Flight parameter reproduction and simulation state switching control method, system and medium

Abstract

The application provides a flight parameter reproduction and simulation flight simulation state instant switching control method, system and medium, which is based on the data recorded by the trainee during the simulation flight training task, and the flight simulation data driven flight reproduction is performed, the control load data of the flight reproduction is obtained, the deviation is obtained by comparing the control load data with the standard control load data, the reproduction channel arbitration is performed according to the deviation, and the real-time operation data is switched to reproduce, that is, the real-time control data of the trainee from the instructor is received, the flight training data of the trainee is replaced by the real-time control data of the instructor, and according to the comparison representation of the real-time control data of the instructor and the flight process of the aircraft, the dynamic synchronization of the flight parameter reproduction and the simulation flight simulation state instant switching is performed, the historical / real-time control difference is superimposed and displayed, the visualization of the evaluation and review process is realized, and the timeliness and accuracy of the flight simulation training teaching feedback and evaluation are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of flight simulation technology, and more specifically to a method, system, and medium for reproducing flight parameters and real-time switching control of simulated flight states. Background Technology

[0002] Flight simulators utilize computer systems, electromechanical equipment, and specialized software to replicate the motion characteristics, operational sensations, visual, auditory, and instrument environments of a real aircraft in flight. They are primarily used for aircraft design verification and pilot training, providing flight simulation operations without actually entering the aircraft to perform flight controls. The simulation provides trainees with the most realistic possible perceptions of actual flight control scenarios, operational processes, and operational feedback, achieving safe, efficient, and low-cost flight training.

[0003] High-level flight training simulation systems typically include a cockpit system, motion control system, control load feedback system, virtual visualization system, and flight computational control system. The cockpit system aims to adopt a cockpit layout consistent with the designed aircraft model, including control devices (stick, steering wheel, throttle pedal, and yaw pedal), instrument panel, switches, and buttons. The motion control system is usually implemented using a multi-degree-of-freedom platform, typically a parallel six-degree-of-freedom Stewart motion platform or a seven-degree-of-freedom motion platform with added omnidirectional rotational degree of freedom. The cockpit system is mounted and fixed to the upper platform of the motion platform. Through platform motion control, it achieves high-degree-of-freedom motion transformations within pitch, roll, yaw, vertical, horizontal, forward / backward, and omnidirectional rotation, providing flight trainees with tactile feedback on changes in flight attitude and acceleration. The control load feedback system aims to simulate the actual human-feeling feedback of flight controls to the pilot based on the pilot's state parameters when maneuvering the aircraft. For example, sensors measure the force, position, and speed of control signals applied by the trainee to the joystick or pedals. These signals are then processed to generate corresponding servo motor drive signals, which in turn drive the servo motors to produce corresponding torque. This torque is transmitted through linkage mechanisms to the steering wheel, joystick, pedals, and throttle, and then fed back to the control mechanism for further feedback to the trainee. This simulates the control feel in real flight, achieving a realistic simulation of force feedback. The virtual visual system generates and projects a virtual flight scene world onto a large screen outside the cockpit using a high-performance graphics computer. This includes terrain, airports, weather, day / night cycles, and lighting changes. The flight computational control system is the "brain" of the flight simulator, responsible for running the core flight dynamics model, aircraft system model (simulating hydraulic, electrical, fuel, avionics, flight control, and landing gear systems), engine model, etc., and coordinating the synchronous operation of all subsystems. It should be understood that the core mathematical models, such as the flight dynamics model and engine model, provided through flight data packages, are the core of the flight simulator, used to calculate the aircraft's reactions and actions under any conditions. The flight data package precisely corresponds to a specific aircraft type (Tail Number), ensuring that the simulator is simulating "which" aircraft and providing a unique standard for qualification testing (QTG). Only by passing the QTG test can the simulator be recognized, and its training time can be counted in the pilot's recognized flight training and flight experience.

[0004] After entering the cockpit system, trainees select training programs, load training content and scenarios, and then conduct simulation training using control devices (control stick, control wheel, throttle pedal and yaw pedal), instrument panel, switches and buttons. Flight data (FDR data) is recorded by the flight data recorder, and flight parameter data (QAR data) is recorded by the flight parameter recorder. The FDR and QAR data obtained from flight training simulations can be imported into a computer system (e.g., the instructor's host) for analysis using flight simulation evaluation system software. For example, the data can be aligned and visualized using two-dimensional tables / curves for simulation process analysis, or combined with aircraft attitude for three-dimensional visualization analysis. The instructor reviews the flight simulation control records of the trainees, evaluates the effectiveness of their flight control, and assesses the flight training results.

[0005] The existing methods for evaluating flight simulation and training effectiveness rely on two-dimensional or three-dimensional visualization of the data inherent in FDR and QAR data. Exams and training effectiveness reviews are conducted using real data contained in flight data packages and instructor experience, with the real data serving as the standard answer. Each test case is accompanied by a data curve collected from real aircraft test flights (i.e., historical data). The simulator runs each test case, and the generated data curve is compared to the standard answer; this comparison process is the exam, and the deviation must be within the tolerance range stipulated by civil aviation regulations. During testing and review, the evaluation of deviations relies on the comparison of two-dimensional or three-dimensional visualized data and instructor verbal descriptions. For trainees, the resulting aircraft reactions and attitudes due to deviations cannot be intuitively perceived, leading to unsatisfactory review results. Furthermore, having flight trainees operate the flight again on a flight simulator while instructors provide on-site review is clearly difficult to implement and consumes scarce and limited training resources. Summary of the Invention

[0006] In view of the technical problems existing in the prior art for flight reproduction and flight training effect evaluation in flight simulation training, according to a first aspect of the present invention, a method for real-time switching control of flight parameter reproduction and simulated flight state is proposed, comprising the following processes:

[0007] Obtain the student flight training data packet P, P={P1,P2,P3,P4,…,P…} i ,…,P n}, P i Indicates the first i Flight training data at each time point, including QAR data at time point i. i =1,2,3,…,n;

[0008] The effective operation segments of the student flight training data packets are extracted using a sliding window algorithm, and the effective control start points are marked.

[0009] Input the student's flight training data package into the default first reproduction channel, and reproduce the flight parameters based on the QAR data starting from the effective control start point, generating the flight status sequence and operation load data in time sequence;

[0010] By comparing the operational load data with the standard operational load data according to the time sequence, the data for each time point is obtained. i Operating load deviation ΔF i , ΔF i = F ij – F ij_pref , F ij Indicates the first i The moment of the first j Operating load data for each channel j =1,2,3,4; F ij_pref Indicates the first i The moment of the first j Standard operating load data for each channel;

[0011] In response to | ΔF i | If the preset threshold is exceeded, switch to the second reproduction channel;

[0012] Receives real-time control input data from instructors operating the control mechanisms, and based on... ΔFi The starting time is determined to be the same as the standard operating load data.

[0013] Starting from the initial time, within a preset duration T period, the instructor manipulates the input data into the second reproduction channel for dynamic reproduction, generating flight status sequence and operational load data according to the time sequence.

[0014] The flight status sequence and operational load data are displayed synchronously and dynamically according to the first and second reproduction channels.

[0015] In a second aspect of the present invention, a computer system is also provided, comprising:

[0016] One or more processors;

[0017] The memory stores operable instructions that, when executed by the one or more processors, cause the one or more processors to perform operations, including operations of the flight parameter reproduction and simulated flight state instantaneous switching control method of the foregoing embodiments.

[0018] In a third aspect of the invention, a computer-readable medium for storing software is also provided, the software including instructions executable by one or more computers, the instructions causing the one or more computers to perform operations, including operations of the flight parameter reproduction and simulated flight state instantaneous switching control method of the foregoing embodiments.

[0019] The implementation of the flight parameter reproduction and real-time switching control method for simulated flight states of the present invention provides an innovative interactive method for flight training simulation and simulation training assessment. It integrates flight parameter reproduction, dynamic deviation analysis, and real-time instructor takeover, realizing dynamic synchronization between student flight training and instructor takeover. Based on the analysis of control load data, it visualizes training data deviations and overlays historical / real-time operational differences, significantly improving the timeliness and accuracy of flight simulation training teaching feedback and assessment, and enhancing the efficiency and training quality of flight simulation training. It is applicable to flight training tasks in various scenarios such as flight schools, airlines, or pilot training.

[0020] Traditional flight training simulation debriefing is a one-way process: trainees first conduct flight training in a flight simulator, and then the instructor provides feedback, or the flight data is imported into a computer system for feedback through data tables. This makes it difficult to demonstrate correct actions in real time when trainees make mistakes or deviate from the expected parameters. Therefore, this invention proposes a flight parameter reproduction and real-time switching control method for simulated flight states, configuring a dual-channel reproduction path. During the reproduction of trainee flight operations, arbitration based on system rules allows the instructor to take over control of the main control stick, throttle, and other control mechanisms, triggering a switch from trainee-driven virtual flight simulation data-driven reproduction to instructor-driven real-time operation data-driven reproduction. The parameter deviations of the two methods are compared synchronously and visualized, allowing trainees to see how flight operations lead to changes in aircraft attitude and state. Furthermore, when the instructor intervenes, trainees can directly compare their own operations with the instructor's, quickly identifying differences, improving training effectiveness, and enhancing the understanding of the operation-state relationship. This avoids the problem of low training efficiency caused by abstract data and allows for faster establishment and improvement of flight operation logic.

[0021] It should be understood that all combinations of the foregoing concepts and the additional concepts described in more detail below may be considered part of the inventive subject matter of this disclosure, provided that such concepts do not contradict each other. Furthermore, all combinations of the claimed subject matter are considered part of the inventive subject matter of this disclosure.

[0022] The foregoing and other aspects, embodiments, and features of the teachings of the present invention will be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the invention, such as features and / or beneficial effects of exemplary embodiments, will become apparent from the following description or may be learned through practice of specific embodiments according to the teachings of the present invention. Attached Figure Description

[0023] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings.

[0024] Figure 1 This is a schematic diagram of the flight parameter reproduction and real-time switching control method for simulated flight state according to an embodiment of the present invention.

[0025] Figure 2 This is a flowchart illustrating the flight parameter reproduction and real-time switching control method for simulated flight state according to an embodiment of the present invention.

[0026] Figure 3 This is a schematic diagram illustrating the dynamic synchronous reproduction of the flight parameter reproduction and the real-time switching control method for simulated flight state according to an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of a computer system according to an embodiment of the present invention. Detailed Implementation

[0028] To better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

[0029] Various aspects of the invention are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily intended to encompass all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed herein are not limited to any particular implementation. Furthermore, some aspects of the invention disclosed may be used alone or in any suitable combination with other aspects of the invention disclosed.

[0030] {Example 1}

[0031] Combination Figure 1 , Figure 2As shown, the flight parameter reproduction and real-time switching control method for simulated flight state according to an embodiment of the present invention is implemented in a flight training auxiliary teaching device equipped with a cockpit system, a control load feedback system, a virtual vision system, and a flight calculation control system. It performs flight simulation data-driven flight reproduction. Based on data recorded by trainees performing simulated flight training tasks, such as QAR data or FDR data (FDR data compilation and decoding require additional processing), it obtains control load data for flight reproduction and compares it with standard control load data to obtain deviations. Based on these deviations, it arbitrates the reproduction channel and switches to real-time operation data for reproduction. That is, it receives real-time control data from the instructor on the control mechanisms, replacing the trainee's flight training data with the instructor's real-time control data. Based on the instructor's real-time control data and the comparative representation of the aircraft's flight process, through dynamic synchronization of flight parameter reproduction and real-time switching of simulated flight state, it overlays and displays historical / real-time control differences, visualizing the evaluation and review process, significantly improving the timeliness and accuracy of flight simulation training teaching feedback and evaluation.

[0032] In embodiments of the present invention, flight parameter reproduction is implemented based on an operational load system to provide feedback on the displacement of the main control stick, the opening of the throttle pedal, the angle of the yaw pedal, etc., of the trainee during training. This provides feedback on operational load data, which is manifested as the force of the real-time system driving the corresponding channel, which matches the force applied by the trainee, thereby reproducing the control process.

[0033] Combination Figure 1 , 2 As shown, the flight parameter reproduction and real-time switching control method for simulated flight states according to this embodiment includes the following processes:

[0034] Obtain the student flight training data packet P, P={P1,P2,P3,P4,…,P…} i ,…,P n}, i =1,2,3,…,n,P i Indicates the first i Flight training data at any given moment;

[0035] The effective operation segments of the student flight training data packets are extracted using a sliding window algorithm, and the effective control start points are marked.

[0036] Input the student's flight training data package into the default first reproduction channel, and reproduce the flight parameters based on the QAR data starting from the effective control start point, generating the flight status sequence and operation load data in time sequence;

[0037] By comparing the operational load data with the standard operational load data according to the time sequence, the data for each time point is obtained. i Operating load deviation ΔF i , ΔF i = F ij – F ij_pref , F ij Indicates the first i The moment of the first j Operating load data for each channel j =1,2,3,4; F ij_pref Indicates the first i The moment of the first j Standard operating load data for each channel;

[0038] In response to | ΔF i | If the preset threshold is exceeded, switch to the second reproduction channel;

[0039] Receives real-time control input data from instructors operating the control mechanisms, and based on... ΔFi The starting time is determined to be the same as the standard operating load data.

[0040] Starting from the initial time, within a preset duration T period, the instructor manipulates the input data into the second reproduction channel for dynamic reproduction, generating flight status sequence and operational load data according to the time sequence.

[0041] The flight status sequence and operational load data are displayed synchronously and dynamically according to the first and second reproduction channels.

[0042] It should be understood that the first i The flight training data at each moment includes QAR data at moment i, such as the main control stick displacement (X1, Y1, Z1), where X1 is the lateral yaw (-10°~10°), Y1 is the longitudinal push-pull (-15°~15°), and Z1 is the rotation angle (-30°~30°); throttle pedal position T (0~100%); yaw pedal displacement R (-20°~20°); steering wheel angle S (-90°~90°); aircraft track angle θ (-15°~30°), airspeed V (50~600km / h), altitude H (0~12000m), and other core parameters, with a sampling frequency of f=100Hz.

[0043] As an optional implementation, the step of extracting the valid operation segments of the student flight training data packet using the sliding window algorithm and marking the valid control start point includes:

[0044] The flight training data of trainees {P1, P2, P3, P4, ..., P} is continuously slid through using a sliding window algorithm. i ,…,P n A valid operation start point is marked when any of the following conditions are met for three consecutive time points:

[0045] |T i+1 - T i |≥ e 1 ;

[0046] |R i+1 - R i |≥ e 2 ;

[0047] |S i+1 - S i |≥ e 3 ;as well as

[0048] |M i+1 - M i |≥ e 4 ;

[0049] Among them, T i+1 With T i R represents the accelerator pedal position at time i+1 and time i, respectively; i+1 With R i S represents the yaw pedal displacement at time i+1 and time i, respectively. i+1 With S i M represents the steering wheel angle at time i+1 and time i, respectively; i+1 With M i These represent the displacements of the master joystick at times i+1 and i, respectively; e 1 , e 2 , e 3 , e 4 These represent the minimum operating thresholds for the accelerator pedal, yaw pedal, steering wheel, and main control stick, respectively.

[0050] Therefore, by iterating through the student data using a sliding window, only when the control parameters (throttle T) are consistent for three consecutive time points... i Yaw R i , drive wheel S i Main control stick M i Only when the change is greater than or equal to the corresponding threshold (ε1-ε4) is it marked as a valid operation start point, in order to eliminate noisy data containing invalid actions caused by students accidentally touching the joystick, data acquisition fluctuations, etc.

[0051] In embodiments of the present invention, single accidental touches can be filtered out by determining the data at three consecutive time points, using different channel thresholds. e 1 - e 4 Adapt to the sensitivity of different control mechanisms, such as the minimum effective throttle opening. e 1 =2%, minimum deflection of the main control stick e 4 =0.5°.

[0052] Flight training data that has undergone noise preprocessing retains only meaningful control actions, providing a basis for subsequent accuracy and deviation calculations.

[0053] As an optional implementation, the step of inputting the student flight training data package according to the default first reproduction channel, reproducing flight parameters based on QAR data starting from the effective control start point, and generating flight state sequence and operational load data in a time sequence includes:

[0054] Receive student flight training data packets input from the first reproduction channel;

[0055] Starting from the effective manipulation start point, for each moment... i QAR data is used to extract aircraft status parameters and flight control parameters;

[0056] The flight calculation and control system calculates the flight status parameters based on the aircraft status parameters input into the flight state system and generates a flight state sequence according to the time sequence through the virtual visual system.

[0057] Based on the control load driving force generated by the student's operation of the main control stick, steering wheel, yaw pedal and throttle pedal in the flight control parameters, the control load data of the corresponding channels are obtained.

[0058] It should be understood that, compared with traditional assessments based on flight state deviations (such as altitude and speed differences), the embodiments of this invention assess flight training effectiveness by comparing and measuring control loads and deviations. This overcomes the possibility that flight state deviations may be affected by environmental factors and cannot be directly attributed to student operation. Control load data, on the other hand, is direct physical feedback of the student's control actions (such as the force applied to the control stick, the servo motor drive force corresponding to the throttle pedal opening, etc.), directly reflecting the student's control accuracy and precision. For example, when a student lands, a throttle control deviation of ΔF = 15% can be used for assessment. Compared to a speed deviation of 8 km / h, this more accurately pinpoints the problem of improper throttle control, directly reflecting the difference between the student's control actions and standard actions. It is the "cause" of flight state changes, conforming to the causal logic of "control actions → force feedback → state changes" in flight teaching, making the assessment dimension more scientific. Traditional assessments rely on deviations in state data. These deviations are the difference between the student's flight state and the standard state, representing the "result" of the control actions. They require reverse deduction to correlate with specific control actions. However, flight state deviations (such as being 50 meters below altitude) may be caused by "improper student control" or by indirect factors such as environmental interference in the virtual visual system (such as sudden airflow) or errors in the simulator's physical model. Therefore, it is difficult to pinpoint the location and analyze the causes of deviations.

[0059] In an embodiment of the present invention, the manipulation load data (F) ij This is considered a "physical mirror" of the trainee's (trainee's) simulated flight control behavior, directly reflecting the trainee's operational actions and processes in the training scenario when facing training tasks. For example:

[0060] like ΔF i (Throttle channel) = 20% directly indicates that the student pushed the accelerator with 20% more force than the standard value. There is no need to reverse-engineer the speed difference ΔV = 8km / h to determine whether the abnormal speed was caused by the accelerator or the control lever.

[0061] like ΔF i (Yaw Channel) = 12%, which can directly pinpoint the student's insufficient force when pressing the yaw pedal, rather than simply seeing a 5° heading deviation without being able to determine whether it is a problem with the yaw pedal or the steering wheel.

[0062] Therefore, the method of this invention can solve the problem of "fuzzy attribution of deviation" in traditional assessments, directly locate "errors in operation", avoid reverse reasoning errors, enable instructors to quickly locate trainees' "operational weaknesses" (such as unstable throttle control, deviation in yaw correction force), and significantly improve the pertinence of assessment.

[0063] As an optional implementation, based on the control load feedback forces generated by the student's manipulation of the main control stick, steering wheel, yaw pedal, and throttle pedal in the flight control parameters, control load data for the corresponding channels is obtained, including:

[0064] Based on the state change parameters of the student's operation of the main control stick, steering wheel, yaw pedal and throttle pedal in the flight control parameters, as well as the force applied by the operation, the driving force of the corresponding servo motor in the pitch, roll, yaw and throttle channels is generated by the force sensing simulation solution model of the control load feedback system, which serves as the control load data for the corresponding channels.

[0065] As an optional implementation, the method of receiving real-time manipulation input from the instructor and based on... ΔF i Determine the start time as the time that is the same as the standard operating load data, including:

[0066] It receives real-time input from the instructor's operation of the main control stick, steering wheel, yaw pedal, and throttle pedal, and monitors in real-time the status change parameters of the main control stick, steering wheel, yaw pedal, and throttle pedal generated based on the instructor's real-time operation input.

[0067] Based on the instructor's real-time input and the state change parameters of the main control stick, steering wheel, yaw pedal and throttle pedal, the driving force of the corresponding servo motors in the pitch, roll, yaw and throttle channels is generated by the force simulation solution model of the control load feedback system, which serves as the instructor's control load data for the corresponding channels.

[0068] Based on the instructor's operating load data and standard operating load data, and ΔFi In comparison, the starting point is set at the moment when the data reaches the same level as the standard operating load data, which serves as the starting point for subsequent synchronous dynamic reproduction.

[0069] As an optional implementation, starting from the start time, within a preset duration T period, the instructor manipulates the input data into the second reproduction channel for dynamic reproduction, and generates flight status sequence and operational load data according to the time sequence.

[0070] Starting from the moment when the instructor's control load data reaches the same as the standard operating load data, within a preset duration T period, the instructor's real-time control input data is input into the second reproduction channel in a time sequence. The flight calculation control system is then processed based on the instructor's control input data, and the instructor's flight state sequence is generated in a time sequence through the virtual visual system.

[0071] Based on the instructor's real-time input data and the state change parameters of the main control stick, steering wheel, yaw pedal, and throttle pedal, the driving force of the corresponding servo motors in the pitch, roll, yaw, and throttle channels is generated through the force simulation solution model of the control load feedback system, serving as the instructor's control load data for the corresponding channels.

[0072] Therefore, taking the moment when the instructor's control load data and the standard operating load data are aligned as the starting point, that is, the moment when the instructor's actual control data intervenes in the reproduction, can ensure a smoother reproduction switch and avoid the sense of tearing in the flight state based on the standard load alignment switch.

[0073] In some embodiments, for example, when the student's throttle operation deviates... ΔF i When the threshold is exceeded, the system first monitors the instructor's throttle load data, and waits until it matches... F ij_pref When the throttle channel standard values ​​are aligned (i.e., the instructor's operation meets the standard), the synchronous representation after the channel switching is reproduced to ensure that the switching operation and force feedback are seamlessly connected and that there are no sudden changes in the aircraft attitude (such as speed and altitude).

[0074] Combination Figure 3 As shown, as an optional implementation, the synchronous dynamic display of flight status sequence and operational load data according to the first and second reproduction channels includes:

[0075] The virtual visual system of the flight training auxiliary teaching equipment synchronously and dynamically displays the student flight status sequence and operational load data generated according to the first reproduction channel, as well as the instructor flight status sequence and operational load data generated according to the second reproduction channel, in a projection manner.

[0076] In an optional embodiment, the flight status sequence and operational load data of the trainee and the flight status sequence and operational load data of the instructor can also be dynamically and synchronously displayed in a split-screen manner.

[0077] Therefore, compared to traditional assessments that rely on two-dimensional tables / curves to display state deviations, trainees find it difficult to correlate state errors such as a "100-meter altitude difference" with "the action of pulling the control stick during flight training." Control load assessment, however, provides triple intuitive feedback through "virtual visual overlay display."

[0078] Synchronization of control mechanism: During the reproduction, the trainee can see the real-time comparison between his own joystick displacement and the instructor's joystick displacement (e.g., the trainee pulls the joystick 13mm, and the instructor pulls it 8mm).

[0079] Synchronous force feedback: By manipulating the load system, trainees can actually feel the difference between "the force they feel when manipulating" and "the standard force" (e.g., the force they exert when pushing the accelerator is 5N greater than the standard).

[0080] Synchronized state changes: The virtual view overlays the posture changes caused by the student's operation and the posture changes corrected by the instructor, allowing the student to directly see how the deviation in operation load leads to the state deviation.

[0081] Through the embodiments of the present invention, a direct correlation is established between control actions, control load data, and aircraft status, enabling highly visualized feedback for training result evaluation. This facilitates instructors' explanations and establishes a logical connection between trainees' control actions and flight status, improving the timeliness and relevance of flight simulation training feedback and evaluation, and enhancing the effectiveness and efficiency of flight training simulation.

[0082] As an optional implementation, the aforementioned flight training auxiliary teaching equipment is matched with the flight training simulation simulator and integrates the same cockpit system, control load feedback system, virtual vision system and flight calculation control system as the flight training simulation simulator, so as to ensure that the flight training parameter reproduction process is matched and consistent with the flight simulator of the trained aircraft type, and to ensure the legality and rationality of reproduction, assessment and evaluation.

[0083] However, the flight training auxiliary teaching equipment of this embodiment does not include a motion control platform and its control system. It can be implemented based on a computer system and computer software, and is equipped with a virtual visual system and a projector for synchronous dynamic representation.

[0084] It should be understood that the aforementioned flight training auxiliary teaching equipment receives the instructor's control data on the control mechanism based on the deviation between the control load data of the flight reproduction and the standard control load data, and immediately replaces the student's flight data with the instructor's control data to reproduce the flight parameters. Based on the dynamic synchronous comparison and representation of the instructor's real-time control data and the aircraft status, it overlays and displays the historical / real-time control differences.

[0085] {Example 2}

[0086] The flight parameter reproduction and simulated flight state real-time switching control method described above is presented from the perspective of method execution. It is understood that the implementation of the methods in the above embodiments, along with the processing steps and processes of the examples described in the various embodiments, can be implemented in the form of a computer system (such as a combination of hardware and computer software).

[0087] In an optional example, combined Figure 4As shown, the present invention also proposes a computer system comprising: one or more processors, a memory, a communication interface, and a communication bus for connecting the processors, the memory, and the communication interface, wherein data transmission and interaction are performed between the processors, the memory, and the communication interface via the communication bus.

[0088] It should be understood that memory is configured to store operable instructions and transmitted data. Memory is implemented in the form of media including but not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), etc.

[0089] The processor includes one or more CPUs for performing computational and processing tasks, such as calling instructions from the aforementioned memory to execute predetermined program operations and execution.

[0090] It should be understood that when the aforementioned instructions are executed by one or more processors, the operations performed by the one or more processors include the operations of the flight parameter reproduction and simulated flight state instantaneous switching control method of the aforementioned embodiments.

[0091] In this embodiment, the various operational processes and specific implementation methods of the execution instructions can be adopted. Figure 1 , 2 The methods of the illustrated embodiments are implemented in a manner that enables the computer system to execute the methods of the foregoing embodiments.

[0092] {Example 3}

[0093] In conjunction with the flight parameter reproduction and simulated flight state real-time switching control method of the above embodiments, according to the third aspect disclosed in this invention, a computer-readable medium for storing software is also proposed, the software including instructions executable by one or more computers.

[0094] As described above, these instructions cause the one or more computers to perform operations, including operations of the flight parameter reproduction and simulated flight state instantaneous switching control method of the foregoing embodiments.

[0095] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A method for real-time switching control of flight parameter reproduction and simulated flight state, characterized in that, The process includes the following: Obtain the student flight training data packet P, P={P1,P2,P3,P4,…,P…} i ,…,P n }, P i Indicates the first i Flight training data at each moment, including the first i QAR data at any given time, i =1,2,3,…,n; The effective operation segments of the student flight training data packets are extracted using a sliding window algorithm, and the effective control start points are marked. Input the student's flight training data package into the default first reproduction channel, and reproduce the flight parameters based on the QAR data starting from the effective control start point, generating the flight status sequence and operation load data in time sequence; By comparing the operational load data with the standard operational load data according to the time sequence, the data for each time point is obtained. i Operating load deviation ΔF i , ΔF i = F ij – F ij_pref , F ij Indicates the first i The moment of the first j Operating load data for each channel j =1,2,3,4; F ij_pref Indicates the first i The moment of the first j Standard operating load data for each channel; In response to | ΔF i | If the preset threshold is exceeded, switch to the second reproduction channel; Receives real-time control input data from instructors operating the control mechanisms, and based on... ΔFi The starting time is determined to be the same as the standard operating load data. Starting from the initial time, within a preset duration T period, the instructor manipulates the input data into the second reproduction channel for dynamic reproduction, generating flight status sequence and operational load data according to the time sequence. The flight status sequence and operational load data are displayed synchronously and dynamically according to the first and second reproduction channels.

2. The flight parameter reproduction and real-time switching control method for simulated flight state according to claim 1, characterized in that, The step of extracting the valid operation segments of the student flight training data packet using the sliding window algorithm and marking the valid control start point includes: The flight training data of trainees {P1, P2, P3, P4, ..., P} is continuously slid through using a sliding window algorithm. i ,…,P n A valid operation start point is marked when any of the following conditions are met for three consecutive time points: |T i+1 - T i |≥ ε 1 ; |R i+1 - R i |≥ ε 2 ; |S i+1 - S i |≥ ε 3 ;as well as |M i+1 - M i |≥ ε 4 ; Among them, T i+1 With T i R represents the accelerator pedal position at time i+1 and time i, respectively; i+1 With R i S represents the yaw pedal displacement at time i+1 and time i, respectively. i+1 With S i M represents the steering wheel angle at time i+1 and time i, respectively; i+1 With M i These represent the displacements of the master joystick at times i+1 and i, respectively; ε 1 , ε 2 , ε 3 , ε 4 These represent the minimum operating thresholds for the accelerator pedal, yaw pedal, steering wheel, and main control stick, respectively.

3. The flight parameter reproduction and real-time switching control method for simulated flight state according to claim 1, characterized in that, The process involves inputting the student flight training data package through the default first reproduction channel, reproducing flight parameters based on QAR data starting from the effective control start point, and generating flight state sequences and operational load data in chronological order, including: Receive student flight training data packets input from the first reproduction channel; Starting from the effective manipulation start point, for each moment... i QAR data is used to extract aircraft status parameters and flight control parameters; The flight calculation and control system calculates the flight status parameters based on the aircraft status parameters input into the flight state system and generates a flight state sequence according to the time sequence through the virtual visual system. Based on the control load driving force generated by the student's operation of the main control stick, steering wheel, yaw pedal and throttle pedal in the flight control parameters, the control load data of the corresponding channels are obtained.

4. The flight parameter reproduction and simulated flight state real-time switching control method according to claim 3, characterized in that, Based on the control load feedback forces generated by the student's manipulation of the main control stick, steering wheel, yaw pedal, and throttle pedal in the flight control parameters for pitch, roll, yaw, and throttle channels, the control load data for the corresponding channels is obtained, including: Based on the state change parameters of the student's operation of the main control stick, steering wheel, yaw pedal and throttle pedal in the flight control parameters, as well as the force applied by the operation, the driving force of the corresponding servo motor in the pitch, roll, yaw and throttle channels is generated by the force sensing simulation solution model of the control load feedback system, which serves as the control load data for the corresponding channels.

5. The flight parameter reproduction and real-time switching control method for simulated flight states according to claim 1, characterized in that, The teacher receives real-time input and is based on ΔFi Determine the start time as the time that is the same as the standard operating load data, including: It receives real-time input from the instructor's operation of the main control stick, steering wheel, yaw pedal, and throttle pedal, and monitors in real-time the status change parameters of the main control stick, steering wheel, yaw pedal, and throttle pedal generated based on the instructor's real-time operation input. Based on the instructor's real-time input and the state change parameters of the main control stick, steering wheel, yaw pedal and throttle pedal, the driving force of the corresponding servo motors in the pitch, roll, yaw and throttle channels is generated by the force simulation solution model of the control load feedback system, which serves as the instructor's control load data for the corresponding channels. Based on the instructor's operating load data and standard operating load data, and ΔFi In comparison, the starting point is determined when the data reaches the same level as the standard operating load data, which serves as the starting point for subsequent synchronous dynamic reproduction.

6. The flight parameter reproduction and simulated flight state real-time switching control method according to claim 5, characterized in that, Starting from the initial time, within a preset duration T period, the instructor manipulates the input data into the second reproduction channel for dynamic reproduction, generating flight status sequence and operational load data according to the time sequence. Starting from the moment when the instructor's control load data reaches the same as the standard operating load data, within a preset duration T period, the instructor's real-time control input data is input into the second reproduction channel in a time sequence. The flight calculation control system is then processed based on the instructor's control input data, and the instructor's flight state sequence is generated in a time sequence through the virtual visual system. Based on the instructor's real-time input data and the state change parameters of the main control stick, steering wheel, yaw pedal, and throttle pedal, the driving force of the corresponding servo motors in the pitch, roll, yaw, and throttle channels is generated through the force simulation solution model of the control load feedback system, serving as the instructor's control load data for the corresponding channels.

7. The flight parameter reproduction and real-time switching control method for simulated flight states according to claim 1, characterized in that, The synchronous dynamic display of flight status sequence and operational load data according to the first and second reproduction channels includes: The virtual visual system of the flight training auxiliary teaching equipment synchronously and dynamically displays the student flight status sequence and operational load data generated according to the first reproduction channel, as well as the instructor flight status sequence and operational load data generated according to the second reproduction channel, in a projection manner.

8. The flight parameter reproduction and real-time switching control method for simulated flight state according to claim 7, characterized in that, The flight training auxiliary teaching equipment is paired with the flight training simulation simulator and integrates the same cockpit system, control load feedback system, virtual vision system, and flight calculation control system as the flight training simulation simulator, but does not include the motion control platform and its control system. The flight training auxiliary teaching equipment receives the instructor's control data on the control mechanism based on the deviation between the control load data of the flight reproduction and the standard control load data, and immediately replaces the student's flight data with the instructor's control data to reproduce the flight parameters. Based on the dynamic synchronous comparison and representation of the instructor's real-time control data and the aircraft status, the historical / real-time control differences are superimposed and displayed.

9. A computer system, characterized in that, include: One or more processors; The memory stores operable instructions that, when executed by the one or more processors, cause the one or more processors to perform operations, including operations of the flight parameter reproduction and simulated flight state instantaneous switching control method according to any one of claims 1 to 8.

10. A computer-readable medium for storing software, characterized in that, The software includes instructions executable by one or more computers, which cause the one or more computers to perform operations, including operations of the flight parameter reproduction and simulated flight state instantaneous switching control method according to any one of claims 1 to 8.

Images