Rapid repositioning method and system for all-motion flight simulator

Abstract

The invention discloses a rapid repositioning method and system for a full-motion flight simulator. The system comprises a flight simulation module, a repositioning state database module, a simulation trimming module, an interface acquisition module and a teacher platform. According to the rapid repositioning method, on the basis of a repositioning state database established based on a radial base multi-dimensional interpolation function, rapid indexing and high-precision approximation of a model initialization trimming initial value are achieved. Through cooperation of the system and the method, rapid, accurate and safe relocation in the flight envelope of the full-motion flight simulator under the condition of multi-dimensional relocation is realized. The rapid repositioning method is suitable for various flight simulators, and repositioning can be carried out by using the method after repositioning state databases of different simulators are established according to the different simulators, so that the method is a universal repositioning method for the flight simulator.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flight simulator technology, in particular to a rapid repositioning method and system for a full-motion flight simulator. BACKGROUND

[0002] As an advanced flight training device, flight simulators play an increasingly important role in pilot training and flight test verification. Flight simulation training simulators need to have repositioning function to meet the rapid conversion between different training test subjects. Repositioning is to make the simulation model in the flight simulator reach the simulation initial point of a certain subject. Except for some fault simulation training, the simulation initial point of the conventional training often needs the aircraft simulation model to reach a stable equilibrium state.

[0003] If the model cannot reach a balanced state after repositioning, it is likely to cause the flight parameters such as speed and altitude to deviate seriously from the preset value or even the simulation model to oscillate after thawing in a short time. For general simulation deviation students, they need to adjust the attitude and trajectory of the aircraft first to enter the flight task required by the training subject. For full-motion flight simulators with motion platforms, the rapid attitude oscillation of the model in a short time may cause dangerous consequences.

[0004] Currently, the repositioning technology of flight simulators mainly relies on manual adjustment or simple mathematical model for state estimation. These methods not only have limited accuracy, but also are low in efficiency. In order to improve the accuracy and efficiency of repositioning, the present application proposes an innovative flight simulator repositioning method and system. Through efficient data processing and model trimming strategy, the rapid repositioning of full-motion flight simulators is realized.

[0005] The present application has the following advantages:

[0006] 1) Improving the repositioning efficiency and stability of full-motion flight simulators helps to improve the efficiency of flight simulation training.

[0007] 2) The repositioning database constructed based on multi-dimensional radial basis interpolation function can make the freedom of simulator repositioning setting higher. SUMMARY

[0008] In order to solve the problems of the prior art and realize the rapid, accurate and safe repositioning of full-motion flight simulators under multi-dimensional repositioning conditions within the flight envelope, the present application proposes a rapid repositioning method and system for full-motion flight simulators, which includes a flight simulation module, a repositioning state database module, a simulation trimming module, an interface acquisition module, a teacher station and a rapid repositioning method realized by using these modules.

[0009] The flight simulation module is used for solving flight simulation parameters of the whole simulator, sending driving data of the other human sense system, and is also a main carrier of the quick repositioning method.

[0010] In order to further improve the efficiency of repositioning, the repositioning state database module is introduced, which is used for storing the control input and state quantity parameters of the aircraft repositioning point.

[0011] The simulation trimming module is used for realizing initial trimming of the model after receiving the repositioning instruction, so that the flight simulation module can start simulation in a stable state.

[0012] The interface collection module is used for collecting data of the cockpit panel and the flight control system, and inputting the collected data as driving data of the flight simulation module.

[0013] The instructor station is used for setting the aircraft initialization parameters, environment parameters and repositioning points, and realizing scheduling control of the simulator flight simulation, including initialization, freezing, unfreezing, ending and snapshot of the simulation.

[0014] The quick repositioning method of the full-motion simulator is that the data obtained after full envelope simulation by the flight simulation module is used to establish a multi-dimensional trimming point (not limited to speed and height) repositioning state database to store all state quantities of the aircraft at different trimming points.

[0015] The core idea of the quick repositioning method is to use some initial flight simulation training record data, to establish a multi-dimensional repositioning state database based on a radial basis interpolation function with a Gaussian function as a kernel function, and to index the best trimming initial value in the database under the current repositioning state by initialization to realize quick trimming before model simulation unfreezing, so as to achieve the purpose of quick repositioning. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The system schematic diagram of the application;

[0017] Figure 2 The flight simulation module schematic diagram;

[0018] Figure 3Gaussian function used as kernel function;

[0019] Figure 4 System repositioning flowchart;

[0020] Figure 5 Different situation repositioning call model schematic diagram; DETAILED DESCRIPTION

[0021] In order to make the purpose, implementation steps and technical features of the present application clearer, the present application will be further described in detail below with reference to the drawings and corresponding formulas in the present application.

[0022] As Figure 1 shown, a system for realizing the rapid repositioning function of a full-motion flight simulator includes the following parts, i.e., a flight simulation module, a repositioning state database module, a simulation trimming module, an interface acquisition module and an instructor station. Next, in order to elaborate the content involved in the present application, the modules that need to be explained are introduced.

[0023] (1) Flight simulation module: the flight simulation module is composed of an aircraft flight performance simulation model, an aircraft electromechanical system simulation model, a flight control (maneuvering) system simulation model and an environment simulation model, as shown in Figure 2 . The flight performance simulation model is further divided into a mass characteristic sub-model, a six-degree-of-freedom motion sub-model and an aerodynamics simulation sub-model, which mainly simulates the kinematics and dynamics and other physical characteristics of the aircraft. The aircraft electromechanical system simulation model is further divided into a landing gear simulation sub-model, an engine simulation sub-model, a fuel simulation sub-model, a power supply simulation sub-model and a hydraulic simulation sub-model, which simulates the working state of the aircraft system and the cabin response logic. The flight control (maneuvering) system simulation model mainly provides the flight control system logic switching function in the flight simulation process. The environment simulation model includes an atmospheric environment sub-model, a wind field environment sub-model and a meteorological condition sub-model, which mainly provides standard and non-standard flight environments to meet the needs of different subjects, and at the same time, adding the environment model can better realize the repositioning under different complex weather conditions and avoid the disturbance effect of weather conditions on the initial trimming of the flight simulation model.

[0024] (2) Repositioning state database module: the repositioning state database module is constructed by radial basis function interpolation of the state parameters recorded by the flight simulation module in advance, and its construction process is realized by C++ code, and the algorithm implementation steps are as follows:

[0025] Step 1: Construct a multi-dimensional array based on the parameters recorded by the flight simulation, such as the following state quantity vector , which contains the airspeed , altitude , body axis velocity pitch angle roll angle total weight non-dimensional relative center of gravity position throttle control amount longitudinal control amount lateral control amount landing gear wheel load state etc. Mainly used to determine whether it is an air relocation or ground relocation, 0 is in the air, 1 is on the ground, the case is less, so as the highest dimension of the multi-dimensional array.

[0028] Step 2: Construct a radial basis interpolation function based on the multi-dimensional array of each state parameter in In order to facilitate the expression, each state parameter in is expressed in , so the radial basis interpolation function about a certain state parameter , is in the form of:

[0029]

[0030]

[0031] Where i is the state parameter index, j is the data point index of each state quantity, the number of i is constant, that is, n is constant, n is the number of state parameters, and m is the number of data points of the current state parameter. For each different state quantity parameter, m is not the same.

[0032] is the kernel function of the jth data point of a certain state parameter about variable, is the corresponding weight, and the multi-dimensional radial basis interpolation function of the state parameter can be obtained by summing the weights of the kernel functions constructed for each state parameter other than itself.

[0033] Step 3: Gaussian function has the advantages of strong locality, can be mapped to infinite dimension, few parameters and easy to select, diverse decision boundary and simplified calculation, etc. Selecting Gaussian function as the kernel function of radial basis interpolation function can more smoothly transition between the data points of multi-dimensional array, avoiding singular points. As shown in Figure 3 The form of Gaussian function is:

[0034] ​​

[0035] is the index value of each data point with respect to the i-th state parameter, is the interval between each interpolation point. It can be seen that the Gaussian function is actually a normal distribution for each interpolation point, so it will have a higher density distribution at each state point, which is beneficial to associate the correlation of the state parameter to the interpolation function of the state quantity.

[0036] Step 4: Obtain the kernel function weight value by substituting the data points in the multi-dimensional array into , … , and obtaining the inverse matrix of the multi-dimensional array matrix to obtain the kernel function weight value. Finally, the kernel functions of each radial basis interpolation function are weighted and summed to obtain the interpolation surface space of the repositioned state database.

[0037] (3) Simulation trimming module: The purpose of the simulation trimming module is also to achieve rapid repositioning of the flight simulator at the beginning of simulation, and to quickly and accurately trim the model after receiving the instructor station repositioning command.

[0038] The process is as follows Figure 4 , first, after receiving the instructor station repositioning command, the model is in a frozen state, and the repositioning state database module quickly inputs the indexed state quantities and control quantities into the model as trimming initial values. At this time, the model does not receive any external input. Then the simulation trimming module classifies the repositioning situation, which is to determine the minimum model system unit that needs to be dispatched for trimming iteration by the trimming module, Figure 5 is the model in the flight simulation module that needs to be dispatched for repositioning trimming. After all system models are trimmed, the repositioning success state is sent to the instructor station.

[0039] Thus, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to related technical features without departing from the principles of the present application, and the technical solutions after these changes or replacements will all fall within the protection scope of the present application.

Claims

1. A method and system for rapid repositioning of a full-motion simulator, comprising a flight simulation module, a repositioning state database module, a simulation trimming module, an interface acquisition module, and an instructor station, and a rapid repositioning method implemented using the modules, rapid and accurate repositioning of the full-motion flight simulator under multi-dimensional repositioning conditions within a flight envelope is achieved by cooperation of the system and method. The flight simulation module is used to implement the flight simulation function of the entire full-motion flight simulator, which includes a plurality of simulation models, and the models related to the method of the application include an aircraft flight performance simulation model, an aircraft electromechanical system simulation model, a flight control (maneuvering) system simulation model, and an environment simulation model. The models are interconnected to achieve flight simulation of the aircraft, and real-time simulation parameters are sent as human-simulation data to the human-simulation system (visual, sound, motion platform, and control load) of the full-motion simulator. The repositioning state database module is used to store a large number of flight trimming points of the aircraft, and the full-machine state values and interface input values are used to achieve rapid selection of initial values for repositioning of the full-motion flight simulator, and the initial values are used as initial values for model trimming by the simulation trimming module. The simulation trimming module is used to implement initial trimming of the model after receiving the repositioning instruction, to ensure that the flight simulation module can start simulation in a stable state. The interface acquisition module is used to acquire data from the cockpit panel and flight control system, and the acquired data is input as driving data for the flight simulation module. The instructor station is used to set aircraft initialization parameters, environmental parameters, and repositioning points, to achieve scheduling control of the flight simulation of the simulator, including initialization, freezing, unfreezing, ending, and snapshot of the simulation.

2. The method for rapid repositioning of a full-motion simulator according to claim 1, comprising the following steps: Step 1: A multi-dimensional trimming point (not limited to speed and altitude) repositioning state database is established using data obtained after full-envelope simulation by the flight simulation module, to store all state values of the aircraft at different trimming points; Step 2: After receiving a repositioning instruction from the instructor station each time, the repositioning state database module searches for the state values of the aircraft at the current repositioning point in the database through multi-dimensional radial basis function interpolation, as initial values for repositioning trimming of the aircraft; Step 3: The simulation trimming module trims the model after receiving an instruction from the instructor station after model initialization, and sends a trimming completion prompt to the instructor station after determining that the model trimming is complete and the simulation can begin.

3. The full-motion simulator rapid repositioning method of claim 2, wherein: The state parameters and external control input data recorded in step 1 are combined and stored in the form of a multi-dimensional array, and the dimensions of the multi-dimensional array are sorted according to the priority of the repositioning parameters during processing. Some parameters considered important for repositioning are set as high dimensions, with speed and altitude as the first and second dimensions of the array, followed by full-machine weight, center of gravity position, engine thrust, pitch angle, roll angle, etc., to ensure data smoothness.

4. The full-motion simulator rapid repositioning method of claim 2, wherein: Based on the radial basis interpolation function with Gaussian function as kernel function, the initial state values of the aircraft in different repositioning situations can be indexed quickly and accurately in multi-dimensional array according to multi-condition repositioning, and then passed to the trim module as trim initial values.

5. The method of claim 2, wherein: For the repositioning requirements in different situations, the full aircraft model is not trimmed, but only the minimum system composed of the current minimum model unit is trimmed, so that the efficient repositioning and trimming of the flight simulator can be realized under the condition of meeting the full system stability of the flight simulation after the thawing of the flight simulation.

6. The method of claim 2, wherein: The instructor console needs to remind the trainee to reset the current positioning state of the control stick, throttle lever and cockpit buttons, etc. after the model repositioning is completed.

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