阅读说明：本技术 一种飞行俯仰错觉模拟方法、装置及飞行错觉模拟器 (Flight pitching illusion simulation method and device and flight illusion simulator ) 是由 王聪 贾宏博 赵显亮 郑媛憬 张琳 郭大龙 于 2021-06-17 设计创作，主要内容包括：本发明公开了一种飞行俯仰错觉模拟方法、装置及飞行错觉模拟器,包括：发出第一飞行指示信息使得受训人员完成起飞操作并在达到预设高度后保持平飞；发出第二飞行指示信息使得受训人员在平飞阶段完成转弯操作,在对准机场跑道方向时进行匀速下滑飞行并以预设下滑角向云层飞入；在匀速下滑过程中,控制运动平台保持预设下俯角大小的下俯姿态,当进入云层时,控制关闭平视显示器并冻结地平仪；控制进入云层后继续匀速下滑飞行,发出向前推油门杆以控制加速下滑的第三飞行指示信息,使得作用在飞行员前庭感觉器官的加速度惯性力与重力的合力方向指向人体正下方或后下方；在飞机加速下滑过程中,控制模拟座舱绕人体横轴向上翻转至水平或上仰姿态。(The invention discloses a flight pitching illusion simulation method and device and a flight illusion simulator, wherein the flight pitching illusion simulation method comprises the following steps: sending first flight indication information to enable the trained personnel to finish take-off operation and keep flying horizontally after reaching a preset height; sending second flight indication information to enable the trainee to finish turning operation in the flat flight stage, and when the trainee is aligned to the direction of the airport runway, carrying out uniform gliding flight and flying into the cloud layer at a preset gliding angle; in the uniform-speed gliding process, controlling the motion platform to keep a downward-bending posture with a preset downward-bending angle, and controlling to close the head-up display and freeze the horizon finder when the motion platform enters a cloud layer; controlling the aircraft to continue to slide downwards at a constant speed after entering the cloud layer, and sending third flight indication information for pushing the throttle lever forwards to control the acceleration and the sliding downwards so that the resultant force direction of the acceleration inertia force and the gravity acting on the sense organ of the vestibule of the pilot points to the right lower part or the rear lower part of the human body; in the process of accelerating gliding of the airplane, the simulation cockpit is controlled to be overturned upwards to a horizontal or upward-facing posture around the transverse axis of the human body.)

1. A flight pitch illusion simulation method for a flight illusion simulator, the flight simulator comprising: the method comprises the following steps that a simulated cockpit and a motion platform are adopted, the simulated cockpit is used for carrying trainees and moves under the driving of the motion platform, the simulated cockpit comprises a control system, a visual display system and an instrument display system, the control system is used for controlling the flight state of an airplane and comprises a control steering column, a foot rudder and a throttle, the visual display system comprises a display device and is used for providing cockpit external visual information generated according to visual software for a pilot, and the instrument display system comprises a head-up display and a horizon, and the method is characterized by comprising the following steps:

receiving the setting operation of a trainee on the initial flight condition to obtain a target flight task, wherein the target flight task is the flight of a landing and landing flight line under the preset meteorological parameters in the daytime, and the preset meteorological parameters comprise 10 cloud amount, 300-500 m cloud base height and 2000-2500 m cloud thickness;

sending first flight indication information to the trainee, so that the trainee finishes takeoff operation through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the first flight indication information and keeps flying horizontally after reaching a preset height, wherein the preset height is greater than the height of a cloud layer;

sending second flight indication information to the trainee, enabling the trainee to finish turning operation in a level flight stage through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the second flight indication information, and performing uniform-speed gliding flight when the trainee is aligned to the direction of an airport runway and flying into a cloud layer at a preset gliding angle;

in the process of uniform gliding flight of the airplane, controlling the motion platform to keep a downward-bending posture with a preset downward-bending angle, and controlling to close the head-up display and freeze the horizon finder when the airplane enters a cloud layer;

controlling the airplane to continue to glide and fly at a constant speed after entering the cloud layer, and sending third flight indication information for pushing the throttle lever forwards to control the airplane to accelerate gliding and fly to the trainee so that the resultant force direction of the acceleration inertia force and the gravity acting on the sense organ of the vestibule of the pilot points to the position right below or behind the human body;

in the process of accelerating gliding of the airplane, controlling the motion platform to drive the simulation cabin to turn upwards from a downward pitching attitude to a horizontal attitude or an upward pitching attitude around a transverse axis of a human body according to a preset speed;

and when the aircraft slides downwards to cloud under acceleration, the head-up display is controlled to be opened and the horizon finder is activated.

2. The method of claim 1, wherein after controlling the head-up display to be turned on and the horizon finder to be activated when the aircraft is accelerated to glide down to out of the cloud, the method further comprises:

and sending fourth flight indicating information to the trainee, so that the trainee can reduce the throttle and control the airplane to change from gliding flight to horizontal flight according to the information displayed by the head-up display and the horizon finder under the indication of the fourth flight indicating information.

3. The method of claim 2, further comprising:

and sending fifth flight indication information to the trainee, so that the trainee can control the plane flight state of the aircraft to be kept until a preset plane flight time length is reached according to information displayed by a head-up display and a horizon finder under the indication of the fifth flight indication information through an operation control system, wherein the preset plane flight time length is determined according to the time length required by vestibular pitching illusion disappearance.

4. A flight pitch illusion simulator for a flight illusion simulator, the flight simulator comprising: the simulation cockpit and motion platform, the simulation cockpit is used for bearing the training personnel and takes place the motion under the drive of motion platform, wherein the simulation cockpit includes control system, vision display system and instrument display system, the control system is used for controlling the flight state of aircraft, including controlling steering column, foot rudder and throttle, the vision display system includes display device for providing the cockpit exterior view information that produces according to the vision software to the pilot, instrument display system includes head-up display and horizon, characterized by that, the device includes:

the system comprises a setting module, a control module and a control module, wherein the setting module is used for receiving the setting operation of training personnel on the initial flight condition to obtain a target flight task, and the target flight task is the flight of a landing and landing flight line under the preset meteorological parameters in daytime, and the preset meteorological parameters comprise 10 cloud amount, 300-500 m cloud bottom height and 2000-2500 m cloud thickness;

the first flight control module is used for sending first flight indication information to the trainee, so that the trainee finishes takeoff operation through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the first flight indication information and keeps flying horizontally after reaching a preset height, and the preset height is greater than the height of a cloud layer;

the second flight control module is used for sending second flight indication information to the trainee, so that the trainee can finish turning operation in a flat flight stage through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the second flight indication information, and can perform uniform-speed gliding flight and fly into a cloud layer by using a preset gliding angle when aiming at the direction of an airport runway;

the third flight control module is used for controlling the motion platform to keep a downward-bending posture with a preset downward-bending angle in the uniform gliding flight process of the airplane, and controlling the head-up display to be closed and the horizon finder to be frozen when the airplane enters a cloud layer;

the fourth flight control module is used for controlling the airplane to continue to glide and fly at a constant speed after entering the cloud layer, and sending third flight indication information for pushing the throttle lever forwards to control the airplane to accelerate and glide and fly, so that the resultant force direction of the acceleration inertia force and the gravity acting on the sense organ of the vestibule of the pilot points to the position right below or behind the human body;

the fifth flight control module is used for controlling the motion platform to drive the simulation cabin to upwards turn from a downward pitching posture to a horizontal posture or an upward pitching posture around a transverse axis of a human body at a preset speed in the accelerating gliding process of the airplane;

and the sixth flight control module is used for controlling the head-up display to be opened and activating the horizon finder when the aircraft slides downwards to cloud under acceleration.

5. The apparatus of claim 4, further comprising:

and the seventh flight control module is used for sending fourth flight indication information to the trainee, so that the trainee reduces the accelerator according to the information displayed by the head-up display and the horizon finder under the indication of the fourth flight indication information and controls the airplane to change from gliding flight to horizontal flight.

6. The apparatus of claim 5, further comprising:

and the eighth flight control module is used for sending fifth flight indication information to the trainee so that the trainee can control the aircraft to keep a horizontal flight state according to information displayed by the head-up display and the horizon finder under the indication of the fifth flight indication information until a preset horizontal flight time length is reached, wherein the preset horizontal flight time length is determined according to the time length required by vestibular pitching illusion disappearance.

7. A flying illusion simulator, comprising:

a six-degree-of-freedom motion platform;

the simulation cockpit is fixedly arranged on the six-degree-of-freedom motion platform, a visual display system, an instrument display system and a control system are arranged in the simulation cockpit, the visual display system is used for providing flight simulation scenes, the instrument display system comprises a horizon instrument, a head-up display and a liquid crystal instrument panel used for displaying a flight instrument, and the control system is used for receiving flight control instructions of trained personnel;

the simulation system is used for resolving simulator flight parameters in real time according to collected trainee operating instruction signals, simulator states and environmental information by combining a preset flight model, and sending the flight parameters to the six-degree-of-freedom motion platform, the visual display system and the instrument display system in real time so as to feed back the flight state under the current operating instruction to the trainee in real time;

the management system comprises an interaction module, a control module and a control module, wherein the interaction module is used for receiving selection operation of training personnel on a flight mode and a flight parameter;

a processor for performing the steps of the flight pitch illusion simulation method of any of claims 1-3.

8. The flying illusion simulator of claim 7, wherein the six-degree-of-freedom motion platform comprises a spatial parallel motion mechanism, and the spatial parallel motion mechanism comprises a lower fixed platform, an upper motion platform, 6 servo cylinders, a universal hinge joint seat and a stroke limiting mechanism.

9. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the flight pitch illusion simulation method of any of claims 1-3.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for flight pitch illusion simulation as claimed in any of the claims 1-3.

Technical Field

The invention relates to the technical field of flight simulation, in particular to a flight pitching illusion simulation method and device and a flight illusion simulator.

Background

The illusion of flight is the wrong cognitive state of the pilot regarding the position, movement or attitude of the aircraft or of the pilot itself and their interrelationships in the coordinate system formed by the ground or vertical lines of gravity while in flight. The flight illusion is common among flight personnel, has high harmfulness and is an important factor influencing the flight safety. The occurrence mechanism of the flight illusion is complex and is influenced by various factors, but in summary, the illusion is mainly related to external environment factors and internal factors of a flight crew, the external factors mainly comprise complex meteorology (such as cloud, fog, rain, snow and the like), special flight environments (such as sea, desert, snowfield and the like) encountered in flight or acceleration stimulation in flight and the like, and the internal factors mainly refer to the physiological and psychological functions of human body self-sense organs and the limitation of brain processing space orientation information and the like. The limitation of human body to sense the physiological and psychological functions of organs and the brain to process the spatial orientation information is the most fundamental reason for the occurrence of the illusion of flight. The spatial orientation of the flying person in flight is a very complex psychophysiological activity, which is accomplished by a complete system of sensory functions including vision, vestibular sense, proprioception, etc.; all orientation information needs to be processed in the brain center to form complete spatial orientation perception, and the sensory systems have the possibility of generating wrong orientation perception under special flight environment conditions.

The illusion of pitch is a pilot's false perception of the aircraft pitch angle, which can be evoked by vestibular proprioception. The mechanism of vestibular proprioception inducing pitching illusion is mainly as follows: when the airplane suddenly accelerates or decelerates in straight flight, because the resultant force of the acceleration inertia force and the gravity acts on the vestibular proprioceptor of the pilot, the pilot mistaking the action direction of the resultant force as the action direction of the gravity, the pilot generates upward facing illusion when the airplane suddenly accelerates forwards in level flight, and the pilot generates downward sliding illusion or overestimates or underestimates the upward facing or downward sliding angle when the airplane suddenly decelerates in level flight. The pitching illusion is a common and high-incidence flying illusion, and the pitching illusion is frequently in the takeoff or gliding stage of the airplane under the complex meteorological condition and has certain harm to the flying safety. For example, if the pilot feels that the aircraft is pitching during the accelerated glide of the aircraft, the pilot may underestimate the glide angle and even feel that the aircraft is pitching up, and if the pilot pushes the stick forward by feel to reduce the elevation angle of the aircraft, the pilot may actually increase the glide angle further, and then the pilot may lose altitude, which may lead to an accident.

In the related art, the scheme for overcoming the flight illusion is generally that space orientation is effectively carried out according to visual instrument flight, and the conventional method for overcoming the flight illusion is adopted. The instrument visual space orientation is the most reliable orientation information source in flight, but compared with visual orientation information such as sky lines, landmarks and the like, the instrument visual space orientation has the problems of indirection, instability and the like, and if the instrument flight technology is not skilled, the flight illusion cannot be recognized and identified, the instrument visual space orientation is difficult to play an effective role, and the flight illusion can occur to cause flight accidents, so that a flight illusion simulation method is urgently needed to be provided to develop pitching flight illusion experience training on a flight illusion simulator to help pilots to recognize, identify and correctly deal with the flight illusion so as to effectively reduce the accident rate.

Disclosure of Invention

Therefore, the invention provides a flight pitching illusion simulation method and device and a flight illusion simulator, so that pitching flight illusion experience training is carried out on the flight illusion simulator, pilots can be helped to know, recognize and correctly deal with the flight illusion, and the accident rate is effectively reduced.

According to a first aspect, an embodiment of the present invention discloses a flight pitch illusion simulation method, which is used for a flight illusion simulator, where the flight simulator includes: the simulated cockpit and the motion platform, the simulated cockpit is used for bearing the trainee and takes place the motion under the drive of the motion platform, wherein the simulated cockpit includes control system, vision display system and instrument display system, the control system is used for controlling the flight state of aircraft, including controlling steering column, foot rudder and throttle, the vision display system includes display device, is used for providing the cockpit exterior view information that produces according to the vision software for the pilot, instrument display system includes head-up display and horizon, include: the method comprises the following steps: receiving the setting operation of a trainee on the initial flight condition to obtain a target flight task, wherein the target flight task is the flight of a landing and landing flight line under the preset meteorological parameters in the daytime, and the preset meteorological parameters comprise 10 cloud amount, 300-500 m cloud base height and 2000-2500 m cloud thickness; sending first flight indication information to the trainee, so that the trainee finishes takeoff operation through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the first flight indication information and keeps flying horizontally after reaching a preset height, wherein the preset height is greater than the height of a cloud layer; sending second flight indication information to the trainee, enabling the trainee to finish turning operation in a level flight stage through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the second flight indication information, and performing uniform-speed gliding flight when the trainee is aligned to the direction of an airport runway and flying into a cloud layer at a preset gliding angle; in the process of uniform gliding flight of the airplane, controlling the motion platform to keep a downward-bending posture with a preset downward-bending angle, and controlling to close the head-up display and freeze the horizon finder when the airplane enters a cloud layer; controlling the airplane to continue to glide and fly at a constant speed after entering the cloud layer, and sending third flight indication information for pushing the throttle lever forwards to control the airplane to accelerate gliding and fly to the trainee so that the resultant force direction of the acceleration inertia force and the gravity acting on the sense organ of the vestibule of the pilot points to the position right below or behind the human body; in the process of accelerating gliding of the airplane, controlling the motion platform to drive the simulation cabin to turn upwards from a downward pitching attitude to a horizontal attitude or an upward pitching attitude around a transverse axis of a human body according to a preset speed; and when the aircraft slides downwards to cloud under acceleration, the head-up display is controlled to be opened and the horizon finder is activated.

Optionally, after controlling the head-up display to be turned on and the horizon to be activated when the aircraft is accelerated to glide down to out of the cloud, the method further comprises: and sending fourth flight indicating information to the trainee, so that the trainee can reduce the throttle and control the airplane to change from gliding flight to horizontal flight according to the information displayed by the head-up display and the horizon finder under the indication of the fourth flight indicating information.

Optionally, the method further comprises: and sending fifth flight indication information to the trainee, so that the trainee controls the aircraft to keep a horizontal flight state according to information displayed by a head-up display and a horizon finder under the indication of the fifth flight indication information until a preset horizontal flight time length is reached, wherein the preset horizontal flight time length is determined according to the time length required by vestibular pitching illusion disappearance.

According to a second aspect, an embodiment of the present invention further discloses a flight pitch illusion simulation apparatus, which is used for a flight illusion simulator, where the flight simulator includes: the simulated cockpit and the motion platform, the simulated cockpit is used for bearing the trainee and takes place the motion under the drive of the motion platform, wherein the simulated cockpit includes control system, vision display system and instrument display system, the control system is used for controlling the flight state of aircraft, including controlling steering column, foot rudder and throttle, the vision display system includes display device, is used for providing the cockpit exterior vision information that produces according to the vision software for the pilot, the instrument display system includes head-up display and horizon, the device includes: the system comprises a setting module, a control module and a control module, wherein the setting module is used for receiving the setting operation of training personnel on the initial flight condition to obtain a target flight task, and the target flight task is the flight of a landing and landing flight line under the preset meteorological parameters in daytime, and the preset meteorological parameters comprise 10 cloud amount, 300-500 m cloud bottom height and 2000-2500 m cloud thickness; the first flight control module is used for sending first flight indication information to the trainee, so that the trainee finishes takeoff operation through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the first flight indication information and keeps flying horizontally after reaching a preset height, and the preset height is greater than the height of a cloud layer; the second flight control module is used for sending second flight indication information to the trainee, so that the trainee can finish turning operation in a flat flight stage through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the second flight indication information, and can perform uniform-speed gliding flight and fly into a cloud layer by using a preset gliding angle when aiming at the direction of an airport runway; the third flight control module is used for controlling the motion platform to keep a downward-bending posture with a preset downward-bending angle in the uniform gliding flight process of the airplane, and controlling the head-up display to be closed and the horizon finder to be frozen when the airplane enters a cloud layer; the fourth flight control module is used for controlling the airplane to continue to glide and fly at a constant speed after entering the cloud layer, and sending third flight indication information for pushing the throttle lever forwards to control the airplane to accelerate and glide and fly, so that the resultant force direction of the acceleration inertia force and the gravity acting on the sense organ of the vestibule of the pilot points to the position right below or behind the human body; the fifth flight control module is used for controlling the motion platform to drive the simulation cabin to upwards turn from a downward pitching posture to a horizontal posture or an upward pitching posture around a transverse axis of a human body at a preset speed in the accelerating gliding process of the airplane; and the sixth flight control module is used for controlling the head-up display to be opened and activating the horizon finder when the aircraft slides downwards to cloud under acceleration.

Optionally, the apparatus further comprises: and the seventh flight control module is used for sending fourth flight indication information to the trainee, so that the trainee reduces the accelerator according to the information displayed by the head-up display and the horizon finder under the indication of the fourth flight indication information and controls the airplane to change from gliding flight to horizontal flight.

Optionally, the apparatus further comprises: and the eighth flight control module is used for sending fifth flight indication information to the trainee so that the trainee can control the aircraft to keep a horizontal flight state according to information displayed by the head-up display and the horizon finder under the indication of the fifth flight indication information until a preset horizontal flight time length is reached, wherein the preset horizontal flight time length is determined according to the time length required by vestibular pitching illusion disappearance.

According to a third aspect, an embodiment of the present invention further discloses a flight illusion simulator, including: a six-degree-of-freedom motion platform; the simulation cockpit is fixedly arranged on the six-degree-of-freedom motion platform, a visual display system, an instrument display system and a control system are arranged in the simulation cockpit, the visual display system is used for providing flight simulation scenes, the instrument display system comprises a horizon instrument, a head-up display and a liquid crystal instrument panel used for displaying a flight instrument, and the control system is used for receiving flight control instructions of trained personnel; the simulation system is used for resolving simulator flight parameters in real time according to collected trainee operating instruction signals, simulator states and environmental information by combining a preset flight model, and sending the flight parameters to the six-degree-of-freedom motion platform, the visual display system and the instrument display system in real time so as to feed back the flight state under the current operating instruction to the trainee in real time; the management system comprises an interaction module, a control module and a control module, wherein the interaction module is used for receiving selection operation of training personnel on a flight mode and a flight parameter; a processor configured to perform the steps of the method for simulating a flight pitch illusion as described in the first aspect or any one of the optional embodiments of the first aspect.

According to a fourth aspect, an embodiment of the present invention further discloses an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the flight pitch illusion simulation method of the first aspect or any of the alternative embodiments of the first aspect.

According to a fifth aspect, the present invention further discloses a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the flight pitch illusion simulation method according to the first aspect or any of the optional embodiments of the first aspect.

The technical scheme of the invention has the following advantages:

the invention provides a flight pitching illusion simulation method/device, which receives the setting operation of a trainee on flight parameters to obtain a target flight task, sends first flight indication information to the trainee, enables the trainee to finish takeoff operation according to information displayed by a visual display system and an instrument display system under the indication of the first flight indication information and keep flying flat after reaching a preset height higher than the height of a cloud layer, sends second flight indication information to the trainee, enables the trainee to finish turning operation in a flat flight airport according to the information displayed by the visual display system and the instrument display system under the indication of the second flight indication information, performs uniform gliding flight when being aligned with the runway direction and flies into the cloud layer by a preset gliding angle, controls a motion platform to keep a downward pitching attitude with the size of the preset downward angle during the uniform gliding flight of an airplane, when the airplane enters a cloud layer, the head-up display is controlled to be closed, the horizon finder is frozen, the airplane is controlled to continue to slide downwards at a constant speed after entering the cloud layer, third flight indication information for pushing an accelerator rod forwards to control the airplane to slide downwards in an accelerating way is sent to a trained person, so that the resultant force direction of the acceleration inertia force acting on a sense organ in the vestibule of a pilot and the gravity points to the position right below or behind the human body, in the process of sliding downwards in an accelerating way of the airplane, the motion platform is controlled to drive the simulation cabin to be upwards overturned to a horizontal posture or an upward posture from a downward pitching posture around a transverse axis of the human body at a preset speed, and when the airplane slides downwards in an accelerating way to exit the cloud, the head-up display is controlled to be opened and the horizon finder is activated; the flight control instruction is sent to the trainee, so that the trainee generates pitching illusion in the process of executing the flight control instruction, and after the pitching illusion occurs, the head-up display and the horizon finder are controlled to be opened, and a pilot can clearly and correctly recognize and recognize the pitching illusion according to the information of the head-up display and the horizon finder.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a flowchart of a specific example of a flight pitch illusion simulation method according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating an exemplary application scenario of the method for simulating an illusion of flying pitch according to an embodiment of the present invention;

FIG. 3 is a diagram illustrating an exemplary application scenario of the method for simulating an illusion of flying pitch according to an embodiment of the present invention;

fig. 4 is a schematic block diagram of a specific example of a flight pitch illusion simulation apparatus according to an embodiment of the invention;

fig. 5 is a diagram of a specific example of an electronic device in an embodiment of the invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The vestibular sensation system is composed of a pair of semicircular canals and otoliths which are positioned in the inner ear of a human body, and can sense the angular motion and linear motion stimulation of six degrees of freedom in a three-dimensional space. Wherein, the semicircular canal detects angular acceleration, and the otolith device detects linear acceleration and gravity. The main reasons for the wrong spatially-oriented perception produced by the vestibular sensory system are: (1) the vestibular body system cannot distinguish resultant force of gravity and acceleration inertia force with the same physical property, only reacts to the resultant force of the gravity and the acceleration inertia force, and often takes the resultant force of the gravity and the inertia force as a vertical gravity direction, so that various body gravity illusions can be generated. If the device is horizontally accelerated, the device can generate upward-facing illusion, and can generate downward-facing illusion when the device is decelerated; (2) a functional threshold exists for the vestibular system of a person. The semi-diameter tube threshold value is 0.5 degree/s²The otolith threshold is 0.001-0.05 g, and stimuli below the sensory threshold do not cause perceptual reaction, i.e., are not normally perceived for motor movements below the threshold. In flight, a pilot can not feel acceleration and deceleration or rotation movement of the airplane smaller than a sensory function threshold value only by virtue of a vestibular system. Due to the above characteristics, when various acceleration actions occur in flight, the vestibular system may generate perception that does not conform to the actual motion, position and state, and a flight illusion occurs. However, limitations of the vestibular sensory system are manifested only under certain conditions, due to the complex interplay between vestibular and visual perception. Generally, the visual information can inhibit vestibular sensation information, the aircraft flies under simple meteorological conditions, and although acceleration is acted, correct sky and ground line vision can cause various errorsFalse vestibular sensations are suppressed, which is why false flying sensations are infrequent at this time. On the contrary, under the condition of limited vision and the like, wrong vestibular information can be highlighted under the action of various accelerations, and the vestibular information is in an advantage and dominant position in the orientation system, so that various vestibular flight illusions are generated.

The embodiment of the invention discloses a flight pitching illusion simulation method, which is used for a flight illusion simulator, and the flight simulator comprises: the simulation cockpit and the motion platform, the simulation cockpit is used for bearing the trainee and takes place the motion under the drive of the motion platform, wherein the simulation cockpit includes control system, visual display system and instrument display system, control system is used for controlling the flight state of aircraft, including controlling steering column, foot rudder and throttle, the visual display system includes display device, is used for providing the cockpit exterior visual information that produces according to the visual software for the pilot, instrument display system includes head-up display and horizon, as shown in fig. 1, this method includes the following step:

101, receiving the setting operation of a training worker on the initial flight condition to obtain a target flight task, wherein the target flight task is the flight of a landing and landing flight line under the preset meteorological parameters in the daytime, and the preset meteorological parameters comprise 10 cloud amount, 300-500 m cloud base height and 2000-2500 m cloud thickness.

For example, a management system may be set in the flight simulator, trainees may implement input operation of the flight initial condition through an interaction module in the management system, and the flight illusion simulator generates a target flight mission according to the received setting operation of the flight initial condition. The cloud amount of preset meteorological parameters corresponding to a target flight task is set to be 10 (namely, the sky is full of clouds) in a flight simulator, the cloud bottom is 300-500 m high, the cloud thickness is 2000-2500 m, and meanwhile disturbance airflow can be set in the clouds, so that slight jolt and jolt occur when the plane penetrates the clouds. The target flight mission may be selected as a takeoff and landing line flight mission in driving skill training and the time may be selected as daytime. The type of the airplane, the airport area and the like can be selected according to the related configuration options of the flight simulator, and the method is not limited in the embodiment of the application.

The target flight mission is set in the mode, so that a pilot cannot see landmarks when flying in clouds, the sky and ground lines which are referenced for visual space orientation disappear, the outside-window view cannot provide movement clues, the pilot can generate space orientation difficulty and then rely on a vestibular sensation system to perform orientation so as to cause vestibular pitching flight illusion.

102, sending first flight instruction information to the trainee, so that the trainee finishes takeoff operation through an operation control system according to information displayed by a visual display system and an instrument display system under the instruction of the first flight instruction information and keeps flying horizontally after reaching a preset height, wherein the preset height is greater than the height of a cloud layer. In the embodiment of the present application, the preset height is preferably greater than 3000 m.

103, sending second flight indication information to the trainee, so that the trainee completes turning operation in the level flight stage according to the information displayed by the visual display system and the instrument display system under the indication of the second flight indication information through the operation control system, and performs uniform-speed gliding flight and flies into the cloud layer at a preset gliding angle when the trainee is aligned to the direction of the airport runway. In the embodiment of the application, the preset glide angle can be 5-10 degrees, and the speed of uniform glide can be about 300 km/h.

And 104, controlling the motion platform to keep a downward-bending posture with a preset downward-bending angle in the uniform-speed gliding flight process of the airplane, and controlling to close the head-up display and freeze the horizon finder when the airplane enters a cloud layer.

Exemplarily, after the horizon sensor is closed and frozen, a pilot cannot obtain aircraft pitch attitude information by observing flight sensors such as the horizon sensor and the horizon sensor (short for the horizon sensor), can only rely on the vestibular sensory system to perform spatial orientation, judges that the aircraft attitude is limited by the function of the vestibular sensory system of the human body, and is easy to generate vestibular flight illusion. In the motion simulation process, after the plane is controlled to slide at a constant speed instead of being flatly flown, the motion platform rapidly tilts down by a downward angle consistent with the plane glide angle within 5-10 degrees, and keeps a downward tilting posture, so that a pilot feels the same flight feeling as that in actual flight.

And 105, controlling the airplane to continue to glide and fly at a constant speed after entering the cloud layer, and sending third flight indication information for pushing the throttle lever forwards to control the airplane to accelerate gliding and fly to the trainee so that the resultant force direction of the acceleration inertia force and the gravity acting on the sense organ of the vestibule of the pilot points to the position right below or behind the human body.

And 106, controlling the motion platform to drive the simulation cabin to upwards turn from a downward-bending posture to a horizontal posture or an upward-bending posture around a transverse axis of a human body at a preset speed in the accelerating and gliding process of the airplane.

For example, as shown in fig. 2 and 3, after the airplane enters the cloud and glides at a constant speed to fly, the pilot is instructed to push the throttle lever forward, so that the descent rate of the airplane is increased, and the gliding flight is accelerated. At this time, during the forward and downward acceleration flight of the airplane, the pilot is subjected to the linear acceleration inertial force along the direction from the front chest to the back. When the aircraft has a small glide angle and the glide acceleration is large, the resultant force of the inertial force and the gravity may be directed from the head to the foot along the vertical axis of the pilot, or even to the back and lower part of the body. Because the vestibular sense organ of the human body has the limitation that the resultant force of gravity and acceleration inertia force cannot be distinguished, a pilot can regard the direction of the resultant force as the vertical direction of gravity by feeling under the condition of no visual and instrument orientation clues. At this time, the pilot may have the false sense that the aircraft is flying flat or pitch up, i.e., the illusion of pitch occurs. Specifically, as shown in fig. 3, when the glide angle is θ and the aircraft linear acceleration (along the chest and back of the pilot) a is g × sin θ, the resultant direction is along the direction from the head to the feet of the pilot, so that the pilot can feel the horizontal flight feeling of being vertical to the ground; when a is larger than g multiplied by sin theta, the resultant force direction points to the back-down direction of the pilot, so that the pilot can feel upward facing.

In the motion simulation process, after the airplane starts to accelerate and glide down, the simulated cockpit is quickly turned upwards to a horizontal position or a pitching position with a certain angle around the transverse axis of the human body from a pitching position, so that the pilot can feel that the body is in a vertical or pitching position, and the feeling is consistent with the feeling in actual flight. When the pilot has a pitching illusion, in order to keep the gliding flight attitude, the pilot can easily push the rod forwards by the feeling, so that the gliding angle is further increased, and the accident risk is easily caused. Specifically, as shown in fig. 3, when the generated upward angle perception is Φ, tan Φ is (a-g × sin θ)/(g × cos θ), that is, the angle of the upward-facing posture satisfies this relationship, the upward-facing illusion is generated.

And step 107, when the aircraft slides downwards to cloud under acceleration, controlling to open the head-up display and activate the horizon finder.

Illustratively, when the pilot generates the flight pitching illusion and the airplane slides down to cloud in acceleration, the head-up display can be turned on and the horizon finder can be activated through the management system in the flight illusion simulator, after the pilot sees the head-up display and the horizon finder information, the pilot generates the pitching illusion and underestimates the airplane glide angle, and after seeing the airport runway in the cloud moment, the pilot suddenly feels that the runway is "upright" and finds that the airplane flies to the ground with a larger glide angle, and at the moment, the pilot can clearly recognize and recognize that the pitching illusion is generated and wrong driving behaviors are generated in the step 106.

According to the flight pitching illusion simulation method provided by the embodiment of the application, the flight control instruction is sent to the trainee, so that the trainee generates pitching illusions in the process of executing the flight control instruction, and after the pitching illusions occur, the head-up display and the horizon are controlled to be opened, and a pilot can clearly recognize and recognize the pitching illusions according to the head-up display and the horizon information.

As an alternative embodiment of the present application, after step 107, the method further includes: and sending fourth flight indicating information to the trainee, so that the trainee can reduce the throttle and control the airplane to change from gliding flight to horizontal flight according to the information displayed by the head-up display and the horizon finder under the indication of the fourth flight indicating information. In order to prevent losing the height, the pilot is prompted to observe the flight instrument or landmarks such as a sky-ground line, a ground building and the like, the accelerator is quickly reduced and the nose is taken up immediately according to the instruction, and the plane is controlled to change the gliding flight into the horizontal flight.

As an optional embodiment of the present application, the method further comprises: and sending fifth flight indication information to the trainee, so that the trainee controls the aircraft to keep a horizontal flight state according to information displayed by a head-up display and a horizon finder under the indication of the fifth flight indication information until a preset horizontal flight time length is reached, wherein the preset horizontal flight time length is determined according to the time length required by vestibular pitching illusion disappearance. The pilot is instructed to observe the sky line and the landmark, the horizontal flight is continuously kept for 30 seconds by taking the instrument parameter as the reference, and the pitching illusion is rapidly weakened and disappears in the process.

The embodiment of the invention also discloses a flight pitching illusion simulator, which is used for the flight illusion simulator, and the flight simulator comprises: the simulation cockpit and the motion platform, the simulation cockpit is used for bearing the trainee and takes place the motion under the drive of the motion platform, wherein the simulation cockpit includes control system, vision display system and instrument display system, the control system is used for controlling the flight state of aircraft, including controlling steering column, foot rudder and throttle, the vision display system includes display device, is used for providing the cockpit exterior view information that produces according to the vision software for the pilot, instrument display system includes head-up display and horizon, as shown in fig. 4, this device includes:

the setting module 301 is used for receiving the setting operation of a trainee on the initial flight condition to obtain a target flight task, wherein the target flight task is a flight of a landing and landing flight line under a preset meteorological parameter in daytime, and the preset meteorological parameter comprises the cloud amount of 10, the cloud bottom height of 300-500 meters and the cloud thickness of 2000-2500 meters;

the first flight control module 302 is configured to send first flight indication information to the trainee, so that the trainee completes takeoff operation through an operation control system according to information displayed by a visual display system and an instrument display system under the indication of the first flight indication information and keeps flying horizontally after reaching a preset height, where the preset height is greater than a cloud layer height;

the second flight control module 303 is configured to send second flight instruction information to the trainee, so that the trainee completes a turning operation in a level flight stage according to information displayed by the visual display system and the instrument display system under the instruction of the second flight instruction information through the operation control system, and performs uniform-speed gliding flight when the trainee is aligned with the direction of the airport runway and flies into the cloud layer at a preset gliding angle;

the third flight control module 304 is configured to control the motion platform to maintain a downward-bending posture with a preset downward-bending angle during uniform gliding flight of the aircraft, and control the head-up display to be turned off and the horizon finder to be frozen when the aircraft enters a cloud layer;

the fourth flight control module 305 is configured to control the aircraft to continue to glide at a constant speed and fly after entering the cloud layer, and send third flight instruction information for pushing the throttle lever forward to control the aircraft to accelerate and glide for flight to the trainee, so that a resultant force direction of an acceleration inertial force acting on a sense organ of a vestibule of a pilot and gravity points to a position right below or behind a human body;

the fifth flight control module 306 is configured to control the motion platform to drive the simulated cockpit to turn upwards from a downward-pitching attitude to a horizontal attitude or an upward-pitching attitude around a transverse axis of a human body at a preset speed in the process of accelerating and gliding the airplane;

a sixth flight control module 307, configured to control to open the head-up display and activate the horizon finder when the aircraft is accelerated to glide down to out of the cloud.

According to the flight pitching illusion simulation device provided by the invention, the flight control instruction is sent to the trainee, so that the trainee generates pitching illusions in the process of executing the flight control instruction, and after the pitching illusions occur, the head-up display and the horizon finder are controlled to be opened, and a pilot can clearly recognize and recognize the pitching illusions according to the information of the head-up display and the horizon finder.

As an optional embodiment of the present invention, the apparatus further comprises: and the seventh flight control module is used for sending fourth flight indication information to the trainee, so that the trainee reduces the accelerator according to the information displayed by the head-up display and the horizon finder under the indication of the fourth flight indication information and controls the airplane to change from gliding flight to horizontal flight.

As an optional embodiment of the present invention, the apparatus further comprises: and the eighth flight control module is used for sending fifth flight indication information to the trainee so that the trainee can control the aircraft to keep a horizontal flight state according to information displayed by the head-up display and the horizon finder under the indication of the fifth flight indication information until a preset horizontal flight time length is reached, wherein the preset horizontal flight time length is determined according to the time length required by vestibular pitching illusion disappearance.

The embodiment of the invention also discloses a flight illusion simulator, which comprises:

a six-degree-of-freedom motion platform;

the simulation cockpit is fixedly arranged on the six-degree-of-freedom motion platform, a visual display system, an instrument display system and a control system are arranged in the simulation cockpit, the visual display system is used for providing flight simulation scenes, the instrument display system comprises a horizon instrument, a head-up display and a liquid crystal instrument panel used for displaying a flight instrument, and the control system is used for receiving flight control instructions of trained personnel;

the simulation system is used for resolving simulator flight parameters in real time according to collected trainee operating instruction signals, simulator states and environmental information by combining a preset flight model, and sending the flight parameters to the six-degree-of-freedom motion platform, the visual display system and the instrument display system in real time so as to feed back the flight state under the current operating instruction to the trainee in real time;

the management system comprises an interaction module, a control module and a control module, wherein the interaction module is used for receiving selection operation of training personnel on a flight mode and a flight parameter;

a processor for executing the steps of the flight pitch illusion simulation method according to the above embodiment.

As an optional embodiment of the present application, the six-degree-of-freedom motion platform includes a spatial parallel motion mechanism, and the spatial parallel motion mechanism includes a lower fixed platform, an upper motion platform, 6 servo actuators, a universal hinge joint seat, and a stroke limiting mechanism.

Illustratively, the length of the actuating cylinder is changed by controlling a servo motor, so that the posture of the upper motion platform can be driven to change, and pitching, rolling and yawing angular motions around three spatial coordinate axes and lifting, transverse moving and longitudinal moving linear motions along three axes are realized. The control module of the six-freedom-degree motion system receives airplane motion parameters such as real-time speed and acceleration of an airplane of the simulation system, converts the airplane motion parameters into the motion parameters of the platform, controls the motion platform to provide overload feeling and dynamic information of attitude angle change in a certain range for trainees in the simulation cockpit, and enables the flight personnel to generate motion feeling consistent with that under actual flight environment and task conditions.

The six-degree-of-freedom motion platform has a motion washing-out function, and the motion washing-out function represents a motion process that after one sudden motion of the six-degree-of-freedom motion platform is completed, the smooth motion which is lower than a vestibular sensation threshold value of a human body returns to a neutral position, so that the six-degree-of-freedom motion platform can execute a next sudden motion instruction within a preset displacement stroke range.

Illustratively, a scene display system may include a display subsystem, a scene generation subsystem, and a scene database. The method can provide vivid, stable and real-time aircraft cabin external simulation scenes for pilots to judge the conditions of the aircraft such as the attitude, the position, the meteorological conditions, the ground and the aerial targets and the like. The display subsystem adopts projection display or liquid crystal display technology. The visual generation subsystem is based on a high-performance graphic workstation and visual simulation software, can generate images of complex weather conditions such as terrain, cloud, rain, fog and the like and three-dimensional objects and the like in real time, and completes scene management. The scene database provides geographic databases such as plains, forests, oceans and the like and three-dimensional object databases of airplanes, airports and buildings; the manipulation system may include: operating a steering column, a foot rudder and an accelerator. The main function of the control system is to respond to the control command of the flight crew and provide control command input for flight simulation.

The instrument display system is used for simulating various flight instruments and head-up displays in the aircraft cabin, the flight instruments are displayed on the central instrument liquid crystal panel, and the head-up display pictures are displayed in the central visual field of the visual display subsystem. The appearance of the meter and the index characteristics within the simulation range are consistent with the model being simulated. The flight instrument of the central instrument panel mainly comprises a horizon instrument, an airspeed meter, an altimeter, a compass and the like; the head-up display may indicate flight heading, lift speed, airspeed, altitude, pitch angle, inclination, and the like.

The simulation system collects pilot control command signals, airplane states and environment information in real time, and flight parameters such as airplane speed, acceleration and Euler angles are resolved according to an airplane pneumatic model, a quality characteristic model and an engine model. The aircraft performance simulation system sends the flight parameters to the motion platform, the visual display system, the instrument display system and other systems in real time, and feeds back the flight state to the pilot in real time.

The management system is a main interface of the flight illusion simulator, can provide function options and parameter setting for operators, and achieves comprehensive management functions of system operation monitoring, control and the like.

An embodiment of the present invention further provides an electronic device, as shown in fig. 5, the electronic device may include a processor 401 and a memory 402, where the processor 401 and the memory 402 may be connected by a bus or in another manner, and fig. 5 takes the connection by the bus as an example.

Processor 401 may be a Central Processing Unit (CPU). The Processor 401 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.

The memory 402, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the flight pitch illusion simulation method in the embodiments of the invention. The processor 401 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 402, namely, implements the flight pitch illusion simulation method in the above method embodiment.

The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 401, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 402 may optionally include memory located remotely from processor 401, which may be connected to processor 401 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 402 and when executed by the processor 401 perform a flight pitch illusion simulation method as in the embodiment shown in fig. 1.

The details of the electronic device may be understood with reference to the corresponding related description and effects in the embodiment shown in fig. 1, and are not described herein again.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a flash Memory (FlashMemory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.