. The base class is the flight training subject (Subject), and the attributes include training number, single training duration, suitable personnel, and suitable training conditions. Six subclasses of flight training subjects are derived: hovering take-off and landing flight, low-altitude / ultra-low-altitude flight, formation flight, mountain flight, plateau flight, and sea flight.

[0008] ③ Establish a physical model for the flight action layer, with the base class being Flight Action, and derive 10 flight training action entity classes: vertical takeoff, vertical landing, takeoff on a runway, glide and deceleration landing, establishing a flight path, maintaining a flight path, stable hovering, variable speed flight, formation maintenance, and flight along a valley.

[0009] ④ Establish the relationship between flight training subject entity classes and flight training action entity classes. One flight training subject entity class is composed of p flight training action entity classes, that is, Subject = ∑Action;

[0010] ⑤ Establish the entity model of the basic action layer, with the base class being BasicAction, and derive 11 basic action entity classes: takeoff, landing, hovering, level flight, circling, ascent, descent, turning, speed change, climb, and dive.

[0011] ⑥ Establish the relationship between flight training action entity classes and basic action entity classes. One flight training action entity class is composed of m basic action entity classes, that is, Action = ∑BasicAction;

[0012] ⑦ For each of the 11 basic action entity classes, establish helicopter motion attribute evaluation indicators to form a helicopter flight training quality evaluation indicator system.

[0013] ⑧ For the evaluation indicators of 11 basic actions, the helicopter flight status data were correlated, and evaluation rule models were established respectively. The evaluation indicators were described in the form of excellent, good, medium and poor, and the helicopter flight training quality evaluation indicator system was completed.

[0014] ⑨ Normalized evaluation weights are assigned to flight subjects, flight maneuvers, and basic maneuvers in the flight training quality assessment. The final flight training quality assessment score is calculated according to the graded weight calculation method.

[0015]

[0016] Where k is the number of flight training courses, p i Let m be the number of flight training maneuvers for the i-th flight training course. i,j Let q be the number of basic movements for the j-th flight training maneuver in the i-th flight training course. i,j,l w represents the number of evaluation indicators for the l-th basic maneuver of the j-th flight training maneuver in the i-th flight training course. i w is the normalized evaluation weight value for the i-th flight training subject. ij w is the normalized evaluation weight value for the j-th flight training maneuver in the i-th flight training course. ijl w is the normalized evaluation weight value of the l-th basic maneuver in the j-th flight training maneuver of the i-th flight training course. ijlh S is the normalized evaluation weight value of the h-th evaluation index of the l-th basic maneuver of the j-th flight training maneuver in the i-th flight training course. ijlhThe score of the h-th evaluation index is the l-th basic movement of the j-th flight training maneuver in the i-th flight training course.

[0017] Furthermore, the specific method of step ⑦ is as follows:

[0018] (7a) The evaluation indicators for basic takeoff maneuvers include displacement, heading, roll angle, and pitch angle;

[0019] (7b) The evaluation indicators for basic maneuver landing include displacement, heading, speed, roll angle, and pitch angle;

[0020] (7c) The evaluation indicators for basic hovering maneuvers include displacement, heading, and altitude;

[0021] (7d) The evaluation indicators for basic maneuvers in level flight include heading, altitude, and speed;

[0022] (7e) The evaluation indicators for basic maneuvering include heading, altitude, speed, and roll angle;

[0023] (7f) The evaluation indicators for basic maneuver ascent include heading, altitude, speed, roll angle, and pitch angle;

[0024] (7g) The evaluation indicators for basic maneuver descent include heading, altitude, speed, roll angle, and pitch angle;

[0025] (7h) The evaluation indicators for basic maneuvering turns include heading, altitude, speed, and roll angle;

[0026] (7i) The evaluation indicators for basic motion speed changes include height, rate of rise and fall, and speed;

[0027] (7j) The evaluation indicators for basic maneuver jumps include heading and pitch angle;

[0028] (7k) The evaluation indicators for basic maneuver dives include heading and pitch angle.

[0029] Furthermore, the specific method of step ⑧ is as follows:

[0030] (8a) Extract common evaluation indicators for 11 basic maneuvers, including displacement, heading, roll angle, pitch angle, altitude, speed, and rate of lift.

[0031] (8b) For each evaluation indicator, the evaluation rule model is established as follows:

[0032] (8b-1) Read in all helicopter flight data for completing the corresponding basic maneuvers, dataset PB = {P1, P2, ..., P...} N};

[0033] P NThis represents the collected flight data of the helicopter at the Nth position point. The helicopter flight status data includes longitude (Lon), latitude (Lat), altitude (Height), speed (Speed), heading (Course), roll angle (Roll), pitch angle (Pitch), and time (Time).

[0034] (8b-2) The method for evaluating displacement D is the maximum value of the latitude and longitude projection displacement difference between all position points that have completed the basic movement phase and the starting point, i.e.

[0035]

[0036] When D≤1, the score is excellent, with a score of [90,100]; when 1<D≤2, the score is good, with a score of [80,90); when 2<D≤3, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70].

[0037] (8b-3) The evaluation method for heading C is the maximum heading difference between all positions and the starting point after completing the basic maneuver phase, i.e.

[0038]

[0039] When C≤4, the score is excellent, with a score of [90,100]; when 4<C≤6, the score is good, with a score of [80,90); when 6<C≤8, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70].

[0040] (8b-4) The evaluation method for roll angle R is the absolute value of the roll angle at the final point of the basic maneuver phase, i.e.

[0041]

[0042] When R≤2, the score is excellent, with a score of [90,100]. When 2<R≤3, the score is good, with a score of [80,90). When 3<R≤4, the score is average, with a score of [70,80]. Otherwise, the score is poor, with a score of [0,70].

[0043] (8b-5) The method for evaluating the pitch angle P is the absolute value of the pitch angle at the final point of the basic maneuver phase, i.e.

[0044]

[0045] When P≤2, the score is excellent, with a score of [90,100]; when 2<P≤3, the score is good, with a score of [80,90); when 3<P≤4, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70].

[0046] (8b-6) The method for evaluating altitude H is to set the expected flight altitude value as H. normal Calculate the maximum difference between the position points of all completed basic maneuver phases and the required flight altitude, i.e.

[0047]

[0048] When H≤1, the score is excellent, with a score of [90,100]; when 1<H≤2, the score is good, with a score of [80,90); when 2<H≤3, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70].

[0049] (8b-7) The evaluation method for speed S is to set the expected flight speed value as S. normal Calculate the difference between the final speed after completing the basic movement phase and the expected flight speed value, i.e.

[0050]

[0051] When S = 0, the score is excellent with a value of 100; when 0 < S ≤ 10, the score is good with a value of [80, 90); when 10 < S ≤ 20, the score is average with a value of [70, 80); otherwise, the score is poor with a value of [0, 70].

[0052] (8b-8) The evaluation method for the rise / fall rate A is the maximum rise / fall rate between two adjacent position points during the completion of the basic movement phase, i.e.

[0053]

[0054] When A≤1, the score is Excellent, with a value of [90,100]. When 1<A≤2, the score is Good, with a value of [80,90]. When 2<A≤4, the score is Average, with a value of [70,80]. Otherwise, the score is Poor, with a value of [0,70].

[0055] Complete the quantitative assessment method for helicopter flight training quality.

[0056] Compared with the prior art, the present invention has the following advantages:

[0057] (1) The comprehensive evaluation index system established by this invention has a clear hierarchy, is orthogonal and complete, has good interpretability, and can objectively reflect the evaluation points and technical requirements of different training subjects.

[0058] (2) The evaluation method used in this invention is simple to calculate and has good feasibility. It can be easily applied to subsequent applications such as flight safety early warning and pilot training level assessment.

[0059] (3) The evaluation data used in this invention is massive flight trajectory data, rather than traditional flight parameter data. The data is easy to obtain and process, and has strong practicality in actual systems. Attached Figure Description

[0060] Figure 1 This is a class diagram of the helicopter flight training quality assessment elements proposed in this invention.

[0061] Figure 2 This is a class diagram of helicopter flight training quality assessment elements in a specific embodiment of the present invention. Detailed Implementation

[0062] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0063] A method for quantitatively assessing the quality of helicopter flight training includes the following steps:

[0064] ①For example Figure 1 As shown, a hierarchical structure for evaluating the quality of helicopter flight training is established, consisting of three layers from top to bottom: the flight subject layer, the flight maneuver layer, and the basic maneuver layer; where 1…* in the figure represents one-to-many and 1…1 represents one-to-one.

[0065] ② Establish a physical model for the flight training subject layer, with the base class being the flight training subject (Subject), and attributes including training number, single training duration, suitable personnel, and suitable training conditions. Subclasses of flight training subjects such as hovering take-off and landing flight, low-altitude / ultra-low-altitude flight, formation flight, mountain flight, plateau flight, and sea flight are derived from it.

[0066] ③ Establish a physical model for the flight action layer, with the base class being Flight Action, and derived from it entity classes for flight training actions such as vertical takeoff, vertical landing, takeoff on a runway, glide and deceleration landing, establishing a flight path, maintaining a flight path, stable hovering, variable speed flight, formation maintenance, and flight along a valley.

[0067] ④ Establish the relationship between flight training subject entity classes and flight training action entity classes. One flight training subject entity class is composed of n flight training action entity classes, that is, Subject = ∑Action;

[0068] ⑤ Establish the entity model of the basic action layer, with the base class being BasicAction, and derive 11 basic action entity classes such as takeoff, landing, hovering, level flight, circling, ascent, descent, turning, speed change, climb, and dive.

[0069] ⑥ Establish the relationship between flight training action entity classes and basic action entity classes. One flight training action entity class is composed of m basic action entity classes, that is, Action = ∑BasicAction;

[0070] The example uses the "hovering take-off and landing flight" subject as an example. The evaluation index system model established according to steps ① to ⑥ is as follows: Figure 2 As shown, it can be broken down into 3 flight maneuvers, mainly involving 4 basic maneuvers.

[0071] ⑦ For each of the 11 basic action entity classes, establish helicopter motion attribute evaluation indicators to form a helicopter flight training quality evaluation indicator system.

[0072] In this embodiment, four basic motion entities are involved: takeoff, hovering, level flight, and landing. Evaluation indicators for the helicopter's motion attributes are established for each of these four basic motions, forming an evaluation indicator system for the "hovering takeoff and landing flight" subject. Specifically:

[0073] The evaluation metrics for takeoff include displacement, heading, roll angle, and pitch angle;

[0074] The evaluation metrics for hovering include displacement, heading, and altitude;

[0075] The evaluation indicators for level flight include heading, altitude, and speed;

[0076] Landing assessment metrics include displacement, heading, speed, roll angle, and pitch angle.

[0077] ⑧ For the evaluation indicators of 11 basic actions, associate them with helicopter flight status data (attributes include longitude, latitude, altitude, speed, course, roll, pitch, and time), establish evaluation rule models, and describe them in a graded form of excellent, good, average, and poor (specific scores can be configured) to complete the modeling of the helicopter flight training quality evaluation indicator system;

[0078] In this embodiment, two sets of helicopter flight state datasets are generated through simulation. Dataset 1 represents normal hovering takeoff and landing flight, while Dataset 2, with added perturbations, represents abnormal hovering takeoff and landing flight. Each dataset contains 100 data points, arranged chronologically. Data points 1-20 represent the flight state data for the basic maneuver "takeoff," 21-40 for the basic maneuver "hovering," 41-80 for the basic maneuver "level flight," and 81-100 for the basic maneuver "landing." The two sets of simulated helicopter flight state data are then evaluated.

[0079] The evaluation results for dataset 1 are as follows:

[0080] The takeoff maneuver displacement D = 0.3, which is rated as excellent with a score of 97.

[0081] Takeoff maneuver heading C=1.5, rated as excellent, with a score of 96.25;

[0082] The takeoff maneuver roll angle R = 1.5, which is rated as excellent with a score of 92.5.

[0083] The takeoff maneuver pitch angle P = 1.8, which is rated as excellent with a score of 91.

[0084] The hovering displacement D = 0.3, which is rated as excellent with a score of 97.

[0085] The hovering maneuver's heading C = 1.5 is rated as excellent, with a score of 96.25; the hovering maneuver's height H = 0.8 is rated as excellent, with a score of 92.

[0086] The level flight maneuver heading C = 2.8, which is rated as excellent with a score of 93.

[0087] The level flight maneuver altitude H=0.9, which is rated as excellent with a score of 91.

[0088] The level flight speed S=0, the score is excellent, and the score is 100.

[0089] The landing maneuver displacement D=1, which is rated as excellent with a score of 90.

[0090] The landing maneuver's heading C = 3.6, which is rated as excellent with a score of 91.

[0091] The landing speed S=0, the score is excellent, and the score is 100.

[0092] The landing maneuver's roll angle R = 0.8 is rated excellent, with a score of 96; the landing maneuver's pitch angle P = 1.5 is also rated excellent, with a score of 92.5. The evaluation results for Dataset 2 are as follows:

[0093] The takeoff maneuver displacement D = 1.3, the rating is good, and the score is 87.

[0094] Takeoff maneuver heading C = 2.5, rated as excellent, score 93.75; takeoff maneuver roll angle R = 2.5, rated as good, score 85; takeoff maneuver pitch angle P = 2.8, rated as good, score 82; hovering maneuver displacement D = 1.3, rated as good, score 87.

[0095] The hovering maneuver's heading C = 2.5, rated as excellent with a score of 93.75; the hovering maneuver's height H = 1.8, rated as good with a score of 82.

[0096] The level flight maneuver heading C = 3.8, rated as excellent with a score of 90.5; the level flight maneuver altitude H = 1.9, rated as good with a score of 81.

[0097] The level flight speed S=1, the rating is good, and the score is 89;

[0098] The landing maneuver displacement D=2, the rating is good, and the score is 80.

[0099] The landing maneuver's heading C = 4.6, the rating is "Good", and the score is 87.

[0100] The landing maneuver speed S=1, the rating is good, and the score is 89;

[0101] The landing maneuver had a roll angle of R = 1.8, which was rated as excellent with a score of 91.

[0102] The landing maneuver pitch angle P = 2.5, which is rated as good, with a score of 85.

[0103] ⑨ Set normalized evaluation weights for the three levels of factors in flight training quality assessment (flight subjects, flight maneuvers, and basic maneuvers). The weight values ​​are configurable. The final flight training quality assessment score is calculated according to the graded weight calculation method.

[0104]

[0105] In this example, the number of evaluation subjects is 1, therefore k = 1, w1 = 1; there are 3 flight maneuvers, therefore p = 3, and w is set to... 11 =0.4, w 12 =0.2, w 13 =0.4; There are 4 basic actions, with a weight value of w. 111 =1, w 121 =0.6, w 122 =0.4, w 131 =1; The weight matrix of each evaluation index for basic takeoff maneuvers is W1 = (w 1111 w 1112 w 1113 w 1114 ) = (0.3 0.2 0.3 0.2), and the weight matrix of each evaluation index for the basic hovering motion is W2 = (w 1211 w 1212 w 1213 ) = (0.4 0.2 0.4), and the weight matrix of each evaluation index for the basic maneuver of level flight is W3 = (w 1221 w 1222 w 1223 ) = (0.4 0.4 0.2), and the weight matrix of each evaluation index for basic landing maneuvers is W4 = (w 1311 w 1312w 1313 w 1314 w 1315 = (0.2 0.2 0.2 0.2 0.2).

[0106] Based on the calculation in the previous step, the evaluation value matrix for the basic takeoff maneuver in Dataset 1 is as follows: The evaluation value matrix for basic hovering is as follows: The evaluation value matrix for basic maneuver level flight is as follows: The evaluation value matrix for basic landing maneuvers is as follows: The final calculation yields Score = w 11 w 111 W1S1+w 12 (w 121 W2S2+w 122 W3S3)+w 13 w 131 W4S4 = 94.15.

[0107] Based on the calculation in the previous step, the evaluation value matrix for the basic takeoff action of dataset 2 is as follows: The evaluation value matrix for basic hovering is as follows: The evaluation value matrix for basic maneuver level flight is as follows: The evaluation value matrix for basic landing maneuvers is as follows: The final calculation yields Score = w 11 w 111 W1S1+w 12 (w 121 W2S2+w 122 W3S3)+w 13 w 131 W4S4 = 86.534.

[0108] Therefore, it can be concluded that the evaluation score of dataset 1 is higher than that of dataset 2, which is consistent with the simulation results.

[0109] Complete a quantitative assessment of the quality of helicopter flight training.

Claims

1. A method for quantitatively evaluating the quality of helicopter flight training, characterized in that, Includes the following steps: ① Establish a hierarchical structure for evaluating the quality of helicopter flight training, which consists of three layers from top to bottom: flight subject layer, flight maneuver layer, and basic maneuver layer; ② Establish a physical model for the flight training subject layer. The base class is the flight training subject (Subject), and the attributes include training number, single training duration, suitable personnel, and suitable training conditions. Six subclasses of flight training subjects are derived: hovering take-off and landing flight, low-altitude / ultra-low-altitude flight, formation flight, mountain flight, plateau flight, and sea flight. ③ Establish a physical model for the flight action layer, with the base class being Flight Action, and derive 10 flight training action entity classes: vertical takeoff, vertical landing, takeoff on a runway, glide and deceleration landing, establishing a flight path, maintaining a flight path, stable hovering, variable speed flight, formation maintenance, and flight along a valley. ④ Establish the relationship between flight training subject entity classes and flight training action entity classes. One flight training subject entity class is composed of p flight training action entity classes, that is, Subject = ∑Action; ⑤ Establish the entity model of the basic action layer, with the base class being BasicAction, and derive 11 basic action entity classes: takeoff, landing, hovering, level flight, circling, ascent, descent, turning, speed change, climb, and dive. ⑥ Establish the relationship between flight training action entity classes and basic action entity classes. One flight training action entity class is composed of m basic action entity classes, that is, Action = ∑BasicAction; ⑦ For each of the 11 basic action entity classes, establish helicopter motion attribute evaluation indicators to form a helicopter flight training quality evaluation indicator system. ⑧ For the evaluation indicators of 11 basic actions, the helicopter flight status data were correlated, and evaluation rule models were established respectively. The evaluation indicators were described in the form of excellent, good, medium and poor, and the helicopter flight training quality evaluation indicator system was completed. ⑨ Normalized evaluation weights are assigned to flight subjects, flight maneuvers, and basic maneuvers in the flight training quality assessment. The final flight training quality assessment score is calculated according to the graded weight calculation method. Where k is the number of flight training courses, p i Let m be the number of flight training maneuvers for the i-th flight training course. i,j Let q be the number of basic movements for the j-th flight training maneuver in the i-th flight training course. i,j,l w represents the number of evaluation indicators for the l-th basic maneuver of the j-th flight training maneuver in the i-th flight training course. i w is the normalized evaluation weight value for the i-th flight training subject. ij w is the normalized evaluation weight value for the j-th flight training maneuver in the i-th flight training course. ijl w is the normalized evaluation weight value of the l-th basic maneuver in the j-th flight training maneuver of the i-th flight training course. ijlh S is the normalized evaluation weight value of the h-th evaluation index of the l-th basic maneuver of the j-th flight training maneuver in the i-th flight training course. ijlh The score of the h-th evaluation index is the l-th basic movement of the j-th flight training maneuver in the i-th flight training course.

2. The helicopter flight training quality assessment method according to claim 1, characterized in that, The specific method for step ⑦ is as follows: (7a) The evaluation indicators for basic takeoff maneuvers include displacement, heading, roll angle, and pitch angle; (7b) The evaluation indicators for basic maneuver landing include displacement, heading, speed, roll angle, and pitch angle; (7c) The evaluation indicators for basic hovering maneuvers include displacement, heading, and altitude; (7d) The evaluation indicators for basic maneuvers in level flight include heading, altitude, and speed; (7e) The evaluation indicators for basic maneuvering include heading, altitude, speed, and roll angle; (7f) The evaluation indicators for basic maneuver ascent include heading, altitude, speed, roll angle, and pitch angle; (7g) The evaluation indicators for basic maneuver descent include heading, altitude, speed, roll angle, and pitch angle; (7h) The evaluation indicators for basic maneuvering turns include heading, altitude, speed, and roll angle; (7i) The evaluation indicators for basic motion speed changes include height, rate of rise and fall, and speed; (7j) The evaluation indicators for basic maneuver jumps include heading and pitch angle; (7k) The evaluation indicators for basic maneuver dives include heading and pitch angle.

3. The helicopter flight training quality assessment method according to claim 2, characterized in that, The specific method for step ⑧ is as follows: (8a) Extract common evaluation indicators for 11 basic maneuvers, including displacement, heading, roll angle, pitch angle, altitude, speed, and rate of lift. (8b) For each evaluation indicator, the evaluation rule model is established as follows: (8b-1) Read in all helicopter flight data for completing the corresponding basic maneuvers, dataset PB = {P1, P2, ..., P...} N }; P N This represents the collected flight data of the helicopter at the Nth position point. The helicopter flight status data includes longitude (Lon), latitude (Lat), altitude (Height), speed (Speed), heading (Course), roll angle (Roll), pitch angle (Pitch), and time (Time). (8b-2) The method for evaluating displacement D is the maximum value of the latitude and longitude projection displacement difference between all position points that have completed the basic movement phase and the starting point, i.e. When D≤1, the score is excellent, with a score of [90,100]; when 1<D≤2, the score is good, with a score of [80,90); when 2<D≤3, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70]. (8b-3) The evaluation method for heading C is the maximum heading difference between all positions and the starting point after completing the basic maneuver phase, i.e. When C≤4, the score is excellent, with a score of [90,100]; when 4<C≤6, the score is good, with a score of [80,90); when 6<C≤8, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70]. (8b-4) The evaluation method for roll angle R is the absolute value of the roll angle at the final point of the basic maneuver phase, i.e. When R≤2, the score is excellent, with a score of [90,100]. When 2<R≤3, the score is good, with a score of [80,90). When 3<R≤4, the score is average, with a score of [70,80]. Otherwise, the score is poor, with a score of [0,70]. (8b-5) The method for evaluating the pitch angle P is the absolute value of the pitch angle at the final point of the basic maneuver phase, i.e. When P≤2, the score is excellent, with a score of [90,100]; when 2<P≤3, the score is good, with a score of [80,90); when 3<P≤4, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70]. (8b-6) The method for evaluating altitude H is to set the expected flight altitude value as H. normal Calculate the maximum difference between the position points of all completed basic maneuver phases and the required flight altitude, i.e. When H≤1, the score is excellent, with a score of [90,100]; when 1<H≤2, the score is good, with a score of [80,90); when 2<H≤3, the score is average, with a score of [70,80); otherwise, the score is poor, with a score of [0,70]. (8b-7) The evaluation method for speed S is to set the expected flight speed value as S. normal Calculate the difference between the final speed after completing the basic movement phase and the expected flight speed value, i.e. When S = 0, the score is excellent with a value of 100; when 0 < S ≤ 10, the score is good with a value of [80, 90); when 10 < S ≤ 20, the score is average with a value of [70, 80); otherwise, the score is poor with a value of [0, 70]. (8b-8) The evaluation method for the rise / fall rate A is the maximum rise / fall rate between two adjacent position points during the completion of the basic movement phase, i.e. When A≤1, the score is Excellent, with a value of [90,100]. When 1<A≤2, the score is Good, with a value of [80,90]. When 2<A≤4, the score is Average, with a value of [70,80]. Otherwise, the score is Poor, with a value of [0,70].

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