Low-gravity motion simulation method and system based on spatial orientation perception consistency

Abstract

The invention provides a low-gravity motion simulation method and system based on spatial directional perception consistency, and the method comprises the steps: inputting a low-gravity motion curve into an actual low-gravity motion channel and a ground motion simulation channel, and reducing the axial gravity component of a body through the adjustment of a human body posture. Therefore, low-gravity motion input characteristics required by an actual low-gravity channel are equivalently simulated; and further calculating motion sensing data of the two channels by using a motion sensing model, generating a motion control instruction by taking motion sensing error minimization as a target, and further performing motion simulation based on the motion control instruction. By adjusting the static posture of the human body, the motion sensing features under the low-gravity condition are equivalently simulated in a certain motion space, and motion simulation under the low-gravity environment is achieved.

Description

Technical Field

[0001] The present invention relates to the field of low-gravity motion, and in particular to a low-gravity motion simulation method based on spatial orientation perception consistency. Background Art

[0002] It is difficult to fully simulate the continuous and effective low-gravity motion characteristics under ground conditions. It can only simulate the low-gravity motion perception characteristics to a certain extent. The optimal motion simulation algorithm uses a complete motion perception model, which is more suitable for low-gravity motion simulation than other algorithms. This algorithm compares the motion perception of the actual flight channel and the simulation channel, and minimizes the perception error through optimal control theory. However, it is limited to the fact that the two channels need to use a completely consistent motion perception model and the gravity of the simulation environment must be consistent with that of the actual flight, so it cannot be directly used for low-gravity motion simulation.

[0003] Usually, high-level flight simulation training systems require motion simulation during flight. Since the general six-degree-of-freedom motion system has a limited range of motion, in order to simulate the real flight motion as much as possible within the limited motion range, it is necessary to make full use of human perception characteristics to formulate motion strategies, which is the motion simulation algorithm. The current mainstream motion simulation algorithms are as follows:

[0004] a. Classical motion simulation algorithm: The main advantage of this algorithm is that it is very simple in theory and implementation, with a small amount of calculation; it is also very intuitive for designers, and they can directly modify the parts that are not satisfactory in terms of motion feeling; it is usually implemented using PID control, which is relatively easy to implement and has better simulation stability, and is widely used in China. Its main disadvantage is that it cannot fully utilize the motion capabilities of the simulator platform due to the use of linear filters; although it has achieved key motion perception characteristics, such as high-frequency motion retention, low-frequency attenuation, motion washout below the perception threshold, and low-frequency continuous acceleration simulation through gravity components, it cannot take into account the nonlinear characteristics of the human vestibular system.

[0005] b. Adaptive motion simulation algorithm: The adaptive algorithm adds a time-varying filter and scaling parameters to the classical algorithm. The filter gain is determined by minimizing the error between input and output data. The adaptive algorithm has received good evaluations. The simulation fidelity is high when approaching the neutral position of the motion platform, but decreases when approaching the upper limit of the platform.

[0006] c. Optimal motion simulation algorithm: The optimal motion simulation algorithm uses the optimal control theory as the framework and the motion perception model as the core. By predicting and comparing the motion perception of the actual flight channel and the simulated channel, an optimization cost function is established with constraints such as minimizing the motion perception error and maximizing the performance utilization of the motion platform, so as to obtain the perceptually consistent motion simulation to the greatest extent. The disadvantage of this algorithm is that each link depends on the accuracy of the mathematical model, especially the human motion perception model. Since then, many scholars have conducted research based on the optimal algorithm, mainly focusing on the improvement of the vestibular perception model and the optimization of the algorithm theory. For example, a more accurate vestibular perception model is used in the optimal wash-out algorithm, and more state quantities are added to the value function to limit the displacement of the motion platform, which has stronger stability.

[0007] d. Model prediction algorithm: The above algorithm processes acceleration signals in a specific frequency band, but in addition to changing the motion amplitude, it may also cause phase lag / advance. In severe cases, it may cause the motion platform to move in the opposite direction to the visual motion at the same time. The model prediction algorithm follows the motion signal as much as possible when the platform allows, and decelerates smoothly when approaching the physical limit to avoid erroneous motion perception. It only needs to clarify the motion platform limit and motion detection threshold, and does not need to consider the impact of different working conditions, so parameter adjustment is relatively simple. The algorithm will calculate a control sequence containing N steps and a state sequence corresponding to N steps, and control the input to minimize the perception error of each step; when the algorithm predicts that it is about to reach the boundary of the motion platform, the platform will wash out to the middle position. It avoids erroneous motion, but the wash-out time is too long, and the target motion during this period cannot be simulated.

[0008] Motion simulation algorithms are widely used in ground flight motion simulation, but have not yet been effectively applied in low-gravity flight simulation. On the one hand, the current motion simulation algorithm is only designed for ground gravity, and the algorithm does not consider the impact of gravity changes on the accuracy of simulation results, and has not been effectively verified; on the other hand, it is difficult to truly achieve a continuous and effective low-gravity environment under ground conditions (the current weightless aircraft can only last for about 30 seconds of low-gravity flight), and the usual six-degree-of-freedom motion system can only simulate equivalent or approximate low-gravity motion perception characteristics under certain conditions and ranges. Since the optimal motion simulation algorithm uses a complete motion perception model and the theoretical development is relatively complete, the present invention is based on the optimal motion simulation algorithm. However, the algorithm cannot be directly used for low-gravity motion simulation. The main reason is that the algorithm compares the motion perception of the actual flight channel and the simulation channel, and requires the two channels to use a completely consistent motion perception model, which can only be used for the situation where the actual flight and the simulated environment motion perception conditions (including gravity) are consistent. This is suitable for flight motion simulation under ground conditions, but cannot be used for flight motion simulation under low-gravity conditions. In the existing scheme, this algorithm is applied in the lunar landing motion simulation experiment, but the existing data show that it has not improved the algorithm for low gravity, and still uses the specific force (the combined force of gravity and acceleration) as the goal to produce appropriate attitude motion simulation, but it will make the simulated inclination angle different from the real lunar landing motion, and its rationality needs to be studied. There is no report on the use of this algorithm or similar improved algorithms for low gravity motion simulation in China.

[0009] Therefore, how to simulate the low-gravity environment on the ground is of great significance. Summary of the invention

[0010] In order to solve the problem that the prior art cannot accurately simulate motion simulation in a low-gravity environment, the present invention proposes a low-gravity motion simulation method and system based on spatial orientation perception consistency to solve the above problem.

[0011] In a first aspect, a low-gravity motion simulation method based on spatial orientation perception consistency is provided, which is applied to a six-degree-of-freedom motion platform, including:

[0012] Determining a low-gravity motion curve and a human body posture adjustment parameter based on a low-gravity environment, and inputting the low-gravity motion curve into a low-gravity motion channel and a motion simulation channel of a motion simulation model;

[0013] Performing motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameter through the motion simulation channel to generate motion perception data;

[0014] Performing motion perception through the low-gravity motion perception model in the low-gravity motion channel to generate low-gravity motion perception data;

[0015] A motion control instruction is generated based on the motion sensing data and an error minimization target between the low-gravity motion sensing data, and motion simulation is performed based on the motion control instruction.

[0016] Preferably, the human body posture adjustment parameters include human body sitting posture parameters and coordinate system conversion parameters corresponding to the six-degree-of-freedom motion platform;

[0017] Preferably, the performing motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameter through the motion simulation channel to generate motion perception data includes:

[0018] Performing coordinate transformation on the initial motion parameters in the low-gravity motion curve based on the platform adjustment parameters through the motion simulation channel to obtain adjusted motion parameters;

[0019] Inputting the adjusted motion parameters into a motion simulation algorithm and outputting motion simulation data;

[0020] Performing motion simulation based on the motion simulation parameters by the six-degree-of-freedom motion platform to obtain target motion simulation data;

[0021] Motion perception simulation is performed based on the target motion simulation parameters and the motion perception model in the motion simulation channel to generate motion perception data.

[0022] Preferably, the generating of motion control instructions based on the error minimization target between the motion sensing data and the low-gravity motion sensing data, and performing motion simulation based on the motion control instructions, comprises:

[0023] With the goal of minimizing the difference between the motion perception parameter and the low-gravity motion perception data, a motion perception system state equation is established, and a target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm are generated based on the motion perception system state equation, including:

[0024] Establishing a state equation of a motion perception system based on a difference between the motion perception data and the low-gravity motion perception data and basic platform information corresponding to the six-degree-of-freedom motion platform;

[0025] Based on the state equation of the motion perception system, a target cost function is introduced, and the state equation of the motion perception system is solved with the minimum difference as the goal, so as to obtain a target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm. ;

[0026] Based on the target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm, a motion control instruction is generated according to a motion perception minimization control law.

[0027] Preferably, the calculation of the human body sitting posture parameter is as shown in the following formula:

[0028] g z =g sinβ =g L

[0029] Among them, g z is the axial gravity component of the human body, g is the acceleration of gravity, β is the angle between the longitudinal axis of the human body and the horizontal plane, g L is the weight of the human body in a low gravity environment.

[0030] Preferably, the calculation of the coordinate system conversion parameters is determined according to the following formula:

[0031] θ=90°-β

[0032] Among them, θ is the coordinate system transformation parameter.

[0033] Preferably, the initial motion parameters in the low-gravity motion curve are transformed by the following coordinate system transformation matrix:

[0034]

[0035] Among them, x, y, z represent the initial motion parameters, x', y', z' represent the converted motion parameters, and θ is the coordinate system conversion parameter.

[0036] In a second aspect, the present application further provides a low-gravity motion simulation system based on spatial orientation perception consistency, characterized in that it includes:

[0037] An input module is configured to determine a low-gravity motion curve and a human body posture adjustment parameter based on a low-gravity environment, and input the low-gravity motion curve into a low-gravity motion channel and a motion simulation channel of a motion simulation model;

[0038] A first generating module is configured to perform motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameter through the motion simulation channel to generate motion perception data;

[0039] a second generating module, configured to perform motion perception through a low-gravity motion perception model in the low-gravity motion channel to generate low-gravity motion perception data;

[0040] The third generating module is configured to generate a motion control instruction for the target based on minimizing the error between the motion perception parameter and the low-gravity motion perception data, and perform motion simulation based on the motion control instruction.

[0041] In a third aspect, the present application further provides an electronic device, comprising: at least one processor and a memory; the memory and the processor are connected via a bus;

[0042] The memory is used to store one or more programs;

[0043] When the one or more programs are executed by the at least one processor, a low-gravity motion simulation method based on spatial orientation perception consistency as described above is implemented.

[0044] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, it implements a low-gravity motion simulation method based on spatial orientation perception consistency as described above.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The present invention provides a low-gravity motion simulation method and system based on spatial orientation perception consistency. The method inputs the low-gravity motion curve into the actual low-gravity motion channel and the ground motion simulation channel respectively, and reduces the gravity component of the body axis by adjusting the human body posture, thereby equivalently simulating the low-gravity motion input characteristics required by the actual low-gravity channel; further, the motion perception data of the two channels are calculated using a motion perception model, and motion control instructions are generated with the goal of minimizing the motion perception error, and then motion simulation is performed based on the motion control instructions. The present invention realizes motion simulation in a low-gravity environment by adjusting the static posture of the human body to equivalently simulate the motion perception characteristics under low-gravity conditions in a certain motion space. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a flow chart of the low-gravity motion simulation method based on spatial orientation perception consistency of the present invention;

[0048] Figure 2 It is a schematic diagram of the technical principle of the low-gravity motion simulation method based on spatial orientation perception consistency of the present invention;

[0049] Figure 3 It is a schematic diagram of the spatial orientation perception consistency simulation of the low gravity motion simulation method based on spatial orientation perception consistency of the present invention;

[0050] Figure 4 It is a schematic diagram of the coordinates of a six-degree-of-freedom platform of the low-gravity motion simulation method based on spatial orientation perception consistency of the present invention;

[0051] Figure 5 It is a specific flow chart of the low-gravity motion simulation method based on spatial orientation perception consistency of the present invention;

[0052] Figure 6 It is a structural schematic diagram of a low-gravity motion simulation system based on spatial orientation perception consistency of the present invention;

[0053] Figure 7 The figure is a schematic diagram of the structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0054] The present invention proposes a low-gravity motion simulation method based on the consistency of spatial orientation perception. Starting from the consistency of spatial orientation perception and based on the subjective vertical theory, the method reduces the gravity component of the body axis by adjusting the static posture of the human body, and equivalently simulates the spatial orientation perception under low gravity conditions. This method is used for the optimal motion simulation algorithm and can realize motion simulation under low gravity conditions within a certain motion space.

[0055] In order to better understand the present invention, the content of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0056] Embodiment 1:

[0057] A low-gravity motion simulation method based on spatial orientation perception consistency, such as Figure 1 As shown, it is applied to a six-degree-of-freedom motion platform, including:

[0058] Step 1: determining a low-gravity motion curve and a human body posture adjustment parameter based on a low-gravity environment, and inputting the low-gravity motion curve into a low-gravity motion channel and a motion simulation channel of a motion simulation model;

[0059] Step 2: performing motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameters through the motion simulation channel to generate motion perception data;

[0060] Step 3: Performing motion perception through the low-gravity motion perception model in the low-gravity motion channel to generate low-gravity motion perception data;

[0061] Step 4: Generate motion control instructions for the target based on minimizing the error between the motion sensing data and the low-gravity motion sensing data, and perform motion simulation based on the motion control instructions.

[0062] In this embodiment, the human body posture adjustment parameters include human body sitting posture parameters and coordinate system conversion parameters corresponding to the six-degree-of-freedom motion platform.

[0063] In this embodiment, in step 2, the process of performing motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameters through the motion simulation channel to generate motion perception data includes:

[0064] Performing coordinate transformation on the initial motion parameters in the low-gravity motion curve based on the platform adjustment parameters through the motion simulation channel to obtain adjusted motion parameters;

[0065] Inputting the adjusted motion parameters into a motion simulation algorithm and outputting motion simulation data;

[0066] Performing motion simulation based on the motion simulation parameters by the six-degree-of-freedom motion platform to obtain target motion simulation data;

[0067] Motion perception simulation is performed based on the target motion simulation data and the motion perception model in the motion simulation channel to generate motion perception data.

[0068] In this embodiment, in step 4, the process of generating a motion control instruction for the target based on minimizing the error between the motion sensing data and the low-gravity motion sensing data includes:

[0069] Establishing a state equation of a motion perception system based on a difference between the motion perception data and the low-gravity motion perception data and basic platform information corresponding to the six-degree-of-freedom motion platform;

[0070] Introducing a target cost function based on the state equation of the motion perception system, solving the state equation of the motion perception system with the goal of minimizing the difference, and obtaining a target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm;

[0071] Based on the target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm, a motion control instruction is generated according to a motion perception minimization control law.

[0072] In one embodiment, the technical principle diagram of the present invention is as follows Figure 2 As shown. The reference coordinate system in the figure is a head-fixed coordinate system, in which the X-axis is aligned with the nasal-occipital axis, with the forward direction being positive; the Y-axis corresponds to the interaural axis; the Z-axis is the head-foot axis, with the head direction being positive; and it conforms to the orientation of the right-handed coordinate system. Taking the flight motion curve as the algorithm input, the left side of the figure is the motion perception channel in an actual low-gravity environment (taking the 1 / 6g gravity of the moon as an example). In the normal upright position (the longitudinal direction of the body is consistent with the direction of gravity), the gravity is g L The right side of the figure shows the ground gravity environment. By adjusting the static posture of the human body and the angle β of the horizontal plane, the axial gravity component g of the body can be z With g L According to the subjective vertical theory and the vestibular otolith model input force model, the motion input signals of the two perception channels are equivalent in the YZ motion space; further, the optimal motion simulation algorithm is used to calculate the optimal motion platform control instructions according to the perception minimization control law.

[0073] Subjective vertical (SV) is a subjective judgment of the vertical orientation of the body and an intrinsic representation of gravity information. The direction of SV is determined by gravity (G), vision (V) and the internal vector (B), where the direction of SV is positioned head-to-foot and pointing toward the head. V is consistent with the visual polarity direction in the field of view (the uniform direction indicated by most objects in the scene), and the gravity vector here refers to the gravity receptor vector G, which indicates a direction opposite to the physical direction of gravity. The internal vector B is also not a physical definition, but a subjective perception of the longitudinal axis of the body, and always points toward the head.

[0074] like Figure 3 As shown, Figure 3 The schematic diagram of the spatial orientation perception consistency simulation of the low gravity motion simulation method based on the spatial orientation perception consistency of the present invention is shown below. Figure 3 The present invention introduces the principle of equivalent simulation of low-gravity motion perception based on consistency of spatial directional perception.

[0075] Taking the 1 / 6g gravity environment on the lunar surface as an example, the left picture shows the subjective vertical perception characteristics in the lunar surface environment, and the right picture shows the subjective vertical perception simulation of the lunar surface achieved by adjusting the static posture of the human body in the ground environment. The intrinsic vector B and visual information V remain unchanged under the two gravity conditions and are consistent with the body axis. The difference in subjective vertical perception is mainly caused by the change in gravity. In order to achieve equivalent or close subjective vertical perception of the lunar surface on the ground, the static pitch posture of the person is adjusted to a certain angle. The purpose of this is to change the gravity component g on the body axis. z The size of the moon surface condition g L Assume that the human body posture is adjusted so that the angle between its longitudinal axis and the horizontal plane is β, and the following relationship is satisfied (i.e. the calculation of the above human body sitting posture parameters):

[0076] g z =g sinβ =g L

[0077] Where g = 9.8 m / s 2 , when the lunar gravity is used as the simulation condition, g L =1.635m / s 2 Then we can get

[0078] β=9.6°

[0079] Correspondingly, gz will generate the Gz vector for subjective vertical perception in the body axis. In fact, this method is also used for the calculation of the specific force (the combined force of gravity and inertial acceleration), and the specific force calculation in the YZ plane becomes f=g z-a, which is also equivalent to the lunar surface conditions. Therefore, this method can make the motion perception in the YZ plane equivalent to or close to the lunar surface conditions, including attitude perception and acceleration perception. The gx component generated in the X direction is perpendicular to the YZ plane, and the forces of the two are considered to be decoupled, so it does not affect the YZ plane motion perception. The above method actually realizes the conversion of low gravity effects in the input link of the motion simulation algorithm, where f is the specific force in the YZ plane and a is the inertial acceleration.

[0080] In summary, in order to simulate the spatial orientation characteristics under low gravity conditions, the initial posture of the human body needs to be adjusted to an angle β with the horizontal plane, and 0<β<90°.

[0081] According to the above principle of spatial orientation perception consistency, the posture-adjustable seat of the six-degree-of-freedom motion platform can adjust the angle between the human body axis and the horizontal plane, that is, the β angle, from 0° to 90°. Motion simulation requires a six-degree-of-freedom motion platform to execute and implement, such as Figure 4 As shown, the motion platform coordinate system (O P The three-axis directions of the upper platform (with the origin at the center of the upper platform) must be consistent with the human head coordinate system (O H ) are kept consistent. In the normal mode, a person sits on the motion platform in an upright, normal sitting posture (β=90°). P With O H Relative relationship Figure 4 As shown on the left. In order to make the motion space consistent with the human body sitting posture, the motion platform coordinate system needs to be transformed, such as Figure 4 Shown right.

[0082] Assume that the original three-axis coordinate system is (x, y, z), and the converted coordinate system is (x', y', z'). In the present invention, seat adjustment is actually equivalent to pitch change, and the coordinate system transformation is to rotate the coordinate system around the Y axis. Assuming that the seat adjustment angle (i.e., the above platform adjustment parameter) is θ, then

[0083] θ=90°-β

[0084] The coordinate system transformation matrix is ​​as follows:

[0085]

[0086] Among them, x, y, z represent the initial motion parameters, and x', y', z' represent the converted motion parameters.

[0087] In one implementation, the three-axis velocity, acceleration, angle and angular velocity in the motion simulation algorithm can all be transformed into a coordinate system using the above method.

[0088] like Figure 5 As shown, Figure 5The specific flow chart of the low-gravity motion simulation method based on spatial orientation perception consistency of the present invention is as follows. Figure 5 The implementation of the low-gravity motion simulation of the present invention is introduced.

[0089] The present invention first realizes the optimal motion simulation algorithm. In the ground simulation channel (i.e., the above-mentioned motion simulation channel), the low-gravity motion curve input enters the motion simulation algorithm after the above-mentioned coordinate system transformation, and the simulated motion is performed by the six-degree-of-freedom motion platform, and then the motion perception of the human being is predicted through the motion perception model; since the human body posture is adjusted to make its axial gravity component consistent with the lunar gravity, the motion perception model of the simulator channel can be predicted according to the low-gravity conditions on the lunar surface. In the real lunar surface aircraft motion channel, the low-gravity motion curve directly passes through the motion perception model. The difference in motion perception of the two channels approximately represents the difference in feeling between the aircraft and the simulator, and the six-degree-of-freedom motion platform restriction link is added to form a complete system state equation, and then based on the system state equation, the target cost function is introduced, and the algorithm model and parameters that minimize the cost function are obtained by solving the equation, and then the motion control instructions are generated based on the algorithm model and the parameters, and the motion simulation is further performed based on the motion control instructions.

[0090] Embodiment 2:

[0091] The present invention based on the same inventive concept also provides a low-gravity motion simulation system based on spatial orientation perception consistency, such as Figure 6 As shown, including:

[0092] An input module is configured to determine a low-gravity motion curve and a human body posture adjustment parameter based on a low-gravity environment, and input the low-gravity motion curve into a low-gravity motion channel and a motion simulation channel of a motion simulation model;

[0093] A first generating module is configured to perform motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameter through the motion simulation channel to generate motion perception data;

[0094] a second generating module, configured to perform motion perception through a low-gravity motion perception model in the low-gravity motion channel to generate low-gravity motion perception data;

[0095] The third generating module is configured to generate a motion control instruction for a target based on minimizing the error between the motion sensing data and the low-gravity motion sensing data, and perform motion simulation based on the motion control instruction.

[0096] Preferably, the human body posture adjustment parameters include human body sitting posture parameters and coordinate system conversion parameters corresponding to the six-degree-of-freedom motion platform.

[0097] Preferably, the first generating module is further configured to:

[0098] Performing coordinate transformation on the initial motion parameters in the low-gravity motion curve based on the platform adjustment parameters through the motion simulation channel to obtain adjusted motion parameters;

[0099] Inputting the adjusted motion parameters into a motion simulation algorithm and outputting motion simulation data;

[0100] Performing motion simulation based on the motion simulation parameters by the six-degree-of-freedom motion platform to obtain target motion simulation data;

[0101] Motion perception simulation is performed based on the target motion simulation data and the motion perception model in the motion simulation channel to generate motion perception data.

[0102] Preferably, the third generating module is further configured to:

[0103] Establishing a state equation of a motion perception system based on a difference between the motion perception data and the low-gravity motion perception data and basic platform information corresponding to the six-degree-of-freedom motion platform;

[0104] Introducing a target cost function based on the state equation of the motion perception system, solving the state equation of the motion perception system with the goal of minimizing the difference, and obtaining a target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm;

[0105] Based on the target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm, a motion control instruction is generated according to a motion perception minimization control law.

[0106] Preferably, the calculation of the human body sitting posture parameters is as follows:

[0107] g z =g sinβ =g L

[0108] Among them, g z is the axial gravity component of the human body, g is the acceleration of gravity, β is the angle between the longitudinal axis of the human body and the horizontal plane, g L is the weight of the human body in a low gravity environment.

[0109] Preferably, the seat adjustment parameter is calculated according to the following formula:

[0110] θ=90°-β

[0111] Among them, θ is the coordinate system transformation parameter.

[0112] Preferably, the initial motion parameters in the low-gravity motion curve are transformed by the following coordinate system transformation matrix:

[0113]

[0114] Among them, x, y, z represent the initial motion parameters, and x', y', z' represent the converted motion parameters.

[0115] Example 3

[0116] like Figure 7 As shown, the present invention also provides an electronic device, which may be a computer device, a single-chip device, an intelligent mobile device, etc. The electronic device in this embodiment may include a processor, a memory, a transceiver component, etc. The memory, the processor, and the transceiver component are connected via a bus; the memory may be used to store an execution program, and an exemplary execution program may include instructions; the processor is used to execute the instructions stored in the memory. The memory may also be used to store data, which may be called and / or modified when the instructions are executed.

[0117] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in a storage medium to implement corresponding method flows or corresponding functions, so as to implement the steps of a low-gravity motion simulation method based on spatial orientation perception consistency in the above-mentioned embodiment.

[0118] Example 4

[0119] Based on the same inventive concept, the present invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It can be understood that the storage medium here can include both built-in storage media in electronic devices and, of course, extended storage media supported by electronic devices. The storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more execution programs (including program codes). It should be noted that the storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor loads and executes one or more instructions stored in the storage medium, which can implement the steps of a low-gravity motion simulation method based on spatial orientation perception consistency in the above embodiment.

[0120] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0121] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0124] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A low-gravity motion simulation method based on spatial orientation perception consistency, characterized in that: Applied to six-degree-of-freedom motion platforms, including: Determining a low-gravity motion curve and a human body posture adjustment parameter based on a low-gravity environment, and inputting the low-gravity motion curve into a low-gravity motion channel and a motion simulation channel of a motion simulation model; Performing motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameter through the motion simulation channel to generate motion perception data; Performing motion perception through the low-gravity motion perception model in the low-gravity motion channel to generate low-gravity motion perception data; A motion control instruction is generated for the target based on minimization of the error between the motion sensing data and the low-gravity motion sensing data, and motion simulation is performed based on the motion control instruction.

2. The method according to claim 1, characterized in that The human body posture adjustment parameters include human body sitting posture parameters and coordinate system conversion parameters corresponding to the six-degree-of-freedom motion platform.

3. The method according to claim 2, characterized in that The step of performing motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameter through the motion simulation channel to generate motion perception data includes: Performing coordinate transformation on the initial motion parameters in the low-gravity motion curve based on the platform adjustment parameters through the motion simulation channel to obtain adjusted motion parameters; Inputting the adjusted motion parameters into a motion simulation algorithm and outputting motion simulation data; Performing motion simulation based on the motion simulation parameters by the six-degree-of-freedom motion platform to obtain target motion simulation data; Motion perception simulation is performed based on the target motion simulation parameters and the motion perception model in the motion simulation channel to generate motion perception data.

4. The method according to claim 3, characterized in that The generating a motion control instruction for a target based on minimizing an error between the motion sensing parameter data and the low-gravity motion sensing data comprises: Establishing a state equation of a motion perception system based on a difference between the motion perception data and the low-gravity motion perception data and basic platform information corresponding to the six-degree-of-freedom motion platform; Introducing a target cost function based on the state equation of the motion perception system, solving the state equation of the motion perception system with the goal of minimizing the difference, and obtaining a target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm; Based on the target motion simulation algorithm and parameters corresponding to the target motion simulation algorithm, a motion control instruction is generated according to a motion perception minimization control law.

5. The method according to claim 2, characterized in that: The calculation of the human body sitting posture parameters is shown in the following formula: g z =g sinβ=g L Among them, g z is the axial gravity component of the human body, g is the acceleration of gravity, β is the angle between the longitudinal axis of the human body and the horizontal plane, g L is the weight of the human body in a low gravity environment.

6. The method according to claim 5, characterized in that The calculation of the coordinate system conversion parameters is determined according to the following formula: θ=90°-β Among them, θ is the coordinate system transformation parameter.

7. The method according to claim 3, characterized in that The initial motion parameters in the low-gravity motion curve are transformed by the following coordinate system transformation matrix: Among them, x, y, z represent the initial motion parameters, x', y', z' represent the converted motion parameters, and θ is the coordinate system conversion parameter.

8. A low-gravity motion simulation system based on spatial orientation perception consistency, characterized in that: Applied to six-degree-of-freedom motion platforms, including: An input module is configured to determine a low-gravity motion curve and a human body posture adjustment parameter based on a low-gravity environment, and input the low-gravity motion curve into a low-gravity motion channel and a motion simulation channel of a motion simulation model; A first generating module is configured to perform motion perception simulation based on the low-gravity motion curve and the human body posture adjustment parameter through the motion simulation channel to generate motion perception data; a second generating module, configured to perform motion perception through a low-gravity motion perception model in the low-gravity motion channel to generate low-gravity motion perception data; The third generating module is configured to generate a motion control instruction for a target based on minimizing the error between the motion sensing data and the low-gravity motion sensing data, and perform motion simulation based on the motion control instruction.

9. An electronic device, characterized in that: include: at least one processor and memory; The memory and the processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, the low-gravity motion simulation method based on spatial orientation perception consistency as described in any one of claims 1 to 7 is implemented.

10. A readable storage medium, characterized in that: An execution program is stored thereon, and when the execution program is executed, the low-gravity motion simulation method based on spatial orientation perception consistency as described in any one of claims 1 to 7 is implemented.

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