Training method and system based on VR visual simulation for new aerial vehicle

Abstract

A training method and system based on VR visual simulation for a new aerial vehicle. A VR display system is combined with real flight. An aerial vehicle as a real aerial vehicle flies in a relatively safe state, such as hovering or moving at a low speed. At the same time, a pilot wears a virtual display device such as VR glasses in the VR display system, and a corresponding flying state after the pilot performs an operation is displayed by means of the VR display system. The flying state of the aerial vehicle does not respond completely in accordance with the operation of the pilot, in order to simulate flying states involving a relatively high risk, e.g., scenarios such as a relatively high altitude and a relatively high speed. Thus, a real environmental state is achieved to provide a pilot with a real hovering experience, and the flight training of the pilot is also completed under a relatively safe condition.

Description

A new aircraft training method and system based on VR visual simulation

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 7, 2023, with application number 202311477386.0 and invention name “A new aircraft training method and system based on VR visual simulation”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of aircraft training, and in particular to a novel aircraft training method and system based on VR visual simulation. Background Art

[0003] Various forms of single-person aircraft are currently under development, including large, electric-powered manned quad-rotor aircraft and backpack-mounted or pedal-powered aircraft powered by turbojet engines. These single-person aircraft feature novel designs, a wide range of cutting-edge technologies, and strong human-machine integration. Traditional manned aircraft, such as airplanes, rely on pilots to indirectly control the aircraft through buttons and joysticks, rather than directly. However, the flight process of these new single-person aircraft is highly coupled to changes in human posture and center of gravity, making it difficult to simulate pilot training on the ground using traditional aircraft simulation systems. However, direct free flight by pilots carries significant safety risks. Therefore, there is an urgent need to develop a system that allows for training on actual aircraft while ensuring relative safety.

[0004] Summary of the Invention

[0005] The present invention addresses the issues of difficulty, risk, and cost in pilot training for single-person aircraft, and provides a new aircraft training method and system based on VR visual simulation. Unlike traditional aircraft, the flight performance and flight status of single-person aircraft are greatly affected by the pilot's personal ability and operation. It is difficult to recreate the real state with a full simulation, and the risk of pilots directly performing large maneuvers in the real state is very high. The solution provided in this application is applied to the flight training system of a new single-person aircraft, combining VR visual simulation with actual flight, and realizing pilot training for single-person flight by combining VR simulated reality with real aircraft.

[0006] First, a new aircraft training method based on VR visual simulation is provided, including:

[0007] Control the aircraft and VR display system to enter working mode;

[0008] Coordinated control between the aircraft and the VR display system includes displaying the corresponding flight effects in the VR display system based on the pilot's control instructions received by the aircraft, and controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0010] Determine the training mode;

[0011] After starting training, instructions are sent to the VR display system and aircraft according to the set training mode.

[0012] In conjunction with the first aspect, in certain implementations of the first aspect, the training mode includes a pure VR mode and a flight mode;

[0013] If it is pure VR mode, after starting training, send the aircraft a standby command;

[0014] If it is in flight mode, after starting training, send hovering instructions or low-speed flight instructions to the aircraft.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0016] confirm flight information;

[0017] After starting training, instructions are sent to the VR display system according to the set flight information, so that the VR display system displays the picture corresponding to the flight information.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the flight information includes at least one of the following: location information, flight status, flight route, and maximum flight speed.

[0019] In conjunction with the first aspect, in certain implementations of the first aspect, sending instructions to the VR display system based on the set flight information includes:

[0020] According to the pre-set location information, the global terrain altitude database is called to obtain the corresponding terrain data;

[0021] Obtain satellite images and combine them with terrain data to load landforms onto the terrain;

[0022] Control the VR display system to load the display of terrain and landforms;

[0023] According to the pre-set flight route and maximum flight speed, the expected flight route is planned and displayed through the VR display system.

[0024] In conjunction with the first aspect, in certain implementations of the first aspect, displaying corresponding flight effects on a VR display system based on pilot control commands received by the aircraft, and controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft, includes:

[0025] Calling the flight simulation model to calculate in real time the simulated information of the aircraft's flight under the pilot's control instructions, the simulated information including simulated speed, simulated position and simulated attitude information;

[0026] Send all simulation information to the VR display system, and the VR display system updates the display content according to the received simulation information;

[0027] The simulated attitude information in the simulation information is sent to the aircraft so that the aircraft can achieve corresponding attitude changes under the control instructions of the pilot.

[0028] In combination with the first aspect, in certain implementations of the first aspect, the pilot control instructions include joystick instructions for instructing the flight effects displayed by the VR display system.

[0029] In combination with the first aspect, in certain implementations of the first aspect, the flight effect includes a flight speed, and the flight speed is calculated by the joystick command using the following equation: Vx cmd =(Ka1×Px+Ka2×Px×Px×Px)×Kv_x Vy cmd =(Ka1×Py+Ka2×Py×Py×Py)×Kv_y Vz cmd =(Ka1×Pz+Ka2×Pz×Pz×Pz)×Kv_z

[0030] Among them, Ka1, Ka2 and Kv are calculation coefficients and speed proportional coefficients respectively, Vx cmd is the desired forward flight velocity, Vy cmd is the desired lateral flight speed, Vz cmd is the desired speed in the altitude direction, Px is the joystick swing amount in the forward and backward directions, Py is the joystick swing amount in the left and right directions, and Pz is the altitude push stick swing amount. For Px, Py and Pz, the joystick swing amount varies from -1 to +1. When the joystick is in the middle position, the swing amount is 0, and the output desired flight speed is also 0. When the joystick is swung to the bottom, the swing amount is 1, and the output is the maximum desired speed Kv m / s.

[0031] In conjunction with the first aspect, in certain implementations of the first aspect, the flight effect includes a flight altitude, and the flight altitude is calculated from the joystick command using the following equation: Vz=[c5 c6]z Z=Z old +Tz*Vz

[0032] Among them, Vz is the speed in the height direction displayed by the VR display system, Z is the current height, and Z old is the height of the previous step, Tz is the time step of the height calculation, and the coefficients c1 to c6 are calculated by the height direction velocity transfer function.

[0033] In combination with the first aspect, in certain implementations of the first aspect, the flight effect includes a flight attitude angle, and the joystick command is used to resolve the flight attitude angle using the following equation: Angle_x = Vx*K Angle_y = Vy*K

[0034] Angle_x is the pitch angle displayed by the VR display system, Angle_y is the azimuth angle displayed by the VR display system, Vx is the forward speed displayed by the VR display system, Vy is the lateral speed displayed by the VR display system, and K is the coefficient.

[0035] In conjunction with the first aspect, in certain implementations of the first aspect, controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft includes:

[0036] The control instruction of the aircraft attitude angle is determined based on the deviation between the current angle of the aircraft and the current attitude angle output by the VR display system.

[0037] In conjunction with the first aspect, in certain implementations of the first aspect, controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft further includes:

[0038] The control instructions for the aircraft attitude angle are determined based on the accumulated deviation between the aircraft angle at each step and the attitude angle output by the VR display system.

[0039] In conjunction with the first aspect, in certain implementations of the first aspect, controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft further includes:

[0040] The control instructions for the aircraft's attitude angle are determined based on the angular velocity output by the IMU on the aircraft.

[0041] In combination with the first aspect, in certain implementations of the first aspect, the control instruction of the aircraft attitude angle satisfies: Angle_x_Cmd = Angle_x_Error*Kp+Angle_x_Int*Ki+Wx*Kd Angle_y_Cmd = Angle_y_Error*Kp+Angle_y_Int*Ki+Wy*Kd

[0042] Anlge_i_Cmd is the desired angle command sent to the aircraft, Anlge_i_Error is the deviation between the current angle of the aircraft and the current attitude angle output by the VR display system, Angle_i_Int is the cumulative deviation between the aircraft angle and the attitude angle output by the VR display system at each step, Wi is the angular velocity output by the IMU on the aircraft, Kp, Ki, and Kd are all coefficients, and i = x, y.

[0043] In conjunction with the first aspect, in certain implementations of the first aspect, controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft further includes at least one of the following:

[0044] Correct the control instructions of the aircraft attitude angle according to the center of mass deviation and the corresponding correction coefficient K1;

[0045] According to the angle obtained by integrating the angular velocity Anglei fed back by the IMU on the aircraft and the corresponding correction coefficient K2, the control instruction of the aircraft attitude angle is corrected, i = x, y.

[0046] In conjunction with the first aspect, in certain implementations of the first aspect, the center of mass deviation is calculated using the following equation:

[0047] A sj (s=1,2,3,4j=1,2,3,4) is the pressure value collected for each pressure pedal, G is the weight of the flight crew, B sj (s=1,2,3,4j=1,2,3,4) is the coefficient for calculating the center of mass deviation, Press x and Press y Reflects the degree of eccentricity of the center of mass in the forward and backward directions and the left and right directions respectively.

[0048] In a second aspect, an aircraft motion simulation system is provided, wherein the aircraft motion simulation system is used to execute the method described in any one of the implementations of the first aspect.

[0049] In the third aspect, a new aircraft training system based on VR visual simulation is provided, which includes an aircraft, an aircraft motion simulation system and a VR display system. The aircraft motion simulation system is an aircraft motion simulation system as described in any one of the implementation methods of the second aspect above.

[0050] Compared with the existing technology, the solution provided by this application includes at least the following beneficial technical effects:

[0051] Currently, there is a lack of effective training methods for single-person aircraft. Pilots' flying abilities and skills can only be improved through actual flight, which carries significant risks and severely inadequate training time. Furthermore, other similar VR training technologies, such as automotive VR training, use pure VR technology, which differs significantly from the real environment. This invention combines VR technology with the real environment to develop a VR training technology specifically for single-person aircraft for the first time, filling the gap in technical approaches for pilot training for single-person aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] FIG1 is a schematic structural diagram of a novel aircraft training system based on VR visual simulation provided in an embodiment of the present application.

[0053] FIG2 is a schematic structural diagram of an aircraft motion simulation system provided in an embodiment of the present application.

[0054] FIG3 is a schematic flowchart of a novel aircraft training method based on VR visual simulation provided in an embodiment of the present application.

[0055] FIG4 is a schematic diagram of an angle control instruction for an aircraft provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The present application is described in further detail below with reference to the accompanying drawings and specific embodiments.

[0057] The solution provided in this application is used to conduct flight training for single-person aircraft pilots by combining VR with physical equipment. Figure 1 shows the new aircraft training system based on VR visual simulation involved in this application, which may include an aircraft, an aircraft motion simulation system and a VR display system. Figure 2 is an aircraft motion simulation system provided in an embodiment of this application. The aircraft of this training system can be applied to a real flight environment, that is, a real aircraft flying in actual space. The aircraft motion simulation system performs kinematic and dynamic simulation calculations in real time, and drives the VR display system through data to correctly display the current flight status, so that the VR display system simulates the pilot's sensory experience of flying in the air through VR glasses. The aircraft motion simulation system includes a transceiver module and a processing module. The transceiver module is used to exchange information between the aircraft and the VR display system, and the processing module is used to implement the resolution of control instructions for the aircraft and the VR display system.

[0058] The solution provided by this application is to combine the VR display system with real flight. The aircraft flies in a relatively safe state under the real aircraft, such as hovering or moving at a low speed. At the same time, the pilot wears a virtual display device in the VR display system, such as VR glasses, etc., and the corresponding flight status after the pilot's operation is displayed through the VR display system, but the flight status of the aircraft will not respond completely according to the pilot's operation, so as to simulate a flight state with higher risks, such as high altitude, high speed and other scenarios. Ultimately, a real environmental state is achieved, providing the pilot with a real sense of hovering, while also completing the flight training for the pilot under relatively safe conditions.

[0059] Figure 3 is a schematic flow chart of a novel aircraft training method based on VR visual simulation provided by an embodiment of the present application. The specific training process is as follows.

[0060] (1) The aircraft motion simulation system determines the training mode and flight information.

[0061] Selectable training modes include pure VR mode and flight mode. Pure VR mode indicates that the aircraft is not currently performing flight, including hovering and low-speed flight. Flight mode indicates that the aircraft is performing flight during training.

[0062] After setting up the training mode, configure the flight information. Flight information may include location information, flight status, flight route, and maximum flight speed. Location information, for example, includes the takeoff and destination locations. Location information can be represented by longitude, latitude, and altitude. Flight status, for example, includes hovering and low-speed flight. The flight route can be one of multiple routes from the takeoff point to the destination. The maximum flight speed can be used to indicate that the aircraft's flight speed must not exceed the maximum flight speed.

[0063] (2) The personnel put on the VR equipment, the VR display system enters the standby mode, and the aircraft enters the takeoff preparation state.

[0064] (3) The aircraft motion simulation system controls the aircraft and VR display system to enter the working mode. After the training begins, the aircraft motion simulation system sends instructions to the VR display system and the aircraft according to the set training mode. If it is in pure VR mode, only the standby instruction is sent to the aircraft. If it is in flight mode, both flight data and flight instructions are sent to the VR display system.

[0065] (4) The aircraft motion simulation system coordinates control between the aircraft and the VR display system. According to the pilot's control instructions received by the aircraft, the corresponding flight effect is displayed in the VR display system, and the attitude angle displayed by the VR display system is controlled to match the attitude angle of the aircraft.

[0066] The aircraft motion simulation system can access the global terrain altitude database based on pre-set location information (longitude, latitude, and altitude) to obtain the terrain at that location. The aircraft motion simulation system can obtain satellite images and combine them with terrain data to load landforms onto the terrain (where terrain refers to the ups and downs of the terrain, and landforms refer to ground environments such as grasslands, forests, and cities). The aircraft motion simulation system displays and loads the terrain and landforms in real time through the VR display system. The aircraft motion simulation system can also plan a projected flight route based on the pre-set flight route and maximum flight speed, and display it through the VR display system.

[0067] The aircraft motion simulation system can control the aircraft to hover (but basically not move), and at the same time control the aircraft and VR display system to synchronize their attitude. In other words, the flight situation of the aircraft is adapted to the VR simulation scene. After the flight begins, the aircraft motion simulation system can call the six-degree-of-freedom simulation model and the human body flexibility simulation model to calculate the current simulated speed, simulated position and simulated attitude information of the aircraft under the pilot's control in real time, and pass all the information to the VR display system. The VR display system updates the display content according to the received simulated speed, simulated position and simulated attitude information to achieve the effect of high-speed movement within the visual field. In addition, the aircraft motion simulation system only updates the attitude information to the aircraft. The attitude of the aircraft changes accordingly while it is hovering, achieving the real attitude movement of the flight.

[0068] The pilot then controls the aircraft using the joystick, buttons, and somatosensory controls based on the current VR display system, the aircraft's real-world sensory content, and their desired flight maneuvers. The aircraft's motion simulation system collects all flight maneuver commands and feeds them into the simulation model for calculation, executing flight training. When the pilot issues the command to end the flight, the aircraft ends its hovering and lands, and the VR display system terminates.

[0069] The dynamic matching of the VR display system and the aircraft requires that the visual effects in the VR display system's field of view are consistent with the pilot's expected experience after performing operations on the aircraft (in actual training, the aircraft remains in hover or flies at low speeds and does not fully respond to the pilot's control commands). For example, when accelerating in the VR display system, the human senses require a larger tilt angle.

[0070] In some embodiments, human posture information is acquired by collecting pressure from the human foot pedals on the aircraft, while flight control information is obtained through the buttons and joysticks on the control handle. After the aircraft motion simulation system collects all this information, it first calculates the control effect of this posture information and control information using the aircraft model.

[0071] Flight control information is fed as commands into an online kinematic and dynamics equation solver that combines six degrees of freedom with flexible human motion. This information is then converted into current velocity, position, and attitude information, which is then distributed to the VR display system and the aircraft. The VR display system continuously receives position and attitude information calculated in real time. Whenever the position changes, the scene within the pilot's field of view is updated. The faster the position changes, the faster the scene changes, resulting in a higher flight speed, both horizontally and vertically.

[0072] The VR display system and aircraft also receive attitude information. The VR display system's view of the VR scene aligns with changes in attitude. For example, if the aircraft is lowering its head, the view in the VR display system gradually shifts toward the ground. Simultaneously, the aircraft undergoes the same attitude changes in mid-air, aligning the human visual experience with the physical experience. This unified and integrated calculation method, combining human-perceived attitude changes with VR display speed changes, ensures that the VR simulation system and the aircraft's state are aligned, achieving optimal dynamic matching.

[0073] The aircraft motion simulation system can serve as the VR display system and aircraft control system, and is the core of the entire aircraft training system. The aircraft motion simulation system can have command solution, kinematics and dynamics simulation, and output data synchronization functions.

[0074] In one embodiment, command resolution can be to resolve the joystick command to the pilot's desired action. The stick command resolution equation is as follows: Vx cmd =(Ka1×Px+Ka2×Px×Px×Px)×Kv_x Vy cmd =(Ka1×Py+Ka2×Py×Py×Py)×Kv_y Vz cmd =(Ka1×Pz+Ka2×Pz×Pz×Pz)×Kv_z

[0075] Among them, Ka1, Ka2 and Kv are calculation coefficients and speed proportional coefficients respectively, Vx cmd is the desired forward flight velocity, Vy cmd is the desired lateral flight speed, Vz cmd is the desired altitude speed, Px is the forward / reverse stick swing, Py is the left / right stick swing, and Pz is the altitude stick swing. For Px, Py, and Pz, the stick swing ranges from -1 to +1. When the stick is in the middle position, the swing is 0, and the output of the desired flight speed is also 0. When the stick is fully moved, the swing is 1, and the output is the maximum desired speed (kv m / s).

[0076] In one embodiment, command resolution can be performed by calculating center of mass deviation interference based on changes in human posture. Center of mass deviation interference can reflect changes in human posture. The principle of analyzing center of mass deviation interference is to calculate the pressure change values ​​of different parts of the body using the pressure pedal. The pressure pedal has a total of 4*4, and the 16 pressure collection points are as follows:

[0077] A sj (s=1,2,3,4j=1,2,3,4) is the pressure value of each pressure collection point, and the calculation formula for the collection center of mass change is as follows:

[0078] G is the weight of the flight crew. sj (s=1,2,3,4j=1,2,3,4) are coefficients for calculating the total pressure deviation (center of mass deviation). In one embodiment, B s1 =B s2 =B s3 =B s4 . Press x and Press y It can reflect the degree of load imbalance of the center of mass in the forward and backward directions and the left and right directions respectively.

[0079] After the command is solved, the aircraft motion simulation system can send the solution results to the VR display system. The VR display system displays the current position and attitude changes in real time based on the solution results (i.e., attitude information and position information. Attitude information can be calculated from the pressure value of the pressure pedal, and position information can be calculated from the speed information).

[0080] Visual changes in VR display systems can be divided into height changes, horizontal position changes, and posture changes. Height changes occur independently, while horizontal position and posture changes are coupled.

[0081] For example, the state space equation is as follows: Vz=[c5 c6]z

[0082] Where Vz is the height velocity displayed by the VR display system. The specific coefficients c1 to c6 of the matrix in the state space equation can be set according to the actual situation. Set the VR display system to calculate the current position every 16.66ms based on the output height velocity. The calculation formula is as follows: Z = Z old +Tz*Vz

[0083] Z is the current height, Z oldis the altitude of the previous step, and Tz is the time step for altitude calculation. Based on the continuously calculated altitude, the altitude of the aircraft in VR can be determined. This allows the VR display system to display the altitude image in real time, with Tz = 16.66ms.

[0084] The transfer function and lateral state equation in the forward direction are the same as the velocity state space equation in the altitude direction, where the matrix coefficients are determined according to the actual situation. Vx=[a5 a6]x X=X old +Tx*Vx

[0085] Where Vx is the forward speed displayed by the VR display system, X is the current forward position, and X old is the forward position of the previous step, Tx is the time step of the forward position calculation, and the coefficients a1 to a6 are calculated by the forward velocity transfer function. Vy=[b5 b6]y Y=Y old +Ty*Vy

[0086] Among them, Vy is the lateral speed displayed by the VR display system, Y is the current lateral position, and Y old is the lateral position of the previous step, Ty is the time step for lateral position calculation, and the coefficients b1 to b6 are calculated by the lateral velocity transfer function.

[0087] The corresponding attitude angle calculation formula is as follows: Angle_x=Vx*K Angle_y=Vy*K

[0088] After the aircraft receives the command, the aircraft motion simulation system begins to control the aircraft's attitude. Since the aircraft is not flying and is at most in a hovering state, the aircraft motion simulation system only needs to control the aircraft's attitude angle.

[0089] The aircraft motion simulation system uses PID to control the aircraft attitude angle. The control equations are as follows: Angle_x_Cmd = Angle_x_Error*Kp+Angle_x_Int*Ki+Wx*Kd Angle_y_Cmd = Angle_y_Error*Kp+Angle_y_Int*Ki+Wy*Kd

[0090] Anlge_i_Cmd(i=x,y) is the desired angle command sent to the aircraft, and Anlge_i_Error(i=x,y) is the deviation between the aircraft's current angle and the current attitude angle output by the VR display system. Due to this deviation, the aircraft motion simulation system can output angle control commands to make the aircraft's attitude angle closer to the attitude angle output by the VR display system.

[0091] Angle_i_Int (i = x, y) is the error integral, representing the cumulative deviation between the aircraft's current angle and the desired angle (the attitude angle output by the VR display system) at each step. This accumulated deviation helps eliminate persistent deviations between the aircraft and the VR display system. The specific cause and extent of this persistent deviation are often unknown. If ignored, the attitude angles of the aircraft and VR display system may deviate at each step, making it difficult to gradually narrow the gap.

[0092] Wi(i=x, y) is the angular velocity output by the aircraft's IMU. When the aircraft is adjusting its attitude, it experiences a certain amount of acceleration. Therefore, even if no control commands are given in the next step, the aircraft's attitude will change. By accounting for the aircraft's own acceleration, subsequent attitude control of the aircraft can more easily achieve the desired attitude angle.

[0093] The above-mentioned Anlge_i_Cmd (i = x, y) can be considered as the theoretical command value of the aircraft. Due to the actual physical complexity of the aircraft, it is impossible to fully express it using a mathematical model. At the same time, the changes in the human body's center of mass cause the aircraft attitude to be inconsistent with the attitude calculated by the VR mathematical model. This difference will gradually widen over time. In order to ensure the synchronization of VR and aircraft attitudes, real-time attitude synchronization is required. In some embodiments, the aircraft attitude angle control input can include two parts: one is the center of mass deviation Pressx and Pressy mentioned above, and the other is the angular velocity of the aircraft. The control system principle is as follows. That is, by collecting the pressure collected by the human foot pedal on the aircraft, the human body attitude information and center of gravity changes, namely Pressi (i = x, y) mentioned above, and the actual aircraft inertial unit IMU feedback angular velocity Wi (i = x, y), the above-mentioned output angular velocity command Anlge_i_Cmd (i = x, y) is corrected, as shown in Figure 4.

[0094] In Figure 4, the actuator can be a transmitter, a servo, or other control actuator depending on the type of aircraft. The target attitude model is as follows:

[0095] In the above formula, θ and φ are the attitude angular velocities Angle_x and Angle_y, and ψ is the spin attitude angle, which is not controlled. p, q, and r are angular velocities, and r is the radius vector. By solving this model, the parameters K1 and K2 are adjusted according to the model to achieve Pressx and Pressy, as well as the actual corrections to the angular velocities Wx and Wy fed back by the aircraft's inertial unit (IMU). This allows for dynamic alignment of the aircraft's attitude control with the attitude in the VR display system's view. Adjusting the parameter K1 in combination with the center of mass offsets Pressx and Pressy can be used to correct for the effects of pilot center of mass changes on the aircraft's attitude angle. Adjusting the parameter K2 in combination with the angles Anglex and Angley (Anglex and Angley are obtained by integrating the angular velocities Wx and Wy fed back by the aircraft's IMU over 1 / s) can be used to improve the efficiency with which the aircraft's attitude angle approximates the attitude angle of the VR display system.

[0096] In some embodiments provided herein, when the human body is in a VR environment, large movements or other situations are unavoidable. In these situations, the aircraft needs to adapt to the human body's movements during training, terminating training when necessary. The key is to identify the danger level of the pilot's current movements. Prolonged VR visual experience can easily cause the pilot to lose their sense of the current space. This means that the pilot's perceived angle of the actual aircraft will not be consistent with the actual angle of the aircraft. If the actual aircraft has reached a large angle, but the pilot still perceives the angle as small, continuing to issue commands to increase the angle can easily lead to dangers such as the aircraft capsizing.

[0097] One possible solution is to monitor the changes in the pilot's center of mass attitude and the aircraft's current attitude in real time, setting two angle thresholds for the aircraft: a warning angle and a danger angle. If the aircraft's attitude angle reaches the warning angle, it enters a protection mode, refusing to respond to commands to increase the angle or speed and only accepting commands to decrease them. If the attitude angle continues to increase, reaching the danger angle due to pilot error or unstable posture, the aircraft enters a safe mode, discontinues flight, and directly lands. The VR display system then exits, and the virtual image ceases to be displayed.

[0098] As an emerging class of aircraft, single-person aerial vehicles (SAVs) offer flexible use, portability, controllability, minimal takeoff and landing requirements, rapid response, and strong maintainability. However, these aircraft weigh as much as or even less than a human, inherently creating a strong human-machine coupling. The effects of this coupling are difficult to simulate using ground-based modeling, while directly verifying control effectiveness through real-world flight poses significant safety risks. Therefore, as SAVs gain increasing popularity and widespread attention, there is a significant demand and promising application for developing a training method that combines VR visual simulation with real-world aircraft for simulation training. This system combines VR simulation of high-risk flight scenarios, such as intense motion and high-speed movements, with safer flight conditions, such as actual hovering. The system offers outstanding results, high safety, and strong practicality when used with SAVs.

[0099] Although the present invention is disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims

1. A new aircraft training method based on VR visual simulation, characterized in that: include: Control the aircraft and VR display system to enter working mode; Coordinated control between the aircraft and the VR display system includes displaying the corresponding flight effects in the VR display system according to the pilot's control instructions received by the aircraft, and controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft.

2. The method according to claim 1, characterized in that The method further comprises: Determine the training mode; After starting training, send instructions to the VR display system and aircraft according to the set training mode.

3. The method according to claim 2, characterized in that The training mode includes a pure VR mode and a flight mode; If it is pure VR mode, after starting training, send a standby command to the aircraft; If it is in flight mode, after starting training, send a hover command or a low-speed flight command to the aircraft.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Confirm flight information; After the training starts, instructions are sent to the VR display system according to the set flight information, so that the VR display system displays the picture corresponding to the flight information.

5. The method according to claim 4, characterized in that The flight information includes at least one of the following: location information, flight status, flight route, and maximum flight speed.

6. The method according to claim 5, characterized in that The sending of instructions to the VR display system according to the set flight information includes: According to the preset location information, the global terrain altitude database is called to obtain the corresponding terrain data; Get satellite images, combine them with terrain data, and load them onto the terrain. appearance; Control the VR display system to load the display of terrain and landforms; According to the pre-set flight route and maximum flight speed, the expected flight route is planned and displayed through the VR display system.

7. The method according to any one of claims 1 to 6, characterized in that The method of displaying corresponding flight effects in a VR display system according to the pilot control command received by the aircraft, and controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft, includes: Calling the flight simulation model to calculate in real time the simulated information of the aircraft flight under the control command of the pilot, the simulated information including simulated speed, simulated position and simulated attitude information; Send all simulation information to the VR display system, and the VR display system updates the display content according to the received simulation information; The simulated attitude information in the simulation information is sent to the aircraft, so that the aircraft can achieve corresponding attitude changes under the control instructions of the pilot.

8. The method according to any one of claims 1 to 7, characterized in that The pilot control instructions include joystick instructions, which are used to instruct the flight effects displayed by the VR display system.

9. The method according to claim 8, characterized in that The flight effect includes the flight speed. The flight speed is calculated by the joystick command through the following equation: Vx cmd =(Ka1×Px+Ka2×Px×Px×Px)×Kv_x Vy cmd =(Ka1×Py+Ka2×Py×Py×Py)×Kv_y Vz cmd =(Ka1×Pz+Ka2×Pz×Pz×Pz)×Kv_z Among them, Ka1, Ka2 and Kv are calculation coefficients and speed proportional coefficients respectively, Vx cmd is the desired forward flight speed, Vy cmd is the desired lateral flight speed, Vz cmd is the expected speed in the height direction, Px is the joystick swing amount in the forward and backward directions, Py is the left and right joystick swing amount, and Pz is the height push stick swing amount. For Px, Py and Pz, the joystick swing amount varies from -1 to +1. When the joystick is in the middle position, the swing amount is 0, and the output expected flight speed is also 0. When the joystick swings to the bottom, the swing amount is 1, and the output is the maximum expected speed Kv m / s.

10. The method according to claim 9, characterized in that The flight effect includes the flight altitude, and the flight altitude is calculated by the joystick command through the following equation: Vz=[c5 c6]z Z=Z old +Tz*Vz Among them, Vz is the speed in the height direction displayed by the VR display system, Z is the current height, and Z old is the height of the previous step, Tz is the time step of the height calculation, and the coefficients of c1 to c6 are calculated by the velocity transfer function in the height direction.

11. The method according to any one of claims 8 to 10, characterized in that The flight effect includes the flight attitude angle, and the joystick command is used to resolve the flight attitude angle through the following equation: Angle_x = Vx*K Angle_y = Vy*K Angle_x is the pitch angle displayed by the VR display system, Angle_y is the azimuth angle displayed by the VR display system, Vx is the forward speed displayed by the VR display system, Vy is the lateral speed displayed by the VR display system, and K is the coefficient.

12. The method according to claim 11, characterized in that The controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft includes: The control instruction of the aircraft attitude angle is determined according to the deviation between the current angle of the aircraft and the current attitude angle output by the VR display system.

13. The method according to claim 12, characterized in that The controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft also includes: The control instructions for the aircraft attitude angle are determined based on the accumulated deviation between the aircraft angle at each step and the attitude angle output by the VR display system.

14. The method according to claim 12 or 13, characterized in that The controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft also includes: The control instructions for the aircraft's attitude angle are determined based on the angular velocity output by the IMU on the aircraft.

15. The method according to any one of claims 12 to 14, characterized in that The control command of the aircraft attitude angle satisfies: Angle_x_Cmd=Angle_x_Error*Kp+Angle_x_Int*Ki+Wx*Kd Angle_y_Cmd=Angle_y_Error*Kp+Angle_y_Int*Ki+Wy*Kd Anlge_i_Cmd is the expected angle command sent to the aircraft, Anlge_i_Error is the deviation between the current angle of the aircraft and the current attitude angle output by the VR display system, Angle_i_Int is the cumulative deviation between the aircraft angle and the attitude angle output by the VR display system at each step, Wi is the angular velocity output by the IMU on the aircraft, Kp, Ki, and Kd are all coefficients, i=x, y.

16. The method according to any one of claims 12 to 15, characterized in that The controlling the attitude angle displayed by the VR display system to match the attitude angle of the aircraft also includes at least one of the following: According to the center of mass deviation and the corresponding correction coefficient K1, the control command of the aircraft attitude angle is corrected; According to the angle obtained by integrating the angular velocity Anglei fed back by the IMU on the aircraft and the corresponding correction coefficient K2, the control instruction of the aircraft attitude angle is corrected, i=x, y.

17. The method according to claim 16, characterized in that The centroid deviation is solved by the following equation: A sj (s=1,2,3,4 j=1,2,3,4) is the pressure value collected by each pressure pedal, G is the weight of the flight crew, B is the weight of the flight crew, sj (s=1,2,3,4 j=1,2,3,4) is the coefficient for calculating the centroid deviation, Press x and Press y It reflects the degree of eccentric loading of the center of mass in the forward and backward directions and the left and right directions respectively.

18. An aircraft motion simulation system, characterized in that: The aircraft motion simulation system is used to execute the method according to any one of claims 1 to 17.

19. A new aircraft training system based on VR visual simulation, characterized in that: The system includes an aircraft, an aircraft motion simulation system and a VR display system, and the aircraft motion simulation system is the aircraft motion simulation system as claimed in claim 18.

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