A flexible wearable wireless sensor and high-load flight simulation system

Abstract

The present invention provides a flexible wearable wireless sensor and a high-load flight simulation system, including a flexible substrate material, a plurality of signal electrodes, a signal amplifier, a filtering circuit, an analog-to-digital converter and a wireless transmission module; the plurality of signal electrodes are used to collect electrical signals from the pilot's head and face, and are sent to a receiving device in a wireless transmission mode, so as to realize real-time data collection and wireless transmission, eliminate the interference of the line on the pilot's simulated flight, and improve the safety of the simulated flight. The high-load flight simulation system establishes a high-load simulation aerodynamic equation through a main control computer module, generates simulated flight data in combination with the correction amount generated by the human body perception processing module, and applies it to the high-load flight simulation module to realize high-load simulated flight; wireless sensors are used to collect pilot detection data, and the detection data is processed through a human body perception model to adjust the high-load simulated flight, so that the pilot's body perception is adapted to the real flight experience, and the fidelity of flight training is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sensors, and in particular to a flexible wearable wireless sensor and a high-load flight simulation system using the sensor. Background Art

[0002] The outstanding acceleration movements produced by the current high-performance fighter jets' air combat stunts and tactical flight maneuvers bring strong stimulation to the pilots, directly affecting their operating skills, physiological and psychological states, and having a significant impact on the fighter jets' combat performance and combat capability. It poses a threat to flight safety and has attracted the attention of air forces of various countries.

[0003] Most tactical flight courses contain "high G-force and high load" actions. Simply using an aircraft for high load training will consume the precious life of the aircraft and may damage the aircraft or even cause a flight accident. High load flight training must be conducted frequently and repeatedly to bring the advanced performance of the aircraft into play. There is an urgent need for training equipment with high load simulation function, "high load tactical flight simulator".

[0004] Conventional simulators currently used at home and abroad mainly focus on simulating the visual, auditory and control feelings in the flight environment. The physiological state parameters of the pilot are collected through wired sensors. The wired sensors will follow the changes in body posture during the flight, which seriously affects the pilot's flight under high concentration. Therefore, wired sensors can only meet the basic simulation flight training. However, in high-load flight simulation, under high pressure and high maneuverability simulation conditions, any follow-up in the simulated cockpit will lead to fatal dangers, so wired sensors cannot be used to collect perception data. At the same time, simulators have not yet been found to detect the pilot's psychological state in real time; therefore, these simulators are usually unable to effectively reflect the physiological and psychological changes experienced by pilots in high-load flight, such as electrocardiogram, electroencephalogram, electromyography, eye movement, breathing, pulse, blood pressure, blood oxygen saturation, etc., and these physiological and psychological changes directly affect the pilot's judgment ability, mental state, sensitive reaction and fatigue level, and it is difficult to fully and realistically reproduce high-load and high-difficulty flight training. Therefore, real-time collection and analysis of signal data affecting the pilot's simulated psychological and physiological parameters under the condition of no influence of wired sensors in the simulation cabin environment has become a technical problem that needs to be solved in continuous high-load simulated flight. Summary of the invention

[0005] In order to solve the technical problems in the prior art that wired sensors cannot be used to collect various types of control feeling data in continuous high-load simulated flight and there is no real-time collection of signal data of psychological and physiological parameters that affect the pilot's simulated flight, the present invention proposes a flexible wearable wireless sensor and a high-load flight simulation system using the sensor, which does not need to use wired sensors to collect various types of control feeling data and can collect the psychological and physiological parameter data of the simulated flight pilot in real time.

[0006] The present invention provides the following specific solutions:

[0007] A flexible wearable wireless sensor, comprising: a flexible substrate material, a plurality of signal electrodes arranged on the flexible substrate material, a signal amplifier, a filter circuit, an analog-to-digital converter and a wireless transmission module;

[0008] The flexible base material provides stable support and enables the signal electrode to be closely attached to the head and facial skin;

[0009] The signal electrodes are arranged on the flexible base material, including forehead electrodes, eye electrodes and jaw electrodes which respectively contact corresponding parts of the head and face when the flexible base material is attached to the head and face, the forehead electrodes are used to collect brain electrical signals, the eye electrodes are used to collect eye movement signals, and the jaw electrodes are used to collect mandibular electromyographic signals;

[0010] The signal amplifier is connected to the signal electrode and is used to amplify the signal data collected by the signal electrode;

[0011] The filtering circuit is connected to the signal amplifier and is used to remove noise and interference in the signal data;

[0012] The analog-to-digital converter is connected to the filtering circuit and is used to convert the filtered signal data into a digital signal;

[0013] The wireless transmission module is connected to the analog-to-digital converter and is used to transmit the digital signal to a wireless receiving device in a wireless manner.

[0014] Preferably, the forehead electrode comprises at least 8 electrodes arranged horizontally on the forehead.

[0015] Preferably, the eye electrodes include two upper eyelid electrodes and two lower eyelid electrodes respectively contacting corresponding parts of the eyes, measuring the potential changes caused by eye movement to collect eye movement signals, and evaluating eye movement by analyzing the eye movement signals.

[0016] Preferably, the jaw electrode comprises two temporalis muscle electrodes and two mandibular electrodes respectively contacting corresponding parts on both sides of the jaw, and measuring the electrical activity of the mandibular muscles to collect mandibular electromyographic signals.

[0017] Preferably, the wireless transmission module uses WiFi or Bluetooth transmission to transmit data.

[0018] Preferably, the flexible substrate material is made of polyimide or silicone.

[0019] Preferably, the flexible base material is provided with various specifications according to the body shapes of different persons.

[0020] Preferably, the side of the flexible base material that needs to contact the skin has adhesiveness.

[0021] A high-load flight simulation system using the above-mentioned flexible wearable wireless sensor includes: a high-load flight simulation module, a human perception processing module, and a main control computer module;

[0022] The high-load flight simulation module is a device that provides simulated actions of flight load, flight attitude adjustment, flight control, simulated scene and simulated sound, and includes a cockpit, a load-bearing base, a power system and a signal acquisition and communication system. The cockpit includes a control mechanism, a visual unit and an audio unit. The signal acquisition and communication system collects information from the control mechanism, the visual unit and the audio unit and transmits it to the main control computer module, and receives control information from the main control computer module to control the device;

[0023] The human perception processing module includes the above-mentioned flexible wearable wireless sensor for detecting the pilot's psychology and physiology, a signal receiving module and a processing module. The signal receiving module, as a receiving device, receives the simulated psychological and physiological parameter values ​​collected by the flexible wearable wireless sensor and inputs them into the processing module. The processing module stores a human comprehensive perception model. The human comprehensive perception model stores the corresponding relationship between the actual psychological and physiological parameter values ​​and the actual flight state established by associating a large number of existing empirical aerodynamic parameters with the actual psychological and physiological parameter values ​​of the pilot during the flight, and the high-load simulation aerodynamic equation from the main control computer module. The processing module compares the simulated psychological and physiological parameter values ​​with the actual psychological and physiological parameter values ​​to obtain the correction amount of the human comprehensive perception model to the high-load simulation aerodynamic equation parameters, and transmits the correction amount to the main control computer module;

[0024] The main control computer module establishes a high-load simulation aerodynamic equation based on the aircraft aerodynamic mathematical model. The parameters of the high-load simulation aerodynamic equation include longitudinal aerodynamic coefficient and lateral aerodynamic coefficient. The longitudinal aerodynamic coefficient and lateral aerodynamic coefficient include correction amounts of the human body comprehensive perception model to the parameters of the high-load simulation aerodynamic equation. At the same time, control information combined with the correction amounts is generated, including corresponding flight parameters, simulated scenes and simulated sounds, and transmitted to the high-load flight simulation module.

[0025] Preferably, the high-load flight simulation module forms simulated flight state information according to the control information, i.e., new parameter values ​​of corresponding parameters of the control mechanism, visual unit and audio unit, so that the simulated flight state formed by the high-load flight simulator pilot operating the control mechanism can adapt the simulated psychological and physiological parameter values ​​generated by the simulator pilot to the actual psychological and physiological parameter values ​​under the corresponding actual flight state.

[0026] Preferably, the flexible wearable wireless sensor is worn on the human head and face, and collects EEG signals, eye movement signals and mandibular electromyographic signals from the forehead, eyes and mandible respectively. The EEG signals are measured by a forehead sensor for at least 8 channels of EEG signals; the eye movement signals are measured by placing upper eyelid electrodes and lower eyelid electrodes to measure the potential changes caused by eye movement; the mandibular electromyographic signals are measured by placing electrodes near the mandibular muscles to measure the electrical activity of the mandibular muscles.

[0027] Beneficial effects of the present invention:

[0028] The present invention provides a flexible wearable wireless sensor, comprising a flexible base material that provides stable support and enables the sensor to be in close contact with the skin of the head and face, a plurality of signal electrodes arranged on the flexible base material, a signal amplifier, a filtering circuit, an analog-to-digital converter and a wireless transmission module; the electrical signals of the pilot's head and face are detected in real time by the plurality of signal electrodes, the analog-to-digital converter converts the electrical signals into digital signals, and then the wireless transmission module is used to transmit the digital signals to a wireless receiving device. Since the present invention arranges various sensor components on the flexible base material that is in close contact with the skin of the head and face, and transmits the digital signals to the wireless receiving device through the wireless transmission module, the simulator pilot using the sensor can wear the sensor wirelessly, thereby realizing real-time detection and wireless transmission of the pilot's feelings in a high-load flight simulator, avoiding the influence of the sensor circuit on the pilot's concentration during simulated flight, and improving the safety of simulated flight.

[0029] In particular, the frontal electrodes are used to measure the EEG signals of 8 channels. EEG signals of different frequencies are associated with different psychological states. By collecting EEG signals of different channels, a data basis is provided for the subsequent analysis of a series of psychological states of the pilot, such as emotions, stress, anxiety, alertness, and decision-making. The eye electrodes are used to measure the potential changes generated by eye movements to collect the electrooculogram signals. The jaw electrodes are used to measure the electrical activity of the jaw muscles to collect the jaw electromyography signals, which are used to analyze the pilot's sleep, fatigue, attention and other physiological states. Combined with the analysis of the psychological state and physiological state data, the corresponding psychological and physiological parameters are characterized to obtain the comprehensive perception of the human body that combines psychological and physiological reactions, forming simulated psychological and physiological parameter data for simulated flight. In particular, by arranging at least 8 electrodes on the forehead, the EEG signals related to the activities of the prefrontal cortex can be better captured and analyzed. The EEG signals at this location are closely related to a variety of psychological and cognitive states, thereby providing richer and more accurate neural activity information, which helps to obtain more accurate simulated psychological and physiological parameter data for pilots.

[0030] In particular, various specifications are set according to the body shapes of different people to make the signal electrode collection position more accurate; wireless data transmission makes it comfortable to wear in flight status and avoids interfering with the pilot's operating actions.

[0031] The present invention also relates to a high-load flight simulation system using the above-mentioned sensor, wherein a high-load simulation aerodynamic equation is established through a main control computer module, and control information combined with the correction amount generated by a human body perception processing module is generated to simulate continuous high-load flight, and the control information combined with the correction amount is applied to the high-load flight simulation module to realize continuous load simulation flight; the flexible wearable wireless sensor is used to collect the pilot's brain electroencephalogram signal, eye electroencephalogram signal and mandibular electromyography signal, and the above-mentioned electrical signals are converted into digital signals and transmitted to a receiving device via wireless, and the human body perception processing module processes the simulated psychological and physiological parameter values ​​according to the corresponding relationship between the actual psychological and physiological parameter values ​​stored in the human body comprehensive perception model and the actual flight state. Physiological parameter values, thereby adjusting the aerodynamic equations according to the difference between the aerodynamic parameter data of the simulated flight state of the current flight state of the high-load flight simulator and the aerodynamic parameter data of the actual flight state, so that the simulated physiological and psychological perceptions produced by the simulator on the pilot, that is, the real-time comprehensive perception, are adapted to the pilot's flight comprehensive perception in the flight state of the real aircraft; the above system has both the characteristics of previous flight simulators and the unique human body comprehensive perception model embedded in the high-load flight simulation module to form control information. The control information combined with the comprehensive perception is information data that previous flight simulators have not been exposed to or collected, thereby improving the realism of flight training. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a flexible wearable wireless sensor provided by the present invention.

[0033] Figure 2 A framework diagram of a high-load flight simulation system using the sensor provided by the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] Figure 1 FIG. 1 is a schematic diagram of a flexible wearable wireless sensor of the present invention. Figure 1 As shown, a flexible wearable wireless sensor comprises: a flexible substrate material 1, a plurality of signal electrodes 2 arranged on the flexible substrate material, a signal amplifier 3, a filtering circuit 4, an analog-to-digital converter 5 and a wireless transmission module 6; the flexible substrate material 1 provides stable support and enables the signal electrodes to be in close contact with the skin of the head and face; the signal electrodes 2 are arranged on the flexible substrate material 1, including a forehead electrode 21, an eye electrode 22 and a jaw electrode 23 which respectively contact corresponding parts of the head and face when the flexible substrate material is in contact with the head and face, the forehead electrode 21 is used to collect brain electrical signals, the eye electrode 22 is used to collect eye movement signals, and the jaw electrode 21 is used to collect mandibular electromyographic signals; the signal amplifier 3 is connected to the signal electrode 2, and is used to amplify the signal data collected by the signal electrode; the filtering circuit 4 is connected to the signal amplifier 3, and is used to remove noise and interference in the signal data; the analog-to-digital converter 5 is connected to the filtering circuit 4, and is used to convert the filtered signal data into a digital signal; the wireless transmission module 6 is connected to the analog-to-digital converter 5, and is used to transmit the digital signal to a receiving device.

[0036] The frontal electrode 21 is used to measure the EEG signals of 8 channels at the forehead. EEG signals of different frequencies are associated with different psychological states. The EEG signals of different channels are collected to provide a data basis for the subsequent analysis of a series of psychological states of the pilot, such as emotions, stress, anxiety, alertness, and decision-making. The eye electrodes 22 are used to measure the potential changes generated by eye movements to collect eye signals, and the jaw electrodes 23 are used to measure the electrical activity of the jaw muscles to collect jaw electromyography signals. In this embodiment, an AD8232 signal amplifier is used to amplify the collected electrical signals, and then the electrical signals are filtered through a filter circuit with a filter element of model MAX7401, and then an ADS1299 analog-to-digital converter is used to convert the filtered electrical signals into digital signals. Finally, the digital signals are transmitted to a wireless receiving device through an ESP32 wireless transmission module for subsequent analysis of the pilot's sleep, fatigue, attention, and other physiological states. Combined with the analysis of the psychological state and physiological state data, the human body's comprehensive perception combined with psychological and physiological reactions represented by the corresponding psychological and physiological parameters is obtained to form simulated psychological and physiological parameters of the simulated pilot.

[0037] Specifically, the forehead electrode 21 includes at least 8 electrodes arranged horizontally at the forehead.

[0038] Specifically, the eye electrode 22 includes two upper eyelid electrodes 221 and two lower eyelid electrodes 222 that contact the corresponding parts of the eyes respectively, measure the potential changes caused by eye movement to collect eye movement signals, and evaluate eye movement by analyzing the eye movement signals.

[0039] Specifically, the jaw electrode 23 includes two temporalis muscle electrodes 231 and two mandibular electrodes 232 that contact corresponding parts on both sides of the jaw respectively, and measure the electrical activities of the mandibular muscles to collect mandibular electromyographic signals.

[0040] In some embodiments, Figure 1 As shown, the pilot can wear the flexible wearable wireless sensor by himself in the same way as applying a facial mask, wherein the flexible base material 1 is made of silicone and one side is sticky, so that the sensor can be closely attached to the skin of the head and face, which is more conducive to the collection of electrical signals; the electrodes are silver chloride electrodes, and the pilot's EEG signals are collected through 8 forehead electrodes 21 laid flat on the forehead; the pilot's eye movement signals are collected through two upper eyelid electrodes 221 and two lower eyelid electrodes 222, and the pilot's mandibular electromyographic signals are collected through two temporalis muscle electrodes 231 and two mandibular electrodes 232 at the corresponding parts of both sides of the jaw, and the EEG signals, eye movement signals and mandibular electromyographic signals are analyzed and processed to obtain simulated psychological and physiological parameters. The flexible wearable wireless sensor provided in this embodiment can collect three core data of the pilot's EEG signal, eye movement signal and mandibular electromyography signal; the EEG signal provides information on the EEG activity pattern at different stages. When the neurons in the brain are active, a weak current is generated. The electrodes are installed on the flexible electronic skin and can maintain good contact with the human skin; the above-mentioned flexible wearable wireless sensor can measure 8 channels of EEG signals through the forehead electrode 21, and the eye movement signal measures the potential changes caused by eye movement by placing the upper eyelid electrode 221 and the lower eyelid electrode 222. By analyzing the eye movement signal, the eye movement in flight can be evaluated, thereby inferring the characteristics of different flight stages and flight movement cycles; the mandibular electromyography signal is to place electrodes near the mandibular muscle, including the temporalis electrode 231 and the mandibular electrode 232 to measure the electrical activity of the mandibular muscle. In addition, two auxiliary physiological detection data of electrocardiogram and blood oxygen are collected through conventional acquisition equipment. Based on the above-mentioned simulated psychological and physiological parameters, a data basis is provided for improving the fidelity of simulating a continuous high-load flight environment.

[0041] Specifically, the wireless transmission module 6 uses WiFi or Bluetooth transmission to transmit data.

[0042] In some embodiments, the above-mentioned flexible wearable wireless sensor uses Bluetooth transmission to transmit data with a receiving device. Bluetooth is suitable for short-distance and low-power applications, supports multi-device connection, can provide stable connection, and automatically attempts to reconnect when the connection is interrupted. In addition, multi-pole detection is used in the data collection process, and the adaptability of multi-pole detection information with a small number of electrodes is studied after the monitoring data is analyzed, that is, one pole can be used for multi-pole detection; it can realize non-invasive monitoring and diagnosis of flight physiology and psychology for hundreds or even thousands of military personnel at a time; and a one-to-many control strategy of information terminals is adopted.

[0043] Specifically, the flexible base material 1 is made of polyimide or silicone.

[0044] Specifically, the flexible base material 1 is provided with various specifications according to the body shapes of different people.

[0045] Specifically, the side of the flexible base material 1 that contacts the skin needs to be adhesive.

[0046] In some embodiments, the flexible base material 1 of the flexible wearable wireless sensor is made of polyimide or silicone, which is waterproof and anti-vibration; the side in contact with the skin is sticky, and can be worn by the person being tested in the same way as a facial mask, so as to achieve rapid deployment of the sensor, autonomous operation, easy use, and comfortable wearing in flight. A variety of specifications are set according to the body shape of different personnel, so that the signal electrode collection position is more accurate, and the electrode placement is convenient to wear in the flight state helmet and anti-gravity suit, and the long flight time does not affect the flight, supporting long-term continuous work.

[0047] Figure 2 1 is a framework diagram of a high-load flight simulation system using the flexible wearable wireless sensor provided by the present invention. Figure 2 As shown, a high-load flight simulation system includes: a high-load flight simulation module, a human perception processing module, and a main control computer module;

[0048] The high-load flight simulation module is a device that provides simulated actions of flight load, flight attitude adjustment, flight control, simulated scene and simulated sound, and includes a cockpit, a load-bearing base, a power system and a signal acquisition and communication system. The cockpit includes a control mechanism, a visual unit and an audio unit. The signal acquisition and communication system collects information from the control mechanism, the visual unit and the audio unit and transmits it to the main control computer module, and receives control information from the main control computer module to control the device;

[0049] The human perception processing module includes the above-mentioned flexible wearable wireless sensor for detecting the pilot's psychology and physiology, a signal receiving module and a processing module. The signal receiving module receives the simulated psychological and physiological parameter values ​​collected by the flexible wearable wireless sensor as a receiving device, and inputs them into the processing module. The processing module stores a human comprehensive perception model. The human comprehensive perception model stores the corresponding relationship between the actual psychological and physiological parameter values ​​and the actual flight state established by associating a large number of existing empirical aerodynamic parameters with the actual psychological and physiological parameter values ​​of the pilot during the flight, and the high-load simulation aerodynamic equation from the main control computer module. The processing module compares the simulated psychological and physiological parameter values ​​with the actual psychological and physiological parameter values ​​to obtain the correction amount of the human comprehensive perception model to the high-load simulation aerodynamic equation parameters, and transmits the correction amount to the main control computer module;

[0050] The main control computer module establishes a high-load simulation aerodynamic equation based on the aircraft aerodynamic mathematical model. The parameters of the high-load simulation aerodynamic equation include longitudinal aerodynamic coefficient and lateral aerodynamic coefficient. The longitudinal aerodynamic coefficient and lateral aerodynamic coefficient include correction amounts of the human body comprehensive perception model to the parameters of the high-load simulation aerodynamic equation. At the same time, control information combined with the correction amounts is generated, including corresponding flight parameters, simulated scenes and simulated sounds, and transmitted to the high-load flight simulation module.

[0051] When simulating continuous high-load flight, the simulation system establishes a high-load simulation aerodynamic equation through the main control computer module, and generates control information combined with the correction amount for simulating continuous high-load flight in combination with the correction amount generated by the human perception processing module. The control information includes information such as simulated flight parameters, simulated scene parameters and simulated sound parameters, which are applied to the high-load flight simulation module to realize continuous load simulation flight; the flexible wearable wireless sensor is used to collect the pilot's brain wave signal, eye wave signal and mandibular electromyography signal, and after converting the above electrical signals into digital signals, they are sent to the receiving device of the system through wireless transmission, and then the human perception processing module compares the actual psychological and physiological parameter values ​​stored in the human comprehensive perception model with the actual The corresponding relationship between the flight state and the simulated psychological and physiological parameter values ​​are processed, so as to adjust the aerodynamic equation according to the difference between the aerodynamic parameter data of the current simulated flight state of the high-load flight simulator and the aerodynamic parameter data of the actual flight state, so that the simulated physiological and psychological perception (i.e., real-time integrated perception) generated by the simulator on the pilot is compatible with the pilot's flight integrated perception of the real aircraft in this flight state; the above system has both the characteristics of previous flight simulators and the unique human body integrated perception model embedded in the high-load flight simulation module to form control information. The control information combined with real-time integrated perception is information data that previous flight simulators have not been exposed to or collected, thereby improving the realism of flight training.

[0052] Specifically, the high-load flight simulation module forms simulated flight state information according to the control information, that is, new parameter values ​​of corresponding parameters of the control mechanism, visual unit and audio unit, so that the simulated flight state formed by the high-load flight simulator pilot operating the control mechanism can adapt the simulated psychological and physiological parameter values ​​generated by the simulator pilot to the actual psychological and physiological parameter values ​​under the corresponding actual flight state.

[0053] In some embodiments, Figure 2As shown, the high-load flight simulation system using the above-mentioned flexible wearable wireless sensor, the pilot enters the cockpit, and before the simulated flight, he wears the above-mentioned flexible wearable wireless sensor to collect the electrical signal data of changes in the pilot's electrocardiogram, electroencephalogram, electromyography, eye movement, breathing, pulse, transcranial blood pressure, blood oxygen saturation and other physiological responses, as well as mental ability, judgment ability, sensitive reaction, fatigue state and psychological stimulation caused by changes under the action of the flight acceleration vector field during the high-load simulated flight, and the above-mentioned electrical signal data are wirelessly transmitted to the receiving device of the simulation system, and the correction amount of the aerodynamic equation parameters is generated through the human body perception processing module. The pilot operates the control mechanism in the cockpit to generate an operation signal, which is transmitted to the main control computer module. The main control computer module establishes a high-load simulation aerodynamic equation based on the aircraft aerodynamic mathematical model and combines the above-mentioned correction amount of the aerodynamic equation parameters to generate control information simulating continuous high-load flight, which acts on the high-load flight simulation module to realize the state of simulated flight. The parameters of the high-load simulation aerodynamic equation include longitudinal aerodynamic coefficient and lateral aerodynamic coefficient.

[0054] The longitudinal aerodynamic coefficient includes the drag coefficient on the stable coordinate system , lift coefficient and the pitch moment coefficient in the body coordinate system , the calculation formula is as follows:

[0055]

[0056] in, Zero lift drag coefficient, Induced drag coefficient, Reynolds number variation The correction amount, The drag coefficient correction amount caused by the damping plate, The additional drag coefficient correction amount caused by external attachments, Predictive control to correct the drag coefficient, The correction amount of the drag coefficient according to the difference between the actual psychological and physiological parameter values ​​and the simulated psychological and physiological parameter values ​​in the human body comprehensive perception model;

[0057]

[0058] in, The lift coefficient at zero angle of attack is The elasticity of the aircraft structure The influence coefficient of Lift coefficient parameters, Angle of attack, Aeroelastic correction factor for lift coefficient slope, The derivative of the lift coefficient with respect to the horizontal tail deviation angle, Fully moving horizontal tail deflection angle, Predictive control to lift coefficient correction, The correction amount of lift coefficient in the human body comprehensive perception model according to the difference between the actual psychological and physiological parameter values ​​and the simulated psychological and physiological parameter values;

[0059] m z =K( m z ϕ ) E ∙ m z ϕ ∙ϕ+[ x G ¯ - x F ¯ +∆ x F ¯ E ]∙ C y + m z oh z ¯ ∙ oh z ¯ + m z a ̇ ¯ ∙ a ̇ ¯ + D m z FP + D m z HP

[0060] in, Aeroelastic correction factor for lift coefficient slope, Fully moving horizontal tail control derivative, Fully moving horizontal tail deflection angle, The relative position of the aircraft mass on the mean aerodynamic chord of the wing, The relative position of the focus of the whole aircraft on the average aerodynamic chord of the wing, The correction amount of the relative position of the focus of the whole aircraft on the average aerodynamic chord of the wing, Dimensionless longitudinal damping derivative, Dimensionless wash flow time derivative, The dimensionless angular velocity of the aircraft about its body axis, The relative position of the lift angle of attack, Predictive control correction of pitch moment coefficient, The correction amount of the pitch moment coefficient in the human body comprehensive perception model according to the difference between the actual psychological and physiological parameter values ​​and the simulated psychological and physiological parameter values;

[0061] The lateral aerodynamic coefficients include: the side force coefficient on the stable coordinate system and the rolling moment in the body coordinate system , Yaw moment coefficient , the calculation formula is as follows:

[0062] C z =[ C z β +D( C z β ) E ]∙β+K( C z d y ) E ∙ C z d y ∙ d y

[0063] in , is the side force coefficient generated by a sideslip angle of 1°, Aircraft structural elasticity The incremental impact of is the sideslip angle, Aircraft structural elasticity The influence coefficient of The side force coefficient generated by a 1° rudder deflection is Rudder, Predictive control of the lateral force coefficient correction, The correction amount of the lateral force coefficient in the human body comprehensive perception model according to the difference between the actual psychological and physiological parameter values ​​and the simulated psychological and physiological parameter values;

[0064] m y =[ m y β +D( m y β ) E ]∙β+ m y d x ∙ d x +K( m y d x ) E ∙ m y d y ∙ d y + m y oh x ¯ ∙ oh x ¯ + m y oh y ¯ ∙ oh y ¯ +K( m y ϕ ) E ∙ m y ϕ ∙ D ϕ

[0065] in, Heading stability, Aircraft structural elasticity The incremental impact of Aileron deflection 1° produces , aileron, Machine structure elasticity The incremental impact of Rudder efficiency, Rudder, Dimensionless cross derivatives on the lateral side, , Dimensionless lateral damping derivative, Yaw angular velocity, , The total moving tail deflection 1° produces , Tail differential, , The correction amount of the yaw moment coefficient in the human body comprehensive perception model is based on the difference between the actual psychological and physiological parameters and the simulated psychological and physiological parameter values;

[0066]

[0067] in, Lateral static stability, Aileron efficiency, aileron, Transverse dimensionless damping derivative, , Dimensionless cross derivatives on the lateral side, Yaw angular velocity, Aircraft structural elasticity The influence coefficient of The total moving tail deflection 1° produces , Tail differential, , The roll moment coefficient correction amount is made according to the difference between the actual psychological and physiological parameters and the simulated psychological and physiological parameters in the human body comprehensive perception model.

[0068] Specifically, the flexible wearable wireless sensor is worn on a person's face to collect EEG signals, eye movement signals and mandibular electromyographic signals from the forehead, eyes and mandible respectively. The EEG signals are measured by a forehead sensor for at least 8 channels; the eye movement signals are measured by placing upper eyelid electrodes and lower eyelid electrodes to measure the potential changes caused by eye movement; the mandibular electromyographic signals are measured by placing electrodes near the mandibular muscles to measure the electrical activity of the mandibular muscles.

[0069] In some embodiments, before the simulated flight, the pilot autonomously wears Figure 1The flexible wearable wireless sensor shown in the figure obtains electrical signals from the human brain, eyes, mandible and other parts through the forehead electrode 21, eye electrode 22 and jaw electrode 23 on the sensor, and inputs the collected human physiological and psychological data parameters into the human perception model. Through these data, the difference generated in real time by the high-load flight simulator is adjusted, and participates in the calculation of the human perception model and flight simulation software, and gradually realizes the human perception mismatch approaching zero in the iterative cycle until the simulated flight is compatible with the real flight.

[0070] It should be noted that the above-described specific implementations can enable those skilled in the art to more fully understand the invention, but do not limit the invention in any way. Therefore, although this specification has described the invention in detail with reference to the drawings and embodiments, those skilled in the art should understand that the invention can still be modified or replaced by equivalents. In short, all technical solutions and improvements that do not deviate from the spirit and scope of the invention should be included in the protection scope of the patent for the invention.

Claims

1. A flexible wearable wireless sensor, applied to a high-load flight simulation system, characterized in that: include: A flexible base material (1), a plurality of signal electrodes (2) arranged on the flexible base material (1), a signal amplifier (3), a filter circuit (4), an analog-to-digital converter (5), and a wireless transmission module (6); The flexible base material (1) is in the shape of a facial mask, providing stable support and enabling the signal electrode to be closely attached to the skin of the head and face; The signal electrodes (2) are arranged on the flexible base material, and include a forehead electrode (21), an eye electrode (22), and a jaw electrode (23) which respectively contact corresponding parts of the head and face when the flexible base material is attached to the head and face, the forehead electrode (21) being used to collect brain electrical signals, the eye electrode (22) being used to collect eye movement signals, and the jaw electrode (23) being used to collect mandibular electromyographic signals; The signal amplifier (3) is connected to the signal electrode (2) and is used to amplify the signal data collected by the signal electrode; The filtering circuit (4) is connected to the signal amplifier (3) and is used to remove noise and interference in the signal data; The analog-to-digital converter (5) is connected to the filtering circuit (4) and is used to convert the filtered signal data into a digital signal; The wireless transmission module (6) is connected to the analog-to-digital converter (5) and is used to transmit the digital signal to a wireless receiving device in a wireless manner, wherein the wireless manner is a Bluetooth transmission manner; The wireless sensor is used to collect electrical signal data of the pilot's head and face in a simulated flight state and transmit it to a receiving device; the electrical signal data is parameter data for generating simulated psychological and physiological parameter values.

2. A flexible wearable wireless sensor according to claim 1, characterized in that: The forehead electrode (21) comprises at least 8 electrodes arranged horizontally on the forehead.

3. A flexible wearable wireless sensor according to claim 2, characterized in that: The eye electrodes (22) include two upper eyelid electrodes (221) and two lower eyelid electrodes (222) that respectively contact corresponding parts of the eyes, measure potential changes generated by eye movement to collect eye movement signals, and evaluate eye movement by analyzing the eye movement signals.

4. A flexible wearable wireless sensor according to claim 3, characterized in that: The jaw electrode (23) comprises two temporalis muscle electrodes (231) and two mandibular electrodes (232) which respectively contact corresponding parts on both sides of the jaw, and measure the electrical activity of the mandibular muscles to collect mandibular myoelectric signals.

5. A flexible wearable wireless sensor according to claim 4, characterized in that: The flexible base material (1) is made of polyimide or silicone.

6. A flexible wearable wireless sensor according to any one of claims 1 to 5, characterized in that: The flexible base material (1) is provided in a variety of specifications according to the body shapes of different people.

7. A flexible wearable wireless sensor according to claim 6, characterized in that: The side of the flexible base material (1) that contacts the skin needs to be sticky.

8. A high-load flight simulation system, characterized in that: include: High-load flight simulation module, human perception processing module, main control computer module; The high-load flight simulation module is a device that provides simulated actions of flight load, flight attitude adjustment, flight control, simulated scene and simulated sound, and includes a cockpit, a load-bearing base, a power system and a signal acquisition and communication system. The cockpit includes a control mechanism, a visual unit and an audio unit. The signal acquisition and communication system collects information from the control mechanism, the visual unit and the audio unit and transmits it to the main control computer module, and receives control information from the main control computer module to control the device; The human perception processing module comprises a flexible wearable wireless sensor as described in any one of claims 1 to 7 for detecting the pilot's psychology and physiology, a signal receiving module and a processing module, the signal receiving module as a receiving device receives the simulated psychological and physiological parameter values ​​collected by the flexible wearable wireless sensor and inputs them into the processing module, the processing module stores a human comprehensive perception model, the human comprehensive perception model stores the correspondence between the actual psychological and physiological parameter values ​​and the actual flight state established by associating a large number of existing empirical aerodynamic parameters with the actual psychological and physiological parameter values ​​of the pilot during flight, and the high-load simulation aerodynamic equation from the main control computer module, the processing module compares the simulated psychological and physiological parameter values ​​with the actual psychological and physiological parameter values, and can obtain the correction amount of the human comprehensive perception model to the high-load simulation aerodynamic equation parameters, and transmits the correction amount to the main control computer module; The main control computer module establishes a high-load simulation aerodynamic equation based on the aircraft aerodynamic mathematical model. The parameters of the high-load simulation aerodynamic equation include longitudinal aerodynamic coefficient and lateral aerodynamic coefficient. The longitudinal aerodynamic coefficient and lateral aerodynamic coefficient include correction amounts of the human body comprehensive perception model to the parameters of the high-load simulation aerodynamic equation. At the same time, control information combined with the correction amounts is generated, including corresponding flight parameters, simulated scenes and simulated sounds, and transmitted to the high-load flight simulation module.

9. The simulation system according to claim 8, characterized in that The high-load flight simulation module forms simulated flight state information based on the control information, that is, new parameter values ​​of corresponding parameters of the control mechanism, visual unit and audio unit, so that the simulated flight state formed by the high-load flight simulator pilot operating the control mechanism can adapt the simulated psychological and physiological parameter values ​​generated by the simulator pilot to the actual psychological and physiological parameter values ​​under the corresponding actual flight state.

10. The simulation system according to claim 9, characterized in that The flexible wearable wireless sensor is worn on the head and face of a person, and collects EEG signals, eye movement signals and mandibular electromyographic signals from the forehead, eyes and mandible respectively. The EEG signals are measured by the forehead sensor for at least 8 channels. The eye movement signal measures the potential change caused by eye movement by placing upper eyelid electrodes and lower eyelid electrodes, and the mandibular electromyography signal measures the electrical activity of the mandibular muscle by placing electrodes near the mandibular muscle.

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