阅读说明：本技术 一种飞行准备演练仪 (Flight preparation drilling instrument ) 是由 潜继成 杜晓凯 刘国华 张文良 郭霞 郝虎昌 于 2021-06-29 设计创作，主要内容包括：本发明公开了一种飞行准备演练仪,演练仪包括平板电脑、电脑支架以及控制手柄；平板电脑固定设于电脑支架上；控制手柄与平板电脑电性连接；演练仪包括设置与控制模块、仿真子模块、视景子模块、仪表子模块以及辅助子模块；设置与控制模块包括系统控制模块、训练设置模块以及训练评估模块；仿真子模块包括控制接口模块、实体模型计算模块、记录与回放模块；视景子模块包括多通道视景模块以及单通道视景模块；仪表子模块包括虚拟仪表模块以及仪表参数实时更新模块；辅助子模块包括数据库模块、文件记录模块以及音响模块。本发明能够动态、实时的显示飞行过程中的各种参数和场景,提供一种信息化、数字化、可视化的地面演练平台。(The invention discloses a flight preparation drilling instrument, which comprises a tablet personal computer, a computer bracket and a control handle, wherein the tablet personal computer is connected with the computer bracket through a cable; the tablet personal computer is fixedly arranged on the computer bracket; the control handle is electrically connected with the tablet computer; the drilling instrument comprises a setting and control module, a simulation sub-module, a view sub-module, an instrument sub-module and an auxiliary sub-module; the setting and control module comprises a system control module, a training setting module and a training evaluation module; the simulation submodule comprises a control interface module, an entity model calculation module and a recording and playback module; the view sub-module comprises a multi-channel view module and a single-channel view module; the instrument sub-module comprises a virtual instrument module and an instrument parameter real-time updating module; the auxiliary sub-module comprises a database module, a file recording module and a sound module. The invention can dynamically and real-timely display various parameters and scenes in the flight process, and provides an informationized, digitalized and visualized ground drilling platform.)

1. A flight preparation drilling instrument is characterized in that: the drill instrument comprises a tablet personal computer, a computer bracket and a control handle; the tablet personal computer is fixedly arranged on the computer bracket; the control handle is electrically connected with the tablet personal computer;

the drilling instrument comprises a setting and control module, a simulation sub-module, a view sub-module, an instrument sub-module and an auxiliary sub-module;

the setting and control module comprises a system control module, a training setting module and a training evaluation module;

the simulation submodule comprises a control interface module, an entity model calculation module and a recording and playback module;

the view sub-module comprises a multi-channel view module and a single-channel view module;

the instrument sub-module comprises a virtual instrument module and an instrument parameter real-time updating module;

the auxiliary sub-module comprises a database module, a file recording module and a sound module.

2. The flight preparation drill of claim 1, wherein: the database module comprises a virtual instrument database, a landscape and three-dimensional model database and an air route database; the data stored in the virtual instrument database is mainly special format data generated by the virtual instrument, can be compiled into a C + + source program and is directly compiled and integrated into a system; the data stored in the landscape and three-dimensional model database is standard format data generated by a modeling tool, and the standard format data is in an Openflight format and is used for display driving; the airline database is custom data generated from developing data management tools.

3. The flight preparation drill of claim 1, wherein: a data entry layer is arranged, and the data entry layer comprises a virtual instrument, a ground scene and three-dimensional model entry and a standard airline data entry; the virtual instrument adopts GLstudio and a self-development tool to realize the virtual instrument of the airplane, and the display and the driving of the instrument are met; the land scene and the three-dimensional model are recorded, and a multiGencreator is adopted to model a scene and an airplane entity; and the standard airline data entry adopts an autonomously developed data management tool to enter various airline basic data.

4. The flight preparation drill of claim 1, wherein: the system driving engine comprises a virtual instrument driving engine, a visual scene driving engine, a special condition engine, an examination engine and a drilling engine; the virtual instrument driving engine utilizes a GLStudio platform; the visual driving engine adopts a VegaPrime platform; integrating the virtual instrument into VegaPrime and adopting a Vega PrimeGLStudioPluginModule plug-in to realize seamless combination of the virtual instrument and a visual scene; the drilling engine finishes the loading, the explanation and the display of the air route data, including air route data management, data calculation and visual change.

5. The flight preparation drill of claim 1, wherein: and the application layer is arranged and used for completing system integration, and completing interface operations of human-computer interaction, data management and simulation training.

Technical Field

The invention relates to the technical field of simulation training, in particular to a flight preparation drilling instrument.

Background

The fast-paced real-load flight training puts higher requirements on the proficiency degree of a flight implementation program, the technology and the accuracy of actions. In the traditional flight preparation process, the ground drilling mainly uses a simple instrument board to perform simple ground program drilling, and various parameters and scenes in the flight process cannot be dynamically and real-timely displayed. At present, flight courseware drilling lacks an informationized, digitalized and visualized ground drilling platform in the flight preparation process of flight universities and armies, and flight ground preparation quality is restricted to different degrees.

The traditional master has a bare-brother, one-to-one and hand-handle flight teaching mode and individual difference, so that the understanding and the manipulation of the program, the flight action and the flight data of the same subject in the flight teaching process are different, and the problems of incomplete unification of the flight program, irregular action and the like in the flight teaching process are caused. The flight preparation drilling instrument dynamically calculates and generates various parameters in the flight process of the airplane by using an analog simulation technology, realizes real-time simulation of the flight process through a virtual instrument, a three-dimensional scene and voice prompt, runs a drilling system on a tablet personal computer, and provides a standardized, visualized, digitized and informationized drilling platform for unifying flight programs, flight data and action essentials in flight teaching.

Disclosure of Invention

The technical problem to be solved by the invention is to overcome the defects of the technology, and the invention provides:

a flight preparation drilling instrument comprises a tablet personal computer, a computer bracket and a control handle; the tablet personal computer is fixedly arranged on the computer bracket; the control handle is electrically connected with the tablet personal computer;

the drilling instrument comprises a setting and control module, a simulation sub-module, a view sub-module, an instrument sub-module and an auxiliary sub-module;

the setting and control module comprises a system control module, a training setting module and a training evaluation module;

the simulation submodule comprises a control interface module, an entity model calculation module and a recording and playback module;

the view sub-module comprises a multi-channel view module and a single-channel view module;

the instrument sub-module comprises a virtual instrument module and an instrument parameter real-time updating module;

the auxiliary sub-module comprises a database module, a file recording module and a sound module.

As an improvement, the database module comprises a virtual instrument database, a landscape and three-dimensional model database and an air route database; the data stored in the virtual instrument database is mainly special format data generated by the virtual instrument, can be compiled into a C + + source program and is directly compiled and integrated into a system; the data stored in the landscape and three-dimensional model database is standard format data generated by a modeling tool, and the standard format data is in an Openflight format and is used for display driving; the airline database is custom data generated from developing data management tools.

As an improvement, a data entry layer is arranged, wherein the data entry layer comprises a virtual instrument, a ground scene and three-dimensional model entry and a standard airline data entry; the virtual instrument adopts GL Studio and a self-development tool to realize the virtual instrument of the airplane, and the display and the driving of the instrument are met; the land scene and the three-dimensional model are recorded, and a MultiGen Creator is adopted to model a scene and an airplane entity; and the standard airline data entry adopts an autonomously developed data management tool to enter various airline basic data.

As an improvement, a system driving engine is arranged, and comprises a virtual instrument driving engine, a visual scene driving engine, a special condition engine, an examination engine and a drilling engine; the virtual instrument driving engine utilizes a GL Studio platform; the visual driving engine adopts a Vega Prime platform; integrating the virtual instrument into a Vega Prime and adopting a Vega Prime GL Studio Plugin Module plug-in to realize seamless combination of the virtual instrument and a visual scene; the drilling engine finishes the loading, the explanation and the display of the air route data, including air route data management, data calculation and visual change.

As an improvement, an application layer is arranged and used for completing system integration, and completing interface operations of man-machine interaction, data management and simulation training.

Compared with the prior art, the invention has the advantages that: the invention provides a flight preparation drilling instrument which can dynamically and real-timely display various parameters and scenes in a flight process, provides an informationized, digitalized and visualized ground drilling platform and improves flight ground preparation quality.

Drawings

FIG. 1 is a schematic structural diagram of a flight preparation drilling instrument according to the present invention.

FIG. 2 is a system block diagram of a flight preparation drill of the present invention.

FIG. 3 is a visual input interface for parameters of a flight preparation training instrument according to the present invention.

FIG. 4 is a schematic diagram of the calculation of the aircraft position in a flight preparation drill according to the present invention.

FIG. 5 is a schematic view of the interpolation of the flight direction in the flight preparation drilling apparatus according to the present invention.

FIG. 6 is a schematic diagram of the flight preparation maneuver for editing flight path data therein.

FIG. 7 is a schematic view of a first perspective of a flight preparation drill according to the present invention.

FIG. 8 is a schematic view of a third perspective of the flight preparation drill of the present invention.

FIG. 9 is a block diagram of a flight preparation drill of the present invention.

Detailed Description

A flight preparation drilling instrument is further described in detail with reference to the accompanying drawings.

With reference to the attached drawings, fig. 1-9 show a flight preparation drilling instrument, which comprises a tablet computer, a computer bracket and a control handle; the tablet personal computer is fixedly arranged on the computer bracket; the control handle is electrically connected with the tablet computer;

the drilling instrument comprises a setting and control module, a simulation sub-module, a view sub-module, an instrument sub-module and an auxiliary sub-module;

the setting and control module comprises a system control module, a training setting module and a training evaluation module;

the simulation submodule comprises a control interface module, an entity model calculation module and a recording and playback module;

the view sub-module comprises a multi-channel view module and a single-channel view module;

the instrument sub-module comprises a virtual instrument module and an instrument parameter real-time updating module;

the auxiliary sub-module comprises a database module, a file recording module and a sound module.

In the embodiment, the database module comprises a virtual instrument database, a landscape and three-dimensional model database and an air route database; the data stored in the virtual instrument database is mainly special format data generated by the virtual instrument, can be compiled into a C + + source program and is directly compiled and integrated into a system; the data stored in the landscape and three-dimensional model database is standard format data generated by a modeling tool, and the standard format data is in an Openflight format and is used for display driving; the airline database is custom data generated from the development data management tool.

In the embodiment, a data entry layer is arranged, and the data entry layer comprises a virtual instrument, a ground scene and three-dimensional model entry and a standard airline data entry; the virtual instrument adopts GL Studio and a self-development tool to realize the virtual instrument of the airplane, and the display and the driving of the instrument are met; the land scene and the three-dimensional model are recorded, and a multiGen Creator is adopted to model the scene and the airplane entity; and the standard air route data input adopts an autonomously developed data management tool to input various air route basic data.

In this embodiment, a system driving engine is provided, and the system driving engine includes a virtual instrument driving engine, a visual scene driving engine, a special situation engine, an assessment engine, and a drill engine; the virtual instrument driving engine utilizes GL Studio platform; the view driving engine adopts a Vega Prime platform; integrating the virtual instrument into a Vega Prime and adopting a Vega Prime GL Studio Plugin Module plug-in to realize seamless combination of the virtual instrument and a visual scene; the drilling engine finishes the loading, the explanation and the display of the route data, including route data management, data calculation and view change.

In this embodiment, an application layer is provided for completing system integration, and completing interface operations of human-computer interaction, data management, and simulation training.

Flight path modeling and simulation

(1) Flight action description and parameter change rules

a. Description of flight actions

Flight maneuver refers to a continuous flight procedure, such as a vertical takeoff, that is achieved with a continuous, relatively independent flight skill. Flight actions can be described by parameters of airplane state (mainly including airspeed, lifting speed, power, sideslip, engine power and the like), attitude (heading, pitch and gradient), and a certain flight action description is to describe changes of flight action appearance and internal state parameters. Parameters such as airspeed (air velocity), lifting speed (Vy), engine power (N), attitude (H, P, R) and the like are functions which change according to time series, the functions can be constants and more complex change laws such as uniform speed, uniform acceleration and the like, and the change laws of the parameters along with time can be independently described by 6-element equations of airspeed, lifting speed, engine power and attitude in flight action, so that the parameter simulation calculation result is consistent with the actual data effect.

b. Rules of parameter variation

The state and attitude parameter changes are determined according to flight rules. According to the parameter change rule in the flight process, two rules of constant and incremental decrease are mainly used.

(a) Constant rule

A constant rule description is a variation of a parameter: in a period of time, certain parameters are kept unchanged, such as flat flight and constant airspeed; another case is: at a certain stage, the parameter changes rapidly, reaches a specified value in a short time (instant), the change process of the parameter does not need to be described, the parameter can be regarded as a constant in a specified time period, such as the turning angle speed, and the increasing and decreasing processes can be considered not to be carried out in the whole turning process, and the actual situation is as follows: when the turning is started, the turning angular speed is gradually increased to the designated angular speed value, and the turning angular speed is gradually reduced to zero before the turning is finished.

(b) Rule of increasing and decreasing

In the given time of the parameter, the value is changed (increased or decreased) from one value to another value, such as the change of airspeed in the processes of acceleration and deceleration, the change of gradient formed, the gradient return to zero, and the like, and the change process of the parameter needs to be described.

Taking the landing and landing route "one-side speed increasing and rising" as an example, the analysis method for the change of the flight action parameters of the airplane is shown in the following table.

TABLE 1 flight action description and parameter variation examples

After the analysis of the flight action, the parameters are entered into the system through a visualization interface, as shown in fig. 3.

(2) Description of routes

The flight route is not only a simple trajectory but also a three-dimensional curve meeting a certain constraint condition, the state and the attitude of the airplane are determined at a certain moment on the flight route, and the route description is to describe the state and the attitude of the airplane. The state and the attitude of the aircraft are changed on the whole flight path, the whole flight path is described in sections according to the state and the attitude of the aircraft, the state and the attitude of each section of the aircraft are changed according to a certain rule, the sections on the flight path can be defined as flight actions, and the whole flight path can be described by using a plurality of flight actions to fly continuously.

a. Aircraft position calculation

The position and altitude of an aircraft are constantly changing over time during flight. The change in horizontal position is related to heading and airspeed (speed in the horizontal direction), as shown in FIG. 4, and altitude is related to climb rate.

Various parameters and positions of the aircraft are calculated in real time according to the parameters (X, Y, H), and the simulation of the flight action is realized. Within time Δ t, aircraft flight distance Δ S_i＝Δt×V_i(t_i) According to the current heading, the distances projected onto the X, Y axis are respectively: Δ x_i＝V_i(t_i)×Δt×sin(θ_H(t_i))、Δy_i＝V_i(t_i)×Δt×cos(θ_H(t_i)). These parameters are time-varying and position coordinates can be obtained by integrating the velocity. In the same way, a height can be obtained.

b. Parameter calculation method

The aircraft state and attitude parameter calculation method is shown in the following table.

TABLE 2 parameter calculation method

c. Description of routes

The flight path may be composed of a series of consecutive flights, such as: the landing and landing route is formed by a series of continuous flight actions such as vertical takeoff, hovering, one-side speed rising, one-turn and final landing.

(3) Data discretization and flight

According to the method, a flight route can be formed by a series of flight actions. The description method describes the change process of parameters according to time sequence, actually cannot directly form a flight route, and calculates the state and flight parameters of the airplane according to time of flight action according to certain time step length, namely discretization treatment is carried out.

a. Data discretization

The data discretization means that the state and attitude parameters of each time point are calculated according to a model according to a certain time step length in a flight action sequence to form a series of discrete data of flight parameters and form discrete data shown in the following table, wherein the data in the table are discrete data of increasing the speed of the landing and landing flight line from one side to two turning parts.

TABLE 3 partial discretization data

b. Flight smoothing of flight paths

The flight line discrete data is data discretization processing at a certain time interval (for example, 0.05 second), and during flight, the data needs to be smoothed in order to smooth the flight.

(a) Parameter smoothing

The parameter smoothing method is to interpolate various parameters x (1), x (2), … …, x (ti), … …, x (m) related to the time sequence by using a smoothing algorithm according to time t, wherein the interpolation algorithm can adopt lagrangian (Lagrange), polynomial, spline interpolation and other algorithms.

(b) Course smoothing

When the course is interpolated according to the interpolation method, the rapid 'spin' phenomenon of the airplane occurs in the three-dimensional scene, and after analysis, the reason for generating the 'spin' phenomenon is that because two angles α 1 and α 2 of interpolation span 0 ° (360 °), the two angles can change from the clockwise direction and the counterclockwise direction respectively in the process of changing from the course α 1 to the course α 2 at the time t2 at the time t1, and generally, the airplane cannot maneuver from the course α 1 to the course α 2 in the counterclockwise direction but from the course α 1 to the course α 2 in the clockwise direction within a short time (such as 1 second).

This number of cycles is said to have a wrap around (Wrapped) property, which would be abnormal if a normal interpolation algorithm were used. As shown in fig. 5, if the interpolation of the heading α ∈ [0 °,360 °) is performed by a normal interpolation method, the value of α is within a range of a green dotted line (a range of α 1, α 2 in the counterclockwise direction), and the actual interpolation of α is within a range of a black solid line (a range of α 1, α 2 in the clockwise direction), this heading interpolation method is called a proximity interpolation algorithm, and according to the difference range between two headings, the interpolation is performed by a linear variation method with a minimum interval (which may be clockwise or counterclockwise), and the formula is (the first case is a normal case where two heading values do not span 0 °; the second case corresponds to fig. 5; the third case is the case where the positions of α 1 and α 2 are reversed in fig. 4):

example one

The standard route data management of the flight preparation drilling instrument is mainly realized by dynamically adding all editable flight action parameters (name, heading, pitch, roll, sideslip, airspeed, lifting speed and engine power), adding a change rule and a numerical value of each parameter, and carrying out real-time three-dimensional visualization on an editing result.

Example two

The drilling is performed by loading standard course data, the extravehicular scene can be observed through a first visual angle (a pilot visual angle), the air flight scene of the pilot is simulated, and the state of the airplane is checked through a flight instrument, as shown in fig. 6.

EXAMPLE III

The drill is performed by loading standard route data, the whole scene can be observed through a third visual angle, and the comprehensive viewing is performed through a flight parameter data sheet, an instrument, a three-dimensional visual route (such as route vertical planes with different colors and the like) and a three-dimensional model, as shown in fig. 7.

The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.