Pilot spatial orientation training method and system

Abstract

The invention discloses a pilot spatial orientation training method and system. The method comprises the following steps: establishing a spatial coordinate system; wherein the space coordinate system is formed by fixedly arranging two six-axis sensors in a training space; a motion control instruction is sent in the training space, and an actuator generates a specified target source according to the motion control instruction; determining the spatial orientation of the specified target source, and obtaining a real-time attitude angle and a real-time indication direction angle in the spatial coordinate system; according to the real-time attitude angle and the real-time indication direction angle, an attitude rotation matrix and a direction rotation matrix are obtained, and a real indication direction is obtained. According to the method, subjective orientation judgment of the pilot in the training process can be converted into accurate objective data, the flight training and experiment requirements of loads can be met, and guarantee is provided for improving the scientificity of pilot orientation and situation awareness training.

Description

Technical Field

[0001] The present invention relates to the technical field of pilot training, and in particular to a pilot spatial orientation training method and system. Background Art

[0002] Pilots need to have a high degree of spatial orientation and spatial situational awareness in actual flight. Therefore, spatial orientation and spatial situational awareness training for pilots is crucial to improving their abilities.

[0003] In existing ground aviation simulation training, when pilots are trained on spatial orientation, direction of movement, and a specific target source (including three-dimensional visual and three-dimensional auditory targets, such as target enemy aircraft, enemy missile video sources and sound source signals, etc.), they are usually described and recorded orally after subjective estimation by the instructor. Although this method can achieve the purpose of training pilots, it takes a long time to describe spatial orientation orally, and the accuracy of the orientation data described is low. It is difficult to quantitatively evaluate the orientation / direction perception ability of pilots in spatial orientation training and situational awareness training, and it cannot meet the needs of complex flight training and experiments.

[0004] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art:

[0005] The existing methods used in ground-based aviation simulation training for pilots cannot meet the needs of complex flight training and experiments. Summary of the invention

[0006] The purpose of the present invention is to provide a pilot spatial orientation training method to solve the technical problems in the prior art that the target source position description is time-consuming, has low accuracy, is difficult to quantitatively evaluate, and cannot meet the needs of complex flight training and experiments. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a pilot spatial orientation training method, comprising:

[0009] Establishing a spatial coordinate system; wherein the spatial coordinate system is composed of two six-axis sensors fixedly arranged in the training space;

[0010] Sending a motion control instruction in the training space, and the actuator generating a designated target source according to the motion control instruction;

[0011] Confirming the spatial orientation of the designated target source, and obtaining a real-time attitude angle and a real-time indication direction angle in the spatial coordinate system; wherein the real-time attitude angle is calculated based on the initial attitude position and attitude direction position of the attitude device, and the real-time indication direction angle is calculated based on the initial direction position and the indication target position of the indicator;

[0012] A posture rotation matrix and a direction rotation matrix are obtained according to the real-time posture angle and the real-time indication direction angle, so as to obtain a real indication orientation.

[0013] Optionally, the confirming the spatial orientation of the target source to obtain a real-time attitude angle in the spatial coordinate system includes:

[0014] Acquire the initial posture position of the posture device in the spatial coordinate system, and calculate the initial posture angle according to the initial posture position;

[0015] Acquire the attitude direction position of the attitude device in the space coordinate system, and confirm the change of the attitude direction position in the space coordinate system according to the initial attitude angle to obtain the attitude change angle;

[0016] The initial posture angle and the posture change angle are fused using a complementary filtering method to obtain a real-time posture angle.

[0017] Optionally, obtaining an initial posture position of the gesture device in the space coordinate system, and calculating an initial posture angle according to the initial posture position; comprising:

[0018] Obtaining the initial posture position of the posture device at the initial time t0;

[0019] The gravity direction of the initial posture position in the space coordinate system is G=(A x, A y ,A z ), calculate the initial attitude angle (θ, φ, ψ) of the attitude device at the initial time t0 according to the initial attitude position, that is, the pitch angle θ, the roll angle φ and the yaw angle ψ;

[0020] The expression of the pitch angle θ is:

[0021]

[0022] The expression of the roll angle φ is:

[0023]

[0024] The initial yaw angle ψ of the attitude device is 0.

[0025] Optionally, acquiring the attitude direction position of the attitude device in the spatial coordinate system, and confirming the change of the attitude direction position in the spatial coordinate system according to the initial attitude angle to obtain the attitude change angle includes:

[0026] Obtaining the attitude direction position of the attitude device at the current time t;

[0027] Determining the angular velocity of the change in the attitude direction position according to the initial attitude angle;

[0028] During the period from the initial time t0 to the current time t, the angular velocity is integrated to obtain the attitude change angle.

[0029] Optionally, in integrating the angular velocity to obtain the posture change angle, the expression for integrating the angular velocity is:

[0030]

[0031]

[0032]

[0033] Among them, Δθ is the pitch angle change, Δφ is the roll angle change, Δψ is the yaw angle change, Wx is the measurement value of the angular velocity on the X-axis in the spatial coordinate system, Wy is the measurement value of the angular velocity on the Y-axis in the spatial coordinate system, and Wz is the measurement value of the angular velocity on the Z-axis in the spatial coordinate system.

[0034] Optionally, the confirming the spatial orientation of the target source to obtain a real-time indication direction angle in the spatial coordinate system includes:

[0035] Acquire the initial direction position of the indicator in the space coordinate system, and calculate the initial direction angle according to the initial direction position;

[0036] Acquire the indicated target position of the indicator in the spatial coordinate system, and confirm the change of the indicated target position in the spatial coordinate system according to the initial direction angle to obtain the indicated change angle;

[0037] The initial direction angle and the indication change angle are fused using a complementary filtering method to obtain a real-time indication direction angle.

[0038] Optionally, obtaining a posture rotation matrix and a direction rotation matrix according to the real-time posture angle and the real-time direction angle to obtain a true indication orientation includes:

[0039] Set the direction indicated by the indicator at the initial moment and obtain the direction rotation matrix through the real-time direction angle indicated by the indicator;

[0040] The real-time indication direction position of the indicator is obtained through the direction rotation matrix and the indication direction of the indicator at the initial moment;

[0041] The attitude rotation matrix is ​​obtained through the real-time attitude angle of the attitude sensor;

[0042] The real indication direction is obtained by the real-time indication direction and attitude rotation matrix of the indicator.

[0043] In a second aspect, the present invention further provides a pilot spatial orientation training system for executing any of the above pilot spatial orientation training methods, comprising: a first six-axis sensor, a second six-axis sensor, an attitude indicator, an indicator, an actuator, and a terminal;

[0044] The first six-axis sensor and the second six-axis sensor are fixedly arranged in the training space and used for constructing a construction space coordinate system;

[0045] The actuator is used to generate a specified target source in the spatial coordinate system according to the motion control instruction;

[0046] The attitude sensor is located on the pilot's head and is used to obtain the initial attitude position and confirm the attitude direction position according to the specified target source;

[0047] The indicator is located on the pilot's hand and is used to obtain an initial direction position and confirm the indicated target position according to the designated target source;

[0048] The first six-axis sensor, the second six-axis sensor, the actuator, the attitude sensor and the indicator are all connected to the terminal, and the terminal is used to perform azimuth calculation on the attitude direction position and the indicated target position, and to display the actual indicated azimuth of the target source obtained after the calculation.

[0049] Optionally, the indicator is provided with a button for confirming the target position.

[0050] Optionally, the first six-axis sensor, the second six-axis sensor, the attitude sensor and the indicator are connected to the terminal via Bluetooth or WiFi.

[0051] Implementing one of the above technical solutions of the present invention has the following advantages or beneficial effects:

[0052] Two six-axis sensors fixed in the training space are used as the spatial coordinate system to provide spatial orientation for the attitude indicator and indicator, and the pilot's head attitude and indication direction are solved in real time through the fusion algorithm, which greatly improves the accuracy of the spatial orientation data perceived by the pilot during the training process, allowing the pilot to respond quickly and record the indication data in real time during the training process. It can convert the pilot's subjective orientation judgment during the training process into accurate objective data, which can meet the load flight training and experimental requirements, and provide a guarantee for improving the scientific nature of pilot orientation and situational awareness training. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. It is obvious that the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0054] Figure 1 1 is a flow chart of a pilot spatial orientation training method according to an embodiment of the present invention;

[0055] Figure 2 It is a schematic diagram of a flow chart of obtaining a real-time attitude angle in a pilot spatial orientation training method according to an embodiment of the present invention;

[0056] Figure 3 is a flow chart of step S20 in the pilot spatial orientation training method according to an embodiment of the present invention;

[0057] Figure 4 It is a schematic diagram of a flow chart of obtaining a real-time indicated attitude angle in a pilot spatial orientation training method according to an embodiment of the present invention;

[0058] Figure 5 is a flow chart of step S200 in the pilot spatial orientation training method according to an embodiment of the present invention;

[0059] Figure 6 is a flow chart of step S4 in the pilot spatial orientation training method according to an embodiment of the present invention;

[0060] Figure 7 It is a schematic diagram of the structure of a pilot spatial orientation training system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the present invention clearer, the various exemplary embodiments to be described below will refer to the corresponding drawings, which constitute a part of the exemplary embodiments, wherein various exemplary embodiments that may be used to implement the present invention are described. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present disclosure. It should be understood that they are only examples of processes, methods, devices, etc. that are consistent with some aspects of the present disclosure as detailed in the attached claims, and other embodiments may also be used, or the embodiments listed herein may be modified in structure and function without departing from the scope and essence of the present invention.

[0062] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", etc. indicate the orientation or positional relationship based on the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the elements referred to must have a specific orientation, be constructed and operated in a specific orientation. The terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "multiple" means two or more. The terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a communication connection, a direct connection, an indirect connection through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0063] In order to illustrate the technical solution of the present invention, a specific embodiment is used below for description, and only the parts related to the embodiment of the present invention are shown.

[0064] Embodiment 1:

[0065] Embodiment 1 of the present invention provides a pilot spatial orientation training method, such as Figure 1 As shown, the following steps are included:

[0066] S1. Establish a spatial coordinate system, which is composed of two six-axis sensors fixed in the training space;

[0067] S2, sending motion control instructions in the training space, and the actuator generates a specified target source according to the motion control instructions;

[0068] S3, confirm the spatial orientation of the designated target source, and obtain the real-time attitude angle and the real-time indication direction angle in the spatial coordinate system; wherein the real-time attitude angle is calculated based on the initial attitude position and attitude direction position of the attitude device, and the real-time indication direction angle is calculated based on the initial direction position and the indication target position of the indicator;

[0069] S4. Obtain an attitude rotation matrix and a direction rotation matrix according to the real-time attitude angle and the real-time indication direction angle, and obtain a real indication orientation.

[0070] Next, combine Figure 1 The pilot spatial orientation training method is further explained.

[0071] First, execute step S1 to establish a spatial coordinate system. In this embodiment, the spatial coordinate system is composed of two six-axis sensors fixedly arranged in the training space, which can define and measure points, directions and accelerations in three-dimensional space through their relative position and posture information. The six-axis sensor includes a three-axis angular velocity meter and a three-axis accelerometer, which can measure the acceleration and angle changes of the X, Y, and Z axes of the location of the six-axis sensor.

[0072] Then, step S2 is executed to send a motion control instruction in the training space, and the actuator generates a specified target source according to the motion control instruction and makes the specified target source move according to the specified motion parameters.

[0073] Then, execute step S3 to confirm the spatial orientation of the specified target source and obtain the real-time attitude angle and real-time indication direction angle in the spatial coordinate system; wherein the real-time attitude angle is calculated based on the initial attitude position and attitude direction position of the attitude device, and the real-time indication direction angle is calculated based on the initial direction position and indication target position of the indicator.

[0074] Specifically, the pilot needs to confirm the spatial orientation of the specified target source to obtain the real-time attitude angle and real-time indicated direction angle in the spatial coordinate system. It should be noted that the attitude indicator is integrated with a six-axis sensor and a magnetometer, and the indicator is also integrated with a six-axis sensor and a magnetometer. The attitude indicator and the indicator are used to record the attitude angle change data in the training space. After the actuator executes the motion control instruction, the attitude indicator and the indicator will gradually change with the training time.

[0075] Among them, confirming the spatial orientation of the specified target source and obtaining the real-time attitude angle in the spatial coordinate system includes the following steps: Figure 2 As shown:

[0076] S10, obtaining the initial posture position of the posture device in the space coordinate system, and calculating the initial posture angle according to the initial posture position;

[0077] S20, obtaining the attitude direction position of the attitude device in the spatial coordinate system, and confirming the change of the attitude direction position in the spatial coordinate system according to the initial attitude angle, to obtain the attitude change angle;

[0078] S30, using a complementary filtering method to fuse the initial attitude angle and the attitude change angle to obtain the real-time attitude angle of the attitude sensor.

[0079] In step S10, the initial posture position of the attitude device in the spatial coordinate system is obtained, and the initial posture angle is calculated based on the initial posture position. In step S10, the initial posture position of the attitude device at the initial time t0 is first obtained. Knowing the position of the attitude device at the initial time t0 relative to the spatial coordinate system established by the two six-axis sensors, the gravity direction of the initial posture position in the spatial coordinate system can be obtained as G=(A x, A y ,A z ), calculate the initial attitude angle (θ, φ, ψ) of the attitude controller at the initial time t0 according to the initial attitude position, that is, the pitch angle θ, the roll angle φ and the yaw angle ψ;

[0080] Among them, the expression of the pitch angle θ is:

[0081]

[0082] The expression of the roll angle φ is:

[0083]

[0084] The initial yaw angle of the attitude controller is ψ=0.

[0085] By performing initial attitude calibration on the attitude device, the initial attitude angle of the attitude device at the initial time t0 can be obtained.

[0086] In step S20, the attitude direction position of the attitude device in the spatial coordinate system is obtained, and the change of the attitude direction position in the spatial coordinate system is confirmed according to the initial attitude angle to obtain the attitude change angle. Figure 3 As shown, the detailed steps of step S20 include:

[0087] S21, obtaining the attitude direction position of the attitude device at the current time t;

[0088] S22, determining the angular velocity of the change in the posture direction position according to the initial posture angle;

[0089] S23. During the period from the initial time t0 to the current time t, the angular velocity is integrated to obtain the posture change angle.

[0090] Specifically, we need to first obtain the attitude direction position of the attitude device at the current time t. Since the attitude device integrates a six-axis sensor, it can measure the angular velocity, and the angular velocity represents the rotation rate in each direction. Therefore, after determining the attitude direction position according to the initial attitude angle, the change of the attitude angle of the attitude device between the initial time t0 and the current time t can be obtained by integrating the angular velocity. The specific calculation process is:

[0091] Assume that Wx is the measured value of the angular velocity on the X-axis in the spatial coordinate system, Wy is the measured value of the angular velocity on the Y-axis in the spatial coordinate system, and Wz is the measured value of the angular velocity on the Z-axis in the spatial coordinate system. In the time period from t0 to t, the attitude angle change of the attitude device is:

[0092]

[0093]

[0094]

[0095] Among them, Δθ is the pitch angle change, Δφ is the roll angle change, and Δψ is the yaw angle change, that is, the attitude angle change of the attitude device ΔR h =(Δθ, Δφ, Δψ).

[0096] The three-axis angular velocity sensor in the six-axis sensor is relatively accurate in a short period of time, but due to the integration process, it will drift over a long period of time, affecting the accuracy of the data. Therefore, it is necessary to perform step S30, using a complementary filtering method to fuse the static measurement results of the acceleration sensor with the dynamic measurement results of the angular velocity sensor to obtain the real-time attitude angle R of the attitude sensor. h =(θ h ,φ h ,ψ h ), the fused expression is:

[0097] Attitude angle = α·(attitude angle at the previous moment + angle change of angular velocity integration) + (1-α)·attitude calculated by acceleration; where α is the filter coefficient.

[0098] Specifically, when the indicator is indicating the orientation, it can be considered that at the time t indicated, the attitude indicator is in a stationary state. At this time, the three-axis accelerometer in the attitude six-axis sensor can be used to calculate the indication angle to obtain the attitude calculated by acceleration:

[0099] Pitch angle acceleration attitude θ a :

[0100] Rolling angular acceleration attitude φ a :

[0101] Among them, A x1 ,A y1 and A z1 They represent the acceleration values ​​measured by the attitude device accelerometer along the X-axis, Y-axis, and Z-axis respectively, and θ and φ are the initial angles during the calibration at the initial time t0 mentioned above.

[0102] Yaw angular acceleration attitude ψ c The calculation needs to be performed based on the magnetometer data in the attitude device. Since the attitude device is integrated with a magnetometer, then:

[0103]

[0104] Among them, m x and m y is the X-axis and Y-axis measurement result of the magnetometer, m x1 and m y1 is the result of the magnetometer calibration.

[0105] Specifically, the real-time attitude angle R of the attitude sensor at the current time t is obtained by the complementary filtering method. h =(θ h ,φ h ,ψ h ):

[0106] θ h =α·(θ prev +Δθ)+(1-α)·(θ a );

[0107] φ h =α·(φ prev +Δφ)+(1-α)·(φ a );

[0108] ψ h =α·(ψ prev +Δψ)+(1-α)·(ψ c ).

[0109] Where α is the filter coefficient, the θ a ,φ a is the attitude calculated by the acceleration sensor, ψ c is the acceleration attitude calculated by the yaw angle calculated by the magnetometer; θ prev ,φ prev , prev is the pitch angle, roll angle and yaw angle of the attitude sensor at the previous moment t-1. Refer to the above to get the real-time attitude angle R of the attitude sensor h =(θ h ,φ h ,ψ h), starting from the initial moment t0, the attitude device will calculate the attitude at each moment between t0 and t in real time, that is, the attitude at t0, t1, t2, ..., t-2, t-1, t. The attitude at each moment will use the calculation result of the previous moment, and it will be iterated from the initial moment t0 to ensure the continuity and accuracy of the final data.

[0110] Furthermore, the setting of the filter coefficient α depends on the requirements for the response time and accuracy of the system. α is a value between 0 and 1, which is used to balance the influence of the gyroscope (dynamic measurement) and accelerometer (static measurement) data. The closer α is to 1, the greater the contribution of the dynamic data of the gyroscope, and the faster the filter response will be, but drift errors may accumulate in the long term. Therefore, the closer α is to 0, the greater the contribution of static data, which can effectively suppress drift, but the system responds slowly to dynamic changes. It can be set according to system requirements and actual training conditions. In this embodiment, α is preferably set to between 0.2 and 0.95, that is, α∈[0.2,0.95].

[0111] Using the above steps, we can get the real-time attitude angle R of the attitude device in the spatial coordinate system. h =(θ h ,φ h ,ψ h ).

[0112] The process steps of confirming the spatial orientation of the target source and obtaining the real-time indication direction angle in the spatial coordinate system are as follows: Figure 4 As shown, the steps include:

[0113] S100, obtaining an initial direction position of the indicator in a spatial coordinate system, and calculating an initial direction angle of the indicator according to the initial direction position;

[0114] S200, obtaining an indicated target position of the indicator in the spatial coordinate system, and confirming a change of the indicated target position in the spatial coordinate system according to an initial direction angle, that is, a change of the indicator in the spatial coordinate system, to obtain an indicated change angle;

[0115] S300: Use a complementary filtering method to fuse the initial direction angle and the indication change angle to obtain a real-time indication direction angle.

[0116] In step S100, the initial direction position of the pointer in the spatial coordinate system is obtained, and the initial direction angle is calculated based on the initial direction position. In step S100, the initial direction position of the pointer at the initial time t0 is first obtained. Knowing the position of the pointer at the initial time t0 relative to the spatial coordinate system established by the two six-axis sensors, the gravity direction in the initial direction position spatial coordinate system can be obtained as G=(A x2 ,Ay2 ,A z2 ), the initial direction angle of the indicator at the initial time t0 is calculated according to the initial direction position of the indicator, that is, the pitch angle θ1, the roll angle φ1 and the yaw angle ψ1;

[0117] The expression of the pitch angle θ1 is:

[0118]

[0119] The expression of the roll angle φ1 is:

[0120]

[0121] Yaw angle ψ1=0.

[0122] By performing initial direction calibration on the indicator, the initial direction angle (θ1, φ1, ψ1) of the indicator at the initial time t0 can be obtained.

[0123] In step S200, the indicated target position of the indicator in the spatial coordinate system is obtained, and the change of the indicated target position in the spatial coordinate system is confirmed according to the initial direction angle to obtain the indicated change angle. Figure 5 As shown, the detailed steps of step S200 include:

[0124] S210, obtaining the indicated target position of the indicator at the current time t;

[0125] S220, determining the angular velocity of the change of the indicated target position according to the initial direction angle;

[0126] S230, integrating the angular velocity from the initial time t0 to the current time t to obtain the indicator indication change angle.

[0127] Specifically, it is necessary to first obtain the indicated target position of the indicator at the current time t. Since the indicator is integrated with a six-axis sensor, it can measure the angular velocity, and the angular velocity represents the rotation rate in each direction. Therefore, after determining the indicated target position according to the initial direction angle, the change of the indicated angle of the indicator between the initial time t0 and the current time t can be obtained by integrating the angular velocity. The specific calculation process of the change of the indicated angle of the indicator in the time period from the initial time t0 to t can be obtained by integrating the angular velocity according to the previous speed:

[0128] Set W x1 is the measured value of the angular velocity on the X-axis in the spatial coordinate system, W y1 is the measured value of the angular velocity on the Y axis in the spatial coordinate system, W z1 is the measured value of the angular velocity on the Z axis in the spatial coordinate system. In the time period from t0 to t, the attitude angle change of the indicator is:

[0129]

[0130]

[0131]

[0132] Among them, Δθ1 is the pitch angle change, Δφ1 is the roll angle change, and Δψ1 is the yaw angle change, that is, the indicator attitude angle change ΔR i =(Δθ1,Δφ1,Δψ1).

[0133] The three-axis angular velocity sensor in the six-axis sensor is relatively accurate in a short period of time, but due to the integration process, it will drift over a long period of time. Therefore, it is necessary to perform step S300 to use a complementary filtering method to fuse the static measurement results of the acceleration sensor with the dynamic measurement results of the angular velocity sensor to obtain the real-time direction angle R of the indicator. i =(θ i ,φ i ,ψ i ), the fused expression is:

[0134] Attitude angle = α·(attitude angle at the previous moment + angle change of angular velocity integration) + (1-α)·attitude calculated by acceleration; where α is the filter coefficient.

[0135] Specifically, when the indicator is indicating the orientation, it can be considered that at the time t, the indicator is in a stationary state. At this time, the three-axis accelerometer in the six-axis sensor in the indicator can be used to calculate the indication angle to obtain the attitude calculated by acceleration:

[0136] Pitch angle acceleration attitude θ a1 :

[0137] Rolling angular acceleration attitude φ a1 :

[0138] Among them, A x3 ,A y3 and A z3 Respectively represent the acceleration values ​​measured by the attitude device accelerometer along the X-axis, Y-axis, and Z-axis, θ a1 and φ a1 It is the initial angle during the calibration at the initial time t0 mentioned above.

[0139] Yaw angular acceleration attitude ψ c1 It is necessary to calculate based on the magnetometer data. Since the indicator has a magnetometer integrated in it, then:

[0140]

[0141] Among them, m x2 and m y2 is the X-axis and Y-axis measurement result of the magnetometer, m x3 and m y3 is the result of the magnetometer calibration.

[0142] Specifically, the real-time attitude angle R of the attitude sensor at the current time t is obtained by the complementary filtering method. i =(θ i ,φ i ,ψ i ):

[0143] θ i =α·(θ prev1 +Δθ1)+(1-α)·(θ a1 );

[0144] φ i =α·(φ prev1 +Δφ1)+(1-α)·(φ a1 );

[0145] ψ i =α·(ψ prev1 +Δψ1)+(1-α)·(ψ c1 ).

[0146] Where α is the filter coefficient, θ a1 ,φ a1 is the attitude calculated by the acceleration sensor, ψ c1 is the acceleration attitude calculated by the yaw angle calculated by the magnetometer; θ prev1 ,φ prev1 , prev1 is the pitch angle, roll angle and yaw angle of the indicator at the previous moment t-1. Refer to the above to get the real-time attitude angle R of the indicator t i =(θ i ,φ i ,ψ i ) calculation process, starting from the initial moment t0, the six-axis sensor in the indicator will calculate the posture at each moment between t0 and t, that is, the posture of t0, t1, t2, ..., t-2, t-1, t in real time. The posture at each moment will use the calculation result of the previous moment, and it will be iterated from the initial moment t0 to ensure the continuity and accuracy of the data.

[0147] Furthermore, the setting of the filter coefficient α depends on the requirements for the response time and accuracy of the system. α is a value between 0 and 1, which is used to balance the influence of the gyroscope (dynamic measurement) and accelerometer (static measurement) data. The closer α is to 1, the greater the contribution of the dynamic data of the gyroscope, and the faster the filter response will be, but drift errors may accumulate in the long term. Therefore, the closer α is to 0, the greater the contribution of static data, which can effectively suppress drift, but the system responds slowly to dynamic changes. It can be set according to system requirements and actual training conditions. In this embodiment, α is preferably set to between 0.2 and 0.95, that is, α∈[0.2,0.95].

[0148] Using the above steps, we can get the real-time indication direction angle R of the indicator in the spatial coordinate system. i =(θ i ,φ i ,ψ i ).

[0149] After executing step S3, step S4 can be executed to obtain the attitude rotation matrix and the direction rotation matrix according to the real-time attitude angle and the real-time indication direction angle to obtain the real indication direction. Figure 6 As shown, the process steps are:

[0150] S41, setting the direction indicated by the indicator at the initial moment and obtaining the direction rotation matrix through the real-time direction angle indicated by the indicator;

[0151] S42, obtaining the real-time indication direction position of the indicator through the direction rotation matrix and the initial indication direction of the indicator;

[0152] S43, obtaining the attitude rotation matrix through the real-time attitude angle of the attitude sensor;

[0153] S44, obtaining the real indication direction through the indicator's real-time indication direction and attitude rotation matrix.

[0154] Specifically, the real-time attitude angle R of the attitude sensor is obtained h =(θ h ,φ h ,ψ h ), the real-time attitude angle R of the attitude sensor at the current time t h =(θ h ,φ h ,ψ h ) to obtain the posture rotation matrix R at the current time t hx .

[0155] Get the real-time indication direction angle R of the indicator i =(θ i ,φ i ,ψ i) After that, the real-time indication direction angle R of the indicator at the current time t is set by the indicator. i =(θ i ,φ i ,ψ i ) is solved to obtain the indicated direction rotation matrix R at the current time t ix .

[0156] By combining the data of the attitude sensor and the indicator, the true position of the target source pointed by the indicator can be calculated:

[0157] The initial direction position of the indicator is set to be straight ahead, so the direction D of the indicator at the initial time t0 is i Also for the front, preferably, D i =(1,0,0).

[0158] Then the direction rotation matrix R at time t obtained by the indicator ix Set the pointer to point to D at the initial time t0 i =(1,0,0) is transformed into the current direction of the indicator at time t D i (t):

[0159] D i (t) = R ix D i .

[0160] At this point, the real-time pointing direction of the indicator at the current moment t is obtained, that is, the direction of the target source in the training space. However, at this point, only the direction of the target source is known. Further calculation is required to solve its true direction position to the pilot's head attitude device coordinate system, specifically:

[0161] The attitude device rotation matrix R obtained by the attitude device hx After converting the pointer's orientation from the pointer coordinate system to the attitude device's coordinate system, the pointer's true direction to the target source relative to the attitude device is obtained. f :

[0162] D f =R hx D i (t).

[0163] Through the training method of this embodiment, two six-axis sensors fixed in the training space are used as the spatial coordinate system to provide spatial orientation for the attitude indicator and the indicator, and the pilot's head attitude and the attitude and direction of the indicator in the pilot's head coordinate system are solved in real time through the fusion algorithm, which greatly improves the accuracy of the spatial orientation data perceived by the pilot during the training process, allowing the pilot to achieve real-time rapid response and record indication data during the training process. The training method provided in the embodiment of the present invention can convert the subjective orientation judgment of the pilot during the training process into accurate objective data, can meet the flight training and experimental requirements of the load, and provide a guarantee for improving the scientific nature of pilot orientation and situational awareness training.

[0164] Embodiment 2:

[0165] Based on the same inventive concept, the present invention also provides a pilot spatial orientation training system, such as Figure 7 As shown, it includes: a first six-axis sensor, a second six-axis sensor, a gesture controller, an indicator, an actuator and a terminal; the gesture controller and the indicator are also integrated with a six-axis sensor and a magnetometer.

[0166] The first six-axis sensor and the second six-axis sensor are fixedly arranged in the training space for constructing a spatial coordinate system; the actuator is used to generate a specified target source according to a motion control instruction in the spatial coordinate system or to make the target source move according to certain motion parameters;

[0167] The attitude meter is located on the pilot's head, and is used to obtain the initial attitude position and confirm the attitude direction position according to the specified target source. Specifically, the attitude meter is also a six-axis sensor; the indicator is located on the pilot's hand, and is used to obtain the initial direction position and confirm the indicated target position according to the specified target source, and a six-axis sensor is also provided in the indicator.

[0168] The first six-axis sensor, the second six-axis sensor, the actuator, the attitude indicator and the indicator are all connected to the terminal, and the terminal is used to perform orientation calculation on the attitude direction position and the indicated target position, and to display the actual indicated orientation of the target source obtained after the calculation.

[0169] In order to calculate the change of the pilot's head posture during the training process, a posture meter is used to measure the posture change of the pilot's head in space, that is, the posture meter rotation matrix R is obtained in the first embodiment. hx The process is performed and data is recorded, displayed and transmitted; at the same time, the indicator rotates the matrix R indicating the direction in Example 1 ix After obtaining the direction of the target source pointed by the pilot through the handheld indicator, the pointing direction D of the indicator relative to the pilot's head attitude indicator can be obtained through the cooperation of the indicator and the attitude indicator. f .

[0170] The indicator is equipped with a target position confirmation button. When the pilot presses the indicator button, the training system records the current pointing direction D. f , which indicates the real spatial position of the target source that the pilot is pointing to subjectively in the coordinate system of the pilot's head attitude indicator. Furthermore, the first six-axis sensor, the second six-axis sensor, the attitude indicator and the indicator are connected to the terminal via Bluetooth or WiFi, which further ensures the real-time transmission and processing of data, so that the pilot can achieve real-time rapid response and record indication data during training.

[0171] The training system provided in the embodiment of the present invention converts the subjective orientation judgment of the pilot during the training process into accurate objective data, providing a guarantee for improving the scientific nature of the pilot's orientation and situational awareness training. At the same time, the training system combination solution provided by the present invention has low deployment cost, is convenient and quick to use, has a good pilot interaction experience, and has a wide range of applications. It is not only suitable for the field of pilot aviation training, but can also be used for astronaut training, virtual display, and enhanced current space interaction application scenarios.

[0172] The above description is only the preferred embodiment of the present invention. It is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. A pilot spatial orientation training method, characterized in that: include: Establishing a spatial coordinate system; wherein the spatial coordinate system is composed of two six-axis sensors fixedly arranged in the training space; Sending a motion control instruction in the training space, and the actuator generating a designated target source according to the motion control instruction; Confirming the spatial orientation of the designated target source, and obtaining a real-time attitude angle and a real-time indication direction angle in the spatial coordinate system; wherein the real-time attitude angle is calculated based on the initial attitude position and attitude direction position of the attitude device, and the real-time indication direction angle is calculated based on the initial direction position and the indication target position of the indicator; A posture rotation matrix and a direction rotation matrix are obtained according to the real-time posture angle and the real-time indication direction angle, so as to obtain a real indication orientation.

2. The pilot spatial orientation training method according to claim 1, characterized in that: The step of confirming the spatial orientation of the target source and obtaining a real-time attitude angle in the spatial coordinate system includes: Acquire the initial posture position of the posture device in the spatial coordinate system, and calculate the initial posture angle according to the initial posture position; Acquire the attitude direction position of the attitude device in the space coordinate system, and confirm the change of the attitude direction position in the space coordinate system according to the initial attitude angle to obtain the attitude change angle; The initial posture angle and the posture change angle are fused using a complementary filtering method to obtain a real-time posture angle.

3. The pilot spatial orientation training method according to claim 2, characterized in that: Acquiring the initial posture position of the posture device in the spatial coordinate system, and calculating the initial posture angle according to the initial posture position; comprising: Obtaining the initial posture position of the posture device at the initial time t0; The gravity direction of the initial posture position in the space coordinate system is G=(A x, A y ,A z ), calculate the initial attitude angle (θ, φ, ψ) of the attitude device at the initial time t0 according to the initial attitude position, that is, the pitch angle θ, the roll angle φ and the yaw angle ψ; The expression of the pitch angle θ is: The expression of the roll angle φ is: The initial yaw angle ψ of the attitude device is 0.

4. The pilot spatial orientation training method according to claim 2, characterized in that: The acquiring the attitude direction position of the attitude device in the space coordinate system, and confirming the change of the attitude direction position in the space coordinate system according to the initial attitude angle to obtain the attitude change angle, includes: Obtaining the attitude direction position of the attitude device at the current time t; Determining the angular velocity of the change in the attitude direction position according to the initial attitude angle; During the period from the initial time t0 to the current time t, the angular velocity is integrated to obtain the attitude change angle.

5. The pilot spatial orientation training method according to claim 4, characterized in that: In the step of integrating the angular velocity to obtain the attitude change angle, the expression for integrating the angular velocity is: Among them, Δθ is the pitch angle change, Δφ is the roll angle change, Δψ is the yaw angle change, Wx is the measurement value of the angular velocity on the X-axis in the spatial coordinate system, Wy is the measurement value of the angular velocity on the Y-axis in the spatial coordinate system, and Wz is the measurement value of the angular velocity on the Z-axis in the spatial coordinate system.

6. The pilot spatial orientation training method according to claim 1, characterized in that: The step of confirming the spatial orientation of the target source and obtaining a real-time indication direction angle in the spatial coordinate system includes: Acquire the initial direction position of the indicator in the space coordinate system, and calculate the initial direction angle according to the initial direction position; Acquire the indicated target position of the indicator in the spatial coordinate system, and confirm the change of the indicated target position in the spatial coordinate system according to the initial direction angle to obtain the indicated change angle; The initial direction angle and the indication change angle are fused using a complementary filtering method to obtain a real-time indication direction angle.

7. The pilot spatial orientation training method according to claim 1, characterized in that: The step of obtaining a posture rotation matrix and a direction rotation matrix according to the real-time posture angle and the real-time direction angle to obtain a true indication orientation includes: Set the direction indicated by the indicator at the initial moment and obtain the direction rotation matrix through the real-time direction angle indicated by the indicator; The real-time indication direction position of the indicator is obtained through the direction rotation matrix and the indication direction of the indicator at the initial moment; The attitude rotation matrix is ​​obtained through the real-time attitude angle of the attitude sensor; The real indication direction is obtained by the real-time indication direction and attitude rotation matrix of the indicator.

8. A pilot spatial orientation training system, characterized in that: Used to perform the pilot spatial orientation training method according to any one of claims 1 to 7, comprising: a first six-axis sensor, a second six-axis sensor, an attitude indicator, an indicator, an actuator and a terminal; The first six-axis sensor and the second six-axis sensor are fixedly arranged in the training space and used for constructing a construction space coordinate system; The actuator is used to generate a specified target source in the spatial coordinate system according to the motion control instruction; The attitude sensor is located on the pilot's head and is used to obtain the initial attitude position and confirm the attitude direction position according to the specified target source; The indicator is located on the pilot's hand and is used to obtain an initial direction position and confirm the indicated target position according to the designated target source; The first six-axis sensor, the second six-axis sensor, the actuator, the attitude sensor and the indicator are all connected to the terminal, and the terminal is used to perform azimuth calculation on the attitude direction position and the indicated target position, and to display the actual indicated azimuth of the target source obtained after the calculation.

9. A pilot spatial orientation training system according to claim 8, characterized in that: The indicator is provided with a button for confirming the target position, and both the attitude indicator and the indicator are provided with a six-axis sensor and a magnetometer.

10. A pilot spatial orientation training system according to claim 8, characterized in that: The first six-axis sensor, the second six-axis sensor, the attitude sensor and the indicator are connected to the terminal via Bluetooth or WiFi.

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