Ejection lifesaving simulation training system based on VR technology

Abstract

The invention discloses an ejection lifesaving simulation training system based on a VR technology. The ejection lifesaving simulation training system comprises a main control computer, a simulation computer, a simulation cabin system, a simulation ejection seat system, VR equipment and a teaching observation system. The simulation cabin system, the simulation ejection seat system and the simulation computer are all in communication connection with the main control computer, and the VR equipment and the teaching observation system are both in communication connection with the simulation computer; the simulation cockpit system comprises a cockpit body, a cockpit camera, a cockpit sensor and a cockpit earphone, the cockpit camera, the cockpit sensor and the cockpit earphone are arranged on the cockpit body, and the cockpit camera, the cockpit sensor and the cockpit earphone are all in communication connection with the main control computer; and teacher control end system software is arranged in the main control computer. The ejection lifesaving simulation training system based on the VR technology solves the problem that remote interaction between a teacher and a student cannot be achieved in the prior art.

Description

Technical Field

[0001] The invention relates to a life-saving simulation training system, and in particular to an ejection life-saving simulation training system based on VR technology. Background Art

[0002] A Chinese patent discloses a VR-based ejection and / or parachuting life-saving training method with application number: CN201811482671.0. The VR-based ejection and / or parachuting life-saving training method includes obtaining historical flight accidents of various types of aircraft and performing three-dimensional modeling; importing the constructed three-dimensional model into a three-dimensional virtual reality development engine, establishing a flight accident model according to the physical characteristics of the target aircraft, and displaying the flight accident scene on a VR interactive device; the pilot experiences the flight accident process through the VR interactive device he wears, and determines whether to activate the ejection seat and when to activate the ejection seat.

[0003] Although the VR-based ejection and / or parachute life-saving training method can realize ejection training, the VR-based ejection and / or parachute life-saving training method has the disadvantages of not being able to realize the instructor's remote interactive operation with the trainees, resulting in reduced training effect. Summary of the invention

[0004] The present invention aims to provide an ejection life-saving simulation training system based on VR technology, so as to solve the problem that the prior art cannot realize the remote interaction between instructors and trainees.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention discloses an ejection life-saving simulation training system based on VR technology, comprising: a main control computer, a simulation computer, a simulated cockpit system, a simulated ejection seat system, VR equipment and a teaching and observation system;

[0007] The simulated cockpit system, simulated ejection seat system, and simulation computer are all communicatively connected to the main control computer, and the VR equipment and teaching observation system are all communicatively connected to the simulation computer;

[0008] The simulated cockpit system includes: a cockpit body, a cockpit camera, a cockpit sensor and a cockpit headset. The cockpit body is provided with a cockpit camera, a cockpit sensor and a cockpit headset. The cockpit camera, the cockpit sensor and the cockpit headset are all communicatively connected to a main control computer.

[0009] The main control computer is equipped with the teacher control end system software;

[0010] The simulation computer is equipped with: avionics system simulation module, mirror image simulation module, special situation process simulation module, dynamics / kinematics simulation module.

[0011] Preferably, the mirror image simulation module in the simulation computer operates in the following steps:

[0012] S11. After the simulation computer is turned on, the local software, VR equipment and teaching observation system are started according to the configuration files set in advance;

[0013] S12, judging and checking the connectivity between the simulation computer and the instructor control end system software and the VR device; if one of the instructor control end system software and the VR device is not connected, returning to shut down the simulation computer, checking the configuration file, and restarting the relevant device or software; if the instructor control end system software and the VR device are both connected, initializing and setting the mirror image simulation module software according to the initialization instruction sent by the instructor control end system software, setting the ejection overload, training subject, flight condition, VR parameters and viewing angle of the observation device;

[0014] S13, judging and checking the initialization setting of the mirror image simulation module software; if the initialization is unsuccessful, returning to re-initialize; if the initialization is successful, waiting for the instructor control end system software to send a training start instruction;

[0015] S14, the training operation is performed, and the training video is recorded during the training operation;

[0016] S15, receiving the training end instruction sent by the instructor control end system software in real time; if there is no instruction, then go to the state before receiving input and enter the training operation state; if the instruction is received, then the training operation ends and proceeds to step S16;

[0017] S16, the simulation computer transmits the training video to the instructor control end system software of the main control computer;

[0018] S17, the mirror image simulation module stops working and exits the mirror image simulation module.

[0019] Preferably, in step S14, during the execution of the training operation, the simulation computer needs to exchange information with the instructor control end system software in the main control computer; the exchanged information includes: the simulation computer receives in real time the student's ejection handle control commands, control mechanism commands, parachute control ring commands and avionics system commands transmitted from the instructor control end system software through the network, the simulation computer receives in real time the trigger special situation information transmitted from the instructor control end system software through the network, the simulation computer transmits the flight information to the instructor control end system software through the network in real time, the simulation computer records the training video in real time and saves it locally, and the simulation computer transmits the visual and voice information to the VR device and the teaching observation system through the network or video line in real time.

[0020] Preferably, the simulated cockpit system also includes: an ejection acceleration sensor, which is installed on a dummy trainee located in the cockpit body, and is used to detect a discrete ejection acceleration signal when the dummy trainee is ejected by an ejection seat in the cockpit body, and the discrete ejection acceleration signal is the acceleration of the lumbar spine of the dummy trainee in the vertical direction. The ejection acceleration sensor is communicatively connected to a main control computer, and the main control computer uses the discrete ejection acceleration signal obtained from the dummy trainee test to determine whether it has exceeded the human body's tolerance.

[0021] Preferably, the main control computer uses the discrete ejection acceleration signal to determine whether the acceleration has exceeded the human body's tolerance as follows:

[0022] S1. Let the discrete ejection acceleration signal be x N (n), x N (n) represents the ejection acceleration signal obtained by sampling at the nth moment. The total number of samples is N. Calculate x N The estimated mean value of (n)

[0023] S2. Calculate the simulated ejection acceleration signal as x(t), x(t) = a+bt+ct 2 +dt 3 (Formula 1), the discrete ejection acceleration signal is x N (n) Each discrete value is substituted into x(t) in Formula 1, and the corresponding n is substituted into t in Formula 1, and constants a, b, c, and d are obtained by cubic fitting;

[0024] S3, substitute the nth moment of N into t in formula 1 to obtain x(n);

[0025] S4. Calculate the difference △x(n) at each nth moment, △x(n)=|x(n)-x N (n);

[0026] S5. Calculate the average difference

[0027] S6. Using x(t) and Calculate the dynamic response index DRI;

[0028] S7. The dynamic response index DRI cannot be greater than a specified value to determine whether the human body's tolerance has been exceeded.

[0029] Preferably, step S6 comprises the following steps:

[0030] S61. Establish a motion model of the dummy's lumbar spine during compression. The motion model formula is as follows:

[0031]

[0032] is the damping coefficient, ω n is the inherent angular velocity of the human body along the longitudinal axis, ω n =52.9rad / s, d(t) is the compression displacement of the test dummy student's spine relative to the seat, is the second-order derivative of d(t), is the first-order derivative of d(t);

[0033] S62, obtain the calculation formula of d(t) and time t through formula 2;

[0034] S63, by using the calculation formula of d(t) and time t, and the value range of t is 0 to N, the maximum value δ of d(t) is calculated max ;

[0035] S64, Calculate the dynamic response index g is the acceleration due to gravity, g=9.81m / s.

[0036] Preferably, in step S62, x(t) is substituted into formula 2 to obtain: Calculated by formula 3

[0037] In formula 4, E is Related constants.

[0038] Preferably, in formula 4,

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. Relying on the training program, ejection load adaptability training can be carried out separately, or the whole process of ejection life-saving simulation training under specific flight mission scenarios can be carried out.

[0041] 2. By setting up the instructor control system software in the main control computer, it responds to the ejection special situation set by the instructor control system, simulates the special situation that affects flight safety during the flight, and allows the students to handle it and judge the timing of ejection and life-saving by themselves. At the same time, it can monitor the students' unsafe operations and system working status, and issue timely alarms.

[0042] 3. Use VR equipment to build a realistic ejection and life-saving environment with high realism, providing students with better ejection and life-saving training simulation equipment.

[0043] 4. Use VR technology in VR devices to reproduce cockpits of multiple aircraft models and realize cockpit instrument simulation and flight visual simulation of various types of aircraft.

[0044] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flow chart of the running steps of the mirror image simulation module in the simulation computer. DETAILED DESCRIPTION

[0046] In order to make the technical means, creative features, objectives and functions of the present invention clearer and easier to understand, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0047] The present invention discloses an ejection life-saving simulation training system based on VR technology, comprising: a main control computer, a simulation computer, a simulated cockpit system, a simulated ejection seat system, VR equipment and a teaching and observation system;

[0048] The simulated cockpit system, simulated ejection seat system, and simulation computer are all communicatively connected to the main control computer, and the VR equipment and teaching observation system are all communicatively connected to the simulation computer;

[0049] The simulated cockpit system includes: a cockpit body, a cockpit camera, a cockpit sensor and a cockpit headset. The cockpit body is provided with a cockpit camera, a cockpit sensor and a cockpit headset. The cockpit camera, the cockpit sensor and the cockpit headset are all communicatively connected to a main control computer.

[0050] The main control computer is equipped with the teacher control end system software;

[0051] The simulation computer is equipped with: avionics system simulation module, mirror image simulation module, special situation process simulation module, dynamics / kinematics simulation module.

[0052] like Figure 1 As shown, the operation steps of the mirror image simulation module in the simulation computer are as follows:

[0053] S11. After the simulation computer is turned on, the local software, VR equipment and teaching observation system are started according to the configuration files set in advance;

[0054] S12, judging and checking the connectivity between the simulation computer and the instructor control end system software and the VR device; if one of the instructor control end system software and the VR device is not connected, returning to shut down the simulation computer, checking the configuration file, and restarting the relevant device or software; if the instructor control end system software and the VR device are both connected, initializing and setting the mirror image simulation module software according to the initialization instruction sent by the instructor control end system software, setting the ejection overload, training subject, flight condition, VR parameters and viewing angle of the observation device;

[0055] S13, judging and checking the initialization setting of the mirror image simulation module software; if the initialization is unsuccessful, returning to re-initialize; if the initialization is successful, waiting for the instructor control end system software to send a training start instruction;

[0056] S14, the training operation is performed, and the training video is recorded during the training operation;

[0057] S15, receiving the training end instruction sent by the instructor control end system software in real time; if there is no instruction, then go to the state before receiving input and enter the training operation state; if the instruction is received, then the training operation ends and proceeds to step S16;

[0058] S16, the simulation computer transmits the training video to the instructor control end system software of the main control computer;

[0059] S17, the mirror image simulation module stops working and exits the mirror image simulation module.

[0060] In step S14, during the execution of the training operation, the simulation computer needs to exchange information with the instructor control end system software in the main control computer; the exchanged information includes: the simulation computer receives in real time the student's ejection handle control commands, control mechanism commands, parachute control ring commands and avionics system commands transmitted from the instructor control end system software through the network, the simulation computer receives in real time the trigger special situation information transmitted from the instructor control end system software through the network, the simulation computer transmits the flight information to the instructor control end system software through the network in real time, the simulation computer records the training video in real time and saves it locally, and the simulation computer transmits the visual and voice information to the VR device and teaching observation system through the network or video line in real time.

[0061] Preferably, the simulated cockpit system also includes: an ejection acceleration sensor, which is installed on a dummy trainee located in the cockpit body, and is used to detect a discrete ejection acceleration signal when the dummy trainee is ejected by an ejection seat in the cockpit body, and the discrete ejection acceleration signal is the acceleration of the lumbar spine of the dummy trainee in the vertical direction. The ejection acceleration sensor is communicatively connected to a main control computer, and the main control computer uses the discrete ejection acceleration signal obtained from the dummy trainee test to determine whether it has exceeded the human body's tolerance.

[0062] The main control computer uses the discrete ejection acceleration signal to determine whether the acceleration has exceeded the human body's tolerance as follows:

[0063] S1. Let the discrete ejection acceleration signal be x N (n), x N (n) represents the ejection acceleration signal obtained by sampling at the nth moment, and the total number of samples is N;

[0064] S2. Calculate the simulated ejection acceleration signal as x(t), x(t) = a+bt+ct 2 +dt 3 (Formula 1), the discrete ejection acceleration signal is x N (n) Each discrete value is substituted into x(t) in Formula 1, and the corresponding n is substituted into t in Formula 1, and constants a, b, c, and d are obtained by cubic fitting;

[0065] S3, substitute the nth moment of N into t in formula 1 to obtain x(n);

[0066] S4. Calculate the difference △x(n) at each nth moment, △x(n)=|x(n)-x N (n);

[0067] S5. Calculate the average difference

[0068] S6. Using x(t) and Calculate the dynamic response index DRI;

[0069] S7. The dynamic response index DRI cannot be greater than a specified value to determine whether the human body's tolerance has been exceeded.

[0070] Step S6 includes the following steps:

[0071] S61. Establish a motion model of the dummy's lumbar spine during compression. The motion model formula is as follows:

[0072]

[0073] is the damping coefficient, ω n is the inherent angular velocity of the human body along the longitudinal axis, ω n =52.9rad / s, d(t) is the compression displacement of the test dummy student's spine relative to the seat, is the second-order derivative of d(t), is the first-order derivative of d(t);

[0074] S62, obtain the calculation formula of d(t) and time t through formula 2;

[0075] S63, by using the calculation formula of d(t) and time t, and the value range of t is 0 to N, the maximum value δ of d(t) is calculated max ;

[0076] S64, Calculate the dynamic response index g is the acceleration due to gravity, g=9.81m / s.

[0077] In step S62, x(t) is substituted into formula 2 to obtain: Calculated by formula 3

[0078] In formula 4, E is Related constants.

[0079] In formula 4,

[0080] In this application, the discrete ejection acceleration signal is x N (n) test data, the simulated ejection acceleration signal is fitted as x(t). In this way, in the motion model formula 2, d(t) with first-order derivatives and second-order derivatives can be expressed by a cubic t function, which can reduce the steps of calculating d(t) and improve the calculation speed of d(t). Then the simulated ejection acceleration signal x(t) obtained by fitting is compared with the discrete ejection acceleration signal x obtained by actual sampling. N (n) has errors. In this application, the average difference is calculated. To correct x(t) in Formula 2, and then make the maximum value δ max Also increase Thereby increasing the dynamic response index DRI. Since the dynamic response index DRI cannot be greater than the specified value of 18, the modified dynamic response index DRI is safer. When it is greater than the specified value of 18, it is determined to exceed the limit value that the human lumbar spine can withstand, so the ejection acceleration can be controlled.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. The ejection life-saving simulation training system based on VR technology is characterized by: include: Main control computer, simulation computer, simulated cockpit system, simulated ejection seat system, VR equipment and teaching observation system; The simulated cockpit system, simulated ejection seat system, and simulation computer are all communicatively connected to the main control computer, and the VR equipment and teaching observation system are all communicatively connected to the simulation computer; The simulated cockpit system includes: a cockpit body, a cockpit camera, a cockpit sensor and a cockpit headset. The cockpit body is provided with a cockpit camera, a cockpit sensor and a cockpit headset. The cockpit camera, the cockpit sensor and the cockpit headset are all communicatively connected to a main control computer. The main control computer is equipped with the teacher control end system software; The simulation computer is equipped with: avionics system simulation module, mirror image simulation module, special situation process simulation module, dynamics / kinematics simulation module.

2. The ejection life-saving simulation training system based on VR technology according to claim 1 is characterized in that: The operation steps of the mirror image simulation module in the simulation computer are as follows: S11. After the simulation computer is turned on, the local software, VR equipment and teaching observation system are started according to the configuration files set in advance; S12, judging and checking the connectivity between the simulation computer and the instructor control end system software and the VR device; if one of the instructor control end system software and the VR device is not connected, returning to shut down the simulation computer, checking the configuration file, and restarting the relevant device or software; if the instructor control end system software and the VR device are both connected, initializing and setting the mirror image simulation module software according to the initialization instruction sent by the instructor control end system software, setting the ejection overload, training subject, flight condition, VR parameters and viewing angle of the observation device; S13, judging and checking the initialization setting of the mirror image simulation module software; if the initialization is unsuccessful, returning to re-initialize; if the initialization is successful, waiting for the instructor control end system software to send a training start instruction; S14, the training operation is performed, and the training video is recorded during the training operation; S15, receiving the training end instruction sent by the instructor control end system software in real time; If there is no instruction, the process goes to the state before receiving input and enters the training operation state; if an instruction is received, the training operation ends and the process proceeds to step S16; S16, the simulation computer transmits the training video to the instructor control end system software of the main control computer; S17, the mirror image simulation module stops working and exits the mirror image simulation module.

3. The ejection life-saving simulation training system based on VR technology according to claim 2 is characterized in that: In step S14, during the execution of the training operation, the simulation computer needs to exchange information with the instructor control end system software in the main control computer; the exchanged information includes: the simulation computer receives in real time the student's ejection handle control commands, control mechanism commands, parachute control ring commands and avionics system commands transmitted from the instructor control end system software through the network, the simulation computer receives in real time the trigger special situation information transmitted from the instructor control end system software through the network, the simulation computer transmits the flight information to the instructor control end system software through the network in real time, the simulation computer records the training video in real time and saves it locally, and the simulation computer transmits the visual and voice information to the VR device and teaching observation system through the network or video line in real time.

4. The ejection life-saving simulation training system based on VR technology according to claim 3 is characterized in that: The simulated cockpit system also includes: an ejection acceleration sensor, which is installed on the dummy student located in the cockpit body. The ejection acceleration sensor is used to detect a discrete ejection acceleration signal when the dummy student is ejected by the ejection seat in the cockpit body. The discrete ejection acceleration signal is the acceleration of the lumbar spine of the dummy student in the vertical direction. The ejection acceleration sensor is communicatively connected to the main control computer. The main control computer uses the discrete ejection acceleration signal obtained from the dummy student test to determine whether it has exceeded the human body's tolerance.

5. The ejection life-saving simulation training system based on VR technology according to claim 4 is characterized in that: The main control computer uses the discrete ejection acceleration signal to determine whether the acceleration has exceeded the human body's tolerance as follows: S1. Let the discrete ejection acceleration signal be x N (n), x N (n) represents the ejection acceleration signal obtained by sampling at the nth moment. The total number of samples is N. Calculate x N The estimated mean value of (n) S2. Calculate the simulated ejection acceleration signal as x(t), x(t) = a+bt+ct 2 +dt 3 (Formula 1), the discrete ejection acceleration signal is x N (n) Each discrete value is substituted into x(t) in Formula 1, and the corresponding n is substituted into t in Formula 1, and constants a, b, c, and d are obtained by cubic fitting; S3, substitute the nth moment of N into t in formula 1 to obtain x(n); S4. Calculate the difference △x(n) at each nth moment, △x(n)=|x(n)-x N (n); S5. Calculate the average difference S6. Using x(t) and Calculate the dynamic response index DRI; S7. The dynamic response index DRI cannot be greater than a specified value to determine whether the human body's tolerance has been exceeded.

6. The ejection life-saving simulation training system based on VR technology according to claim 5 is characterized in that: Step S6 includes the following steps: S61. Establish a motion model of the dummy's lumbar spine during compression. The motion model formula is as follows: is the damping coefficient, ω n is the inherent angular velocity of the human body along the longitudinal axis, ω n =52.9rad / s, d(t) is the compression displacement of the test dummy student's spine relative to the seat, is the second-order derivative of d(t), is the first derivative of d(t); S62, obtain the calculation formula of d(t) and time t through formula 2; S63, by using the calculation formula of d(t) and time t, and the value range of t is 0 to N, the maximum value δ of d(t) is calculated max ; S64, Calculate the dynamic response index g is the acceleration due to gravity, g=9.81m / s.

7. The ejection life-saving simulation training system based on VR technology according to claim 6 is characterized in that: In step S62, x(t) is substituted into formula 2 to obtain: Calculated by formula 3 In formula 4, E is Related constants.

8. The ejection life-saving simulation training system based on VR technology according to claim 6 is characterized in that: In formula 4,

Images