Auxiliary system suitable for flight backpack training and training method

Abstract

The invention relates to an auxiliary system and training method suitable for flight backpack training, and the method comprises the following steps: S101, setting a corresponding flight path according to a training target set by a pilot, and completely recording the flight path; step S102, acquiring various data of the flight backpack in the flight training process, wherein the data comprises real-time positioning data, real-time speed and direction and real-time height of the flight backpack; s103, generating a real-time flight track of the flight backpack according to the obtained real-time data, comparing the real-time flight track with a set flight backpack track of the flight backpack, and analyzing an offset state of the flight backpack; and step S104, outputting a correction signal to a pilot according to the real-time trajectory offset state of the flight backpack in combination with an original set route. According to the invention, the training route of the pilot is set by means of electronic equipment, so that the training route is free from the limitation of the field; meanwhile, the curve type and related parameters of the route can be selected by a pilot, and the problem that the training route is single due to the fact that the method is limited by cost in the prior art is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of flight backpack auxiliary training, and in particular relates to an auxiliary system and a training method suitable for flight backpack training. Background Art

[0002] Flight backpack assisted training is to help novice pilots become familiar with the various operations of the flight backpack during the training process of using the flight backpack, so as to shorten the training time. The mainstream is to divide the actual route and let the pilots continue to fly and train according to the route. However, this method is limited by cost issues, the training route is single, and the site requirements are high. It is impossible for pilots to train anytime and anywhere, so it also increases the time cost of training to a certain extent. Summary of the invention

[0003] The present invention aims to provide an auxiliary system and training method suitable for flight backpack training, which can assist pilots to become familiar with the use of flight backpacks more quickly, and also provide certain safeguards for the life safety of pilots during training.

[0004] To achieve the above goals, we have adopted the following technical solutions:

[0005] An auxiliary system and training method suitable for flying backpack training specifically include the following steps: According to the training goals set by the pilot, the corresponding flight route is set and recorded completely; During flight training, various data of the flight backpack are obtained, including real-time positioning data, real-time speed and direction, and real-time altitude of the flight backpack; Generate the real-time flight trajectory of the flying backpack based on the real-time data obtained, compare it with the flight backpack trajectory set by the flying backpack, and analyze its deviation status; According to the real-time trajectory deviation status of the flight backpack and the original set route, a correction signal is output to the pilot;

[0006] As a further limitation of the technical solution of the embodiment of the present invention, setting a corresponding flight route according to the training goal set by the pilot and recording it completely specifically includes the following steps: The pilot sets the starting point of the training route based on the actual scenario; Pilots can select corresponding training curves according to their training objectives, and can set straight lines, arcs and comprehensive training routes; Set the corresponding curve parameters. For a straight line, you need to set the starting point takeoff direction, flight distance and end point height; for an arc, you need to set the starting point takeoff direction, flight radius, arc angle and the height of the center of the circle from the ground; for comprehensive training, you only need to set the starting point flight direction; Generate and record the set curve route according to the curve parameters set by the pilot;

[0007] As a further limitation of the technical solution of the embodiment of the present invention, the step of obtaining various data of the flight backpack during flight training, including real-time positioning data, real-time speed and direction, and real-time height of the flight backpack, specifically includes the following steps: Obtain and record real-time location information based on the locator; Generate and record the corresponding flight trajectory based on real-time positioning data; Determine and record the real-time speed and acceleration of the flight backpack based on the location information;

[0008] As a further limitation of the technical solution of the embodiment of the present invention, the method of generating the real-time flight trajectory of the flying backpack based on the obtained real-time data, comparing it with the flight backpack trajectory set by the flying backpack, and analyzing its offset state specifically includes the following steps: Compare the acquired real-time location information with the preset route, calculate the trajectory deviation degree and record it in real time; Compare the acquired real-time flight direction with the tangent of the corresponding point on the preset route, calculate the deviation angle and record it in real time; Combine trajectory deviation and direction deviation to perform data analysis and determine its deviation status;

[0009] As a further limitation of the technical solution of the embodiment of the present invention, the outputting of a correction signal to the pilot based on the real-time trajectory deviation state of the flight backpack and the original set route specifically includes the following steps: The receiving offset state determination result is that it is in a normal training state; Further analyze the deviation between the real-time location and the set route, and design a corrected route plan; According to the revised route plan, output instructions to the signal light to assist the pilot in correcting the direction;

[0010] An auxiliary system suitable for flight backpack training, the system comprises a training route setting unit, an analysis data acquisition unit, an offset state analysis unit, and a flight suggestion output unit, wherein: The training route setting unit is used to set a clear training route according to the pilot's specific training goals, and to obtain and record the set route information; The flight data acquisition unit is used to acquire and record various real-time data during pilot training, including the pilot's real-time position, the magnitude and direction of real-time speed, and to generate and record the flight trajectory during training; The deviation state analysis unit is used to compare and analyze the trajectory during flight training with the set route, and analyze the overall deviation data of the flight backpack by combining the angle deviation between the real-time flight direction and the tangent direction of the set route; The flight suggestion output unit is used to determine the deviation state of the flight backpack based on the overall deviation data of the flight backpack, generate a correction route suggestion after determining that it is normal, and output it to the pilot;

[0011] As a further limitation of the technical solution of the embodiment of the present invention, the training route setting unit specifically includes: A training route starting point setting module is used to determine the starting point of a preset training route; The training curve selection module is used to determine the type of preset training routes, including straight lines, circular arcs and comprehensive training routes; The training curve parameter setting module is used to set parameter information for a determined training route. For example, a straight line route needs to set the takeoff direction, flight distance and distance from the end point to the ground; an arc needs to set the starting takeoff direction, flight radius, arc angle and height from the ground to the center of the arc; comprehensive training only needs to set the starting flight direction; A training curve generation module is used to generate a preset training curve and record it;

[0012] As a further limitation of the technical solution of the embodiment of the present invention, the flight data acquisition unit specifically includes: Real-time location acquisition module, used to obtain the real-time location during flight backpack training; The flight trajectory generation and recording module is used to generate and record the real-time position obtained during the flight backpack training process into a flight trajectory; A real-time speed measurement and recording module is used to calculate and record the real-time speed based on the real-time position data per second;

[0013] As a further limitation of the technical solution of the embodiment of the present invention, the offset state analysis unit specifically includes: The deviation trajectory analysis module is used to compare and analyze the flight trajectory with the preset training route, generate data and record it; The deviation angle analysis module is used to compare and analyze the speed calculated in real time with the tangent direction of the corresponding preset route position point, generate data and record it; The deviation status determination module determines whether the flight backpack training status is normal based on the trajectory analysis data and angle analysis data;

[0014] As a further limitation of the technical solution of the embodiment of the present invention, the flight suggestion output unit specifically includes: Real-time location acquisition module, to obtain the real-time location of the flying backpack; The correction route design module designs a correction route plan based on the real-time location points and the preset route; The signal output module converts the corrected route plan into an indicator light signal and outputs it to the pilot;

[0015] In order to ensure the safety of pilots during training, the auxiliary system is equipped with a safety braking system. The system can be triggered by the pilot actively pressing a button, or the system can detect the deviation state and prompt the pilot if an abnormal training situation is found, and trigger it by pressing a button.

[0016] To achieve the above goals, we have adopted the following technical solutions:

[0017] A built-in safety braking system, the system specifically comprises the following steps:

[0018] Receive abnormal flight backpack training trajectory instructions, output warning instructions, and the flight backpack operation status is abnormal. The signal light lights up and a prompt sound is emitted; Receive the pilot's safety brake start signal, shield the flight backpack handle from the engine's operating instructions, and send the brake command to the engine control unit; Receive engine automatic braking instructions, obtain real-time status information of the flight backpack, design a braking plan based on the real-time status information, and complete braking;

[0019] As a further limitation of the technical solution of the embodiment of the present invention, the receiving of the abnormal instruction of the flight backpack training trajectory, the output of the warning instruction, the abnormal signal light of the flight backpack operation state is on and the prompt sound is emitted specifically comprises the following steps: Receive abnormal flight backpack training trajectory instructions; Output training status abnormal instructions to the signal light and output warning signals; Output training status abnormal instructions to the speaker and output warning voice;

[0020] As a further limitation of the technical solution of the embodiment of the present invention, the receiving of the pilot's safety brake start signal, shielding the operation command issued by the flight backpack handle to the engine, and sending the brake command to the transmitter control unit specifically includes the following steps: Receive the pilot's input command to activate the braking system; Shielding engine operation instructions output by the handle; Output automatic control instructions to the engine;

[0021] As a further limitation of the technical solution of the embodiment of the present invention, the receiving of the engine automatic control instruction, obtaining the real-time status information of the flight backpack, designing a braking scheme according to the real-time status information and completing the braking specifically include the following steps: Get real-time status information of the flight backpack, including real-time location, real-time speed and remaining fuel; Design a braking plan based on the real-time status information of the flight backpack and output corresponding braking instructions to the engine; Receive steering and braking instructions, and adjust the engine steering in real time according to the instructions; Receive engine power braking instructions, and adjust engine power in real time;

[0022] A built-in safety braking system, the system includes an abnormal state warning unit, an operation instruction receiving and processing unit, and an engine automatic control unit, wherein: The abnormal state warning unit is used to receive the abnormal command of the real-time training trajectory of the flight backpack and output a warning signal to the pilot; The operation command receiving and processing unit is used to receive the braking command issued by the pilot, shield the operation command input to the engine by the handle, and send the braking command to the engine automatic control unit to enable automatic braking; The engine automatic control unit is used to obtain the real-time position and status information of the flight backpack after receiving the automatic braking command, design a braking plan, and realize automatic braking by adjusting the direction and power of the engine;

[0023] As a further limitation of the technical solution of the embodiment of the present invention, the engine automatic control unit specifically includes: The status information acquisition module is used to obtain the real-time information of the flight backpack, including the position, speed, engine status and remaining fuel; The braking scheme design module is used to design the braking process and parameters based on the real-time information of the flight backpack; A steering control module, used to control the steering of the engine according to the designed braking scheme; A power control module, used to regulate the power of the engine according to the designed braking scheme;

[0024] Compared with the prior art, the present invention has the following beneficial effects: the present invention sets the pilot training route based on electronic equipment, making it free from the limitation of the actual site; at the same time, the pilot can select the curve type and related parameters of the route by himself, solving the problem of single training route caused by cost issues in previous methods. The present invention adds the function of real-time output of flight suggestions, which can provide real-time guidance during pilot training. This technology can reduce the time cost of pilot training to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0026] Figure 1 A flow chart provided by an embodiment of the present invention is shown.

[0027] Figure 2The application architecture diagram of the flying backpack training system provided by the embodiment of the present invention is shown.

[0028] Figure 3 It shows a structural block diagram of the training route setting unit 101 in the system provided by an embodiment of the present invention.

[0029] Figure 4 It shows a structural block diagram of the flight data acquisition unit 102 in the system provided by an embodiment of the present invention.

[0030] Figure 5 It shows a structural block diagram of the offset state analysis unit 103 in the system provided by the embodiment of the present invention.

[0031] Figure 6 It shows a structural block diagram of the flight suggestion output unit 104 in the system provided by an embodiment of the present invention.

[0032] Figure 7 A flow chart of a safety braking system provided by an embodiment of the present invention is shown.

[0033] Figure 8 An application architecture diagram of a safety braking system provided by an embodiment of the present invention is shown.

[0034] Fig. 9 It shows a structural block diagram of the engine automatic control unit 203 in the system provided by the embodiment of the present invention.

[0035] Fig.10 A flow chart for setting a straight line route in a system provided in an embodiment of the present invention is shown.

[0036] Fig.11 A flow chart for setting an arc route in a system provided in an embodiment of the present invention is shown.

[0037] Fig.12 A comprehensive training roadmap in the system provided by an embodiment of the present invention is shown.

[0038] Fig.13 A comprehensive training flow chart in the system provided by an embodiment of the present invention is shown.

[0039] Fig.14 The structure diagram of the signal light and the sound system of the flying backpack in the system provided by the embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] It is understandable that the mainstream field route training method is limited by its single training venue, and the training routes available to pilots are also very scarce. If you want to add training routes to the traditional training method, you need to invest a high capital cost to build a venue, and it also cannot meet the pilots' requirements for training anytime and anywhere.

[0042] To solve the above problems, the embodiments of the present invention set a corresponding flight route according to the training goal set by the pilot and record it completely; obtain various data of the flight backpack during flight training, including real-time positioning data, real-time speed and direction, and real-time altitude of the flight backpack; generate a real-time flight trajectory of the flight backpack based on the obtained real-time data, and compare it with the flight backpack trajectory set by the flight backpack to analyze its offset state; output a correction signal to the pilot based on the offset state of the real-time trajectory of the flight backpack and the original set route.

[0043] Figure 1 A flow chart of a flying backpack training system provided by an embodiment of the present invention is shown.

[0044] Specifically, an auxiliary system and training method suitable for flight backpack training specifically include the following steps: Step S101, according to the training goal set by the pilot, a corresponding flight route is set and recorded completely.

[0045] In the example of the present invention, when the pilot has a more specific training goal, he can set a flight route corresponding to his training goal. The settable routes include a straight training route, an arc training route and a comprehensive training route. The setting process of the straight route includes setting the training starting point, the takeoff direction from the starting point, the training distance and the height above the ground of the training end point. Fig.10 The arc route setting process includes setting the training starting point, the take-off direction from the starting point, the height of the training route center from the ground, and the training angle. Fig.11 For comprehensive training routes, it is only necessary to determine the flight starting point, such as Fig.12 ,like Fig.13 After setting all parameters, the system will automatically generate and record the training route.

[0046] Among them, in the preferred embodiment provided by the present invention, setting the corresponding flight route according to the training goal set by the pilot and recording it completely specifically includes the following steps: Step S1011, the pilot sets the starting point of the training route according to the actual scenario; Step S1012, the pilot selects a corresponding training curve according to the training goal, and can set a straight line, arc or comprehensive training route; Step S1013, setting corresponding curve parameters; Step S1014, generating a set curve route and recording it according to the curve parameters set by the pilot.

[0047] Furthermore, the flight backpack auxiliary training system also includes the following steps: Step S102, obtaining various data of the flight backpack during flight training, including real-time positioning data, real-time speed and direction, and real-time altitude of the flight backpack.

[0048] In the example of the present invention, the system can obtain the real-time position information of the flying backpack through basic locators and other devices, generate the real-time trajectory of the flying backpack during training based on the real-time positioning data, and record it; at the same time, the system can measure and record the real-time speed and acceleration of the flying backpack based on the real-time changing position information.

[0049] Among them, in the preferred embodiment provided by the present invention, the acquisition of various data of the flight backpack during flight training, including real-time positioning data, real-time speed magnitude and direction, and real-time altitude of the flight backpack, specifically includes the following steps: Step S1021, obtaining and recording real-time location information according to the locator; Step S1022, generating and recording a corresponding flight trajectory based on the real-time positioning data; Step S1023, measure and record the real-time speed and acceleration of the flying backpack based on the position information. In step S1023, in the step of measuring and recording the real-time speed and acceleration of the flying backpack according to the position information, the function expression corresponding to the real-time speed is: The starting point of the route set by the flight backpack is used as the coordinate origin to establish a spatial rectangular coordinate system; Represents the i-th velocity vector data during flight backpack training, Represents the i+1th displacement vector data during flight backpack training. represents the i-th displacement vector data during flight backpack training, t i+1 represents the data at the i+1th moment during the flight backpack training, t i represents the data at the i-th moment during the flight backpack training, It indicates the i-th acceleration vector data during flight backpack training. It should be noted that in normal training state, the real-time position acquisition of the flight backpack is synchronized with the moment data acquisition, and the first position vector is obtained at the starting position. And time data t0, and acquire data at a frequency of once per second.

[0050] Furthermore, the flight backpack auxiliary training system also includes the following steps: Step S103, generating a real-time flight trajectory of the flying backpack based on the real-time data obtained, and comparing it with the flight trajectory set by the flying backpack to analyze its offset state.

[0051] In the example of the present invention, the offset state analysis and determination includes a comparative analysis of the real-time position point of the flight backpack and the preset training route, and a comparative analysis of the real-time flight speed direction measured by the flight backpack and the tangent direction of the corresponding position point of the preset training route;

[0052] Among them, in the preferred embodiment provided by the present invention, the real-time flight trajectory of the flying backpack is generated based on the obtained real-time data, and compared with the trajectory of the flying backpack set by the flying backpack, and the deviation state thereof is analyzed specifically including the following steps: Step S1031, comparing the acquired real-time location information with the preset route, calculating the trajectory deviation degree and recording it in real time; In step S1031, the acquired real-time location information is compared with the preset route, and the function expression corresponding to the trajectory deviation degree is calculated as: in Indicates the degree of trajectory deviation. Represents the i-th displacement vector data during flight backpack training, It indicates the displacement vector data of the position point on the preset route corresponding to the i-th displacement vector data during flight backpack training, and d indicates the maximum distance between the real-time position of the flight backpack and the corresponding position point on the preset route under normal training conditions. It should be noted that the value of d can be set actively by the pilot himself. If it is not set actively, 2.5 is selected as the default value. Step S1032, comparing the acquired real-time flight direction with the tangent of the corresponding point on the preset route, calculating the deviation angle and recording it in real time; In step S1032, the acquired real-time flight direction is compared with the tangent of the corresponding point on the preset route, and the function expression corresponding to the offset angle is calculated as: in Indicates the degree of angular deviation, Represents the i-th velocity vector data during flight backpack training, Represents the unit vector of the tangent direction of the position point on the preset route corresponding to the i-th displacement vector data during flight backpack training, and π is the angle in radians. Step S1033, performing data analysis based on the trajectory deviation and direction deviation to determine the deviation state. In step S1033, data analysis is performed in combination with the trajectory offset and the direction offset, and the function expression corresponding to the offset state is determined as follows: in is the offset state judgment value. It should be noted that when When , the flight status of the flight backpack is judged to be normal; when , it is determined that the training status of the flight backpack is abnormal. It represents the i-th velocity vector data during flight backpack training, t represents the preset time, which can be set by the pilot. When other parameters are the same as the flight backpack training status, the larger the value, the higher the possibility that the system will judge it as an abnormal training status. If the pilot does not set it, the default value of 1 is used. d represents the maximum distance between the real-time position of the flight backpack and the corresponding position point on the preset route under normal training status. It should be noted that the value of d can be actively set by the pilot himself. If it is not actively set, 2.5 is selected as the default value. Indicates the degree of trajectory deviation. Indicates the degree of angular deviation.

[0053] Furthermore, the flight backpack auxiliary training system also includes the following steps: Step S104: output a correction signal to the pilot based on the real-time trajectory deviation status of the flight backpack and the original set route.

[0054] In the example of the present invention, when the deviation determination result is received as a normal training state, the system will use the locator to obtain the real-time position point of the flight backpack again to ensure the accuracy of the subsequent correction route design; in order to output the signal light according to the correction route plan, the flight backpack is equipped with a signal light, such as Fig.14 The four direction lights are respectively for the correction route instructions for the four directions of upward, downward, left and right. It should be noted that two of the four signal lights can be lit at the same time, or only one direction light can be lit. For example, if the upward and left direction lights are lit at the same time, it means that the flying backpack pilot needs to fly to the upper left to return to the preset training route.

[0055] Among them, in the preferred embodiment provided by the present invention, the outputting of the correction signal to the pilot according to the real-time trajectory deviation state of the flight backpack and the original set route specifically includes the following steps: Step S1041, receiving a deviation state determination result that the training state is in a normal training state; Step S1042, further analyzing the deviation between the real-time location point and the set route, and designing a corrected route plan; in step S1042, the function expression corresponding to further analyzing the deviation between the real-time location point and the set route and designing a corrected route plan is: Among them, Y represents the variable in the left and right directions of the corrected route output by the control. Indicates the z coordinate value of the vector in the brackets, It is expressed as the degree of trajectory deviation when the z coordinate is 0. During the flight backpack training, the velocity vector data with the i-th z coordinate being zero, Z represents the variable in the up and down directions of the corrected route output by the control. Indicates the degree of trajectory deviation. It should be noted that when the Y value is positive, the correction route to the left is output; when the Y value is negative, the correction route to the right is output. When the Z value is positive, the correction route to the upward direction is output; when the Z value is negative, the correction route to the downward direction is output. Step S1043, outputting instructions to the signal lights to assist the pilot in correcting the direction according to the corrected route plan; In step S1043, when the corrected route to the left is output, the left signal light is turned on; when the corrected route to the right is output, the right signal light is turned on. When the corrected route to the upward direction is output, the front signal light is turned on; when the corrected route to the downward direction is output, the rear signal light is turned on.

[0056] Furthermore, Figure 8 The application architecture diagram of the flight backpack auxiliary training system provided by the embodiment of the present invention is shown.

[0057] Among them, in another preferred embodiment provided by the present invention, an auxiliary system suitable for flight backpack training includes: The training route setting unit 101 is used to set a clear training route according to the pilot's specific training goals, and to obtain and record the set route information.

[0058] In the example of the present invention, when the pilot has a more specific training goal, the training route setting unit 101 can set a flight route corresponding to the training goal. The settable routes specifically include a straight training route, an arc training route and a comprehensive training route. The setting process of the straight route includes setting the training starting point, the takeoff direction from the starting point, the training distance and the height above the ground of the training end point. Fig.10 The arc route setting process includes setting the training starting point, the take-off direction from the starting point, the height of the training route center from the ground, and the training angle. Fig.11 For comprehensive training routes, it is only necessary to determine the flight starting point, such as Fig.12 ,like Fig.13 After setting all parameters, the system will automatically generate and record the training route.

[0059] Specifically, Figure 3It shows a structural block diagram of the training route setting unit 101 in the system provided by an embodiment of the present invention.

[0060] Among them, in the preferred embodiment provided by the present invention, the training route setting unit 101 specifically includes: The training route starting point setting module 1011 is used to determine the starting point of the preset training route; The training curve selection module 1012 is used to determine the type of the preset training route, including a straight line, an arc, and a comprehensive training route; A training curve parameter setting module 1013 is used to set parameter information for the determined training route; The training curve generating module 1014 is used to generate a preset training curve and record it.

[0061] Furthermore, the flight backpack auxiliary training system also includes: The flight data acquisition unit 102 is used to acquire and record various real-time data during pilot training, including the pilot's real-time position, the magnitude and direction of real-time speed, and to generate and record the flight trajectory during training.

[0062] In the example of the present invention, the flight data acquisition unit 102 can obtain the real-time position information of the flight backpack through basic locators and other devices, generate the real-time trajectory of the flight backpack during training based on the real-time positioning data, and record it; at the same time, the system can measure and record the real-time speed and acceleration of the flight backpack based on the real-time changing position information.

[0063] Specifically, Figure 4 It shows a structural block diagram of the flight data acquisition unit 102 in the system provided by an embodiment of the present invention.

[0064] Among them, in the preferred embodiment provided by the present invention, the flight data acquisition unit 102 specifically includes: A real-time position acquisition module 1021 is used to acquire the real-time position during the flight backpack training process; The flight trajectory generation and recording module 1022 is used to generate the real-time position obtained during the flight backpack training into a flight trajectory and record it; The real-time speed measurement and recording module 1023 is used to calculate and record the real-time speed based on the real-time position data per second.

[0065] Furthermore, the flight backpack auxiliary training system also includes: The deviation state analysis unit 103 is used to compare and analyze the trajectory during flight training with the set route, and at the same time analyze the overall deviation data of the flight backpack in combination with the angle deviation between the real-time flight direction and the tangent direction of the set route.

[0066] In the example of the present invention, the offset state analysis unit 103 performs offset state analysis and determination on the flight backpack, including comparative analysis of the real-time position point of the flight backpack with the preset training route, and comparative analysis of the real-time flight speed direction measured by the flight backpack with the tangent direction of the corresponding position point of the preset training route.

[0067] Specifically, Figure 5 It shows a structural block diagram of the offset state analysis unit 103 in the system provided by the embodiment of the present invention.

[0068] In a preferred embodiment of the present invention, the offset state analysis unit 103 specifically includes: The deviation trajectory analysis module 1031 is used to compare and analyze the flight trajectory with the preset training route, generate data and record it; The deviation angle analysis module 1032 is used to compare and analyze the speed calculated in real time with the tangent direction of the corresponding preset route position point, generate data and record it; The deviation state determination module 1033 determines whether the flight backpack training state is normal based on the trajectory analysis data and the angle analysis data.

[0069] Furthermore, the flight backpack auxiliary training system also includes: The flight suggestion output unit 104 is used to determine the deviation state of the flight backpack based on the overall deviation data of the flight backpack, generate a correction route suggestion after determining that it is normal, and output it to the pilot.

[0070] In the present invention, when the flight suggestion output unit 104 receives the deviation judgment result as the normal training state, the system will use the locator to obtain the real-time position point of the flight backpack again to ensure the accuracy of the subsequent correction route design; in order to output a signal light according to the correction route plan, a signal light is provided on the flight backpack, such as Fig.14 The four direction lights are respectively for the correction route instructions for the four directions of upward, downward, left and right. It should be noted that two of the four signal lights can be lit at the same time, or only one direction light can be lit. For example, if the upward and left direction lights are lit at the same time, it means that the flying backpack pilot needs to fly to the upper left to return to the preset training route.

[0071] Specifically, Figure 6 It shows a structural block diagram of the flight suggestion output unit 104 in the system provided by an embodiment of the present invention.

[0072] Among them, in the preferred embodiment provided by the present invention, the flight suggestion output unit 104 specifically includes: A real-time location point acquisition module 1041 is used to acquire the real-time location point of the flying backpack; A revised route design module 1042 designs a revised route plan based on the real-time location point and the preset route; The signal output module 1043 converts the revised route plan into an indicator light signal and outputs it to the pilot;

[0073] It is understandable that in order to ensure the safety of pilots during training, the auxiliary system is equipped with a safety braking system, which can be triggered by the pilot actively pressing a button, or by the system detecting the deviation state and prompting the pilot after detecting abnormal training conditions, which can be triggered by the pilot pressing a button.

[0074] To solve the above problems, the embodiment of the present invention receives abnormal training trajectory instructions of the flight backpack, outputs warning instructions, and the abnormal signal light of the flight backpack operation state lights up and emits a prompt sound; receives the pilot's start safety braking signal, shields the operation instructions issued by the flight backpack handle to the engine, and sends the braking instruction to the engine control unit at the same time; receives the engine automatic control instruction, obtains the real-time status information of the flight backpack, designs the braking plan according to the real-time status information, and completes the braking.

[0075] Figure 7 A flow chart of a safety braking system provided by an embodiment of the present invention is shown.

[0076] Specifically, a built-in safety braking system comprises the following steps: Step S201, receiving an abnormal instruction of the flight backpack training trajectory, outputting a warning instruction, and the flight backpack operation state is in an abnormal signal light and a prompt sound is emitted.

[0077] In the example of the present invention, after the built-in safety braking system receives the abnormal flight backpack training trajectory instruction determined by the flight backpack auxiliary training system, it will generate a warning instruction internally and send the instruction to the signal light and sound of the flight backpack, such as Fig.14 , and outputs warning signals to the pilot with the help of the above two output devices. It should be noted that the signal light is green under normal flight backpack training conditions, and changes to red after receiving the warning command.

[0078] Among them, in the preferred embodiment provided by the present invention, the receiving of the abnormal instruction of the flight backpack training trajectory, the output of the warning instruction, the abnormal signal light of the flight backpack operation state lights up and emits a prompt sound. Specifically, the following steps are included: Step S2011, receiving a flight backpack training trajectory abnormality instruction; Step S2012, outputting a training state abnormality instruction to the signal light and outputting a warning signal; Step S2013, outputting training status abnormality instructions to the audio system and outputting warning voice.

[0079] Furthermore, the built-in safety brake system further comprises the following steps: Step S202, receiving the pilot's safety brake start signal, shielding the flight backpack handle's operating instructions to the engine, and sending the braking instruction to the engine control unit.

[0080] In the example of the present invention, after receiving the warning signal from the signal light and the sound, the pilot immediately presses the button to start the safety brake system. After receiving the pilot's safety brake start signal, the system will first shield the operation instructions issued by the flight backpack operating handle, and at the same time send the brake instruction to the engine control unit. It should be noted that the shielded operation instructions are the operation instructions issued to the engine with the help of the handle, and the instructions for non-controlling the engine will not be shielded, and the function can be realized normally.

[0081] Among them, in the preferred embodiment provided by the present invention, the receiving of the pilot's safety brake start signal, shielding the operating instructions issued by the flight backpack handle to the engine, and sending the brake instruction to the engine control unit specifically includes the following steps: Step S2021, receiving a braking system start instruction input by the pilot; Step S2022, shielding the engine operation instructions output by the handle; Step S2023, output automatic control instructions to the engine.

[0082] Furthermore, the built-in safety brake system further comprises the following steps: Step S203, receiving the engine automatic braking command, obtaining the real-time status information of the flight backpack, designing a braking plan based on the real-time status information and completing the braking.

[0083] In the example of the present invention, after receiving the engine automatic braking command, it will obtain the real-time status information of the flight backpack, and design and execute the corresponding braking plan based on the acquired real-time information. It should be noted that the real-time status information of the flight backpack includes the real-time position point, real-time speed and remaining fuel, etc. The design of the braking plan will be based on the remaining fuel as the basis for the design of the braking plan, and the real-time position and real-time speed information will be used to design the specific parameters in the braking plan.

[0084] Among them, in the preferred embodiment provided by the present invention, the receiving of the engine automatic braking instruction, obtaining the real-time status information of the flight backpack, designing a braking scheme according to the real-time status information and completing the braking specifically include the following steps: Step S2031, obtaining real-time status information of the flying backpack, including real-time location, real-time speed and remaining fuel; Step S2032, designing a braking plan based on the real-time status information of the flight backpack, and outputting corresponding braking instructions to the engine; In step S2032, according to the real-time status information of the flight backpack, the function expression corresponding to the braking scheme is designed as follows: (1) Horizontal braking: (2) Vertical braking: for for in It represents the vector data of the i-th velocity vector projected onto the XOY plane during flight backpack training, θ0 represents the angle between the engine rotation vector and the z-axis before the flight backpack is braked, θ1 represents the maximum angle between the engine rotation vector and the z-axis during braking, w represents the angular velocity of the engine rotation vector, g represents the gravitational acceleration, t represents the time variable with the dynamic braking scheme as the time 0, F represents the total thrust of the six engines, m represents the real-time weight of the flight backpack, θ represents the real-time angle between the engine rotation vector and the z-axis, express The value of the vector z coordinate, t0 represents the total time required for vertical braking. It should be noted that g is set to 9.8m / s by default, w is set to πrad / s by default, and θ1 is set to π / 4 by default. Step S2033, receiving a steering brake instruction, and adjusting the engine steering in real time according to the instruction; Step S2034, receiving an engine power braking instruction, which instructs to adjust the engine power in real time.

[0085] Furthermore, Figure 8 The application architecture diagram of the system provided by the implementation of the present invention is shown.

[0086] In another preferred embodiment of the present invention, a built-in safety braking system includes: The abnormal state warning unit 201 is used to receive the abnormal instruction of the real-time training trajectory of the flight backpack and output a warning signal to the pilot.

[0087] In the present embodiment, after the abnormal state warning unit 201 receives the abnormal flight backpack training trajectory instruction determined by the flight backpack auxiliary training system, it will generate a warning instruction internally and send the instruction to the signal light and sound of the flight backpack, such as Fig.14, and outputs warning signals to the pilot with the help of the above two output devices. It should be noted that the signal light is green under normal flight backpack training conditions, and changes to red after receiving the warning command.

[0088] The operation instruction receiving and processing unit 202 is used to receive the braking instruction issued by the pilot, shield the operation instruction input to the engine by the handle, and send the braking instruction to the engine automatic control unit to enable automatic braking.

[0089] In the example of the present invention, when the operation instruction receiving and processing unit 202 receives the pilot's safety brake start signal, the system will first shield the operation instruction issued by the flight backpack operating handle, and at the same time send the brake instruction to the engine control unit. It should be noted that the shielded operation instruction is the operation instruction issued to the engine by the handle, and the instruction for non-control engine will not be shielded, and the function can be realized normally.

[0090] The engine automatic control unit 203 is used to obtain the real-time position and status information of the flight backpack after receiving the automatic braking command, design a braking plan, and realize automatic braking by adjusting the direction and power of the engine.

[0091] In the example of the present invention, after receiving the engine automatic braking command, the engine automatic control unit 203 will obtain the real-time status information of the flight backpack, and design and execute the corresponding braking plan based on the acquired real-time information. It should be noted that the real-time status information of the flight backpack includes the real-time position point, real-time speed and remaining fuel, etc. The design of the braking plan will be based on the remaining fuel as the basis for the design of the braking plan, and the real-time position and real-time speed information will be used to design the specific parameters in the braking plan.

[0090] Specifically, Fig. 9 It shows a structural block diagram of the engine automatic control unit 203 in the system provided by the embodiment of the present invention.

[0093] Among them, in the preferred embodiment provided by the present invention, the engine automatic control unit 203 specifically includes: The status information acquisition module 2031 is used to obtain the real-time information of the flying backpack, including the position, speed, engine status and remaining fuel; The braking scheme design module 2032 is used to design the braking process and parameters according to the real-time information of the flight backpack; A steering control module 2033, used to control the steering of the engine according to the designed braking scheme; The power control module 2034 is used to regulate the power of the engine according to the designed braking scheme.

[0094] Furthermore, Fig.13 A comprehensive training flow chart in the system provided by an embodiment of the present invention is shown.

[0095] Among them, in another preferred embodiment provided by the present invention, the comprehensive training process includes: Takeoff starting point (end point): This is the starting point and end point of the entire path, located at the bottom center of the graph. Counterclockwise acceleration phase: Starting from the take-off point, the aircraft enters the counterclockwise acceleration phase. The track in this phase is a straight line, which is used to allow the aircraft to reach a certain speed. Take-off direction: After accelerating, the aircraft reaches the take-off direction position and is ready to enter the next training phase. Circular track: The aircraft enters a circular track, which is used to train pilots to improve the accuracy and stability of their trajectory when flying on a curve. Hill climbing training: After the circular track comes hill climbing training, during which the aircraft performs climbing operations to improve the pilot's vertical control ability. Straight track: After the hill climb training is the straight track, which is used to train the pilots' ability to fly in a straight and level manner. Counterclockwise deceleration stage: Finally, the aircraft enters the counterclockwise deceleration stage, gradually reducing speed, and finally returns to the take-off starting point (end point), completing a complete training cycle.

[0096] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0097] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0098] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An auxiliary system and training method suitable for flight backpack training, characterized in that: The steps include: Step S101, according to the training goal set by the pilot, sets the corresponding flight route and records it completely; specifically includes the following steps: Step S1011, the pilot sets the starting point of the training route according to the actual scenario; Step S1012, the pilot selects a corresponding training curve according to the training goal, and can set a straight line, arc, or comprehensive training route; Step S1013, setting corresponding curve parameters; Step S1014, generating a set curve route and recording it according to the curve parameters set by the pilot; Step S102, during the flight training, various data of the flight backpack are obtained, including real-time positioning data, real-time speed and direction, and real-time altitude of the flight backpack; specifically, the following steps are included: Step S1021, obtaining and recording real-time location information according to the locator; Step S1022, generating and recording a corresponding flight trajectory based on the real-time positioning data; Step S1023, measuring and recording the real-time speed and acceleration of the flying backpack according to the position information; Step S103, generating a real-time flight trajectory of the flying backpack based on the obtained real-time data, and comparing it with the flight backpack trajectory set by the flying backpack to analyze its offset state; specifically includes the following steps: Step S1031, comparing the acquired real-time location information with the preset route, calculating the trajectory deviation degree and recording it in real time; Step S1032, comparing the acquired real-time flight direction with the tangent of the corresponding point on the preset route, calculating the deviation angle and recording it in real time; Step S1033, performing data analysis based on the trajectory deviation and the direction deviation to determine the deviation state; Step S104, outputting a correction signal to the pilot based on the real-time trajectory deviation state of the flight backpack and the original set route; specifically includes the following steps: Step S1041, receiving a deviation state determination result that the training state is in a normal training state; Step S1042, further analyzing the deviation between the real-time location point and the set route, and designing a corrected route plan; Step S1043: output instructions to the signal lights to assist the pilot in correcting the direction according to the corrected route plan.

2. The auxiliary system and training method for flight backpack training according to claim 1, characterized in that: In step S1023, the function expression corresponding to the real-time speed is measured as: The starting point of the route set by the flight backpack is used as the coordinate origin to establish a spatial rectangular coordinate system; Represents the i-th velocity vector data during flight backpack training, Represents the i+1th displacement vector data during flight backpack training. represents the i-th displacement vector data during flight backpack training, t i+1 represents the data at the i+1th moment during the flight backpack training, t i represents the data at the i-th moment during the flight backpack training, Represents the i-th acceleration vector data during flight backpack training.

3. The auxiliary system and training method for flight backpack training according to claim 1, characterized in that: In step S1031, the function expression corresponding to the trajectory deviation degree is calculated as: in Indicates the degree of trajectory deviation. Represents the i-th displacement vector data during flight backpack training, It represents the displacement vector data of the position point on the preset route corresponding to the ith displacement vector data during flight backpack training, and d represents the maximum distance between the real-time position of the flight backpack and the corresponding position point on the preset route under normal training conditions.

4. The auxiliary system and training method for flight backpack training according to claim 1, characterized in that: In step S1032, the function expression corresponding to the offset angle is calculated as: in Indicates the degree of angular deviation, Represents the i-th velocity vector data during flight backpack training, Represents the unit vector of the tangent direction of the position point on the preset route corresponding to the i-th displacement vector data during flight backpack training, and π is the angle in radians.

5. The auxiliary system and training method for flight backpack training according to claim 1, characterized in that: In step S1033, the function expression corresponding to the offset state is further determined as: in is the offset state judgment value, represents the i-th velocity vector data during flight backpack training, t represents the preset time, d represents the maximum distance between the real-time position of the flight backpack and the corresponding position point on the preset route under normal training conditions, Indicates the degree of trajectory deviation. Indicates the degree of angular deviation.

6. The auxiliary system and training method for flight backpack training according to claim 1, characterized in that: In step S1042, the function expression corresponding to the design correction route plan is: Among them, Y represents the variable in the left and right directions of the corrected route output by the control. Indicates the z coordinate value of the vector in the brackets, It is expressed as the degree of trajectory deviation when the z coordinate is 0. During the flight backpack training, the velocity vector data with the i-th z coordinate being zero, Z represents the variable in the up and down directions of the corrected route output by the control. Indicates the degree of trajectory deviation.

7. An auxiliary system and training method suitable for flight backpack training according to any one of claims 1 to 6, characterized in that: The auxiliary system includes a training route setting unit, an analysis data acquisition unit, an offset state analysis unit, and a flight suggestion output unit, wherein: A training route setting unit is used to set a clear training route according to the pilot's specific training goals, and to obtain and record the set route information; The flight data acquisition unit is used to acquire and record various real-time data during pilot training, including the pilot's real-time position, the magnitude and direction of real-time speed, and to generate and record the flight trajectory during training; The deviation state analysis unit is used to compare and analyze the trajectory during flight training with the set route, and analyze the overall deviation data of the flight backpack by combining the angle deviation between the real-time flight direction and the tangent direction of the set route; The flight suggestion output unit is used to determine the deviation state of the flight backpack based on the overall deviation data of the flight backpack, generate a correction route suggestion after determining it is normal, and output it to the pilot.

8. The auxiliary system and training method for flight backpack training according to claim 7, characterized in that: The training route setting unit specifically includes: A training route starting point setting module is used to determine the starting point of a preset training route; The training curve selection module is used to determine the type of preset training routes, including straight lines, circular arcs and comprehensive training routes; A training curve parameter setting module, used to set parameter information for a determined training route; A training curve generation module is used to generate a preset training curve and record it; The flight data acquisition unit specifically includes: Real-time location acquisition module, used to obtain the real-time location during flight backpack training; The flight trajectory generation and recording module is used to generate and record the real-time position obtained during the flight backpack training process into a flight trajectory; The real-time speed measurement and recording module is used to calculate and record the real-time speed based on the real-time position data per second; the offset state analysis unit specifically includes: The deviation trajectory analysis module is used to compare and analyze the flight trajectory with the preset training route, generate data and record it; The deviation angle analysis module is used to compare and analyze the speed calculated in real time with the tangent direction of the corresponding preset route position point, generate data and record it; The deviation status determination module determines whether the flight backpack training status is normal based on the trajectory analysis data and angle analysis data; The flight suggestion output unit specifically includes: Real-time location acquisition module, to obtain the real-time location of the flying backpack; The correction route design module designs a correction route plan based on the real-time location points and the preset route; The signal output module converts the corrected route plan into indicator light signals and outputs them to the pilot.

9. An auxiliary system and training method suitable for flight backpack training according to any one of claims 1 to 6, characterized in that: It also includes a safety braking system, which includes the following steps: Step S201, receiving an abnormal instruction of the flight backpack training trajectory, outputting an early warning instruction, and the flight backpack operation state is in an abnormal signal light and a prompt sound is emitted; specifically, the following steps are included: Step S2011, receiving a flight backpack training trajectory abnormality instruction; Step S2012, outputting a training state abnormality instruction to the signal light and outputting a warning signal; Step S2013, outputting a training status abnormality instruction to the speaker and outputting a warning voice; Step S202, receiving the pilot's safety brake start signal, shielding the flight backpack handle's operating instructions to the engine, and sending the brake instruction to the engine control unit; specifically includes the following steps: Step S2021, receiving a braking system start instruction input by the pilot; Step S2022, shielding the engine operation instructions output by the handle; Step S2023, outputting automatic control instructions to the engine; Step S203, receiving the engine automatic braking command, obtaining the real-time status information of the flight backpack, designing a braking plan based on the real-time status information and completing the braking; specifically includes the following steps: Step S2031, obtaining real-time status information of the flying backpack, including real-time location, real-time speed and remaining fuel; Step S2032, design a braking scheme according to the real-time status information of the flight backpack, and output a corresponding braking command to the engine; in step S2032, according to the real-time status information of the flight backpack, the function expression corresponding to the braking scheme designed is: (1) Horizontal braking: (2) Vertical braking: for for in It represents the vector data of the i-th velocity vector projected onto the XOY plane during flight backpack training, θ0 represents the angle between the engine rotation vector and the z-axis before the flight backpack is braked, θ1 represents the maximum angle between the engine rotation vector and the z-axis during braking, w represents the angular velocity of the engine rotation vector, g represents the gravitational acceleration, t represents the time variable with the dynamic braking scheme as the time 0, F represents the total thrust of the six engines, m represents the real-time weight of the flight backpack, θ represents the real-time angle between the engine rotation vector and the z-axis, express The value of the vector z coordinate, t0, represents the total time required for braking in the vertical direction; Step S2033, receiving a steering brake instruction, and adjusting the engine steering in real time according to the instruction; Step S2034, receiving an engine power braking instruction, which instructs to adjust the engine power in real time.

10. An auxiliary system and training method suitable for flight backpack training according to any one of claims 1 to 6, characterized in that: The comprehensive training process includes: Takeoff starting point: This is the starting point and end point of the entire path, located at the bottom center of the graph; Counterclockwise acceleration phase: Starting from the takeoff point, the aircraft enters the counterclockwise acceleration phase. The track in this phase is a straight line, which is used to allow the aircraft to reach a certain speed; Take-off direction: After accelerating, the aircraft reaches the take-off direction position and is ready to enter the next training session; Arc track: The aircraft enters an arc track, which is used to train pilots to improve the accuracy and stability of their trajectory when flying on a curve. Hill climbing training: After the circular track comes hill climbing training, during which the aircraft performs climbing operations to improve the pilot's vertical control ability; Straight track: After the hill climb training is the straight track, which is used to train the pilots' ability to fly in a straight and horizontal direction; Counterclockwise deceleration phase: Finally, the aircraft enters the counterclockwise deceleration phase, gradually reducing speed and eventually returning to the take-off starting position, completing a complete training cycle.

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