1. A vestibular tilt illusion simulation method for a flight illusion simulator, the flight simulator comprising: the simulation passenger cabin and motion platform, the simulation passenger cabin is used for bearing the training personnel and takes place the motion under the drive of motion platform, its characterized in that includes:

setting a flight scene according to the received input operation of the training personnel on the flight lessons and the flight meteorological conditions;

when the aircraft enters a preset air route in the flight scene, controlling the aircraft to fly from a flat flight to a slope according to a preset angular acceleration lower than a human body vestibular sensation threshold value according to a vestibular inclination illusion generating condition, and when the flying slope reaches a preset slope, controlling the aircraft to fly to the preset time length at the same height and keeping the slope;

displaying a horizon and a flat-view display to the trainee, so that the trainee controls the airplane to respond to the flat-flying operation under the instruction of the horizon and the flat-view display;

when the plane recovers the flat flight state, the simulated cockpit is controlled to roll to a preset angle according to the angular acceleration higher than the vestibular sensation threshold of the human body, so that the trainee generates vestibular inclination illusion.

2. The method according to claim 1, wherein when the aircraft enters a preset air route in the flight scene, according to a vestibular inclination illusion generating condition, controlling the aircraft to slowly enter the slope from the flat flight according to a preset angular acceleration lower than a vestibular sensation threshold of a human body, and controlling the aircraft to keep the slope flying at the same height for a preset time period comprises:

when the aircraft enters a preset air route, controlling to close a horizon and a plano-optic display of the flight illusion simulator;

controlling the airplane to fly from a flat flying entrance slope to the preset angular acceleration lower than the human body vestibular sensation threshold value, and controlling the motion platform to keep the simulated cockpit in an initial vertical state;

and when the flight gradient reaches the preset gradient, controlling the airplane to enter uniform-speed turning flight at the same height.

3. The method of claim 1, wherein the method further comprises, after controlling the simulated cockpit to roll to a preset angle at an angular acceleration above a vestibular sensation threshold of the human body when the aircraft resumes a level flight condition, such that the trainee creates a vestibular tilt illusion, the method further comprising:

and controlling the plane to keep a plane flight state until a preset plane flight time is reached, and controlling the simulated cockpit to recover a vertical state, wherein the preset plane flight time is determined according to the time required by the vestibular inclined illusion disappearance.

4. A vestibular tilt illusion simulator, for a flight illusion simulator, the flight simulator comprising: the simulation passenger cabin and motion platform, the simulation passenger cabin is used for bearing the training personnel and takes place the motion under the drive of motion platform, its characterized in that includes:

the setting module is used for setting a flight scene according to the received input operation of the training personnel on the flight lessons and the flight meteorological conditions;

the first flight control module is used for controlling the airplane to fly from a flat flight to a slope according to a preset angular acceleration lower than a human body vestibular sensation threshold value according to a vestibular inclination illusion generating condition when the airplane enters a preset air route in the flight scene, and controlling the airplane to keep the slope to fly to a preset time length at the same height when the flight slope reaches a preset slope;

the second flight control module is used for displaying the horizon instrument and the flat-view display to the trainee so that the trainee can control the airplane to respond to the flat-flight operation under the instruction of the horizon instrument and the flat-view display;

and the third flight control module is used for controlling the simulated cockpit to roll to a preset angle according to the angular acceleration higher than the vestibular sensation threshold of the human body when the plane recovers the level flight state, so that the trainee generates the vestibular inclination illusion.

5. The apparatus of claim 4, wherein the first flight control module comprises:

the first flight control sub-module is used for controlling to close a horizon and a plano-visual display of the flight illusion simulator when the aircraft enters a preset air route;

the second flight control submodule is used for controlling the plane to fly from a flat flight to a gradient at the preset angular acceleration lower than the human body vestibular sensation threshold value and controlling the motion platform to keep the simulated cockpit in an initial vertical state;

and the third flight control submodule is used for controlling the airplane to enter uniform-speed turning flight at the same height when the flight gradient reaches the preset gradient.

6. The apparatus of claim 4, further comprising:

and the fourth flight control module is used for controlling the plane flight state of the aircraft to be kept until a preset plane flight time is reached, and controlling the simulated cockpit to recover the vertical state, wherein the preset plane flight time is determined according to the time required by vestibular inclination 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 a visual outside the simulation cockpit, the instrument display system comprises a horizon sensor, 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 trainees;

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 a trained person on a flight mode and a flight parameter;

a processor for performing the steps of the vestibular tilt 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 vestibular tilt 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 vestibular tilt illusion simulation method according to any of claims 1-3.

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 inclination illusion is the wrong perception of the pilot on the gradient of the airplane, is one of common flight illusions with high incidence, and is mainly characterized in that the pilot feels the gradient of the airplane when the airplane actually flies flatly or turns horizontally; when the airplane actually flies with a slope, the pilot feels that the airplane flies flatly or overestimates or underestimates the slope, and the tilting illusion can be induced by vestibular proprioception information. In the related art, the scheme for overcoming the illusion of oblique flight is generally that space orientation is effectively carried out according to visual instrument flight, and the conventional method for overcoming the illusion of flight 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 oblique 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 vestibular tilt illusion simulation method and device and a flight illusion simulator, so that the pilot can know, recognize and correctly deal with the flight illusion by carrying out the tilt flight illusion experience training on the flight illusion simulator, and the accident rate is effectively reduced.

According to a first aspect, an embodiment of the present invention discloses a vestibular tilt 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 training personnel and takes place the motion under the drive of the motion platform, includes: setting a flight scene according to the received input operation of the training personnel on the flight lessons and the flight meteorological conditions; when the aircraft enters a preset air route in the flight scene, controlling the aircraft to fly from a flat flight to a slope according to a preset angular acceleration lower than a human body vestibular sensation threshold value according to a vestibular inclination illusion generating condition, and when the flying slope reaches a preset slope, controlling the aircraft to fly to the preset time length at the same height and keeping the slope; displaying a horizon and a flat-view display to the trainee, so that the trainee controls the airplane to respond to the flat-flying operation under the instruction of the horizon and the flat-view display; when the plane recovers the flat flight state, the simulated cockpit is controlled to roll to a preset angle according to the angular acceleration higher than the vestibular sensation threshold of the human body, so that the trainee generates the vestibular inclination illusion.

Optionally, when the aircraft enters a preset airline in the flight scene, according to a condition for generating a vestibular inclination illusion, controlling the aircraft to slowly fly from a flat flight to a slope according to a preset angular acceleration lower than a vestibular sensation threshold of a human body, and when a flight slope reaches a preset slope, controlling the aircraft to keep the slope to fly at the same height for a preset time includes: when the aircraft enters a preset air route, controlling to close a horizon and a plano-optic display of the flight illusion simulator; controlling the airplane to fly from a flat flying entrance slope to the preset angular acceleration lower than the human body vestibular sensation threshold value, and controlling the motion platform to keep the simulated cockpit in an initial vertical state; and when the flight gradient reaches the preset gradient, controlling the airplane to enter uniform-speed turning flight at the same height.

Optionally, after controlling the simulated cockpit to roll to a preset angle at an angular acceleration higher than a vestibular sensation threshold of the human body when the airplane returns to the level flight state, so that the trainee generates a vestibular inclination illusion, the method further includes: and controlling the plane to keep a plane flight state until a preset plane flight time is reached, and controlling the simulated cockpit to recover a vertical state, wherein the preset plane flight time is determined according to the time required by the vestibular inclined illusion disappearance.

According to a second aspect, an embodiment of the present invention further discloses a vestibular tilt 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 training personnel and takes place the motion under the drive of the motion platform, includes: the setting module is used for setting a flight scene according to the received input operation of the training personnel on the flight lessons and the flight meteorological conditions; the first flight control module is used for controlling the airplane to fly from a flat flight to a slope according to a preset angular acceleration lower than a human body vestibular sensation threshold value according to a vestibular inclination illusion generating condition when the airplane enters a preset air route in the flight scene, and controlling the airplane to keep the slope to fly to a preset time length at the same height when the flight slope reaches a preset slope; the second flight control module is used for displaying the horizon instrument and the flat-view display to the trainee so that the trainee can control the airplane to respond to the flat-flight operation under the instruction of the horizon instrument and the flat-view display; and the third flight control module is used for controlling the simulated cockpit to roll to a preset angle according to the angular acceleration higher than the vestibular sensation threshold of the human body when the plane recovers the level flight state, so that the trainee generates the vestibular inclination illusion.

Optionally, the first flight control module comprises: the first flight control sub-module is used for controlling to close a horizon and a plano-visual display of the flight illusion simulator when the aircraft enters a preset air route; the second flight control submodule is used for controlling the plane to fly from a flat flight to a gradient at the preset angular acceleration lower than the human body vestibular sensation threshold value and controlling the motion platform to keep the simulated cockpit in an initial vertical state; and the third flight control submodule is used for controlling the airplane to enter uniform-speed turning flight at the same height when the flight gradient reaches the preset gradient.

Optionally, the apparatus further comprises: and the fourth flight control module is used for controlling the plane flight state of the aircraft to be kept until a preset plane flight time is reached, and controlling the simulated cockpit to recover the vertical state, wherein the preset plane flight time is determined according to the time required by vestibular inclination 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 a visual outside the simulation cockpit, the instrument display system comprises a horizon sensor, 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 trainees; 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 a trained person on a flight mode and a flight parameter; a processor configured to perform the steps of the vestibular tilt illusion simulation method according to the first aspect or any of the alternative 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 vestibular tilt 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 being executed by a processor, implements the steps of the vestibular tilt illusion simulation method according to the first aspect or any one of the alternative embodiments of the first aspect.

The technical scheme of the invention has the following advantages:

the vestibular inclination illusion simulation method/device provided by the invention sets a flight scene according to the received input operation of training personnel on flight lessons and flight meteorological conditions, when the airplane enters a preset air route in a flight scene, the airplane is controlled to fly from a flat flying entrance slope according to a preset angular acceleration lower than a human body vestibular sensation threshold value according to a vestibular inclination illusion generating condition, when the flying gradient reaches the preset gradient, the airplane is controlled to fly at the same altitude for a preset time while keeping the gradient, the horizon sensor and the visual display are displayed to the trainee, so that the trainee can control the airplane to respond to the plane flight operation under the indication of the horizon finder and the flat-view display, when the plane returns to a flat flight state, the simulated cockpit is controlled to roll to a preset angle according to the angular acceleration higher than the vestibular sensation threshold of the human body, so that the trainee generates vestibular inclination illusion; by reasonably setting flight subjects and meteorological conditions and simulating the flight attitude and motion state of the airplane in the air through the motion platform, vestibular proprioceptive organs of a pilot are stimulated, vestibular inclination illusion is induced, and the pilot experiences, identifies and correctly deals with the inclination illusion in the process of executing a simulated flight task.

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 vestibular tilt illusion simulation method according to an embodiment of the present invention;

fig. 2 is a schematic block diagram of a specific example of a vestibular tilt illusion simulation apparatus according to an embodiment of the invention;

fig. 3 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 can not distinguish the resultant force of gravity, gravity and acceleration inertia force with the same physical property, only reacts to the resultant force of the gravity and the acceleration inertia force, so the resultant force of the gravity and the inertia force is often taken as the 'gravity', thus various body gravity illusions can be generated, for example, upward illusion can be generated when the vestibular body system is horizontally accelerated, and downward illusion can be generated when the vestibule body system 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 threshold of the otolith device is 0.001-0.05 g, and the stimulus below the sensation threshold does not cause the perception reaction, namely the stimulus below the threshold cannot be usually perceived for the movement. 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. The vestibular system may generate a sense of incongruity with the actual motion, position, state, and generate an illusion of flight. However, the limitations of the vestibular sensory system are only apparent under certain conditionsThis is now because of the complex interaction relationship between vestibular and vision. Visual advantages are generally presented, namely visual information that can suppress vestibular sensation information, flight under simple meteorological conditions, and correct sky-ground line vision, although acceleration effects, can suppress various false vestibular sensations, which is why flight illusions 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 vestibular tilt illusion simulation method, which is used for a flight illusion simulator, wherein the flight simulator comprises the following components: the method comprises the following steps of:

step 101, setting a flight scene according to the received input operation of the training personnel on the flight course and the flight meteorological conditions.

Illustratively, trainees can set flight courseware and flight meteorological conditions through the interactive interface, and the flight courseware includes but is not limited to flight aircraft selection, airport regions, flight time and air routes; the flight weather initial conditions include, but are not limited to, visibility, distance from the cloud, and weather conditions where the cloud height is less than a meter-indicated minimum value dictated by visual weather conditions. The type and the region of the airplane can be selected according to the needs, the time can be day, the cruising height of the airplane is 3-6 km, the smooth flying speed is as follows: 400-800 km/h.

The flight meteorological conditions are set as instrument meteorological conditions (including visibility, distance from cloud and meteorological conditions with the cloud height smaller than the minimum value of instrument indication specified by visual meteorological conditions), under the instrument meteorological conditions, such as low visibility caused by foggy days or cloud flight, the sky and ground line which is used as a reference for the pilot to perform visual space orientation is lost, visual clues outside a window are lacked, the pilot can generate space orientation difficulty, the pilot can depend on a vestibular sensation system to perform orientation more, and vestibular flight illusion is easily caused.

And step 102, when the aircraft enters a preset air route in the flight scene, controlling the aircraft to fly from a flat flight to a slope according to a preset angular acceleration lower than a human body vestibular sensation threshold value according to a vestibular inclination illusion generating condition, and when the flying slope reaches a preset slope, controlling the aircraft to fly to the preset time at the same height and keeping the slope.

As an alternative embodiment of the present application, step 102 includes: when the aircraft enters a preset air route, controlling to close a horizon and a plano-optic display of the flight illusion simulator; controlling the airplane to fly from a flat flying entrance slope to the preset angular acceleration lower than the human body vestibular sensation threshold value, and controlling the motion platform to keep the simulated cockpit in an initial vertical state; and when the flight gradient reaches the preset gradient, controlling the airplane to enter uniform-speed turning flight at the same height.

Exemplarily, after the airplane finishes the takeoff stage and enters the cruising flight of a preset air route, a horizon finder and a plano-optic display (called a head-up display for short) are closed, a pilot cannot obtain the pitching or rolling attitude information of the airplane by observing the horizon finder or the plano-optic display at the moment, the pilot can only rely on a vestibular sensory system to carry out space orientation to judge the attitude of the airplane, and vestibular flight illusion is easily generated due to the limitation of the function of the vestibular sensory system of the human body; in the actual flight process, under special conditions such as gust and turbulence, the aircraft may have angular acceleration below the human body sensation threshold value (due to the difference of the lift forces of the wings at the two sides of the aircraft)<0.5°/s²) During the process, the pilot can not detect rolling motion only by virtue of a vestibular system and feels that the airplane is still in the flat flight. Therefore, in the process of flight illusion simulation, the airplane is directly controlled to slowly roll to the right/left by 30-45 degrees at the preset angular acceleration a lower than the human vestibular sensation threshold value, and the preset angular acceleration a is less than 0.5 degree/s²That is, the instantaneous roll angular velocity ω may gradually increase with time. At the moment, the motion signals are filtered through a control algorithm of the motion platform, the simulated cockpit always keeps a vertical position without responding to smaller angular acceleration below a pilot perception threshold value, so that the pilot cannot feel entering a turn and the airplane directionRight/left tilting, producing an effect consistent with the actual flight feel.

After the airplane flies at the maximum slope, the airplane can continuously fly at the uniform speed for 10-30 seconds at the equal radius of the slope, and the simulated cockpit is always in the vertical state, so that the vestibular system of the pilot can not detect the right/left inclination and the continuous turning of the airplane all the time, and the airplane is still in the flat flight state. In the process, because the motion platform has no acceleration motion signal input, the simulated cockpit always keeps a vertical position, and a pilot feels that the airplane is in a flat flight state, so that the effect consistent with the actual flight feeling is generated.

And 103, displaying the horizon and the flat-view display to the trainee, so that the trainee controls the airplane to respond to the flat-flight operation under the instruction of the horizon and the flat-view display.

And 104, when the plane returns to the flat flight state, controlling the simulated cabin to roll to a preset angle according to the angular acceleration higher than the vestibular sensation threshold of the human body, so that the trainee generates vestibular inclination illusion.

Illustratively, after the aircraft remains in grade flight for a preset period of time, the horizon finder and the peace display are turned on, and then the pilot is immediately instructed to quickly change to level flight according to the parameters of the horizon finder. The pilot will, based on the horizon or pilot indication, maneuver the aircraft to rapidly roll 30 ° -45 ° left/right from the right/left-inclined position at an angular acceleration above the sensory threshold, and resume the level flight attitude. At this time, although the body of the pilot is actually restored to the vertical position, the vestibular system of the pilot is stimulated by the angular acceleration of the left/right rolling, the sense that the body is rolled left/right from the vertical posture is generated, the left/right inclination of the body is sensed, the airplane is considered to enter the left/right slope flight, and the wrong sense of the airplane slope indicates that the vestibular inclination illusion is generated by the pilot. During the leveling flight, the simulated cockpit rapidly rolls a certain angle from the vertical position to the left/right, and the pilot generates the feeling of left/right inclination of the body, which is consistent with the illusion of inclination in actual flight.

According to the vestibular inclination illusion simulation method provided by the invention, the flight subjects and meteorological conditions are reasonably set, and the flight attitude and motion state of the airplane in the air are simulated through the motion platform, so that the vestibular proprioception organs of a pilot are stimulated, the vestibular inclination illusion is induced, and the pilot can experience, recognize and correctly handle the inclination illusion in the process of executing a simulated flight task.

As an alternative embodiment of the present invention, after step 104, the method further comprises: and controlling the plane to keep a plane flight state until a preset plane flight time is reached, and controlling the simulated cockpit to recover a vertical state, wherein the preset plane flight time is determined according to the time required by the vestibular inclined illusion disappearance.

After the plane is changed to the flat flight, the pilot is instructed to continue to keep the flat flight for 30 seconds based on the instrument parameters, and in the process, the inclination illusion gradually fades away. In the process, the motion platform can be controlled to keep the maximum left/right inclination angle, after 30 seconds, the simulated cockpit is controlled to slowly roll from the inclined position to the vertical position, the inclination illusion of the pilot is gradually weakened and disappears, and the feeling of controlling and overcoming the inclination sensation in the process of actual flight is consistent.

The embodiment of the invention also discloses a vestibular tilt illusion simulator, which is used for a flight illusion simulator, and the flight simulator comprises: a simulated cockpit and a motion platform, wherein the simulated cockpit is used for carrying trainees and moves under the drive of the motion platform, as shown in fig. 2, the device comprises:

the setting module 201 is used for setting a flight scene according to the received input operation of the training personnel on the flight lessons and the flight meteorological conditions;

the first flight control module 202 is configured to, when the aircraft enters a preset airline in the flight scene, control the aircraft to fly from a flat flight to a flat flight entering slope according to a preset angular acceleration lower than a human body vestibular sensation threshold according to a vestibular inclination illusion generating condition, and when a flight slope reaches a preset slope, control the aircraft to keep the aircraft flying at the same height for a preset time;

the second flight control module 203 is used for displaying a horizon sensor and a flat-view display to the trainee, so that the trainee can control the aircraft to respond to the flat-flight operation under the instruction of the horizon sensor and the flat-view display;

and the third flight control module 204 is configured to control the simulated cockpit to roll to a preset angle at an angular acceleration higher than a vestibular sensation threshold of a human body when the aircraft returns to a level flight state, so that the trainee generates a vestibular inclination illusion.

According to the vestibular inclination illusion simulation device provided by the invention, the flight subjects and meteorological conditions are reasonably set, and the flight attitude and motion state of an airplane in the air are simulated through the motion platform, so that the vestibular proprioception organs of a pilot are stimulated, the vestibular inclination illusion is induced, the pilot experiences, identifies and correctly handles the inclination illusion in the process of executing a simulated flight task, and the inclination illusion simulation effect is good.

As an alternative embodiment of the present invention, the first flight control module 202 includes:

the first flight control sub-module is used for controlling to close a horizon and a plano-visual display of the flight illusion simulator when the aircraft enters a preset air route;

the second flight control submodule is used for controlling the plane to fly from a flat flight to a gradient at the preset angular acceleration lower than the human body vestibular sensation threshold value and controlling the motion platform to keep the simulated cockpit in an initial vertical state;

and the third flight control submodule is used for controlling the airplane to enter uniform-speed turning flight at the same height when the flight gradient reaches the preset gradient.

As an optional embodiment of the present invention, the apparatus further comprises: and the fourth flight control module is used for controlling the plane flight state of the aircraft to be kept until a preset plane flight time is reached, and controlling the simulated cockpit to recover the vertical state, wherein the preset plane flight time is determined according to the time required by vestibular inclination 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 a visual outside the simulation cockpit, the instrument display system comprises a horizon sensor, 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 trainees;

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 a trained person on a flight mode and a flight parameter;

a processor for executing the steps of the vestibular tilt 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. 3, 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. 3 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 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the vestibular tilt illusion simulation method in the embodiment of the present 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, that is, implements the vestibular tilt 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 vestibular tilt illusion simulation method as in the embodiment of 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 (Flash Memory), 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.