Flight simulation system, method, computer device, storage medium and program product

Abstract

The present invention relates to the field of aircraft testing technology, and discloses a flight simulation system, method, computer equipment, storage medium and program product. The system includes: an external environment simulation system, which is used to simulate the external environment of the aircraft and obtain external environment data; a fluid dynamics simulation system, which is used to simulate the aerodynamic force and pulling torque of the aircraft during flight based on the external environment data and the flight data of the aircraft; an internal control simulation system, which is used to simulate the flight state of the aircraft according to the aerodynamic force and pulling torque, and adjust the flight data according to the flight state. The present invention can construct a purely simulated flight system by simulating the external environment, the external fluid mechanics of the aircraft and the internal control. The entire flight system is deeply coupled to achieve high-speed and efficient real-time computing, and achieve high-fidelity real-time flight simulation.

Description

Technical Field

[0001] The present invention relates to the field of aircraft testing technology, and in particular to a flight simulation system, method, computer equipment, storage medium and program product. Background Art

[0002] At present, there are many flight simulation systems based on computational fluid dynamics (CFD) and control and navigation algorithms on the market. The product architectures corresponding to several typical simulation systems in the prior art include: distributed processing architecture, quasi-static coupling architecture and high-fidelity offline simulation architecture. However, most of the existing technical solutions have some common problems, such as the insufficient real-time performance of the distributed processing architecture, which makes it difficult to achieve high-speed and efficient real-time computing, resulting in the inability to respond to dynamic aerodynamic changes in a timely manner; the coupling accuracy of the quasi-static coupling architecture is not high, the data transmission efficiency between CFD and navigation control is low, and the coordination is insufficient, resulting in the overall performance failing to reach the optimal state; the overall system complexity of the high-fidelity offline simulation architecture is relatively large. Although it can improve accuracy, the implementation cost is too high and it does not have universal promotion value, etc., which leads to the inaccuracy of the existing flight simulation results. Summary of the invention

[0003] In view of this, the present invention provides a flight simulation system, method, computer device, storage medium and program product to solve the problem of insufficient simulation result accuracy of existing simulation systems.

[0004] In a first aspect, the present invention provides a flight simulation system, the system comprising:

[0005] The external environment simulation system is used to simulate the external environment of the aircraft and obtain external environment data;

[0006] A fluid dynamics simulation system is used to simulate the aerodynamic force and tension torque of the aircraft during flight based on external environment data and the flight data of the aircraft;

[0007] The internal control simulation system is used to simulate the flight state of the aircraft according to the aerodynamic force and tension torque, and adjust the flight data according to the flight state.

[0008] The flight simulation system provided by the present invention simulates the external environment of the aircraft through an external environment simulation system to obtain external environment data, and the fluid dynamics simulation system simulates the aerodynamic force and pulling torque received during the flight based on the external environment data and the flight data of the aircraft, and the internal control simulation system simulates the flight state according to the aerodynamic force and pulling torque, and adjusts the flight data according to the flight state. The present invention can construct a purely simulated flight system by simulating the external environment, the external fluid mechanics of the aircraft and the internal control, and the entire flight system is deeply coupled to achieve high-speed and efficient real-time computing, thereby achieving high-fidelity real-time flight simulation.

[0009] In an optional embodiment, the external environment data includes: terrain data and wind speed data, and the external environment simulation system includes: a terrain model, which is used to simulate the surface characteristics of the flight area of ​​the aircraft to obtain terrain data; and a wind field model, which is used to model the meteorological elements of the flight area to obtain wind speed data.

[0010] The present invention can achieve a high degree of consistency between the simulation environment and the actual flight conditions by simulating terrain data and wind speed data, and provide reliable basic data for subsequent flight simulation.

[0011] In an optional embodiment, the internal control simulation system includes: a six-degree-of-freedom motion solution model, which is used to calculate the true position, true velocity and true attitude of the aircraft based on aerodynamic forces and tension torques; a sensor error model, which is used to perform error correction on the true position, true velocity and true attitude based on preset errors to obtain sensor data; a navigation algorithm model, which is used to perform state estimation based on the sensor data to obtain the position information, velocity information and attitude information of the aircraft; a control algorithm model, which is used to generate motor control instructions based on the position information, velocity information, attitude information and set flight control instructions; an actuator model, which is used to adjust the flight data of the aircraft according to the motor control instructions.

[0012] The present invention can convert the external flight environment of the aircraft into flight data by constructing a six-degree-of-freedom settlement model, and then simulate the overall internal operation process of the aircraft by constructing models such as sensors, navigation, control algorithms and actuators, which can not only ensure the reliability of the simulation data, but also ensure high-speed and efficient real-time calculations between the models.

[0013] In some optional embodiments, the sensor error model includes: an inertial measurement unit, used to generate inertial data containing errors based on the true position, true velocity and true attitude; a global navigation positioning system, used to generate positioning data containing errors based on the true position, true velocity and true attitude; a barometer, used to generate air pressure data containing errors based on the true position, true velocity and true attitude, and obtain the flight altitude of the aircraft based on the air pressure data; a magnetometer, used to generate magnetic field data containing errors based on the true position, true velocity and true attitude; a radar model, used to generate perception data containing errors based on the true position, true velocity and true attitude.

[0014] By constructing an error model including various sensors, the present invention can convert the true data obtained according to the fluid mechanics of the aircraft into actual data containing errors during the actual operation process, so as to make the simulation closer to the actual flight state of the aircraft and further improve the reliability of the simulation results.

[0015] In an optional implementation, data distribution services are used between systems and / or between models for distributed real-time communication, and the communication data is synchronized via timestamps.

[0016] The present invention can ensure timely communication between systems or models by using data distribution services to perform distributed real-time communication in the flight simulation system, thereby ensuring high-speed and efficient real-time computing of the flight simulation system and achieving high-fidelity real-time flight simulation.

[0017] In a second aspect, the present invention provides a flight simulation method, which performs simulation based on the flight simulation system of the first aspect or any corresponding embodiment thereof, and the method comprises:

[0018] Simulate the external environment of the aircraft to obtain external environment data;

[0019] Simulate the aerodynamic force and pulling torque of the aircraft during flight based on the external environment data and the flight data of the aircraft;

[0020] The flight state of the aircraft is simulated according to the aerodynamic force and tension torque, and the flight data is adjusted according to the flight state.

[0021] In some optional embodiments, the flight state of the aircraft is simulated according to the aerodynamic force and the pulling torque, and the flight data is adjusted according to the flight state, including: calculating the true position, true velocity and true attitude of the aircraft according to the aerodynamic force and the pulling torque; performing error correction on the true position, true velocity and true attitude based on a preset error to obtain sensor data; performing state estimation according to the sensor data to obtain the position information, velocity information and attitude information of the aircraft; obtaining the set flight control instructions, and generating motor control instructions according to the position information, velocity information, attitude information and flight control instructions; and adjusting the flight data of the aircraft according to the motor control instructions.

[0022] Since the flight simulation method is based on the simulation of the flight simulation system of the first aspect or any corresponding embodiment thereof, and has the same effect as the flight simulation system, it will not be described in detail here.

[0023] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the flight simulation method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the flight simulation method of the first aspect or any corresponding embodiment thereof.

[0025] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the flight simulation method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 is a structural block diagram of a flight simulation system according to an embodiment of the present invention;

[0028] Figure 2 is a structural block diagram of a specific composition of a flight simulation system according to an embodiment of the present invention;

[0029] Figure 3 is a schematic flow chart of a flight simulation method according to an embodiment of the present invention;

[0030] Figure 4 is a schematic diagram of a simulation process of a flight simulation method according to an embodiment of the present invention;

[0031] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention.

[0032] Description of the accompanying drawings: 100 - external environment simulation system; 101 - terrain model; 102 - wind field model; 200 - fluid dynamics simulation system; 300 - internal control simulation system; 301 - six-degree-of-freedom motion solution model; 302 - sensor error model; 303 - navigation algorithm model; 304 - control algorithm model; 305 - actuator model. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0034] The embodiments of the present invention are applicable to application scenarios in which flight-related data is obtained by simulating the flight process to provide reference data for aircraft performance optimization, etc. In the related art, flight simulation systems of various architectures and existing problems are as follows:

[0035] (1) Step-by-step processing architecture: First, CFD simulation is performed offline to obtain aerodynamic characteristic data; second, these pre-calculated data are input into an independent flight navigation control system for path planning and attitude adjustment. This method is often unable to cope with highly dynamic changes in the aerodynamic environment, resulting in significant differences between the simulation results and the actual situation. Since accurate aerodynamic feedback cannot be obtained in real time, it will affect the reliability of aircraft performance optimization and design algorithms.

[0036] (2) Quasi-static coupling architecture: Combine CFD simulation and navigation control, but only update aerodynamic data at certain critical moments or areas to reduce the amount of calculation and increase the speed. Although this method improves real-time performance to a certain extent, it is still difficult to achieve completely real-time updates and may introduce additional uncertainties. At the same time, under complex flow field conditions, this method has high accuracy requirements and is difficult to meet the needs of practical applications.

[0037] (3) High-fidelity offline simulation architecture: Use large-scale parallel computing and numerical models to perform high-fidelity comprehensive simulation of the entire flight process, including wind tunnel experimental verification, digital twins, etc. Although this method can provide relatively accurate results, it is not suitable for real-time control environments due to the large amount of computing resources required. In addition, its high implementation cost limits its widespread application.

[0038] Therefore, the embodiment of the present invention provides a flight simulation system, which achieves high-speed and efficient real-time computing through pure software simulation, thereby ensuring the effect of high-quality real-time flight simulation.

[0039] According to an embodiment of the present invention, a flight simulation system embodiment is provided. It should be noted that, as used below, the term "model" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0040] In this embodiment, a flight simulation system is provided. Figure 1 is a structural block diagram of a flight simulation system according to an embodiment of the present invention. Figure 1 As shown, the system includes:

[0041] The external environment simulation system 100 is used to simulate the external environment of the aircraft and obtain external environment data;

[0042] A fluid dynamics simulation system 200 is used to simulate the aerodynamic force and tension torque that the aircraft is subjected to during flight based on external environment data and flight data of the aircraft;

[0043] The internal control simulation system 300 is used to simulate the flight state of the aircraft according to the aerodynamic force and the pulling force moment, and adjust the flight data according to the flight state.

[0044] Specifically, in the embodiment of the present invention, a high-fidelity external environment simulation system 100 is established to provide accurate input parameters to the fluid dynamics simulation system 200, wherein, for example, Figure 2As shown, the external environment simulation system 100 includes: a terrain model 101, which is used to simulate the surface features of the flight area of ​​the aircraft to obtain terrain data, and the surface features include terrain undulations, vegetation coverage, building distribution, etc.; a wind field model 102, which is used to model the meteorological elements of the flight area to obtain wind speed data, and the meteorological elements include atmospheric structure, wind speed, wind direction, turbulence intensity, etc., which are only used as examples and are not limited to this. The flight simulation system of the embodiment of the present invention can dynamically update the external environment data, including local terrain features, micro-meteorological conditions and obstacle distribution, according to the real-time position, attitude and speed information determined by the subsequent simulation of the aircraft. This real-time update mechanism ensures a high degree of consistency between the simulation environment and the actual flight conditions, and provides reliable basic data for subsequent CFD calculations and flight control.

[0045] In some optional embodiments, the fluid dynamics simulation system 200 reflects the aerodynamic characteristics of the aircraft, and is solved by combining the vortex grid method with the vortex particle method. The vortex grid method discretizes the rotor surface and calculates the initial position of the wake. The vortex particle method tracks the vortex particles, handles nonlinear evolution and interference effects, and then solves the aerodynamic characteristics of the aircraft, and calculates the aerodynamic force and drag torque of the aircraft under given propeller speed and external environment data. Among them, aerodynamic force refers to the gas force exerted on the aircraft during flight, including lift and drag: lift is a force perpendicular to the direction of movement of the aircraft, which enables the aircraft to overcome gravity, achieve lift and maintain flight attitude; drag is a force opposite to the direction of movement of the aircraft, which hinders its forward speed. The drag torque of the aircraft refers to the torque of the thrust generated by the engine on the center of mass of the aircraft during flight. The drag torque plays an important role in the design and control of the aircraft and can directly affect the attitude and motion state of the aircraft. The fluid dynamics used in the embodiment of the present invention is a branch of fluid mechanics, which mainly studies the motion laws of fluids as continuous media under the action of forces and their interactions with boundaries. In a broad sense, fluid dynamics also includes the interaction between fluids and other forms of motion. The basic principles of fluid dynamics include conservation of mass, conservation of momentum, and conservation of energy, which are based on classical mechanics. In addition, fluid dynamics also assumes that the fluid is continuous and ignores its discreteness, so properties such as density, pressure, temperature, and velocity are considered to be well defined at infinitesimal points and continuously change from one point to another. The embodiment of the present invention describes the motion laws of the gas on the outer surface of the aircraft during flight.

[0046] In some optional implementations, the internal control simulation system 300 simulates the flight processing of various components inside the aircraft, such as Figure 2As shown, it includes: a six-degree-of-freedom motion solution model 301, a sensor error model 302, a navigation algorithm model 303, a control algorithm model 304 and an actuator model 305. The present invention can convert the external flight environment of the aircraft into flight data by constructing a six-degree-of-freedom solution model, and then simulate the overall operation process inside the aircraft by constructing models such as sensors, navigation, control algorithms and actuators, which can ensure the reliability of simulation data and high-speed and efficient real-time calculations between various models.

[0047] In some optional embodiments, the six-degree-of-freedom motion solution model 301 is used to calculate the true position, true velocity and true attitude of the aircraft according to the aerodynamic force and the pulling torque, and the six-degree-of-freedom motion equation is solved by using the angular velocity differential equation, the Newton-Euler equation and the mass and inertia characteristics of the aircraft in combination with the aerodynamic force and torque output by the fluid dynamics simulation system 200, and outputs the true position, true velocity and true attitude of the aircraft without any error and noise, so it is not completely consistent with the relevant data obtained by the actual settlement of the aircraft. Among them, the six-degree-of-freedom motion solution refers to the description of the six independent motion modes that an object can perform in three-dimensional space, because the object has six degrees of freedom in space, namely, the freedom of movement along the three rectangular coordinate axes of x, y, and z and the freedom of rotation around these three coordinate axes. Therefore, to fully determine the position of the object, these six degrees of freedom must be clear.

[0048] In some optional implementations, in order to convert the true value data into data actually used during the flight of the aircraft, the embodiment of the present invention constructs a sensor error model 302, which is used to perform error correction on the true value position, true value velocity and true value attitude based on the preset error to obtain sensor data, and correct the sensor output data by considering sensor noise, delay and deviation, which may include one or more types of sensor models to realize redundant sensor simulation. The sensors involved in the embodiment of the present invention include: Inertial Measurement Unit (IMU), Global Navigation Satellite System (GNSS), barometer, magnetometer and radar model.

[0049] In some optional embodiments, an inertial measurement unit is used to generate inertial data containing errors based on the true position, true velocity and true attitude, wherein the inertial measurement unit is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometers detect the independent three-axis acceleration signals of the object in the carrier coordinate system, and the gyroscopes detect the angular velocity signals of the carrier relative to the navigation coordinate system, measure the angular velocity and acceleration of the object in three-dimensional space, and use them to solve the attitude of the object. Therefore, the inertial measurement unit of the present invention includes an accelerometer model and a gyroscope model. The accelerometer model mainly describes the physical characteristics and error characteristics of the accelerometer. According to the input true value acceleration signal, ambient temperature and model configuration parameters, after superimposing errors and noise, the output is an acceleration signal that is close to the real device. The error characteristics of the accelerometer model include constant zero bias, non-orthogonal error, velocity random walk, acceleration random walk, zero bias instability, temperature drift, and scale scaling error. The zero bias instability is modeled as a first-order Markov process, and the velocity random walk is modeled as acceleration white noise. The gyroscope model mainly describes the physical characteristics and error characteristics of the gyroscope. According to the input true value angular velocity signal, ambient temperature and model configuration parameters, after superimposing errors and noise, the output is an angular velocity signal that is close to the real device. The error characteristics of the gyroscope model include constant zero bias, non-orthogonal error, angle random walk, angular velocity random walk, zero bias instability, temperature drift, scale scaling error and accelerometer sensitivity. The zero bias instability is modeled as a first-order Markov process, and the angle random walk is modeled as angular velocity white noise.

[0050] In some optional embodiments, the global navigation and positioning system is GPS (Global Positioning System), which is used to generate positioning data containing errors based on the true position, true velocity and true attitude, mainly describing the signal characteristics and error characteristics of GPS, and outputs the longitude and latitude, position, speed and other information with errors after coordinate system conversion and error model calculation based on the input relative position, velocity, initial longitude and latitude. The errors include ionospheric errors and tropospheric errors.

[0051] In some optional embodiments, the barometer is used to generate air pressure data containing errors based on the true position, true velocity and true attitude, and obtain the flight altitude of the aircraft based on the air pressure data. It mainly describes the physical properties and error characteristics of the barometer, and outputs pressure and relative altitude based on the input latitude and longitude, relative altitude, and flight speed after calculation by the atmospheric model and superposition of errors.

[0052] In some optional embodiments, the magnetometer is used to generate magnetic field data containing errors based on the true position, true velocity and true attitude, which mainly describes the physical characteristics and error characteristics of the geomagnetic sensor. According to the input true heading angle and longitude and latitude, the three-axis magnetic field intensity at the longitude and latitude is calculated using the earth's magnetic field model and the heading angle. After superimposing errors and noise and converting units, the output is the three-axis magnetic field intensity. The error characteristics include constant zero bias, non-orthogonal error, temperature drift, and scale scaling error.

[0053] In some optional implementations, the radar model is used to generate perception data containing errors based on the true position, true velocity, and true attitude. In summary, the invention can convert the true data obtained based on the fluid mechanics of the aircraft into actual data containing errors during the actual operation process by constructing an error model containing various sensors, so as to make the simulation closer to the actual flight state of the aircraft and further improve the reliability of the simulation results.

[0054] In some optional implementations, the navigation algorithm model 303 of the embodiment of the present invention is used to perform state estimation based on sensor data to obtain the position information, velocity information and attitude information of the aircraft. The model mainly performs multi-sensor data fusion, and fuses the various sensor signals output by the above-mentioned sensor error model 302. The fusion algorithm can adopt the EKF algorithm, and the fusion is performed after establishing the state equation and the prediction model. The state variables can be selected as position, velocity, quaternion, gyroscope zero bias, and acceleration zero bias.

[0055] In some optional embodiments, the control algorithm model 304 of the embodiment of the present invention is used to generate motor control instructions based on position information, speed information, attitude information and set flight control instructions, mainly to perform attitude control and position control on the aircraft, and output actuator signals to the actuator model 305. The specific control algorithm can be designed according to the specific needs of different aircraft. The operator can upgrade or modify the control algorithm by himself. The flight control instructions are determined by the operator and input into the flight simulation system, including: ascent speed, descent speed or flight speed, etc., which are only used as examples and are not limited to this.

[0056] In some optional implementations, the actuator model 305 of the embodiment of the present invention is used to adjust the flight data of the aircraft according to the motor control command, mainly describing the response characteristics of the motor and the driver, adjusting the speed of the propeller, and the model is modeled as a first-order inertia link. Among them, the actuator is a key component for implementing active vibration control and an important link in the active control system. It is also called an exciter, which is mainly used for dynamic tests and is an output device. In the hydraulic servo system, the actuator acts as an actuator, and controls the speed, direction, displacement, and force of the load by applying controllable push, pull, and other forces to the load.

[0057] In some optional implementations, the data distribution service (DDS) is used for distributed real-time communication between the systems or models in the embodiments of the present invention, and the communication data is synchronized through timestamps, which can realize high-speed and efficient real-time computing of the flight simulation system and achieve high-fidelity real-time flight simulation.

[0058] In some optional embodiments, the flight simulation scheme of the embodiment of the present invention using the flight dynamics model to calculate the torque and aerodynamic force is to decompose the aircraft into the level of individual components, and then calculate the component forces and torques. In this method, the interaction between the aerodynamic components is usually simple and the fidelity is low. Higher fidelity can be provided by capturing the interaction between the aerodynamic components. Using CFD coupled simulation with the control algorithm and the navigation algorithm can simulate the algorithm boundaries in complex terrain and wind field environments. Existing flight simulation schemes are usually separate CFD simulations or only control and navigation simulations with traditional flight dynamics models, lacking real-time interaction with complex terrain and wind fields. Real-time CFD simulation can capture more complex aerodynamic characteristics, such as the complex aerodynamic interactions of eVTOL (Electric Vertical Take-off and Landing) when transitioning from hovering to cruising and other states.

[0059] In some optional implementations, the embodiments of the present invention are pure software simulations, on this basis, the navigation algorithm and the control algorithm can be replaced by a physical controller for simulation, or combined with other semi-physical platforms for simulation, the CFD solution method can also be replaced, and other algorithms can be used for solution, or the aerodynamic force, torque, and tension calculated by CFD can be used in combination with the flight dynamics model to correct the calculation of the flight dynamics model, which is not limited here.

[0060] The flight simulation system provided by the present invention simulates the external environment of the aircraft through an external environment simulation system to obtain external environment data, and the fluid dynamics simulation system simulates the aerodynamic force and pulling torque received during the flight based on the external environment data and the flight data of the aircraft, and the internal control simulation system simulates the flight state according to the aerodynamic force and pulling torque, and adjusts the flight data according to the flight state. The present invention can construct a purely simulated flight system by simulating the external environment, the external fluid mechanics of the aircraft and the internal control, and the entire flight system is deeply coupled to achieve high-speed and efficient real-time computing, thereby achieving high-fidelity real-time flight simulation.

[0061] According to an embodiment of the present invention, a flight simulation method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0062] In this embodiment, a flight simulation method is provided, which performs simulation based on the above-mentioned flight simulation system. Figure 3 is a flow chart of a flight simulation method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0063] Step S301, simulate the external environment of the aircraft to obtain external environment data. Figure 1 The flight simulation system of the illustrated embodiment will not be described in detail here.

[0064] Step S302, simulating the aerodynamic force and pulling torque on the aircraft during flight based on the external environment data and the flight data of the aircraft. Figure 1 The flight simulation system of the illustrated embodiment will not be described in detail here.

[0065] Step S303, simulating the flight state of the aircraft according to the aerodynamic force and the pulling torque, and adjusting the flight data according to the flight state.

[0066] Specifically, the above step S303 includes:

[0067] Step S3031, calculate the true position, true velocity and true attitude of the aircraft according to the aerodynamic force and the pulling torque. Figure 1 The flight simulation system of the illustrated embodiment will not be described in detail here.

[0068] Step S3032: perform error correction on the true position, true velocity and true attitude based on the preset error to obtain sensor data. Figure 1 The flight simulation system of the illustrated embodiment will not be described in detail here.

[0069] Step S3033: perform state estimation based on sensor data to obtain the position information, speed information and attitude information of the aircraft. Figure 1 The flight simulation system of the illustrated embodiment will not be described in detail here.

[0070] Step S3034, obtain the set flight control instructions, and generate motor control instructions according to the position information, speed information, attitude information and flight control instructions. Figure 1 The flight simulation system of the illustrated embodiment will not be described in detail here.

[0071] Step S3035: Adjust the flight data of the aircraft according to the motor control command. Figure 1 The flight simulation system of the illustrated embodiment will not be described in detail here.

[0072] Specifically, in the embodiment of the present invention, Figure 4 As shown in the figure, the simulation process is as follows:

[0073] ①The external environment simulation system generates real-time environmental data;

[0074] ② Based on the blade speed and external environment data, the fluid dynamics simulation system calculates the aerodynamic force and pulling torque;

[0075] ③ The six-degree-of-freedom settlement model calculates the real-time motion state of the aircraft;

[0076] ④The sensor error model simulates the actual sensor data based on the motion data, and the error modeling corrects the data;

[0077] ⑤ The navigation algorithm model performs state estimation based on sensor data;

[0078] ⑥ The control algorithm model calculates the motor command based on the state estimation of the navigation algorithm and the remote control command and sends it to the actuator;

[0079] ⑦ Return to ① to update the real-time environmental data and form a closed-loop control. This method is simulated based on the above-mentioned embodiment and preferred implementation mode, and the descriptions that have been made will not be repeated.

[0080] The embodiment of the present invention also provides a computer device having the above Figure 1 or Figure 2 The aircraft simulation system shown in the figure performs the above Figure 3 The aircraft simulation method shown.

[0081] See also Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0082] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0083] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0084] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0085] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0086] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0087] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0088] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0089] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A flight simulation system, characterized in that: The system comprises: The external environment simulation system is used to simulate the external environment of the aircraft and obtain external environment data; A fluid dynamics simulation system, used for simulating the aerodynamic force and tension torque to which the aircraft is subjected during flight based on the external environment data and the flight data of the aircraft; The internal control simulation system is used to simulate the flight state of the aircraft according to the aerodynamic force and the pulling force moment, and adjust the flight data according to the flight state.

2. The system according to claim 1, characterized in that The external environment data includes: terrain data and wind speed data, and the external environment simulation system includes: A terrain model, used to simulate the surface features of the flight area of ​​the aircraft to obtain the terrain data; The wind field model is used to model the meteorological elements of the flight area to obtain the wind speed data.

3. The system according to claim 1, characterized in that The internal control simulation system comprises: A six-degree-of-freedom motion solution model, used for calculating the true position, true velocity and true attitude of the aircraft according to the aerodynamic force and the pulling torque; A sensor error model, used to perform error correction on the true value position, the true value velocity and the true value attitude based on a preset error to obtain sensor data; A navigation algorithm model, used to perform state estimation based on the sensor data to obtain position information, speed information and attitude information of the aircraft; A control algorithm model, used for generating a motor control instruction according to the position information, the speed information, the attitude information and the set flight control instruction; An actuator model is used to adjust the flight data of the aircraft according to the motor control instructions.

4. The system according to claim 3, characterized in that The sensor error model includes: an inertial measurement unit, configured to generate inertial data including errors according to the true position, the true velocity and the true attitude; A global navigation and positioning system, configured to generate positioning data including an error according to the true position, the true velocity and the true attitude; a barometer, configured to generate air pressure data including an error according to the true position, the true speed and the true attitude, and obtain a flight altitude of the aircraft according to the air pressure data; A magnetometer, configured to generate magnetic field data including errors according to the true position, the true velocity and the true attitude; A radar model is used to generate perception data containing errors according to the true value position, the true value velocity and the true value attitude.

5. The system according to any one of claims 1 to 4, characterized in that Data distribution services are used between systems and / or models for distributed real-time communication, and the communication data is synchronized via timestamps.

6. A flight simulation method, characterized in that: The simulation is performed based on the flight simulation system described in any one of claims 1 to 5, and the method includes: Simulate the external environment of the aircraft to obtain external environment data; Simulating the aerodynamic force and tension moment to which the aircraft is subjected during flight based on the external environment data and the flight data of the aircraft; The flight state of the aircraft is simulated according to the aerodynamic force and the pulling force moment, and the flight data is adjusted according to the flight state.

7. The method according to claim 6, characterized in that The simulating the flight state of the aircraft according to the aerodynamic force and the pulling moment, and adjusting the flight data according to the flight state, comprises: Calculate the true position, true velocity and true attitude of the aircraft according to the aerodynamic force and the pulling torque; Performing error correction on the true value position, the true value velocity and the true value posture based on a preset error to obtain sensor data; Perform state estimation based on the sensor data to obtain position information, speed information and attitude information of the aircraft; Acquire a set flight control instruction, and generate a motor control instruction according to the position information, the speed information, the attitude information and the flight control instruction; The flight data of the aircraft is adjusted according to the motor control instruction.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the flight simulation method according to any one of claims 6 to 7 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the flight simulation method according to any one of claims 6 to 7.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the flight simulation method according to any one of claims 6 to 7.

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