A Helicopter Formation Flight Simulation Method Based on FlightGear

Abstract

The present invention discloses a method for helicopter formation flight simulation based on FlightGear, belonging to the field of digital flight scene simulation. First, the present invention conducts network connection for multiple pilot operation simulations, creates a basic graphic simulation environment, comprehensively uses computer graphics technology, multimedia technology, and geographic information technology, directly associates the parameters describing the helicopter motion information with the geometric model of the three-dimensional scene, and simultaneously synchronously integrates the geographical locations and environmental parameters related to flight to drive the model to mobilize and process the generation of the helicopter formation flight visual scene with distributed interaction. Compared with the traditional fully numerical simulation results, the present invention can achieve an all-round and realistic display of the panoramic state of formation flight and various comprehensive information effects, and enhance the flight crew's sense of experience in the real environment. This method has the characteristics of high computational efficiency, strong generality, and easy implementation.

Description

Technical Field

[0001] The present invention belongs to the field of digital flight scene simulation, and particularly relates to a method for helicopter formation flight simulation based on FlightGear. Background Art

[0002] According to mission requirements, modern digital scenarios require helicopter equipment to exhibit realistic operating effects, which brings problems such as high computing pressure on the simulation engine and poor simulation effects. At present, the flight simulation technology based on the FlightGear visualization engine can achieve data fusion and parallel processing of the online management module, flight simulation startup module, simulation data management module, and formation command management module through distributed computing and single-node rendering. By creating a diversified helicopter formation flight simulation architecture, it can efficiently and precisely simulate the flight state of helicopters and meet the simulation performance requirements of multi-source synthetic deduction. However, this technology does not support online connection of more than three people. Especially in a local area network, it is impossible to achieve the conditions for formation flight. Even when connected to the network, when flying online with multiple people using the official server, there will be no unified command for multiple helicopters to fly, resulting in a chaotic situation. Moreover, both the existing airport scenarios and helicopter models are foreign, and there are few helicopters that meet domestic requirements, or even none. Summary of the Invention

[0003] In view of this, the present invention proposes a method for helicopter formation flight simulation based on FlightGear, which can realize the generation of a diversified and highly simulated helicopter formation flight scene and flight state control.

[0004] The present invention is realized through the following technical solutions:

[0005] A method for helicopter formation flight simulation based on FlightGear, comprising the following steps:

[0006] (1) Build a distributed operating environment for the simulation general control server and the pilot simulation operation computer, connect all FlightGear simulation platforms in the distributed environment through the IP address and the FlightGear network interface, and start the online management module, flight simulation startup module, simulation data management module, and formation command management module of the FlightGear simulation platform;

[0007] (2) Establish a 3D environmental scene of the airport and its surrounding area, including models of apron, runway, tower, hangar, and fuel depot, generate a simulation scene format file adapted to the FlightGear simulation platform; import the generated simulation scene format file into the FlightGear deployment file library to realize the loading of the 3D models of the airport and its surrounding environment required for helicopter simulation flight;

[0008] (3) Add options for runway number and apron position number in the flight simulation startup module, and send data including data identifier 0, platform number, transmission time, apron position number, and helicopter model to the simulation general control server. The simulation data management module of the simulation general control server will check it to ensure that there will be no conflict where two simulated helicopters select the same apron.

[0009] (4) Modify the FGMultiplayMgr online management module to add data including data identifier 1, platform number, transmission time, apron position number, and helicopter model based on the existing simulation data; generate simulation data for simulated flight through the FGMultiplayMgr online management module and send it to the simulation data processing module.

[0010] (5) The simulation data processing module of the simulation general control server performs grouping, time verification, elimination of illegal data, and filling of missing parameters on the flight simulation data of multiple helicopters transmitted in step (4), and distributes the processed helicopter flight simulation data to all running FlightGear simulation platforms.

[0011] (6) Modify the reserved data input interface of the FlightGear simulation platform to implement the function of parsing the data sent in step (5); start the newly added picture-in-picture to display the real-time aerial positions and postures of all flying helicopters; then display the real-time states of all networked simulated helicopters on each machine to achieve online simulated flight of helicopter formations.

[0012] (7) Start the helicopter formation simulation flight formation instruction management module, manually edit the helicopter formation, confirm the lead helicopter and wingmen in the formation, and automatically generate formation flight instructions after selection and confirmation, and send them to all simulation platforms; the pilots complete the helicopter formation simulation flight according to the instructions.

[0013] Further, step (1) specifically includes the following steps:

[0014] (101) Prepare the machine, network cable, and server hardware environment, and build a distributed running environment for the simulation general control server and the pilot simulation operation computer.

[0015] (102) Configure the basic environment required for the operation of the FlightGear simulation platform.

[0016] (103) Prepare and start the online management module, flight simulation startup module, and simulation data management module of the FlightGear simulation platform.

[0017] Further, step (2) specifically includes the following steps:

[0018] (201) Use the WorldEdit and TerraGearGUI software tools to download the orthophoto image of the area where the real airport is located;

[0019] (202) Import the decompressed apt.dat file in WorldEdit, which is the airport scene file of the FlightGear simulation platform deployment package;

[0020] (203) Import the tif file of the orthophoto image of the airport area into WorldEdit, find the basic models corresponding to the apron, runway, tower, hangar, and oil depot landscapes, adjust the shape and size of the basic models with reference to the actual map, and move the position of the basic models to the corresponding position of the orthophoto image according to the actual scene;

[0021] (204) Use the 91 Satellite Map Assistant to make a shapefile file, draw and store the shape of the airport scene map area; generate and export the landscape package, and finally use the TerraGearGUl software to merge and compile the landscape package, the downloaded elevation data, and the shapefile file, and deploy the compiled landscape to the FlightGear simulation platform.

[0022] Further, step (3) specifically includes the following steps:

[0023] (301) Add the functions of obtaining the local platform number, transmission time, apron position number, and helicopter model data to the FGMultiplayMgr online management module of the FlightGear simulation platform;

[0024] (302) Use the flight simulation startup module of the FlightGear simulation platform to modify the runway selection module and add options for the airport runway number and apron number;

[0025] (303) Start the FlightGear simulation platform. The flight simulation startup module sends data including data identifier 0, platform number, transmission time, apron position number, and helicopter model to the server. If it receives that the apron position has no conflict, it selects and loads the simulation scene, performs the operation of starting the helicopter, and then controls the helicopter to take off for helicopter formation simulation flight; if it receives a reply indicating that the selected apron position conflicts, it prompts to select another apron and sets the apron options of the existing helicopters in the reply as unavailable.

[0026] Further, step (4) specifically includes the following steps:

[0027] (401) Modify the FGMultiplayMgr online management module to add the functions of obtaining the platform number, transmission time, apron position number, and helicopter model data;

[0028] (402) Add the platform number, transmission time, apron location number and helicopter model data obtained by the FGMultiplayMgr online management module to the existing flight data to form new flight simulation data;

[0029] (403) The generated new flight simulation data is sent to the simulation data processing module of the server through the data interface.

[0030] Furthermore, step (5) specifically includes the following steps:

[0031] (501) The server provides data input and output ports. Each FlightGear simulation platform is configured with the server's IP and port for data communication within the local area network.

[0032] (502) When the server is initialized, it sends a time calibration command to all the FlightGear simulation platforms running in the local area network to calibrate the time of all helicopter simulation flight platforms in the local area network;

[0033] (503) The server receives the helicopter simulation flight parameter data sent by the FlightGear simulation platform;

[0034] (504) The server sends all the received FlightGear simulation data in the local area network to the simulation data processing module; the simulation data processing module parses the data, determines the data identifier, and for the data packet sent by the flight simulation startup module, analyzes whether there is a duplicate apron number in the received data. If not, it replies to all simulation platforms that there is no conflict. If there is a conflict, it sends a conflict prompt and the number of the other selected apron to the conflicting simulation platform; for the simulation data sent by the FIMultiplyMgr online management module, execute steps (505) to (507);

[0035] (505) Time-checking all data in each group of data to ensure that the receiving time of the data in the group is consistent;

[0036] (506) Parse the data in the group to obtain the platform number and transmission time; remove illegal data one by one and perform missing parameter filling operations;

[0037] (507) Randomly select M-1 pieces of data from the M pieces of data in the group to obtain M combinations, and send each combination to the corresponding LAN simulation platform according to the parsed ID; M is the total number of data in the group.

[0038] Furthermore, step (6) specifically includes the following steps:

[0039] (601) Add the function of adding the online data parsing platform number, transmission time, helipad location number, and helicopter model data to the FGMultiplayer online management module;

[0040] (602) Add a picture-in-picture module. The picture-in-picture is located in the upper left corner of the FlightGear interface and is used to display the positions of other simulated helicopters in the formation. The local model in the picture-in-picture is marked in red to distinguish it from other simulated helicopters;

[0041] (603) The data processing function in the FGMultiplayer online management module receives the data transmitted from the data input interface and parses the simulated flight data of all simulated helicopters within the local area network;

[0042] (604) Modify the display of other aircraft in the FGMultiplayer online management module so that it updates the display of the simulated helicopter model, helipad location, and simulated in-air flight data according to the parsed initialization data, thereby displaying the real-time status of other helicopters in the formation;

[0043] (605) The FGMultiplayer online management module parses the flight parameters of the simulated helicopter from each piece of data in the data packet and updates the display of the real-time image of the operating helicopter on the simulation interface where each is running;

[0044] (606) The FGMultiplayer online management module parses the voice and radio data in the data packet and broadcasts it through the speaker.

[0045] Further, step (7) specifically includes the following steps:

[0046] (701) Before takeoff, the commander edits the formation instructions for this simulation mission through the formation instruction management module;

[0047] (702) Select an existing formation shape, including historical flight formation instructions, directly confirm the lead aircraft, wingmen, and the number of aircraft in the formation, and automatically generate instructions; or, select a custom formation shape, input the information of the lead aircraft, wingmen, and the number of aircraft in the formation, confirm and save to generate instructions, and then send them;

[0048] (703) After receiving the formation simulation instructions, the picture-in-picture module displays the positions and postures of each simulated helicopter in the current formation from multiple perspectives according to the position of the lead aircraft.

[0049] The advantages of the present invention compared with the prior art are as follows:

[0050] 1. In the present invention, FlightGear contains a large number of aircraft models and terrain files. Through a realistic virtual scene, a diversified large-scale flight process and flight state can be constructed, improving the system interaction performance.

[0051] 2. The present invention provides a formation simulation flight instruction editing function, which improves the flexibility and diversity of the formation flight formation control of simulation helicopters.

[0052] 3. In the present invention, the simulation engine adopts the advanced FlightGear simulation engine Simgear, which ensures the operability of the state information of the simulation helicopter and provides a realistic driving experience for the drivers.

[0053] 4. In the present invention, the simulation formation flight data interaction is generated and sent immediately, which ensures the timeliness of the information interaction of the engineering application helicopter formation flight.

[0054] In short, the present invention utilizes the advanced FlightGear simulation engine Simgear and the environmental data of multiple flight states, multiple environments, and multiple dimensions to realize the efficient, convenient, and fast helicopter formation flight simulation. Detailed implementation manners

[0055] The following further elaborates on the present invention.

[0056] A method for helicopter formation flight simulation based on FlightGear includes the following steps:

[0057] (1) Build a distributed operation environment for the simulation general control server and the driver simulation operation computer, connect all FlightGear simulation platforms in the distributed environment through the IP address and the FlightGear network interface, and start the online management module, flight simulation start module, simulation data management module, and formation instruction management module of the FlightGear simulation platform; specifically including the following steps:

[0058] (101) Prepare the machines, network cables, and server hardware environment, and build a distributed operation environment for the simulation general control server and the driver simulation operation computer;

[0059] (102) Configure the basic environment required for the operation of the FlightGear simulation platform for normal operation;

[0060] (103) Prepare and start the online management module, flight simulation start module, and simulation data management module of the FlightGear simulation platform.

[0061] (2)Establish the 3D environmental scene of the airport and its surrounding area, including the models of apron, runway, control tower, hangar and fuel depot, and generate the scene format file adapted to the FlightGear simulation platform; import the generated simulation scene format file into the FlightGear deployment file library to realize the loading of the 3D models of the airport and its surrounding environment required for helicopter simulation flight; specifically including the following steps:

[0062] (201)Use software tools such as WorldEdit and TerraGearGUI to download the orthophoto images of the area where the real airport is located;

[0063] (202)Import the decompressed apt.dat file (the airport scene file of the FlightGear simulation platform deployment package) into WorldEdit;

[0064] (203)Import the tif file of the orthophoto image of the area where the airport is located into WorldEdit, find the basic models corresponding to the apron, runway, control tower, hangar and fuel depot landscapes, adjust the shape and size of the basic models with reference to the actual map, and move the specific positions of the basic models to the corresponding positions of the orthophoto image according to the actual scene;

[0065] (204)Use the 91 Satellite Map Assistant to make a shapefile file, draw and store the shape of the airport scene map area; generate and export the landscape package, and finally use the TerraGearGUl software to merge and compile the landscape package, the downloaded elevation data and the shapefile file, and deploy the compiled landscape to the FlightGear simulation platform.

[0066] (3)Add options for runway number and apron position number in the flight simulation startup module, and send a data packet containing data identifier 0, platform number, transmission time, apron position number and helicopter model to the simulation total control server, which is checked by the simulation data management module of the simulation total control server to ensure that there will be no conflict that two simulation helicopters select the same apron; specifically including the following steps:

[0067] (301)Add functions to obtain the local platform number, transmission time, apron position number and helicopter model data for the FGMultiplayMgr online management module of the FlightGear simulation platform;

[0068] (302)Use the flight simulation startup module of the FlightGear simulation platform to modify the runway selection module and add options for airport runway number and apron number;

[0069] (303) Start the FlightGear simulation platform. The flight simulation startup module sends data including data identifier 0, platform number, transmission time, helipad position number, and helicopter model data to the server. If it receives a reply indicating no conflict in the helipad position, it selects and loads the simulation scenario, starts the helicopter operation, and then controls the helicopter to take off for helicopter formation simulation flight. If it receives a reply indicating a conflict in the selected helipad position, it prompts to select another helipad and sets the helipad options of the existing helicopters in the reply as unavailable.

[0070] (4) Modify the FGMultiplayMgr online management module to add data including data identifier 1, platform number, transmission time, helipad position number, and helicopter model on the basis of the existing simulation data. The FGMultiplayMgr online management module generates simulation data for the simulated flight and prepares to send it to the simulation data processing module. The specific steps are as follows:

[0071] (401) The basic simulation flight data (simulation helicopter flight parameter data) obtained by the FGMultiplayMgr online management module does not include platform number, transmission time, helipad position number, and helicopter model data. Only the original data cannot realize the display of all other simulation helicopters in the formation on the interface. Therefore, it is necessary to add the function of obtaining platform number, transmission time, helipad position number, and helicopter model data.

[0072] (402) Add the platform number, transmission time, helipad position number, and helicopter model data to the original simulation flight data to realize the flight interaction of the formation simulation helicopters within the local area network.

[0073] (403) Send the obtained data to the simulation data processing module of the server through the data interface.

[0074] (5) The simulation data processing module of the server performs operations such as grouping, time verification, elimination of illegal data, and filling of missing parameters on the flight data of multiple helicopters transmitted in step (4), and distributes the processed helicopter simulation flight data to all running FlightGear simulation platforms. The specific steps are as follows:

[0075] (501) The server provides data input and output ports. Each FlightGear simulation platform configures the IP and port of the server for data communication within the local area network.

[0076] (502) The server initializes and sends a time calibration instruction to all running FlightGear simulation platforms within the local area network to calibrate the time of all helicopter simulation flight platforms within the local area network.

[0077] (503) The server receives the helicopter simulation flight parameter data sent by the FlightGear simulation platform;

[0078] (504) The server sends all the received FlightGear simulation data in the local area network to the simulation data processing module; parses the data, determines the data identifier, and for the data packet sent by the flight simulation startup module, analyzes whether there are repeated apron numbers in the received data. If not, it replies to all simulation platforms that there is no conflict; if there is a conflict, it sends a conflict prompt and other selected apron numbers to the conflicting simulation platform; for the simulation data sent by the FIMultiplyMgr online management module, it proceeds to the next step;

[0079] (505) Time-checking all data in each group of data to ensure that the receiving time of the data in the group is consistent;

[0080] (506) Analyze the data in the group to obtain the platform number and transmission time; remove illegal data and fill in missing parameters one by one;

[0081] (507) Randomly select M-1 pieces of data from the M (M is the total number of data in the group) pieces of data in the group to obtain M combinations, and send each combination to the corresponding LAN simulation platform according to the parsed ID.

[0082] (6) Modify the data input interface reserved by the FlightGear simulation platform to implement the function of parsing the data sent by step (5); start the newly added picture-in-picture to display the real-time aerial position and attitude of all flying helicopters; then display the real-time status of all networked simulated helicopters on each machine to realize the online simulation flight of helicopter formations; including the following steps:

[0083] (601) Added the function of parsing the platform number, transmission time, apron location number and helicopter model data to the FGMutiplayer online management module;

[0084] (602) Added a new picture-in-picture module. The picture-in-picture is located in the upper left corner of the FlightGear interface and is used to display the positions of other simulated helicopters in the formation. The model of the aircraft is marked in red to distinguish it from other simulated helicopters.

[0085] (603) The data processing function in the FGMultiplayer online management module receives the data transmitted from the data input interface and parses the simulated flight data of all simulated helicopters in the local area network;

[0086] Modify the display of other aircraft in the FGMultiplayer online management module so that it can update the display of the simulated helicopter model, helipad position, and simulated in-air flight data according to the parsed initialization data, thereby displaying the real-time status of other helicopters in the formation;

[0087] (605)The FGMultiplayer online management module parses the simulated helicopter flight parameters from each piece of data in the data packet and updates the display of the real-time images of the operating helicopters on the simulation interfaces where they are running;

[0088] (606)The FGMultiplayer online management module parses the voice and radio data in the data packet and broadcasts it through the speaker.

[0089] (7)Start the helicopter formation simulation flight formation command management module, manually edit the helicopter formation, confirm the lead aircraft and wingmen in the formation, automatically generate formation flight commands after selection and confirmation, and send them to all simulation platforms; the pilots complete the helicopter formation simulation flight together according to the commands; specifically including the following steps:

[0090] (701)Before takeoff, the commander edits the formation commands for this simulation task through the formation command management module;

[0091] (702)You can select an existing formation shape, including historical flight formation commands, directly confirm the lead aircraft, wingmen, and the number of aircraft in the formation, and automatically generate commands; you can also select a custom formation shape, input the information of the lead aircraft, wingmen, and the number of aircraft in the formation, confirm and save to generate commands, and then send them;

[0092] (703)After receiving the formation simulation command, the picture-in-picture module can display the positions and attitudes of each simulated helicopter in the current formation from multiple perspectives according to the position of the lead aircraft.

[0093] The above method has been programmed and implemented in C++ language, and the rationality and innovation of the method have been verified in the test. The obtained results basically meet the requirements, and the speed and diversity of the simulation method also meet the usage requirements. After being verified through multiple tests, this method has been applied to projects such as air defense simulation, providing a reference and usage method for helicopter formation flight simulation drills, and satisfactory results have been obtained.

[0094] The traditional method for evaluating helicopter flight teaching mainly relies on flight data playback, which has problems such as low efficiency and seriously restricting the accuracy and objectivity of the display of flight environment and flight operations. The present invention deeply utilizes the powerful and realistic flight simulation function, open program framework, and reserved external data input / output interface of the FlightGear simulation platform, and designs a method for helicopter formation flight simulation based on FlightGear. This method first conducts networking of multiple pilot operation simulations to create a basic graphical simulation environment. By comprehensively using computer graphics technology, multimedia technology, and geographic information technology, the parameters describing the motion information of the helicopter are directly associated with the geometric model of the three-dimensional scene, and at the same time, the geographical locations and environmental parameters related to flight are synchronously integrated to drive the model to mobilize and process, and generate the visual scene of distributed interactive helicopter formation flight. Compared with the traditional fully numerical simulation results, the present invention can achieve a full-range and realistic display of the panoramic state of formation flight and various comprehensive information effects, and improve the flight crew's sense of experience in the real environment. This method has the characteristics of high computational efficiency, strong generality, and easy implementation.

Claims

1. A method for helicopter formation flight simulation based on FlightGear, characterized in that It includes the following steps: (1) Set up the distributed operating environment of the simulation general control server and the driver simulation operation computer, connect all FlightGear simulation platforms in the distributed environment through the IP address and the FlightGear network interface, and start the online management module, flight simulation startup module, simulation data management module, and formation instruction management module of the FlightGear simulation platform; (2) Establish the 3D environmental scene of the airport and its surrounding area, including the apron, runway, tower, hangar, and oil depot models, and generate the simulation scene format file adapted to the FlightGear simulation platform; import the generated simulation scene format file into the FlightGear deployment file library to realize the loading of the 3D models of the airport and its surrounding environment required for helicopter simulation flight; (3) Add the runway number and apron position number options in the flight simulation startup module, and send the data including data identifier 0, platform number, transmission time, apron position number, and helicopter model to the simulation general control server. The simulation data management module of the simulation general control server checks to ensure that there will be no conflict that two simulation helicopters select the same apron; (4) Modify the FGMultiplayMgr online management module to add the data including data identifier 1, platform number, transmission time, apron position number, and helicopter model on the basis of the existing simulation data; generate the simulation data of the simulated flight through the FGMultiplayMgr online management module and send it to the simulation data processing module; (5) The simulation data processing module of the simulation general control server performs grouping, time verification, elimination of illegal data, and filling of missing parameters on the flight simulation data of multiple helicopters transmitted in step (4), and distributes the processed helicopter flight simulation data to all running FlightGear simulation platforms; (6) Modify the reserved data input interface of the FlightGear simulation platform to realize the function of parsing the data sent in step (5); start the newly added picture-in-picture to display the real-time air positions and postures of all flying helicopters; then display the real-time states of all networked simulation helicopters on each machine to realize the online simulated flight of helicopter formation; (7) Start the formation instruction management module of the helicopter formation simulation flight, manually edit the helicopter formation, confirm the lead helicopter and wingmen in the formation, automatically generate the formation flight instruction after selection and confirmation, and send it to all simulation platforms; the driver completes the helicopter formation simulation flight according to the instruction together.

2. The helicopter formation flight simulation method based on FlightGear according to claim 1, wherein, Step (1) specifically includes the following steps: (101) Prepare the machine, network cable, and server hardware environment, and set up the distributed operating environment of the simulation general control server and the driver simulation operation computer; (102) Configure the basic environment required for the operation of the FlightGear simulation platform; (103) Prepare and start the online management module, flight simulation startup module, and simulation data management module of the FlightGear simulation platform.

3. A helicopter formation flight simulation method based on FlightGear according to claim 1, characterized in that, Step (2) specifically includes the following steps: (201) Use WorldEdit and TerraGearGUI software tools to download the orthophoto image of the area where the real airport is located; (202) Import the decompressed apt.dat file, i.e., the airport scene file of the FlightGear simulation platform deployment package, into WorldEdit; (203) Import the tif file of the orthophoto image of the area where the airport is located into WorldEdit, find the basic models corresponding to the apron, runway, tower, hangar, and oil depot landscapes, adjust the shape and size of the basic models with reference to the actual map, and move the position of the basic models to the corresponding position of the orthophoto image according to the actual scene; (204) Use the 91 Satellite Map Assistant to create a shapefile to draw and store the shape of the airport scene map area; Generate and export the landscape package, and finally use the TerraGearGUl software to merge and compile the landscape package, the downloaded elevation data, and the shapefile, and deploy the compiled landscape to the FlightGear simulation platform.

4. A method for helicopter formation flight simulation based on FlightGear according to claim 1, characterized in that, Step (3) specifically includes the following steps: (301) Add the functions of obtaining the local platform number, transmission time, apron position number, and helicopter model data to the FGMultiplayMgr online management module of the FlightGear simulation platform; (302) Use the flight simulation startup module of the FlightGear simulation platform to modify the runway selection module and add options for the airport runway number and apron number; (303) Start the FlightGear simulation platform. The flight simulation startup module sends data including data identifier 0, platform number, transmission time, apron position number, and helicopter model to the server. If it receives that the apron position has no conflict, it selects and loads the simulation scene, performs the operation of starting the helicopter, and then controls the helicopter to take off for the helicopter formation simulation flight; if it receives a reply indicating that the selected apron position conflicts, it prompts to select another apron and sets the apron options of the existing helicopters in the reply as unavailable.

5. A method for helicopter formation flight simulation based on FlightGear according to claim 1, characterized in that Step (4) specifically includes the following steps: (401) Modify the FGMultiplayMgr online management module to add the functions of obtaining the platform number, transmission time, apron position number, and helicopter model data; (402) Add the platform number, transmission time, apron position number, and helicopter model data obtained by the FGMultiplayMgr online management module to the existing flight data to form new flight simulation data; (403) Send the generated new flight simulation data to the simulation data processing module of the server through the data interface.

6. The helicopter formation flight simulation method based on FlightGear according to claim 1, wherein Step (5) specifically includes the following steps: (501) The server provides data input and output ports. Each FlightGear simulation platform configures the IP and port of the server for data communication within the local area network; (502) When the server is initialized, it sends a time calibration command to all the FlightGear simulation platforms running in the local area network to calibrate the time of all helicopter simulation flight platforms in the local area network; (503) The server receives the helicopter simulation flight parameter data sent by the FlightGear simulation platform; (504) The server sends all the received FlightGear simulation data in the local area network to the simulation data processing module; the simulation data processing module parses the data, determines the data identifier, and for the data packet sent by the flight simulation startup module, analyzes whether there is a duplicate apron number in the received data. If not, it replies to all simulation platforms that there is no conflict. If there is a conflict, it sends a conflict prompt and the number of the other selected apron to the conflicting simulation platform; for the simulation data sent by the FIMultiplyMgr online management module, execute steps (505) to (507); (505) Time-checking all data in each group of data to ensure that the receiving time of the data in the group is consistent; (506) Parse the data in the group to obtain the platform number and transmission time; remove illegal data one by one and perform missing parameter filling operations; (507) randomly selecting M-1 pieces of data from the M pieces of data in the group to obtain M combinations, and sending each combination to the corresponding LAN simulation platform according to the parsed ID; M is the total number of data in the group.

7. A method for helicopter formation flight simulation based on FlightGear according to claim 1, characterized in that Step (6) specifically includes the following steps: (601) Added the function of parsing the platform number, transmission time, apron location number and helicopter model data to the FGMutiplayer online management module; (602) Added a new picture-in-picture module. The picture-in-picture is located in the upper left corner of the FlightGear interface and is used to display the positions of other simulated helicopters in the formation. The model of the aircraft is marked red to distinguish it from other simulated helicopters. (603) The data processing function in the FGMultiplayer online management module receives the data transmitted from the data input interface and parses the simulated flight data of all simulated helicopters in the local area network; (604) Modified the display of other aircraft in the FGMultiplayer online management module so that it updates the display of simulated helicopter models, apron locations and simulated air flight data based on the parsed initialization data, thereby displaying the real-time status of other helicopters in the formation; (605) The FGMultiplayer online management module parses the flight parameters of the simulated helicopter from each data in the data packet, and updates the real-time image of the running helicopter on the interface of each simulator; (606) The FGMultiplayer online management module parses the voice and radio data in the data packet and broadcasts it through the speaker.

8. A method for helicopter formation flight simulation based on FlightGear according to claim 1, characterized in that Step (7) specifically includes the following steps: (701) Before takeoff, the commander edits the formation instructions for this simulation mission through the formation instruction management module; (702) Select an existing formation shape, including historical flight formation instructions, directly confirm the leader aircraft, wingman aircraft, and the number of aircraft in the formation, and automatically generate instructions; or, select a custom formation shape, input the information of the leader aircraft, wingman aircraft, and the number of aircraft in the formation, confirm and save to generate instructions, and then send them; (703) After receiving the formation simulation instructions, the picture-in-picture module displays the positions and attitudes of each simulated helicopter in the current formation from multiple perspectives according to the position of the leader aircraft.