Immersive active control wing-mounted flight simulation system

Abstract

The invention relates to the technical field of wing-mounted flight simulation, in particular to an immersive active control wing-mounted flight simulation system. The system comprises a physical simulation platform used for bearing an experiencer and providing immersive sensory feedback; the motion capture subsystem is used for collecting motion data of an experiencer in real time; the wing-mounted flight aerodynamic modeling subsystem is used for calculating aerodynamic characteristics in the wing-mounted flight process; the dynamic wind feeling simulation subsystem is used for dynamically adjusting the intensity and direction of a wind field and simulating wind pressure distribution in different flight states; the dynamic stress control subsystem is used for applying dynamic force feedback to the experiencer and simulating stress change in the flight process; the three-dimensional visual subsystem is used for simulating a visual picture in real time; and the sound subsystem is used for comprehensively simulating the environment sound effect in the flight process. According to the invention, the immersion and reality of wing-mounted flight simulation are greatly improved, and the safety and reliability are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of wing suit flight simulation, and more specifically, to an immersive active control wing suit flight simulation system. Background Art

[0002] The development of wing suit flight simulators mainly stems from the need for the safety and popularity of extreme sports, as well as the feasibility brought about by technological progress. As a high-risk extreme sport, wing suit flight requires participants to jump from a high place and glide with the help of a wing suit. Its danger and technical difficulty limit the participation of the public.

[0003] With the continuous development of technologies such as virtual reality, sensing control, and force feedback, wing suit simulators are evolving towards a more realistic, intelligent, and safe direction. While ensuring the safety of the experience, they maximize the restoration of the feeling of real flight and provide a full-range immersive experience for the experiencer.

[0004] The current wing suit simulation technologies can be mainly divided into three categories: mechanical structure type, wind force simulation type, and virtual reality type.

[0005] The technical solutions of the mechanical structure type mainly rely on mechanical structure design to simulate the attitude and movement changes in wing suit flight. For example, some simulators simulate the ascent and descent and turning in flight through a multi-axis connection structure between the base and the outer ring, damping springs, and a lifting counterweight mechanism; some solutions use a swing rod drive system to make the body bracket generate left and right rotation movements to enhance simulation flexibility; others use a symmetrically arranged electric cylinder assembly to drive the support platform and combine with the wing structure to simulate the wing actions in flight. The above technical solutions have a certain foundation in terms of structural response, but due to the limitations of the rigid structure and transmission method, the detail simulation is still insufficient.

[0006] The technical solutions of the wind force simulation type generate wind force through a fan to simulate the effect of air on the human body during wing suit flight. For example, some simulators are equipped with a multi-air duct system that can provide horizontal and vertical wind directions respectively, and combine with adjusting the wind-receiving area and wind speed change of the wing suit to achieve a more realistic feedback on the wing suit flight actions; some devices set blowers at the head and tail of the body bracket to change the wind force difference to control the flipping of the body bracket to simulate the pitching action; some experience devices use multiple symmetric fans to control the angle of the louvers to blow wind at different angles and switch between hot and cold winds to simulate different flight environments. The above technical solutions have advantages in creating a flight atmosphere, but their linkage with body movements is weak and the feedback response is slightly lagging.

[0007] Virtual reality technology solutions mainly present real landforms and flight visuals to users through VR glasses and scene control technology. For example, VR display devices and a main control system are equipped in the simulator passenger cabin. The experiencer selects experience parameters through the screen, controls the motor actions, the VR display device provides visual and sound effects, and the operation screen also controls relevant devices to create different scenarios. The above technical solutions have advantages in terms of visual immersion, but lack the integration with motion feedback and airflow simulation, and there are still limitations in the physical authenticity.

[0008] The Chinese utility model patent (CN207055871U) describes a wing suit flight experience device that realizes basic flight attitude simulation by controlling the horizontal rotation, vertical rotation, and fine adjustment of the human support board through three groups of motors. This cooperative design of three motors has certain advantages in terms of action richness and realizes the basic wing suit flight experience, but there are still several key problems to be solved:

[0009] First of all, the fineness of aerodynamic modeling is significantly insufficient. When performing simulated flight operations in the simulator, the posture and wing suit deployment angle of the experiencer will change dynamically. These key data directly affect the flight state. However, due to the poor fineness of aerodynamic modeling in the existing wing suit flight simulators, these key data cannot be accurately identified and analyzed, resulting in the flight control being difficult to accurately match the changes in the body posture, weakening the realism of the simulated flight.

[0010] Secondly, the existing simulation devices lack a reasonable active control mechanism. Currently, most wing suit simulation flight devices still belong to the passive experience type. Some solutions that provide active control mostly operate through joysticks, and the accuracy of the joysticks is relatively low, which is not sufficient to restore the control requirements for the minute body posture changes in wing suit flight and is difficult to meet the simulation of fine flight actions. For example, in reality, wing suit flight requires precise control of the body posture and the deployment angle of the wing suit, while the joystick cannot provide such fine control.

[0011] Thirdly, the quality of visual scene modeling needs to be improved. The current three-dimensional modeling scenes are still rough in the detailed performance of natural elements such as terrain, vegetation, and water bodies. The mountain textures are not realistic enough, the water surface lacks light and shadow and ripple changes, and the modeling of scene objects such as buildings and trees is simple, resulting in a large gap between the overall visual effect and the real-world scene, thus affecting the immersion.

[0012] Finally, the way of simulating human body forces is unreasonable. The currently widely used flat lying support bracket can provide basic support, but there are significant differences from the multi-dimensional aerodynamic interactions in real flight. In real flight, the pilot adjusts the posture through various parts of the body and resists gravity and wind resistance to achieve flight control. However, the support bracket structure concentrates the forces on the back and the support points, unable to provide dynamic multi-dimensional feedback and affecting the user's true perception of attitude changes.

[0013] In summary, although the current wing suit flight simulation technology has achieved preliminary results, there are still obvious deficiencies in aspects such as the accuracy of aerodynamic modeling, active control means, visual immersion experience, and human body force feedback. There is an urgent need to build a more realistic, safe, and interactive wing suit flight simulation system. Summary of the Invention

[0014] The purpose of the present invention is to provide an immersive actively controlled wing suit flight simulation system to solve the problems of the lack of active control means and poor visual and audio immersion experience in the existing wing suit flight simulation technology.

[0015] Another purpose of the present invention is to provide an immersive actively controlled wing suit flight simulation system to solve the problems of poor aerodynamic modeling accuracy and unrealistic human body force feedback in the existing wing suit flight simulation technology.

[0016] To achieve the above purposes, the present invention provides an immersive actively controlled wing suit flight simulation system, including a physical simulation platform, a wing suit flight aerodynamic modeling subsystem, a motion capture subsystem, a dynamic wind sense simulation subsystem, a dynamic force control subsystem, a three-dimensional visual scene subsystem, and a sound subsystem:

[0017] The physical simulation platform is used to carry the experiencer and simulate the attitude changes during flight, providing immersive sensory feedback;

[0018] The motion capture subsystem is used to collect the action data of the experiencer in real time, perform attitude recognition and motion intention analysis, and output the processed attitude data to the wing suit flight aerodynamic modeling subsystem;

[0019] The wing suit flight aerodynamic modeling subsystem generates a wing suit flight aerodynamic model based on the attitude data provided by the motion capture subsystem and the preset flight environment parameters, and is used to calculate the aerodynamic characteristics during wing suit flight;

[0020] The dynamic wind sense simulation subsystem is used to dynamically adjust the wind field intensity and direction according to the calculation results of the aerodynamic modeling subsystem, and simulate the wind pressure distribution under different flight states;

[0021] The dynamic force control subsystem is used to apply dynamic force feedback to the experiencer and simulate the force changes during flight;

[0022] The three-dimensional visual subsystem is used to simulate in real time visual images that match the actions of the experiencer;

[0023] The sound subsystem is used to comprehensively simulate the environmental sound effects during the flight process.

[0024] In some embodiments, the physical simulation platform further includes an action capture camera, which is used to collect action data of the experiencer in the simulated wing suit flight process in real time;

[0025] The action capture subsystem performs pose recognition and motion intention analysis based on the image data collected by the action capture camera, converts the captured image data into control input data, and sends it to the wing suit flight aerodynamic modeling subsystem.

[0026] In some embodiments, the action capture camera adopts a multi-view infrared depth camera array;

[0027] The arrangement strategy of the camera array includes: on the premise of ensuring the capture accuracy, the number of cameras is minimized, and the field of view overlap rate of adjacent cameras is not less than 30%.

[0028] In some embodiments, the action capture camera uses the Network Time Protocol and / or the Precision Time Protocol for clock synchronization, calibrates the clocks of each camera, and synchronously controls the shooting actions of each camera through a unified trigger instruction mechanism.

[0029] In some embodiments, the action capture subsystem uses high-precision image recognition and three-dimensional motion tracking technology to convert the captured image data into control input data;

[0030] The high-precision image recognition and three-dimensional motion tracking technology further includes:

[0031] Performing two-dimensional human pose estimation through a lightweight convolutional neural network to achieve two-dimensional key point detection;

[0032] Using the depth data captured by the depth camera and combining the principle of triangulation to measure the three-dimensional coordinates of each pixel point in the scene;

[0033] Aligning the depth image and the RGB image through geometric transformation and interpolation algorithm;

[0034] Using a Kalman filter to smooth the three-dimensional coordinate data;

[0035] Based on the filtered three-dimensional coordinate data, calculating the key control angles required for wing suit flight, and converting the key control angles into control input data, and sending them to the wing suit flight aerodynamic modeling subsystem to achieve flight attitude simulation.

[0036] In some embodiments, the Kalman filter is a second-order Kalman filter:

[0037] The second-order Kalman filter calculates the prediction result for the next moment based on the state vector at the previous moment in combination with the motion model;

[0038] The current observed value and the prediction result are weighted and fused to obtain the three-dimensional coordinates of the key points after smooth filtering.

[0039] In some embodiments, the key control angles calculated by the motion capture subsystem include the forearm extension angle, the angle between the thigh and the body, and the wing suit deployment angle:

[0040] The forearm extension angle calculates the included angle between two three-dimensional vectors formed by three key points of the shoulder, elbow, and wrist, and is used to reflect the degree of forearm extension;

[0041] The angle between the thigh and the body uses the included angle between the vector formed by the hip and knee key points and the body reference plane, and is used to reflect the lower limb movement state;

[0042] The wing suit deployment angle calculates the angle of the outstretched arms based on the spatial position relationship between the shoulder and hand key points, and is used to simulate the degree of wing membrane deployment.

[0043] In some embodiments, the wing suit flight aerodynamic modeling subsystem uses the computational fluid dynamics method to calculate aerodynamic characteristics:

[0044] Mesh generation and flow field simulation calculations are performed on the wing suit human three-dimensional model, and key aerodynamic characteristic indicators during wing suit flight are calculated by integrating attitude data and preset flight environment parameters;

[0045] Among them, the attitude data includes the hand and leg manipulation positions of the whole wing suit, flight speed, angle of attack and sideslip angle of the wing suit, and mass center position, the preset flight environment parameters include the atmospheric state, and the key aerodynamic characteristic indicators include lift coefficient, drag coefficient, pitching moment coefficient, side force coefficient, rolling moment coefficient, and yaw moment coefficient.

[0046] In some embodiments, the wing suit flight aerodynamic modeling subsystem uses the coordinate axis transformation method to calculate the component forces and moments acting on each axis of the human body during wing suit flight.

[0047] In some embodiments, the physical simulation platform further includes a wing suit, a fan, and a wind speed sensor. The wing suit serves as the carrier for the human body to receive forces, the fan is used to generate simulated flight airflow, and the wind speed sensor is used to monitor airflow parameters in real time;

[0048] The dynamic wind feeling simulation subsystem uses a real wing suit as the force-bearing carrier for the human body, adjusts the air outlet intensity and direction of the fan in real time, and combines the feedback data of the wind speed sensor to control the wind pressure applied to various parts of the experiencer's body, so as to realize the dynamic wind feeling simulation synchronized with the change of the experiencer's flight posture.

[0049] In some embodiments, the dynamic wind feeling simulation subsystem determines the optimal hanging points of the wing suit based on the multi-hanging point load balancing algorithm;

[0050] The multi-hanging point load balancing algorithm further includes:

[0051] Adopt a six-point suspension structure to evenly distribute the simulated load;

[0052] Construct a human body dynamics model and model the human body as a multi-rigid body system;

[0053] Conduct multi-body dynamics simulation analysis to evaluate the load distribution under different suspension conditions;

[0054] According to the principle of static equilibrium, determine the optimal hanging point coordinates to ensure that both the resultant force and the resultant moment of the force are zero.

[0055] In some embodiments, the physical simulation platform further includes a running truss, a motion control motor, and ropes. The running truss is used to hang and guide the ropes; the motion control motor is used to control the movement of the ropes; the ropes are used to connect the experiencer to realize the adjustment of the experiencer's body posture;

[0056] The dynamic force control subsystem adjusts the movement of the ropes through the motion control motor according to the real-time visual scene and flight simulation data, so as to realize the dynamic adjustment of the experiencer's body posture.

[0057] In some embodiments, the dynamic force control subsystem outputs control commands to the motion control motor based on the multi-degree-of-freedom rope motion control algorithm to drive and adjust the ropes;

[0058] The multi-degree-of-freedom rope motion control algorithm further includes:

[0059] Adopt an improved washout filter algorithm to optimize the high-frequency and low-frequency signals of the collected data;

[0060] Construct a dynamically adjusted cost function and use the steepest descent method to optimize the filter parameters in real time;

[0061] Combine the rope drive sensing data to calculate the center of gravity position of the experiencer in real time to compensate for the motion error;

[0062] Generate control commands to drive the ropes to complete the posture adjustment.

[0063] In some embodiments, the multi-degree-of-freedom rope motion control algorithm further includes:

[0064] According to the body shapes of different experiencers and the characteristics of flying actions, adaptively adjust the control weights to achieve personalized somatosensory simulation.

[0065] In some embodiments, the physical simulation platform further includes a sound output module, and the sound output module is used to provide an immersive auditory experience;

[0066] The sound subsystem restores and constructs a three-dimensional sound field model, specifically including:

[0067] Based on the actually collected wing suit flying audio materials, perform noise elimination and audio repair;

[0068] Perform audio normalization processing to unify the audio format;

[0069] Adopt a three-dimensional sound effect model to simulate the sound spatial distribution during the flight process.

[0070] In some embodiments, the physical simulation platform further includes a three-dimensional visual scene display module, and the three-dimensional visual scene display module is used to provide an immersive visual experience;

[0071] The three-dimensional visual scene subsystem adopts photogrammetry technology to restore and construct a three-dimensional scene model by obtaining real scene data.

[0072] In some embodiments, the three-dimensional visual scene subsystem performs two-dimensional image acquisition on the target area;

[0073] Process the collected images, identify the feature points in the images, perform multi-view geometric matching, and generate dense point cloud data;

[0074] Based on the dense point cloud data, construct a triangular mesh model and complete texture mapping;

[0075] Perform cleaning and optimization operations on the generated three-dimensional model;

[0076] Load the processed three-dimensional model, preset a variety of typical flight scenes, and switch scenes in real time according to different stages of the flight to provide an immersive visual experience.

[0077] In some embodiments, the physical simulation platform includes at least a main frame and a jump platform:

[0078] The main frame is used to support the entire system structure;

[0079] The jump platform is used to simulate the takeoff environment of wing suit flying.

[0080] The immersive active control wing suit flight simulation system provided by the present invention constructs a full-dimensional simulation system including motion capture, aerodynamic modeling, dynamic wind sensation, force feedback, three-dimensional vision, and stereo field by innovatively integrating a multi-modal collaboration mechanism, providing a safe and realistic environment for professional training and public experience, greatly enhancing the immersion and realism of wing suit flight simulation, and ensuring the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The above and other features, properties, and advantages of the present invention will become more apparent from the following description with reference to the drawings and embodiments, in which like reference numerals always denote like features, wherein:

[0082] Figure 1 Discloses a schematic block diagram of an immersive active control wing suit flight simulation system according to an embodiment of the present invention;

[0083] Figure 2 Discloses a flowchart of the operation of an immersive active control wing suit flight simulation system according to an embodiment of the present invention;

[0084] Figure 3 Discloses an axonometric view of a physical simulation platform according to an embodiment of the present invention;

[0085] Figure 4 Discloses a side view of a physical simulation platform according to an embodiment of the present invention.

[0086] The meanings of the reference numerals in the drawings are as follows:

[0087] 100 Physical simulation platform;

[0088] 101 Main frame;

[0089] 102 Motion capture camera;

[0090] 103 Motion control motor;

[0091] 104 Running truss;

[0092] 105 Rope;

[0093] 106 Wing suit;

[0094] 107 Fan;

[0095] 108 Sound output module;

[0096] 109 Three-dimensional vision display module;

[0097] 110 Diving platform;

[0098] 200 Wing suit flight aerodynamic modeling subsystem;

[0099] 300 Motion capture subsystem;

[0100] 400 Dynamic wind feeling simulation subsystem;

[0101] 500 Dynamic force control subsystem;

[0102] 600 Three-dimensional visual scene subsystem;

[0103] 700 Sound subsystem;

[0104] 801 First computer;

[0105] 802 Second computer;

[0106] 803 Peripheral device;

[0107] 804 Wingsuit flyer;

[0108] 805 Electrical system. Detailed implementation manners

[0109] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0110] Aiming at the problems of insufficient immersion, poor interactivity, unrealistic simulation of human body forces and low safety in existing wingsuit flight simulations, the present invention proposes an immersive actively controlled wingsuit flight simulation system, and the core objective is to provide a safe, efficient and highly immersive wingsuit flight simulation training and experience approach for wingsuit flight enthusiasts, professional athletes and relevant training institutions.

[0111] Figure 1 The principle block diagram of an immersive actively controlled wingsuit flight simulation system according to an embodiment of the present invention is disclosed. Figure 2 The working flow chart of an immersive actively controlled wingsuit flight simulation system according to an embodiment of the present invention is disclosed. As Figure 1 and Figure 2 shown, an immersive actively controlled wingsuit flight simulation system proposed by the present invention includes at least a physical simulation platform 100, a wingsuit flight aerodynamic modeling subsystem 200, a motion capture subsystem 300, a dynamic wind feeling simulation subsystem 400, a dynamic force control subsystem 500, a three-dimensional visual scene subsystem 600 and a sound subsystem 700:

[0112] The physical simulation platform 100 is used to carry the experiencer and simulate the attitude changes during the flight, and provide immersive sensory feedback;

[0113] The motion capture subsystem 300 is used to collect the motion data of the experiencer in real time, perform pose recognition and motion intention analysis, and output the processed pose data to the wing suit flight aerodynamic modeling subsystem 200;

[0114] The wing suit flight aerodynamic modeling subsystem 200 generates a wing suit flight aerodynamic model based on the pose data provided by the motion capture subsystem 300 and preset flight environment parameters, and is used to calculate the aerodynamic characteristics during the flight;

[0115] The dynamic wind sense simulation subsystem 400 is used to dynamically adjust the wind field intensity and direction according to the calculation results of the wing suit flight aerodynamic modeling subsystem 200, and simulate the wind pressure distribution under different flight states;

[0116] The dynamic force control subsystem 500 is used to apply dynamic force feedback to the experiencer and simulate the force change during the flight;

[0117] The three-dimensional visual scene subsystem 600 is used to simulate the visual picture matching the actions of the experiencer in real time;

[0118] The sound subsystem 700 is used to comprehensively simulate the environmental sound effects during the flight.

[0119] An immersive active control wing suit flight simulation system proposed by the present invention realizes a highly immersive and actively controllable wing suit flight simulation experience by introducing advanced three-dimensional visual scene modeling technology, motion capture technology, aerodynamic simulation technology, etc., effectively avoiding the high risks existing in real wing suit flight, enabling the experiencer to deeply feel the dynamic characteristics and operation skills of wing suit flight in a safe environment, and thus comprehensively improving the immersion and practicality of the experience on the premise of ensuring safety.

[0120] Figure 3 Reveals an axonometric view of a physical simulation platform according to an embodiment of the present invention, Figure 4 Reveals a side view of a physical simulation platform according to an embodiment of the present invention, as Figure 3 and Figure 4 shown, the physical simulation platform 100 mainly includes a main frame 101, motion capture cameras 102, motion control motors 103, operation trusses 104, ropes 105, wing suit flight suits 106, fans 107 and wind speed sensors (not shown in the figure), a sound output module 108, a three-dimensional visual scene display module 109, and a diving platform 110:

[0121] The main frame 101 is used to support the entire system structure, provide a stable structural support for the entire wing suit flight simulation system, serve as the bearing foundation for each subsystem and component, and ensure the stability and reliability of the entire system operation;

[0122] The motion capture camera 102 is used to collect the motion data of the experiencer during the simulated flight in real time;

[0123] The motion control motor 103 is used to control the movement of the rope;

[0124] The running truss 104 is used to hang and guide the rope;

[0125] The rope 105 is used to connect the experiencer and adjust the body posture of the experiencer;

[0126] The wing suit 106 serves as the carrier for the human body to bear force;

[0127] The fan 107 is used to generate the simulated flight airflow;

[0128] The wind speed sensor is used to monitor the airflow parameters in real time;

[0129] The sound output module 108 is used to provide an immersive auditory experience;

[0130] The three-dimensional visual display module 109 is used to provide an immersive visual experience;

[0131] The jump platform 110 is used to simulate the takeoff environment of wing suit flying, provide a simulation takeoff platform for wing suit flying experiencers, and enhance the realism in the initial stage of flight.

[0132] It should be noted that the physical simulation platform 100, as an important basic support for the immersive active control wing suit flying simulation system, has a close and clear corresponding relationship between its respective components and the various subsystems in the system. This corresponding relationship ensures the coordinated operation of the entire system and provides a highly immersive, realistic and safe wing suit flying simulation experience for the experiencer.

[0133] Such as Figure 1 As shown, the immersive active control wing suit flying simulation system adopts a distributed architecture design. Among them, the first computer 801 is responsible for the core control function and integrates the wing suit flying aerodynamic modeling subsystem 200, the motion capture subsystem 300 and the dynamic force control subsystem 500; the second computer 802 focuses on the environment simulation function and integrates the dynamic wind feeling simulation subsystem 400, the three-dimensional visual subsystem 600 and the sound subsystem 700.

[0134] The peripherals 803 include devices such as the motion capture camera 102, the motion control motor 103, the rope 105, the fan 107, the sound output module 108 and the three-dimensional visual display module 109. These peripherals establish real-time data interaction with the corresponding computer subsystems or the wing suit flying experiencer 804 through specific interfaces.

[0135] All devices are uniformly powered by the electrical system 805. Among them, the motion control motor 103 also additionally receives a dedicated excitation signal from the electrical system.

[0136] The entire system relies on the main frame 101 to achieve mechanical fixation and structural support, ensuring the stability and safety of each component during operation.

[0137] The immersive active control wing suit flight simulation system proposed by the present invention constructs a highly simulated wing suit flight simulation ecological environment through deep cooperation and data closed-loop among subsystems. The physical simulation platform 100, as the hardware carrier, forms a mechanical feedback closed-loop through the motion control motor 103, the rope 105 and the dynamic force control subsystem 500, and responds in real time to the aerodynamic load calculated by the wing suit flight aerodynamic modeling subsystem 200; the limb movement data collected by the motion capture subsystem 300 not only drives the real-time update of the aerodynamic model, but also realizes the spatial registration of vision-action through the three-dimensional visual subsystem 600, forming an immersive interaction chain of "action input - physical response - visual feedback"; the dynamic wind sense simulation subsystem 400, according to the solution results of the aerodynamic model, realizes the body surface wind pressure through the fan array, and is strictly synchronized with the three-dimensional sound field generated by the sound subsystem 700 in the time domain, so that the experiencer obtains a cross-modal spatial consistency perception. This dynamic coupling mechanism of the multi-modal perception subsystem under the unified space-time reference breaks through the technical bottleneck of the traditional simulation system of "vision - mechanics - audition" separation.

[0138] Next, according to the working process, each subsystem of the immersive active control wing suit flight simulation system proposed by the present invention will be elaborated in detail.

[0139] Aiming at the problem that the traditional wing suit flight simulation system lacks reasonable active control means, the motion capture subsystem 300 proposed by the present invention, based on the image data collected by the motion capture camera 102, conducts attitude recognition and motion intention analysis, and adopts high-precision image recognition and three-dimensional motion tracking technology to convert the captured image data into control input data and transmit it to the wing suit flight aerodynamic modeling subsystem 200, so as to achieve high-fidelity attitude control and active flight operation.

[0140] The motion capture camera 102 corresponds to the motion capture subsystem 300. The motion capture camera 102 is responsible for real-time collection of the action data of the experiencer during the simulated flight. These data are the basis for the motion capture subsystem 300 to conduct attitude recognition and motion intention analysis. The two cooperate with each other to provide accurate manipulation input for the wing suit flight aerodynamic model.

[0141] Such as Figure 3 and Figure 4As shown, after the wing suit flight experiencer completes wearing the equipment and jumps off the platform 110, the motion capture camera 102 actively captures the active changes in the movements of the experiencer's head and limbs during the simulated flight in real time, and feeds the motion data back to the motion capture subsystem 300. Combining with high-precision image recognition and motion tracking technology, it provides control inputs for the wing suit flight aerodynamic model.

[0142] In this embodiment, the motion capture camera 102 adopts a multi-view infrared depth camera array.

[0143] Different from the traditional single-point or two-point arrangement scheme, in this embodiment, the camera array of the camera 201 is optimally arranged to ensure that it can fully cover the space of the simulation cabin and dynamically adjust the viewing angle to adapt to wing suit flight experiencers of different body types.

[0144] In this embodiment, the camera array arrangement strategy of the motion capture camera 102 includes: on the premise of ensuring the capture accuracy, the number of cameras is minimized, and the field of view overlap rate of adjacent cameras is not less than 30%, forming a three-dimensional observation space with full coverage.

[0145] In this embodiment, each camera in the motion capture camera 102 is equipped with a high-sensitivity sensor, which can maintain high-performance operation under low-light conditions and ensure the image quality in low-light environments.

[0146] In this embodiment, the motion capture camera 102 uses the Network Time Protocol (NTP) and / or the Precision Time Protocol (PTP) to perform clock synchronization and calibrate the clocks of each camera to ensure the consistency of the image acquisition time.

[0147] In this embodiment, the motion capture camera 102 realizes synchronous control of the shooting actions of each camera through a unified trigger instruction mechanism, ensures synchronous shooting of multiple cameras, avoids data inconsistency problems caused by time deviation, and ensures that all cameras can synchronously acquire images.

[0148] In this embodiment, the motion capture subsystem 300 uses high-precision image recognition and three-dimensional motion tracking technology to convert the captured motion data into control input data;

[0149] The core processing flow of the high-precision image recognition and three-dimensional motion tracking technology further includes:

[0150] Step S301, perform two-dimensional human pose estimation through a lightweight convolutional neural network to achieve two-dimensional key point detection;

[0151] Step S302, use the depth data captured by the depth camera and combine the principle of triangulation to measure the three-dimensional coordinates of each pixel point in the scene;

[0152] Step S303: Align the depth image and the RGB image through geometric transformation and interpolation algorithm;

[0153] Step S304: Smooth the three-dimensional coordinate data using a Kalman filter;

[0154] Step S305: Based on the filtered three-dimensional coordinate data, calculate the key control angles required for wing suit flying, convert the key control angles into control input data, and send them to the wing suit flight aerodynamic modeling subsystem to achieve flight attitude simulation.

[0155] Furthermore, in the step S301, two-dimensional human pose estimation is performed based on the BlazePose architecture of the MobileNetV2 backbone network, and its processing flow includes two key stages:

[0156] Feature extraction step and key point prediction step:

[0157] Feature extraction step: Extract efficient features through standard convolutional layers and multiple inverted residual modules;

[0158] As a lightweight convolutional neural network backbone, MobileNetV2 consists of an initial standard convolutional layer and multiple inverted residual modules.

[0159] Each inverted residual module performs the following operation sequence:

[0160] First, expand the number of feature channels through 1×1 convolution, then use depthwise separable convolution to independently extract the spatial features of each channel, then reduce the dimension through 1×1 convolution, and use a linear activation function to compress back to the original number of channels, so as to ensure the balance between network computing efficiency and accuracy.

[0161] Key point prediction step: Use a lightweight convolutional pose regression network to map the feature map to the pixel coordinates and confidence scores of 33 key points including upper limbs, lower limbs, hands, face, etc.

[0162] After the feature map is extracted, the mapping from high-order semantic features to coordinates is realized through a pose regression head composed of multiple convolutional layers.

[0163] Input to a pose regression head composed of multiple convolutional layers, and map the high-order semantic features to the coordinate output of human key points.

[0164] The BlazePose network is a lightweight real-time human pose estimation model proposed by Google, optimized specifically for mobile and edge devices. Its core idea is to combine the efficient feature extraction ability of MobileNetV2 with specific improvements for pose estimation to achieve high-precision and low-latency keypoint detection.

[0165] The BlazePose network has the advantages of low computational complexity, fast inference speed, and strong real-time performance, and can meet the requirements of high-frequency and high-precision motion capture.

[0166] Furthermore, in step S302, an Intel RealSense depth camera is used to measure the three-dimensional coordinates of each pixel point in the scene based on structured light technology. The specific process is as follows:

[0167] The depth camera actively emits infrared structured light to the scene to be measured;

[0168] The binocular infrared cameras are used to collect the pattern information reflected from the object surface from different perspectives. Due to the perspective differences of the cameras, there is a certain relative displacement of the patterns collected by each camera on the imaging plane, that is, the parallax phenomenon;

[0169] The processor built into the camera analyzes the structured light feature patterns in the left and right infrared images and calculates the parallax value of each pixel point;

[0170] Combined with the pre-calibrated camera parameters (including internal parameters such as focal length and principal point position and external parameters of the relative position of the cameras), based on the principle of triangulation, the three-dimensional coordinates of each pixel point in the scene are calculated in real time, so as to obtain the three-dimensional information of the pixel points in the image and construct complete depth image information.

[0171] The triangulation principle refers to a technology that synchronously captures the same target point from different perspectives by multiple pre-calibrated cameras, and combines the internal and external parameters of the cameras and the geometric relationship of parallax to calculate the three-dimensional space coordinates of the point in real time, so as to reconstruct the depth information.

[0172] The above step S302 can achieve high-precision three-dimensional depth reconstruction of the human motion area, providing an accurate and reliable three-dimensional space data basis for subsequent pose estimation algorithms and flight control angle calculations.

[0173] In order to achieve high-precision three-dimensional pose recognition, strict pixel-level registration of the RGB image and the depth image is required. In step S303, the geometric transformation relationship between the RGB image and the depth image is obtained through camera calibration, and an alignment algorithm is used to achieve pixel-level registration. The specific process is as follows:

[0174] Based on the parameters obtained from camera calibration, a registration algorithm is used to perform geometric transformation on the depth map. The transformation process includes rotation, translation, and projection mapping, and maps the depth map into the pixel coordinate system of the RGB image;

[0175] The depth value corresponding to each pixel after mapping is accurately determined through an interpolation algorithm, realizing the alignment and registration of the RGB image and the depth image at the pixel level, enabling each pixel to have corresponding depth information, and ensuring a one-to-one correspondence between the RGB image and the depth map under the same pixel coordinates;

[0176] On the basis of completing image registration, for each two-dimensional key point coordinate detected by the BlazePose network, by querying the registered depth image data, the corresponding three-dimensional space coordinate (X, Y, Z) value is accurately obtained, realizing the accurate conversion of each key point from two-dimensional image coordinates to three-dimensional space coordinates, and providing accurate spatial position data for subsequent pose analysis.

[0177] To improve the stability and continuity of the three-dimensional key point data, in step S304, the obtained three-dimensional key point coordinate information is smoothed using a second-order Kalman filter, thereby improving the stability of the key point pose data and significantly reducing the noise effects caused by depth measurement errors and environmental interference.

[0178] The state vector of each key point includes nine parameters in three aspects: position, velocity, and acceleration, and can be specifically defined as [X, Y, Z, V x , V y , V z , a x , a y , a z :

[0179] Among them, the first three elements (X, Y, Z) represent the position coordinates in three-dimensional space, the middle three elements (V x , V y , V z ) represent the velocity at the corresponding position, and the last three elements (a x , a y , a z ) represent the acceleration at the corresponding position.

[0180] The second-order Kalman filter performs filtering based on a kinematic model with an acceleration term. The filtering process includes two core steps: prediction and update:

[0181] Prediction step: According to the state vector of the previous moment, combined with a pre-set motion model, the prediction result of the next moment is deduced. The prediction result includes position, velocity, and acceleration;

[0182] Update step: The observed values actually obtained at the current moment are weighted and fused with the prediction results to obtain more stable and continuous three-dimensional coordinates of key points after smoothing filtering, reducing the influence of measurement noise.

[0183] By continuously iterating and executing the above steps, a three-dimensional motion trajectory with high precision and low noise can be continuously obtained, thereby significantly reducing the noise interference in the image and the mutation of data. It can also provide accurate and reliable input data for the subsequent control angle calculation, and thus effectively improve the control precision of the entire system.

[0184] Furthermore, in step S305, based on the filtered three-dimensional key point coordinates, the key control angles required for wing suit flight are calculated to ensure the accuracy of attitude simulation.

[0185] During wing suit flight, the required key control angles mainly include the forearm extension angle, the angle between the thigh and the body, and the wing suit deployment angle:

[0186] The forearm extension angle is calculated by the included angle of two three-dimensional vectors formed by three key points of the shoulder, elbow, and wrist, which is used to reflect the extension degree of the forearm;

[0187] The angle between the thigh and the body is the included angle between the vector formed by the hip and knee key points and the body reference plane, which is used to reflect the lower limb movement state;

[0188] The wing suit deployment angle is deduced based on the spatial position relationship between the shoulder and hand key points to calculate the angle of the outstretched arms, which is used to simulate the degree of wing membrane deployment.

[0189] The above angles are all obtained through the included angle calculation method of three-dimensional space vectors, which can accurately describe the attitude change and control intention of the experiencer during flight. Subsequently, these angle data will be converted into control input parameters in the wing suit flight aerodynamic modeling subsystem 200, which can perform precise control according to the actions of the experiencer.

[0190] The action capture subsystem proposed by the present invention innovatively integrates a multi-view infrared depth camera array designed specifically for the wing suit simulation environment, the BlazePose human pose estimation network, structured light three-dimensional reconstruction, the RGB and depth image alignment algorithm, and the second-order Kalman filtering technology. It can achieve precise motion capture and control angle calculation, and convert the actions of the experiencer into simulation control signals for wing suit flight in real time, significantly improving the active control precision during the simulated flight and enabling the experiencer to obtain a more immersive and realistic flight experience.

[0191] Aiming at the problem of insufficient aerodynamic modeling accuracy commonly existing in existing wing suit flight simulation devices, the present invention proposes an innovative wing suit flight aerodynamic modeling subsystem 200.

[0192] The wing suit flight aerodynamic modeling subsystem 200 adopts a research method combining theoretical analysis and numerical simulation. By deeply analyzing the airflow distribution characteristics and the dynamic generation mechanism of lift and drag during wing suit flight, a high-precision wing suit flight aerodynamic model has been successfully constructed, simulating the airflow state under different flight postures, significantly improving the ability to restore the real flight aerodynamic characteristics, and bringing a more real flight experience to the experiencer.

[0193] The core of the wing suit flight aerodynamic modeling subsystem 200 of the present invention lies in using the computational fluid dynamics (CFD) method for accurate aerodynamic characteristic calculation:

[0194] First, grid division and flow field simulation calculations are performed on the three-dimensional model of the wing suit human body. By integrating multi-dimensional parameters such as attitude data and preset flight environment parameters, a wing suit flight aerodynamic model is generated, which can accurately calculate the key aerodynamic characteristic indicators during wing suit flight;

[0195] Among them, the attitude data includes the hand and leg manipulation positions of the whole wing suit, flight speed, angle of attack and sideslip angle of the wing suit, and mass center position;

[0196] The preset flight environment parameters include atmospheric state;

[0197] The key aerodynamic characteristic indicators include lift coefficient (CL), drag coefficient (CD), pitching moment coefficient (Cm), side force coefficient (CY), rolling moment coefficient (Cl), and yaw moment coefficient (Cn). This all-round parameter consideration ensures the accuracy and reliability of the aerodynamic model.

[0198] In practical applications, the wing suit flight aerodynamic modeling subsystem 200 can truly simulate the changes in the airflow state under different flight postures. The experiencer can clearly feel the real aerodynamic effects such as airflow impact, lift and drag changes, etc. This highly simulated experience effect greatly enhances the immersion and realism of the system. Especially when simulating complex flight maneuvers, it can accurately reflect the subtle changes in aerodynamic characteristics and provide reliable data support for professional training.

[0199] To ensure the accuracy of the three-dimensional model modeling of the wing suit human body, this embodiment particularly adopts a standardized modeling process. By selecting a standard subject with a height of about 180 cm to wear a customized wing suit flight suit and using high-precision three-dimensional scanning technology to obtain a complete high-precision three-dimensional model of the wing suit human body, it provides an accurate geometric modeling basis for CFD simulation.

[0200] At the data processing level, the wing suit flight aerodynamic modeling subsystem 200 innovatively adopts a coordinate axis conversion method, which can accurately calculate the partial forces and moments acting on the human body in each axis during wing suit flight, so that the simulation results can more realistically reflect the aerodynamic effects in actual flight, especially when simulating complex actions such as sharp turns and dives, and can accurately present the dynamic changes of each axial force.

[0201] The wing suit flight aerodynamic modeling subsystem 200 of the present invention not only greatly improves the precision of the aerodynamic model, but also achieves a breakthrough in calculation accuracy, making the simulation results more realistic and widely applicable.

[0202] In order to enhance the immersion and realism during flight simulation, the present invention proposes a dynamic wind simulation subsystem 400, which is used to simulate the wind changes felt by the experiencer in different flight states during wing suit flight. The dynamic wind simulation subsystem 400 dynamically adjusts the fan output based on key parameters such as flight speed and flight altitude, realizes real-time simulation feedback of the wind pressure on the human body surface, and significantly enhances the immersion of wing suit flight simulation.

[0203] The dynamic wind simulation subsystem 400 controls the wind intensity of the fan in real time by accurately responding to changes in flight speed, simulating the impact of airflow in various flight scenarios, from slow gliding to high-speed dives. At the same time, combined with high-precision wind speed sensors, it can simulate the differentiated wind pressure of all parts of the experiencer's body, build a multi-dimensional, immersive wind field environment, further improve the delicacy and synchronization of wind loading, and enhance the authenticity and immersion of the wind feeling of wing suit flight.

[0204] The fan 107 dynamically adjusts the wind intensity according to the simulated flight state, simulating the wind feeling and air pressure on various parts of the experiencer's body under different flight postures during the flight, thereby achieving a more realistic aerodynamic environment experience.

[0205] The fan 107 and the wind speed sensor are closely connected to the dynamic wind simulation subsystem 400. The fan 107 is responsible for generating an airflow environment that simulates flight, and the wind speed sensor monitors airflow parameters such as wind speed and direction in real time to form a closed-loop control mechanism.

[0206] The dynamic wind simulation subsystem 400 adjusts the wind intensity and direction of the fan 107 in real time based on the aerodynamic simulation results provided by the wing suit flight aerodynamic modeling subsystem 200, accurately restores the wind pressure distribution characteristics under different flight conditions, and provides dynamic and realistic wind feedback to the experiencer.

[0207] As a direct force carrier of the human body, the wing suit 106 works in coordination with the dynamic wind simulation subsystem 400 and the dynamic force control subsystem 500. The wing suit 106 is provided with a plurality of rope hanging points, which are connected with the control ropes to form a multi-point support structure, and cooperate with the multi-hanging point load balancing method to simulate the complex force state borne by the human body in actual wing suit flight, and also provide a reasonable force distribution basis for dynamic wind simulation.

[0208] In order to solve the problems of uneven wind loading and uncoordinated force on the human body in traditional simulation systems, the dynamic wind simulation subsystem 400 of the present invention is based on the human force carrier constructed by the real wing suit 106, and introduces a multi-hanging point load balancing algorithm to achieve reasonable force distribution, so that the wind pressure and mechanical response are coordinated.

[0209] Furthermore, the wing suit 106 is provided with six rope hanging points, which are respectively connected to ropes to simulate the stress state of the human body in real wing suit flight;

[0210] The dynamic wind simulation subsystem 400 dynamically optimizes the force distribution of the rope hanging points based on the multi-hanging point load balancing algorithm to determine the optimal hanging point of the wing suit;

[0211] The multi-point load balancing algorithm further includes:

[0212] Step S401, using a six-point suspension structure to evenly distribute the simulated load so that the load is evenly distributed to different positions;

[0213] Step S402: construct a human body dynamics model, and model the human body as a multi-rigid body system;

[0214] Step S403: performing multi-body dynamics simulation analysis to evaluate load distribution under different suspension working conditions;

[0215] Step S404: According to the principle of static balance, optimize the hanging point layout, determine the optimal hanging point coordinates, and ensure that the resultant force and the resultant moment are both zero.

[0216] The six-point suspension structure refers to a suspension system in which six rope hanging points are symmetrically arranged on the wing suit (106), and the tension of each hanging point is dynamically distributed to simulate the multi-directional effect of aerodynamics on the human body in real flight. In combination with a multi-body dynamics optimization algorithm, a load is evenly distributed and the resultant force is balanced.

[0217] The human body dynamics model is constructed using MATLAB's SimMechanics toolbox. Each rigid body part has parameters such as mass, center of mass, and inertia. Multi-body dynamics simulation can also be implemented in MATLAB to ensure accurate simulation of the mechanical behavior of each hanging point.

[0218] The static equilibrium principle refers to the mechanical criterion that through mechanical analysis, the vector sum of all external forces and external torques is ensured to be zero, so that the wing suit maintains a stable attitude during simulated flight.

[0219] In addition, the dynamic wind sensation simulation subsystem 400 receives real-time flight parameters (such as speed, altitude, etc.) provided by the wing suit aerodynamic modeling subsystem 200, calculates the optimal fan output power through a preset wind sensation simulation algorithm, and then sends control instructions to the fan drive module to drive the fan to generate airflows with corresponding intensities and directions.

[0220] The preset wind sensation simulation algorithm is based on the collection and analysis of a large amount of wing suit audio and aerodynamic data, constructs a fitting function relationship between wind force intensity and flight speed and flight altitude, showing a positive correlation trend as a whole, ensuring the physical authenticity of wind sensation simulation.

[0221] The dynamic wind sensation simulation subsystem 400 can adjust the fan output in real time during the flight simulation process, dynamically reproduce the wind force changes felt in different flight stages, thereby significantly enhancing the immersive experience. The experiencer can not only "see" the virtual flight scene, but also "feel" the real airflow stimulation during flight, greatly improving the realism and participation of the simulation training.

[0222] The described dynamic force control subsystem 500 adjusts the movement of the rope through a motion control motor according to the real-time visual scene and flight simulation data to achieve dynamic adjustment of the experiencer's body posture, simulating the posture changes and spatial movements in real flight.

[0223] The motion control motor 103, the running truss 104 and the rope 105 work in cooperation with the dynamic force control subsystem 500: the motion control motor 103 is responsible for controlling the rope to achieve precise movement; the running truss 104 is used to hang and guide the rope; the rope 105 is connected to the experiencer to achieve dynamic adjustment of the posture and position. The dynamic force control subsystem 500, based on the multi-degree-of-freedom rope motion control algorithm, can flexibly adjust the experiencer's posture in the air according to the simulated flight state, such as tilting, rolling, accelerating, decelerating, etc., truly restoring the flight trajectory and force process, and strengthening the immersion and accuracy of the flight physical sensation simulation.

[0224] To achieve efficient and natural physical sensation simulation, the dynamic force control subsystem 500 outputs control instructions to the motion control motor 103 based on the multi-degree-of-freedom rope motion control algorithm, dynamically drives and adjusts the rope 105, precisely controls its speed and length, thereby adjusting the experiencer's posture in real time and improving the sensitivity and comfort of the physical sensation response.

[0225] The multi - degree - of - freedom rope motion control algorithm is an optimized control algorithm for the somatosensory characteristics of wing - suit flying simulation. Combining an improved washout filter algorithm, the construction of a dynamic cost function, and a steepest - descent method optimization strategy, it realizes the precise regulation of the posture of the experiencer and real - time adaptability.

[0226] The multi - degree - of - freedom rope motion control algorithm further includes:

[0227] Step S501: Use an improved washout filter algorithm to optimize the high - and low - frequency signals of the collected data;

[0228] Step S502: Construct a dynamically adjusted cost function and use the steepest - descent method to optimize the filter parameters in real - time;

[0229] Step S503: Combine the rope - drive sensor data to calculate the center - of - gravity position of the experiencer in real - time to compensate for motion errors;

[0230] Step S504: Generate control instructions to drive the rope to complete posture adjustment.

[0231] Furthermore, in step S501, first use an improved washout filter algorithm to optimize the high - and low - frequency signals of the collected motion data. The low - frequency signal part of the washout filter algorithm is used to simulate the gliding action of the experiencer in a steady - flight state, while the high - frequency signal part simulates rapid posture adjustments such as dives and rolls. By dynamically adjusting the high - and low - frequency weights, the filter has stronger responsiveness and adaptability, providing an accurate and smooth data basis for subsequent posture calculations.

[0232] Furthermore, in step S502, based on the above - optimized signals, construct a dynamically adjusted cost function. This cost function comprehensively considers three factors: the motion error (E1) in the posture control process, the smoothness (E2) of the somatosensory process, and the response time (E3). Use the steepest - descent method to calculate the gradient of the cost function and optimize the filter parameters in real - time, thereby continuously adjusting the control strategy to adapt to the state changes during the flight process.

[0233] Furthermore, in step S503, combine the data of the rope - drive sensor to calculate the center - of - gravity position of the experiencer in real - time. The accurate acquisition of the center of gravity is crucial for the posture stability of somatosensory simulation. Through the analysis of the center - of - gravity deviation, compensate for the motion errors, making the simulated posture adjustment more natural and coordinated, and avoiding problems such as uneven force or action delay.

[0234] Further, in step S504, the above analysis results are converted into specific control instructions to drive the motion control motor to adjust the speed and length of the rope, complete the posture adjustment action of the experiencer, and respond in real time to the changes in the flight vision scene and simulation data, so as to accurately restore complex postures such as tilting, rolling, accelerating, and decelerating.

[0235] The immersive active control wing suit flight simulation system proposed by the present invention mainly works through the coordinated work of the dynamic wind sense simulation subsystem, the dynamic force control subsystem, and the motion capture subsystem. It not only supports the active control of the experiencer in the simulated flight, but also realizes a high degree of restoration of the sense of weightlessness, the sense of wind pressure, and the changes in flight actions, significantly enhancing the authenticity and interactivity of the immersive experience.

[0236] Aiming at the problems of rough traditional 3D modeling scenes and insufficient immersion, in this embodiment, through the 3D vision subsystem 600 and the sound subsystem 700, advanced modeling and audio processing technologies are used to reconstruct the wing suit flight environment in reality with high precision, thereby significantly enhancing the realism and immersive experience during the simulated flight.

[0237] The 3D vision display module 109 corresponds to the 3D vision subsystem 600 and is the core output component of the latter. The 3D vision display module 109 presents a high-precision virtual flight environment immersively, bringing a highly realistic visual experience to the experiencer. In this embodiment, the 3D vision display module 109 uses advanced VR head-mounted display devices as the main carrier to provide immersive 3D visual simulation effects, effectively enhancing the immersion and on-site experience of users during the simulated flight.

[0238] The 3D vision subsystem 600 in the present invention obtains real scene data through means such as laser scanning and image acquisition, and combines professional 3D modeling software (such as Unreal Engine 5, Blender, 3ds Max) to accurately restore the real scene, comprehensively construct terrain, landforms, and surrounding environmental elements, so as to create a realistic virtual flight scene.

[0239] In terms of the modeling method, the 3D vision subsystem 600 uses photogrammetry technology to perform 3D reconstruction of the real scene. This photogrammetry technology is based on multi-view 2D images to invert the geometric structure of the 3D space, and its core process is as follows:

[0240] Step S601, two-dimensional image acquisition: Use a drone to collect images of the target area from multiple angles with a high overlap rate to ensure the coverage and quality of the image data required for modeling;

[0241] Step S602, Feature Recognition and Geometric Matching: Use photogrammetry software (such as Agisoft Metashape) to process the captured images, identify the feature points in the images and perform multi-view geometric matching to generate dense point cloud data;

[0242] Step S603, Triangular Mesh Reconstruction and Texture Mapping: Based on the dense point cloud data, construct a triangular mesh model and perform texture mapping to endow the model with a realistic appearance;

[0243] Step S604, Model Cleaning and Optimization: Manually clean and optimize the initially generated 3D model, including noise removal, surface smoothing, and detail enhancement, etc., to improve the visual quality and real-time rendering performance;

[0244] Step S605, Visual Scene Loading and Scene Design: Load the optimized 3D model in the Unreal Engine 5 platform, build a highly realistic virtual flight environment, and preset various typical flight scenes (such as mountains, canyons, high altitudes, plains, etc.);

[0245] Step S606, Dynamic Scene Switching Mechanism: According to different flight stages (such as takeoff, gliding, diving, landing, etc.), switch the corresponding scenes in real time to achieve the dynamic linkage between the flight state and the visual content, so as to provide an immersive visual experience.

[0246] With the help of high-precision modeling technology and real-time rendering engine, the 3D visual subsystem 600 can present a flight scene with rich details, real space, and natural dynamics to users, significantly enhancing the immersive experience and sense of situational substitution.

[0247] The sound subsystem 700 constructs a 3D sound field model to comprehensively restore elements such as wind sound, airflow sound, and environmental sound effects during the flight process. The sound output module 108 (such as high-fidelity headphones), as the output terminal of the sound subsystem 700, then accurately transmits these sound effects to the experiencer, making them feel as if they are in a real flight environment and obtaining a strong sense of presence and auditory immersive experience.

[0248] In terms of sound modeling, the sound subsystem 700 reconstructs a highly realistic 3D sound field model based on the actually collected wing suit flight audio materials to achieve a highly realistic audio feedback effect.

[0249] To ensure the audio quality, the processing flow of the sound subsystem 700 includes: noise elimination and audio repair, audio normalization processing, and 3D sound effect model construction, specifically including the following steps:

[0250] Step S701, Based on the actually collected wing suit flight audio materials, perform noise elimination and audio repair;

[0251] Step S702: Perform audio normalization to unify the audio format.

[0252] Step S703: Adopt a three-dimensional sound effect model to simulate the spatial distribution of sounds during the flight process.

[0253] Furthermore, in step S701, use Adobe Audition professional audio editing software to preprocess the original recording data collected during the wingsuit flight. Through the built-in noise reduction algorithm and spectrum repair tool of this software, effectively remove background noise and irrelevant interference signals. In terms of operation, the background noise can be identified through the "Capture Noise Sample" function, then the audio segments that need to be repaired can be accurately locked using "Spectrum Display", and isolated noise points can be cleaned with tools such as the "Spot Healing Brush", thus greatly improving the clarity and purity of the audio.

[0254] Furthermore, in step 702, for different stages during the wingsuit flight (such as takeoff, gliding, diving, etc.), divide the audio materials into stages, intercept the corresponding audio segments, and uniformly convert them into the standard format with a sampling rate of 48kHz, a depth of 16 bits, and mono, which is convenient for subsequent analysis and modeling.

[0255] Furthermore, in step 703, use the FMOD Studio sound effect engine to build a three-dimensional sound effect model with dual-channel stereo to simulate the spatial distribution characteristics of sounds during the flight process, enabling it to dynamically adjust the playback effect in response to changes in the flight trajectory and achieve a more realistic audio experience.

[0256] More specifically, after importing the processed audio materials into FMOD Studio, combine parameters such as flight speed, acceleration, and altitude changes, and set key 3D sound effect attributes such as distance attenuation curve and Doppler effect to ensure that the sound playback can respond to changes in the flight state in real time, realize the dynamic adjustment and spatial distribution control of the sound, and greatly improve the audio interactivity and immersion.

[0257] Finally, the constructed three-dimensional sound effect model is deeply integrated with the three-dimensional visual scene subsystem 600 based on virtual reality (VR). Combining with the high-precision three-dimensional visual scene modeling results, output an audio-visual scene that is close to the real wingsuit flight experience to the experiencer in an immersive manner, greatly enhancing the sense of presence and the perceivable control feedback ability of the simulation system.

[0258] The present invention deeply integrates the three-dimensional vision subsystem 600 and the sound subsystem 700, and constructs a highly immersive, multi-dimensional, and highly interactive wing suit flight simulation experience system through multi-modal sensory collaboration such as VR high-definition head display, binaural stereo sound system, dynamic somatosensory feedback, and wind simulation. During the simulation training process, it can truly restore the visual and auditory environment during the flight process, making the experiencer feel as if he is in a real wing suit flight, greatly enhancing the immersion, reality, and naturalness of the control response of the flight simulation.

[0259] The immersive actively controlled wing suit flight simulation system proposed in the present invention integrates advanced motion capture technology and multi-degree-of-freedom motion control technology in terms of somatosensory simulation, and can accurately perceive various dynamic information of the experiencer during the wing suit flight simulation process.

[0260] The immersive actively controlled wing suit flight simulation system proposed in the present invention can collect and analyze human body posture change data in real time, including body twisting, tilt angle, limb extension status and wing suit deployment angle, etc., and realize high-precision dynamic monitoring through precise sensors and efficient recognition algorithms (such as motion capture methods cooperated with infrared cameras).

[0261] The immersive active control wing suit flight simulation system proposed in the present invention combines real-time collected data with precise aerodynamic modeling to dynamically calculate the trajectory, speed and acceleration changes during flight, and generate corresponding somatosensory feedback based on this. Somatosensory feedback includes: simulating the impact of airflow during flight through fans; simulating the tilt, acceleration and turning during flight through the dynamic force control subsystem, so that the experiencer can truly feel the posture changes and physical environment changes during flight.

[0262] The present invention proposes an immersive actively controlled wing suit flight simulation system, which can not only satisfy the curiosity and experience needs of enthusiasts for wing suit flying, but also provide an efficient training platform for professional athletes, helping them to train flying skills and tactical exercises in a safe environment and improve their competitive level. At the same time, it also has broad application prospects in the fields of popular science education, tourism experience, etc., and can effectively promote the popularization and development of wing suit flying sports.

[0263] The immersive active-controlled wing suit flight simulation system proposed by the present invention has the following beneficial effects:

[0264] 1) Highly immersive experience: With advanced VR head-mounted display equipment, high-fidelity headphones, combined with high-precision visual modeling and other technologies, various flight scenes are realistically restored, and the intelligent scene switching mechanism makes the experience seamless. Participants feel as if they are in a real flight environment, whether it is the magnificence of snow-capped mountains, the depth of canyons, or the vastness of the desert, they can all see it, which greatly enhances the immersion and fun of simulated flight;

[0265] 2) Precise Motion Capture and Feedback: The motion capture subsystem, integrating highly sensitive sensors and complex motion recognition algorithms, can accurately capture the subtle movements of the body and real-time analyze the changes in body postures. The motion control based on these precise data ensures that the actions of the participants can be reflected in the state of the simulated flight in real time. In addition, the dynamic wind sensation simulation subsystem and the dynamic force control subsystem will provide the participants with real airflow impacts and body movement sensations according to the changes in flight parameters, so as to restore the real flight experience in all aspects;

[0266] 3) Comprehensive Flight State Simulation: The motion capture subsystem precisely collects and analyzes data such as the deployment angle, speed, and deformation of the wing suit through precise sensors and high-performance algorithms, realizing the rapid recognition of the wing suit state under different flight postures. Combining with the high-precision aerodynamic modeling technology of the wing suit flight aerodynamic modeling subsystem, fully considering various physical factors, accurately calculating the flight trajectory, speed, and acceleration changes, providing the participants with the flight simulation closest to the real situation;

[0267] 4) Wide Application Value: The present invention not only provides a safe experience method for wing suit flight enthusiasts, but also constructs an efficient training platform for professional athletes, enabling them to improve their flight skills and tactical levels in a safe environment. In the field of science popularization and education, it helps more people understand the relevant knowledge of wing suit flight; in the tourism experience industry, it brings novel and unique experience projects for tourists, thus promoting the popularization and development of the wing suit flight sport;

[0268] 5) Safe and Reliable: Different from the high risk of real wing suit flight, the present invention provides a safe simulation environment. Participants can enjoy the excitement of wing suit flight without facing the dangers in real flight, while reducing the risks of personal injury and property loss caused by real flight accidents.

[0269] As shown in this application and the claims, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0270] Those skilled in the art will understand that information, signals, and data can be represented using any of a variety of different technologies and techniques. For example, the data, instructions, commands, information, signals, bits, symbols, and chips described throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or optical particles, or any combination thereof.

[0271] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, the various illustrative components, blocks, modules, circuits, and steps are described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and the design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

[0272] The various illustrative logical modules and circuits described in connection with the embodiments disclosed herein can be implemented using a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0273] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of both. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read from, and write to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

[0274] The above embodiments are provided for those skilled in the art to implement or use the present invention. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited by the above embodiments, but should be the maximum scope that conforms to the innovative features mentioned in the claims.

Claims

1. An immersive active control wing suit flight simulation system, characterized in that Including physical simulation platform, wing suit flight aerodynamic modeling subsystem, motion capture subsystem, dynamic wind simulation subsystem, dynamic force control subsystem, three-dimensional vision subsystem and sound subsystem: The physical simulation platform is used to carry the experiencer and simulate the posture changes during the flight, providing immersive sensory feedback; The motion capture subsystem is used to collect the experiencer's motion data in real time, perform posture recognition and motion intention analysis, and output the processed posture data to the wing suit flight aerodynamic modeling subsystem; The wing suit flight aerodynamic modeling subsystem generates a wing suit flight aerodynamic model based on the posture data provided by the motion capture subsystem and the preset flight environment parameters, so as to calculate the aerodynamic characteristics of the wing suit during flight; The dynamic wind simulation subsystem is used to dynamically adjust the wind field intensity and direction according to the calculation results of the aerodynamic modeling subsystem to simulate the wind pressure distribution under different flight conditions; The dynamic force control subsystem is used to apply dynamic force feedback to the experiencer to simulate the force changes during the wing suit flight; The three-dimensional visual subsystem is used to simulate in real time the visual images that match the user's movements; The sound subsystem is used to fully simulate the environmental sound effects during the flight process.

2. The immersive active control wing suit flight simulation system according to claim 1, wherein, The physical simulation platform also includes a motion capture camera, which is used to collect motion data of the experiencer in the process of simulating wing suit flight in real time; The motion capture subsystem performs posture recognition and motion intention analysis based on the image data collected by the motion capture camera, converts the captured image data into control input data, and sends it to the wing suit flight aerodynamic modeling subsystem.

3. The immersive active control wing suit flight simulation system according to claim 2, characterized in that, The motion capture camera uses a multi-view infrared depth camera array; The layout strategy of the camera array includes: under the premise of ensuring the capture accuracy, the number of cameras is minimized and the overlap rate of the fields of view of adjacent cameras is not less than 30%.

4. The immersive active control wing suit flight simulation system according to claim 2, characterized in that, The motion capture cameras use the network time protocol and / or the precision time protocol for clock synchronization, calibrate the clock of each camera, and synchronously control the shooting actions of each camera through a unified trigger instruction mechanism.

5. The immersive active control wing suit flight simulation system according to claim 2, characterized in that, The motion capture subsystem uses high-precision image recognition and three-dimensional motion tracking technology to convert captured image data into control input data; The high-precision image recognition and three-dimensional motion tracking technology further includes: Use lightweight convolutional neural networks to perform 2D human pose estimation and 2D key point detection; Using the depth data captured by the depth camera and the principle of triangulation, the three-dimensional coordinates of each pixel in the scene can be measured; Align the depth image with the RGB image through geometric transformation and interpolation algorithm; The Kalman filter is used to smooth the three-dimensional coordinate data; Based on the filtered three-dimensional coordinate data, the key control angles required for wing suit flight are calculated, and the key control angles are converted into control input data and sent to the wing suit flight aerodynamic modeling subsystem to realize flight attitude simulation.

6. The immersive active control wing suit flight simulation system according to claim 5, characterized in that, The Kalman filter is a second-order Kalman filter: The second-order Kalman filter calculates the prediction result of the next moment based on the state vector of the previous moment and the motion model; The current observation value and the prediction result are weighted and fused to obtain the three-dimensional coordinates of the key points after smooth filtering.

7. The immersive active control wing suit flight simulation system according to claim 5, characterized in that The key control angles calculated by the motion capture subsystem include the forearm extension angle, the angle between the thigh and the body, and the wing suit deployment angle: For the forearm extension angle, two three-dimensional vectors formed by three key points of the shoulder, elbow, and wrist are used to calculate the angle between the two three-dimensional vectors, which is used to reflect the degree of forearm extension; For the angle between the thigh and the body, the angle between the vector formed by the hip and knee key points and the body reference plane is used to reflect the lower limb movement state; For the wing suit deployment angle, based on the spatial position relationship between the shoulder and hand key points, the angle of the outstretched arms is estimated, which is used to simulate the degree of wing membrane deployment.

8. The immersive active control wing suit flight simulation system according to claim 1, wherein The wing suit flight aerodynamic modeling subsystem uses the computational fluid dynamics method to calculate aerodynamic characteristics: Mesh generation and flow field simulation calculations are performed on the wing suit human three-dimensional model. By integrating the attitude data and the preset flight environment parameters, the key aerodynamic characteristic indicators during wing suit flight are calculated; Among them, the attitude data includes the hand and leg control positions of the whole wing suit, flight speed, angle of attack and sideslip angle of the wing suit, and mass center position. The preset flight environment parameters include the atmospheric state. The key aerodynamic characteristic indicators include lift coefficient, drag coefficient, pitching moment coefficient, side force coefficient, rolling moment coefficient, and yaw moment coefficient.

9. The immersive active control wing suit flight simulation system according to claim 8, characterized in that, The wing suit flight aerodynamic modeling subsystem uses the coordinate axis transformation method to calculate the component forces and moments acting on each axis of the human body during wing suit flight.

10. The immersive active control wing suit flight simulation system according to claim 1, characterized in that The physical simulation platform also includes a wing suit, a fan, and a wind speed sensor. The wing suit serves as the carrier for the human body to receive forces. The fan is used to generate simulated flight airflow, and the wind speed sensor is used to monitor the airflow parameters in real time; The dynamic wind sensation simulation subsystem uses a real wing suit as the carrier for the human body to receive forces, adjusts the air outlet intensity and direction of the fan in real time, and combines the feedback data of the wind speed sensor to control the wind pressure applied to each part of the experiencer's body, realizing dynamic wind sensation simulation synchronized with the change of the experiencer's flight attitude.

11. The immersive active control wing suit flight simulation system according to claim 10, characterized in that, The dynamic wind sensation simulation subsystem determines the optimal hanging points of the wing suit based on the multi-hanging point load balancing algorithm; The multi-hanging point load balancing algorithm further includes: Adopting a six-point suspension structure to evenly distribute the simulated load; Constructing a human body dynamics model and modeling the human body as a multi-rigid body system; Performing multi-body dynamics simulation analysis to evaluate the load distribution under different suspension conditions; According to the principle of static equilibrium, determining the optimal hanging point coordinates to ensure that both the resultant force and the resultant moment of the forces are zero.

12. The immersive active control wing suit flight simulation system according to claim 1, characterized in that, The physical simulation platform also includes an operation truss, a motion control motor, and a rope. The operation truss is used to hang and guide the rope; the motion control motor is used to control the movement of the rope; the rope is used to connect the experiencer to realize the adjustment of the experiencer's body posture; The dynamic force control subsystem adjusts the movement of the rope through the motion control motor according to the real-time visual scene and flight simulation data to realize the dynamic adjustment of the experiencer's body posture.

13. The immersive active control wing suit flight simulation system according to claim 12, characterized in that, The dynamic force control subsystem outputs control instructions to the motion control motor based on the multi-degree-of-freedom rope motion control algorithm, and drives and adjusts the rope; The multi-degree-of-freedom rope motion control algorithm further includes: Using an improved washout filter algorithm to optimize the high-frequency and low-frequency signals of the collected data; Constructing a dynamically adjusted cost function and using the steepest descent method to optimize the filter parameters in real time; Combining the rope drive sensing data to calculate the center of gravity position of the experiencer in real time to compensate for the motion error; Generating control instructions to drive the rope to complete attitude adjustment.

14. The immersive active control wing suit flight simulation system according to claim 1, characterized in that The physical simulation platform further includes a sound output module, and the sound output module is used to provide an immersive auditory experience; The sound subsystem restores and constructs a three-dimensional sound field model, specifically including: Based on the actually collected wing suit flight audio materials, noise elimination and audio repair are performed; Performing audio normalization processing to unify the audio format; Using a three-dimensional sound effect model to simulate the sound spatial distribution during the flight process.

15. The immersive active control wing suit flight simulation system according to claim 1, characterized in that, The physical simulation platform further includes a three-dimensional visual display module, and the three-dimensional visual display module is used to provide an immersive visual experience; The three-dimensional visual subsystem uses photogrammetry technology to restore and construct a three-dimensional scene model by obtaining real scene data.

16. The immersive active control wing suit flight simulation system according to claim 1, characterized in that, The physical simulation platform includes at least a main frame and a jump platform: The main frame is used to support the entire system structure; The jump platform is used to simulate the takeoff environment of wing suit flight.

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