Flight illusion quantification method for simulator training

Abstract

The invention discloses a simulator training-oriented flight illusion quantification method, which comprises the following steps of: carrying out kinematics modeling on a four-axis centrifugal illusion simulator, and solving an integral transformation matrix of the four-axis centrifugal illusion simulator; kinematics modeling is carried out on the measuring device, and a transformation matrix of the whole measuring device is solved: the measuring device is vertically installed in a cabin of the illusion simulator, and a transformation matrix from a coordinate system of the tail end cabin of the illusion simulator to a reference coordinate system of the measuring device is solved; multiplying the transformation matrixes in sequence to obtain an integral transformation matrix of the illusion simulator and the measurement device; the direction of the holding rod is the X7-axis direction; for a centrifugal illusion simulator, when the centrifugal illusion simulator and a measuring device are used for kinematics modeling, an MDH parameter modeling thought is used for reference, but only two angle parameters of alphai-1 and thetai are taken, and two length parameters are abandoned, so that the operand of subsequent pose matrix operation is reduced; the coordinate systems are all built at the center of the joint, and the trouble that the original point of the coordinate system needs to be determined in the axial direction of the joint in MDH parameter modeling is omitted.

Description

Technical Field

[0001] The invention relates to the technical field of flight training, and in particular to a flight illusion quantification method oriented to simulator training. Background Art

[0002] When training on an illusion simulator, pilots are prone to misjudge flight position, attitude and motion conditions.

[0003] At present, there is a lack of quantitative research on flight illusion at home and abroad; the traditional kinematic modeling method first establishes the coordinate system of each link, determines the DH parameters and posture matrix, and can accurately obtain the spatial position and posture of the robot end.

[0004] However, the above traditional methods are not applicable to the whole composed of a multi-DOF flight illusion simulator and a 2-DOF spatial omnidirectional angle measurement device. If the whole model is built according to the traditional kinematic modeling method, it is cumbersome and difficult to establish a coordinate system and determine the DH parameters, because it is necessary to determine a series of distances and the spatial position and posture of the measuring device in the centrifuge cabin. In addition, the calculation amount of the pose matrix is ​​also relatively large.

[0005] In order to study the relationship between the ground direction perceived by the pilot and the actual ground direction in different illusion simulator training actions, and thus to conduct a quantitative study on the flight illusion, the present invention is based on the invention patent with publication number CN117782000A, a spatial omnidirectional angle measurement device for manned centrifuge training, and proposes a flight illusion quantification method to solve the above problem. Summary of the invention

[0006] The purpose of the present invention is to design a flight illusion quantification method for simulator training in order to solve the above problems.

[0007] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0008] A flight illusion quantification method for simulator training, comprising:

[0009] Step 1: Kinematic modeling of the four-axis centrifugal illusion simulator and calculate its overall transformation matrix The four-axis centrifugal illusion simulator includes a four-axis centrifugal illusion simulator main axis, a four-axis centrifugal illusion simulator yaw axis, a four-axis centrifugal illusion simulator roll axis, and a four-axis centrifugal illusion simulator pitch axis. The measuring device includes a first joint of the measuring device and a second joint of the measuring device. When kinematic modeling of the centrifugal illusion simulator and the measuring device is performed, the MDH parameter modeling idea is referred to, but only α is taken. i-1 and θ i Two angle parameters are used instead of two length parameters. MDH parameters of centrifugal illusion simulator: Main axis of four-axis centrifugal illusion simulator: αi-1 is 0°, θ i is θ1; yaw axis of the four-axis centrifugal illusion simulator: α i-1 is 0°, θ i is θ2; the rolling axis of the four-axis centrifugal illusion simulator is α i-1 is 90°, θ i is θ3; the pitch axis of the four-axis centrifugal illusion simulator is α i-1 is 90°, θ i is θ4; some MDH parameters of the spatial omnidirectional angle measurement device: the first joint of the measurement device: α i-1 is 90°, θ i is θ6; the second joint of the measuring device: α i-1 is 90°, θ i is θ7; combined with the change matrix method of MDH parameter modeling, it is concluded that the transformation matrix of each link of the centrifugal illusion simulator and the measuring device can be unified as:

[0010]

[0011] The transformation matrix of each link of the centrifugal illusion simulator is as follows:

[0012]

[0013] The transformation matrices of each link are multiplied sequentially, and the transformation matrix of the centrifugal illusion simulator is:

[0014]

[0015] Step 2: Kinematic modeling of the measuring device and calculation of its overall transformation matrix The transformation matrix of each link of the measuring device is as follows:

[0016]

[0017] The transformation matrices of each connecting rod are multiplied sequentially, and the transformation matrix of the measuring device is:

[0018]

[0019] Step 3: Install the measuring device vertically in the illusion simulator cockpit and calculate the transformation matrix from the illusion simulator terminal cockpit coordinate system to the measuring device reference coordinate system When the measuring device is installed vertically in the cockpit of the centrifugal illusion simulator, the Z5 axis of the measuring device is vertically opposite to the X4 axis of the cockpit. When the cockpit coordinate system O4 at the end of the centrifugal illusion simulator rotates -90° around the Y4 axis and rotates θ around the Z5 axis m After that, its posture can coincide with the reference coordinate system O5 of the measuring device, where θ mIt is determined by the actual installation position of the measuring device and is a fixed parameter;

[0020] The transformation matrix from O4 coordinate system to O5 coordinate system is:

[0021]

[0022] Step 4: Multiply the above transformation matrices sequentially to obtain the transformation matrix of the illusion simulator and the measurement device as a whole Then the transformation matrix from the O0 coordinate system to the O7 coordinate system is:

[0023]

[0024] where cθ i is cosθ i Simplified representation; sθ i is sinθ i Simplified representation; sθ 12 is a simplified representation of sin(θ1+θ2); cθ 12 It is a simplified representation of cos(θ1+θ2), and the rest are similar;

[0025] f1-f9 are respectively composed of θ1, θ2, θ3, θ4, θ m , θ6, θ7, except θ m Except for the fixed parameters, all others are variables;

[0026] Step 5: The grip direction is the X7 axis direction; its direction vector in the O0 coordinate system is The actual ground direction is opposite to the Z0 axis, and its direction vector in the O0 coordinate system is The angle between the ground direction perceived by the pilot and the actual ground direction is

[0027]

[0028] The beneficial effects of the present invention are:

[0029] For the centrifugal illusion simulator, the kinematic modeling of the centrifugal illusion simulator and the measuring device is based on the MDH parameter modeling idea, but only α is taken. i-1 and θ i Two angle parameters are used instead of two length parameters, which reduces the amount of computation required for subsequent pose matrix operations; the coordinate systems are all built at the center of the joint, eliminating the need to locate the origin of the coordinate system in the axial direction of the joint in MDH parameter modeling.

[0030] For the centrifugal illusion simulator, kinematic modeling can be performed for it and the measuring device separately. For the parallel illusion simulator, kinematic modeling can be performed for the measuring device based on the known cockpit attitude. Then, the attitude of the measuring device's reference coordinate system in the coordinate system of the illusion simulator terminal is determined without considering its spatial position, thus avoiding the tedious and difficult modeling of it as a whole.

[0031] The measuring device is installed vertically in the cockpit of the illusion simulator. The direction of the grip is the direction of the X7 axis. The actual ground direction is opposite to the Z0 axis, and the angle between the two can be easily measured. The angle between the two can quantitatively reflect the degree of flight illusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a flow chart of the quantification method proposed by the present invention;

[0033] Figure 2 Modeling the kinematics of a four-axis centrifugal illusion simulator;

[0034] Figure 3 Model the measurement setup kinematics.

[0035] Explanation of the reference numerals: 1 - main axis of the four-axis centrifugal illusion simulator; 2 - yaw axis of the four-axis centrifugal illusion simulator; 3 - roll axis of the four-axis centrifugal illusion simulator; 4 - pitch axis of the four-axis centrifugal illusion simulator; 6 - first joint of the measuring device; 7 - second joint of the measuring device. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0039] In the description of the present invention, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0040] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.

[0043] like Figure 1-3 As shown, a flight illusion quantification method for simulator training includes:

[0044] Step 1: Kinematic modeling of the four-axis centrifugal illusion simulator and calculate its overall transformation matrix The four-axis centrifugal illusion simulator includes a four-axis centrifugal illusion simulator main axis 1, a four-axis centrifugal illusion simulator yaw axis 2, a four-axis centrifugal illusion simulator roll axis 3, and a four-axis centrifugal illusion simulator pitch axis 4. The centrifugal illusion simulator can be regarded as a four-link structure, including four links numbered 1, 2, 3, and 4. The measuring device includes a first measuring device joint 6 and a second measuring device joint 7. The measuring device can be regarded as a two-link structure, including two links numbered 6 and 7. When performing kinematic modeling on the centrifugal illusion simulator and the measuring device, the MDH parameter modeling idea is used for reference, but only α is taken. i-1 and θ i Two angle parameters are used and two length parameters are discarded. Table 1 shows some MDH parameters of the centrifugal illusion simulator; Table 2 shows some MDH parameters of the spatial omnidirectional angle measurement device.

[0045] Table 1 Some MDH parameters of centrifugal illusion simulator

[0046] Connecting rod number <![CDATA[α i-1 ]]> <![CDATA[θ i ]]> 1 0° <![CDATA[θ1]]> 2 0° <![CDATA[θ2]]> 3 90° <![CDATA[θ3]]> 4 90° <![CDATA[θ4]]>

[0047] Table 2 Some MDH parameters of spatial omnidirectional angle measurement device

[0048] Connecting rod number <![CDATA[α i-1 ]]> <![CDATA[θ i ]]> 6 90° <![CDATA[θ6]]> 7 90° <![CDATA[θ7]]>

[0049] Combined with the change matrix method of MDH parameter modeling, it is concluded that the transformation matrices of the connecting rods of the centrifugal illusion simulator and the measuring device can be unified as follows:

[0050]

[0051] The transformation matrix of each link of the centrifugal illusion simulator is as follows:

[0052]

[0053] The transformation matrices of each link are multiplied sequentially, and the transformation matrix of the centrifugal illusion simulator is:

[0054]

[0055]

[0056] Step 2: Kinematic modeling of the measuring device and calculation of its overall transformation matrix The transformation matrix of each link of the measuring device is as follows:

[0057]

[0058] The transformation matrices of each connecting rod are multiplied sequentially, and the transformation matrix of the measuring device is:

[0059]

[0060] Step 3: Install the measuring device vertically in the illusion simulator cockpit and calculate the transformation matrix from the illusion simulator terminal cockpit coordinate system to the measuring device reference coordinate system When the measuring device is installed vertically in the cockpit of the centrifugal illusion simulator, the Z5 axis of the measuring device is vertically opposite to the X4 axis of the cockpit. When the cockpit coordinate system O4 at the end of the centrifugal illusion simulator rotates -90° around the Y4 axis and rotates θ around the Z5 axis m After that, its posture can coincide with the reference coordinate system O5 of the measuring device, where θ m It is determined by the actual installation position of the measuring device, is a fixed parameter, and is easy to measure;

[0061] The transformation matrix from O4 coordinate system to O5 coordinate system is:

[0062]

[0063] Step 4: Multiply the above transformation matrices sequentially to obtain the transformation matrix of the illusion simulator and the measurement device as a whole The transformation matrix from the O0 coordinate system to the O7 coordinate system is: Multiply the centrifugal illusion simulator transformation matrix, the transformation matrix from the O4 coordinate system to the O5 coordinate system, and the measurement device transformation matrix in sequence, and the transformation matrix from the O0 coordinate system to the O7 coordinate system is:

[0064]

[0065] where cθ i is cosθ i Simplified representation; sθ i is sinθ i Simplified representation; sθ 12 is a simplified representation of sin(θ1+θ2); cθ 12 It is a simplified representation of cos(θ1+θ2), and the rest are similar.

[0066] f1~f9 are respectively composed of θ1, θ2, θ3, θ4 and θ m , θ6, θ7, except θ m Except for the fixed parameters, the rest are all variables. Since the calculation results are complicated and inconvenient to display, they are simplified by f1~f9.

[0067] Step 5: The grip direction is the X7 axis direction; its direction vector in the O0 coordinate system is The actual ground direction is opposite to the Z0 axis, and its direction vector in the O0 coordinate system is The angle between the ground direction perceived by the pilot and the actual ground direction is

[0068]

[0069] For the parallel illusion simulator, the above method of kinematic modeling of the simulator is not applicable yet. At present, the classical method can be used to obtain its cockpit attitude. It will not be elaborated here if it is not an innovation of the present invention. However, based on the known cockpit attitude, the measuring device can still be kinematically modeled, and then the attitude of the measuring device reference coordinate system in the parallel illusion simulator terminal coordinate system can be determined. The above method of quantifying the flight illusion by pointing the stick to the direction of the ground as the pilot believes is still applicable.

[0070] The above technical solution describes in detail how to quantitatively represent the degree of flight illusion by using the angle between the grip X7 axis and the illusion simulator Z0 axis in the opposite direction. However, the present invention also has the following embodiments, all of which are within the protection scope of the present invention.

[0071] 1. The position of the X7 axis in the O1 coordinate system can be obtained. According to the above technical solution, we only need to obtain the matrix You can get the direction vector of the X7 axis in the O1 coordinate system The angle between the X7 axis and the opposite direction of the Z1 axis can also be calculated to quantitatively indicate the degree of illusion.

[0072] 2. For most illusions such as tilt illusion and cemetery hover illusion, the grip in this technical solution can be used to point to the ground direction that the pilot believes. For illusions such as body rotation, where it is inconvenient to use the grip to point to the pilot's perceived ground direction, the grip swing angle can be used to indicate the angular velocity of the centrifuge yaw axis rotation that the pilot believes at this time. For example, turning the grip clockwise indicates that the pilot believes that the centrifuge yaw axis is rotating clockwise, and turning the grip counterclockwise indicates that the pilot believes that the centrifuge yaw axis is rotating counterclockwise. The greater the grip rotation angle, the greater the angular velocity of the centrifuge yaw axis rotation that the pilot believes at this time. When the grip is vertically upward relative to the cockpit ground, it means that the pilot believes that the centrifuge yaw axis is not rotating at this time.

[0073] 3. The stick can be pointed not only to the direction of the ground as the pilot thinks it is, but also to the direction of the sky as he thinks it is, or other specified directions.

[0074] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A flight illusion quantification method for simulator training, characterized in that: include: Step 1: Kinematic modeling of the four-axis centrifugal illusion simulator and calculate its overall transformation matrix The four-axis centrifugal illusion simulator includes a four-axis centrifugal illusion simulator main axis, a four-axis centrifugal illusion simulator yaw axis, a four-axis centrifugal illusion simulator roll axis, and a four-axis centrifugal illusion simulator pitch axis. The measuring device includes a first joint of the measuring device and a second joint of the measuring device. When kinematic modeling of the centrifugal illusion simulator and the measuring device is performed, the MDH parameter modeling idea is referred to, but only α is taken. i-1 and θ i Two angle parameters are used instead of two length parameters. MDH parameters of centrifugal illusion simulator: Main axis of four-axis centrifugal illusion simulator: α i-1 is 0°, θ i is θ1; yaw axis of the four-axis centrifugal illusion simulator: α i-1 is 0°, θ i is θ2; the rolling axis of the four-axis centrifugal illusion simulator is α i-1 is 90°, θ i is θ3; the pitch axis of the four-axis centrifugal illusion simulator is α i-1 is 90°, θ i is θ4; some MDH parameters of the spatial omnidirectional angle measurement device: the first joint of the measurement device: α i-1 is 90°, θ i is θ6; the second joint of the measuring device: α i-1 is 90°, θ i is θ7; combined with the change matrix method of MDH parameter modeling, it is concluded that the transformation matrix of each link of the centrifugal illusion simulator and the measuring device can be unified as: The transformation matrix of each link of the centrifugal illusion simulator is as follows: The transformation matrices of each link are multiplied sequentially, and the transformation matrix of the centrifugal illusion simulator is: Step 2: Kinematic modeling of the measuring device and calculation of its overall transformation matrix The transformation matrix of each link of the measuring device is as follows: The transformation matrices of each connecting rod are multiplied sequentially, and the transformation matrix of the measuring device is: Step 3: Install the measuring device vertically in the illusion simulator cockpit and calculate the transformation matrix from the illusion simulator terminal cockpit coordinate system to the measuring device reference coordinate system When the measuring device is installed vertically in the cockpit of the centrifugal illusion simulator, the Z5 axis of the measuring device is vertically opposite to the X4 axis of the cockpit. When the cockpit coordinate system O4 at the end of the centrifugal illusion simulator rotates -90° around the Y4 axis and rotates θ around the Z5 axis m After that, its posture can coincide with the reference coordinate system O5 of the measuring device, where θ m It is determined by the actual installation position of the measuring device and is a fixed parameter; The transformation matrix from O4 coordinate system to O5 coordinate system is: Step 4: Multiply the above transformation matrices sequentially to obtain the transformation matrix of the illusion simulator and the measurement device as a whole Then the transformation matrix from the O0 coordinate system to the O7 coordinate system is: where cθ i is cosθ i Simplified representation; sθ i is sinθ i Simplified representation; sθ 12 is a simplified representation of sin(θ1+θ2); cθ 12 It is a simplified representation of cos(θ1+θ2), and the rest are similar; f1-f9 are respectively composed of θ1, θ2, θ3, θ4, θ m , θ6, θ7, except θ m Except for the fixed parameters, all others are variables; Step 5: The grip direction is the X7 axis direction; its direction vector in the O0 coordinate system is The actual ground direction is opposite to the Z0 axis, and its direction vector in the O0 coordinate system is The angle between the ground direction perceived by the pilot and the actual ground direction is

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