CN108447337A - Simulated flight implementation method based on virtual reality - Google Patents
Simulated flight implementation method based on virtual reality Download PDFInfo
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Abstract
The simulated flight implementation method based on virtual reality that the embodiment of the invention discloses a kind of, including be applied in flight simulation platform, the flight simulation platform includes analog capsule cabin, visual system, avionics system, flight control system and 6-dof motion platform；The control signal that acquisition pilot is inputted by analog capsule cabin；Corresponding flight parameter is provided according to flight dynamics model, flight parameter is coordinately transformed by illusory 4 visual system, the kinematic parameter of acquisition is become into the parameter under pilot's vestibular centre coordinate system；According to linear dynamic the coordinating for coordinating washout algorithm by angular movement and line movement generation；Carry out that calculus is counter solves to kinematic parameter according to the anti-resolving Algorithm of preset six-degree-of freedom mathematical model, to calculate electric cylinder input parameter in control platform motion process, obtain the elongation of electric cylinder, and drive signal is generated to drive 6-dof motion platform according to the elongation, realize trained analog simulation flight.
Description
Technical field
The present invention relates to technical field of flight simulation more particularly to a kind of simulated flight realization sides based on virtual reality
Method.
Background technology
Due to flight simulation platform have it is safe and reliable, conveniently, economical, work efficiency is high, and do not limited by meteorological condition
Outstanding advantages of processed, therefore develop quite rapid.Its history can trace back to the last century 20's, in the development in long more than ten year
In course, flight simulation platform experienced mechanical, electronic type and digital three developing stage.Kinematic system experienced list
The developing stage of degree of freedom, two degrees of freedom, Three Degree Of Freedom to six degree of freedom, control mode is by the final transition of mechanical, electronic type
To digital, training tool is drawn by optical clear by artificial type, mechanical type to digital computer simulation type, visual system and electricity
Shadow film projects the figure system down to most popular virtual reality technology till now to widely used closed-circuit television and video camera
Make imaging technique, boiler-plate seat develops to complete synchronous mode flying instruments cabin from only partial simulation instrument.
Virtual reality technology be using computer provide to the user one it is interactive immerse it is on the spot in person virtual
Three-dimensional panorama, and line holographic projections are to utilize interference and diffraction principle record and the true 3-D view technology of reconstructed object.Virtually
Reality technology has the higher experience of fidelity compared to line holographic projections.However, the short characteristic of virtual reality image-forming range results in
It has that the dizzy sense brought to people is strong.
Invention content
Technical problem to be solved of the embodiment of the present invention is, provides a kind of simulated flight realization based on virtual reality
Method, so that the dizzy sense during the simulated flight based on virtual reality can be reduced.
In order to solve the above-mentioned technical problem, the embodiment of the present invention proposes a kind of simulated flight realization based on virtual reality
Method is applied in flight simulation platform, and the flight simulation platform includes analog capsule cabin, visual system, avionics system, flies control
System and 6-dof motion platform, the implementation method include：
Step 1：The control signal that acquisition pilot is inputted by analog capsule cabin；
Step 2：Corresponding flight parameter is provided according to preset flight dynamics model, the flight parameter includes body
Acceleration, 3 angular speed, angular acceleration and the attitude angle of lower 3 axial directions of coordinate system；
Step 3：Flight parameter is coordinately transformed according to preset illusory 4 visual system, by the kinematic parameter of acquisition
Become the parameter under pilot's vestibular centre coordinate system；
Step 4：According to the dynamic coordination that preset linear coordination washout algorithm generates angular movement and line movement, pass through seat
The parameter that obtains of mark transformation channel respectively again by each entrance in filtering algorithm channel, the filtered position for obtaining platform and
Pose parameter, will be in the defeated flight simulation plateform system of obtained parameter；
Step 5：It carries out that calculus is counter solves to kinematic parameter according to the anti-resolving Algorithm of preset six-degree-of freedom mathematical model, comes
Electric cylinder input parameter in control platform motion process is calculated, the elongation of each electric cylinder of 6-dof motion platform is obtained
Amount, and drive signal is generated to drive 6-dof motion platform according to the elongation, realize analog simulation flight effect.
The embodiment of the present invention is by proposing a kind of simulated flight implementation method based on virtual reality, including step 1~step
Rapid 5, by being coordinately transformed to attitude angle and controlling each of 6-dof motion platform to coming out for flight parameter
The elongation of electric cylinder keeps the vestibular sense organ of what comes into a driver's and people consistent as far as possible so as to adjust the posture of body, solves virtual
The strong problem of the dizzy sense of real image-forming range short-range missile stunning, and then reach the while of providing high emulation flight for pilot and drop
The technique effect of the low dizzy sense generated during the motion.
Description of the drawings
Fig. 1 is input and output acceleration, displacement and pitching angular curve.
Fig. 2 is x-axis direction input acceleration curve.
Fig. 3 is x-axis direction output accelerating curve.
Fig. 4 is angle displacement curve.
Fig. 5 is that the simulated flight data under virtual reality wash out flow chart.
Fig. 6 is emulation and implementation flow chart of the avionics with winged empty integrated system in virtual reality.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
It mutually combines, invention is further described in detail in the following with reference to the drawings and specific embodiments.
If directional instruction (such as up, down, left, right, before and after ...) is only used for explaining at certain in the embodiment of the present invention
Relative position relation, motion conditions etc. under one particular pose (as shown in the picture) between each component, if the particular pose is sent out
When raw change, then directionality instruction also correspondingly changes correspondingly.
If in addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as
It indicates or implies its relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.
Fig. 1~Fig. 6 is please referred to, the simulated flight implementation method based on virtual reality of the embodiment of the present invention is applied to fly
In row analog platform, the flight simulation platform includes that analog capsule cabin, visual system, avionics system, flight control system and six are free
Motion platform is spent, the implementation method includes step 1~step 5.
Step 1：The control signal that acquisition pilot is inputted by analog capsule cabin；
Step 2：Corresponding flight parameter is provided according to preset flight dynamics model, the flight parameter includes body
Acceleration, 3 angular speed, angular acceleration and the attitude angle of lower 3 axial directions of coordinate system；
Step 3：Flight parameter is coordinately transformed according to preset illusory 4 visual system, by the kinematic parameter of acquisition
Become the parameter under pilot's vestibular centre coordinate system；
Step 4：According to the dynamic coordination that preset linear coordination washout algorithm generates angular movement and line movement, pass through seat
The parameter that obtains of mark transformation channel respectively again by each entrance in filtering algorithm channel, the filtered position for obtaining platform and
Pose parameter, will be in the defeated flight simulation plateform system of obtained parameter；
Step 5：It carries out that calculus is counter solves to kinematic parameter according to the anti-resolving Algorithm of preset six-degree-of freedom mathematical model, comes
Electric cylinder input parameter in control platform motion process is calculated, the elongation of each electric cylinder of 6-dof motion platform is obtained
Amount, and drive signal is generated to drive 6-dof motion platform according to the elongation, realize analog simulation flight effect.
As an implementation, step 4 includes：
Coordinate transform sub-step：The angular displacement of high pass angular speed filtering output in attitude angle is carried out using following formula
Coordinate transform：
Wherein, θwh、And ψwhFor the attitude angle of high pass angular speed filtering output；θaLWithIt is filtered for low pass acceleration
The attitude angle of output.
As an implementation, step 4 includes：
Limit frequency sub-step：Motion frequency in flight parameter is limited using following formula：
Wherein, k is preset amplification coefficient, wxFor flight simulation motion frequency extreme value, εxFor damping ratio.
As an implementation, step 4 includes：
Low frequency acceleration sub-step：High pass acceleration channel is obtained using following formula：
Wherein, abhx、abhLongitudinal acceleration in coordinate system respectively before and after High frequency filter, εahxAnd wahxIt is respectively longitudinal
Acceleration high channel filters damping ratio and cutoff frequency, wxFor first-order kernel frequency；
It is obtained using following formula and tilts coordination portion：
Wherein, abx、ablxLongitudinal acceleration in coordinate system respectively before and after low-pass filtering；εalx、walxIt is respectively longitudinal to add
Speed low-pass filter damping ratio and cutoff frequency；
High pass angular speed channel is obtained using following formula：
Wherein, ψbx、ψblxYaw rate in coordinate system respectively before and after low-pass filtering；εwlx、wwlxRespectively yaw angle
Speed low-pass filter damping ratio and cutoff frequency.
As an implementation, step 4 includes：
Coordinate washout algorithm according to linear, uses high pass and low-pass filter that will simulate longitudinally and laterally putting down for aircraft respectively
It moves acceleration and is decomposed into two parts of high frequency and low frequency, high frequency section is flat as drive motion after lead compensation by washing out
The displacement signal in the directions stage translation x and the directions y, and the equivalent attitude angle standby signal that low frequency part generates, filter by washing out,
Become driving platform pitching and roll attitude signal after lead compensation.And liftway translational acceleration passes through high-pass filtering, washes
Go out and lead compensation must lift drive signal as motion platform, and the dynamic prompt of yaw angle only needs the acceleration by yaw angle
Degree is by washing out, the drive signal of filtering and lead compensation acquisition motion platform yaw angle.
Pitch angle washes out sub-step：Pitching angular acceleration is obtained by longitudinal specific force：
By pitching angular accelerationChange rate carry out first-order lag filter to obtain rate of pitch：
Above formula is write as to the form of difference：It is calculated with first-order difference and is bowed by what specific force generated
Elevation angle theta1n,Wherein Δ T is integration step；
When aircraft is by pitch angle, gravity acceleration g x-axis component be sin θ * g, when θ be timing, be in x-axis component
It is negative, otherwise for just；The specific force that the weight component generates in longitudinal direction (directions x), it is θ that corresponding pitch angle, which washes out signal,a,The total wash-off signal of 6-dof motion platform pitch angle is θw, θw=θ1+θa；
Roll angle washes out sub-step：The roll angular acceleration that lateral specific force generates
By roll angular accelerationRate carry out first-order lag filtering and obtain the roll angular speed that lateral specific force generates
Above formula is write as to the form of difference：
The roll angle that lateral specific force generates：Wherein, Δ T is integration step, when φ compares
Hour, take the current roll angle φ of aircraft0=φa, total wash-off signal of 6-dof motion platform roll angle is φw,
Yaw angle washes out sub-step：
Aircraft yaw angular acceleration is calculated using than power drive method
It washes out to obtain yaw angular acceleration using property second order, is integrated twice, obtain yaw angle and wash out signal：
Linear displacement washes out sub-step：
First-order lag filtering is carried out to aircraft acceleration change rate using following formula：
Its transmission function form：
Wherein, axwmFor this after wash-off linear acceleration, axwm31Be the last time through wash out linear acceleration, axnFor this
Aircraft linear acceleration, axn-1For last time aircraft linear acceleration, Δ T is integration step, TcxFor first-order lag time constant, KcxFor than
Example coefficient.
As an implementation, step 4 includes：The acceleration that control washes out movement adds less than what human body can be experienced
Speed threshold makes the presence of the imperceptible movement of pilot：
Vestibular system is to play a very important role in the extraneous true environment of impression.Its position of vestibular system position
In inner ear, there are three mutually perpendicular semicircular canal and utricles and circle capsule to form for it, general again to claim utricle and circle capsule
For otolith.Research has shown that, otolith feels linear acceleration, such as longitudinally, laterally with it is vertical these three merely desire to the feeling of movement, but ear
Stone is difficult that differentiation acceleration is caused by moving or caused by gravity, this is also the key of our algorithm designs.Otolith pair
Feeling for linear acceleration is indicated in the form of specific force, i.e.,
F=a-g；
Specific force (the m/s that f--- human bodies are experienced in formula2)；
Absolute linear acceleration (the m/s of a--- human bodies2)；
G--- acceleration of gravity (m/s2)。
The transmission function of otolith model can be reduced to,
The specific force in certain direction inputs (m/s at f--- pilot's brain vestibular center in formula2)；
--- the specific force (m/s for the direction that pilot experiences2)；
K--- gains, dimensionless；
τa、τL、τs--- otolith model physical parameter, dimensionless.
Semicircular canal can experience the stimulation of rotary motion, such as pitching, roll and yaw these three angular velocity of rotations.Pass through it
Kinaesthesis and attitudinal reflex are generated, to maintain the balance of body.
The transmission function of semicircular canal tube model is reduced to,
In formula at w--- pilot's brain vestibular center a direction turning rate input；
--- pilot feels the angular speed of the direction；
TL、Ts、Ta--- semicircular canal tube model physical parameter, dimensionless.
Otolith is equivalent to a low-pass filter, and high-frequency ratio force signal human body is hardly felt, when the longitudinal direction of movable body
Or side acceleration is less than 0.17m/s2, vertically below 0.28m/s2, the generation of the imperceptible movement of people.Semicircular canal is suitable
In a bandpass filter, human body can just experience the presence of rotary motion only in certain frequency range, work as movable body
Rate of pitch, angular velocity of rotation and yaw rate be respectively lower than 3.6 °/s, 3 °/s, 2.6 °/s when, the imperceptible rotation of people
Transhipment is dynamic.
2.UE4 optimizes direction (reducing the pressure of GPU, keep picture more smooth, the frame number for controlling rendering reaches 75 or more)：
1. the shade of high quality, for the antialiasing of high-quality, actual expression effect is secondary.Reduce shade
Quality come exchange for high-quality be it is a kind of shoot the arrow at the target compromise strategy.
2. the reductions of as possible are not the rendering quality parts being concerned about very much, increase more visible rendering quality part.
3. reduces the quantity of the instruction of shader, the quantity of Texture sample is reduced
4. commonly using the same object on Pattern close and put up on figure one, remove influences very little to quality
Textures.
5. the most quick most efficient method of optimization of delay light is using static light source.If using dynamic optical
Source, then reduce Lighting cull radiuses, decaying, and the big low-angles of Z INTERSSECTION, cone reduce overlapping to the greatest extent.
6. the expense maximum of projections is frequently not to come from pixel shader, and come from the faces mesh being projected
Number is too many, closes the light of projection；Reduce range or subtended angle；Subtract face, adds LOD.
As an implementation, the anti-resolving Algorithm of the six-degree-of freedom mathematical model position in step 5 includes：
If the hinge P of 6-dof motion platform upper mounting platei(i=l, 2 ... 6) in kinetic coordinate system OP-XPYPZPIn
Coordinate is Pi=[Pix,Piy,Piz]T, in inertial coodinate system OB-XBYBZBIn coordinate P 'i=[P 'ix,P′iy,P′iz]T；Lower platform
Hinge Bi(i=l, 2 ... 6) coordinate is bi=[bix,biy,biz]T, in inertial coodinate system, the vectorial B of electric cylinderi Pi
(i=l, 2 ... 6) coordinate is li=[lix,liy,liz]T, obtain li=p 'i-biI=1,2 ... 6；
The rotation sequence of yaw angle φ, pitching angle theta, roll angle ψ in the attitude angle of flight simulation platform are respectively along working as
The rotation three times of preceding coordinate system Z, Y, X；Using homogeneous coordinate transformation, obtains kinetic coordinate system and pass through relative to inertial coodinate system
It translates and is according to the postrotational homogeneous transform matrix of order：
In above formula, O=[0 0 0], Vp=[xp yp zp]TIt is coordinate system OP-XPYPZPRelative to coordinate system OB-XBYBZB's
Origin position, and xp=yp=0, zp=zp0；It is from coordinate system OP-XPYPZPSpin matrix；
In formula,Eulerian angles for kinetic coordinate system relative to inertial coodinate system, flight simulation platform
It is in the Euler angle rate of inertial coodinate system：
Wherein, ws=[wx wy wa]TEulerian angles for kinetic coordinate system relative to inertial coodinate system, homogeneous coordinate transformation square
Battle array be：
I.e.：
Rectangular co-ordinate is expressed as：
li=LtSPi+Vp-biI=1,2 ... 6；
Then the length of electric cylinder is：
So-called Kinematics analysis refers to the position and attitude by given upper mounting plate relative to basic platform, finds out stretching for each cylinder
Contracting amount：Conversely, being then position forecast.The forward kinematics solution of mechanism platform is conducive to carry out error analysis, the working space of platform
Analysis, force analysis and synthesis of mechanism etc.；And the anti-crucial skill of one solved as flight simulation platform in practical application
Art is mainly used for carrying out the speed of platform mechanism, acceleration, dynamic analysis, and the motion control to flight simulation platform
And trajectory planning.Also, since the online real-time calculating of six-degree-of-freedom parallel connection mechanism need to calculate anti-solution, selective analysis is counter to be solved
Algorithm.
As an implementation, further include after step 5：
Verification step：Corresponding database is built according to the flying quality of pilot and corresponding flight check data, and
Preset flight control system algorithm is trained according to the data in database.
Example 1：Select square-wave signal as input signal.Assuming that only inputting the square wave letter of an acceleration in a z-direction
Number, by washout algorithm, the curves such as acceleration, speed, the displacement of moving platform are exported, can clearly be recognized by analyzing these curves
Know the flow and advantage of washout algorithm after improvement.Fig. 1 is acceleration, displacement and the elevation angle curve of input and output.
At the 2s and 14s of Fig. 1 (a), acceleration signal mutates, and is equivalent to a high frequency acceleration signal, signal
By high pass acceleration channel, the acceleration and displacement curve in output z-axis direction, as shown in Fig. 1 (b) and Fig. 1 (c).Fig. 1 (d)
What is simulated is the low frequency acceleration signal in Fig. 1 (a), coordinates to be converted to angular displacement by tilting, and slope remains at 3°/
S is hereinafter, human feeling is less than any rotation and tilts.The items that improved washout algorithm completes classical washout algorithm refer to
Mark.
Identical acceleration signal is input in classical washout algorithm, output is bent as shown in Fig. 1 (e) and Fig. 1 (f)
Line.By comparing it is found that Fig. 1 (e) than Fig. 1 (c) mostly 1 curve 2, this be by tilt coordinate caused by, be in real process
It is not present, and because of the acceleration very little of whole process, for human feeling less than this movement, this curve having more is very big
Ground increases the difficulty of later data processing.Improved washout algorithm gives up this curve by adjusting coordinate transform.Separately
Outside, the displacement of Fig. 1 (e) outputs obviously exceeds the displacement of Fig. 1 (c), is actually equivalent to that reduce flight simulation platform available
Sky is asked, flight simulation platform simulation flare maneuver is expanded on the basis of ensureing dynamic fidelity for improved algorithm
Range.By Fig. 1 (d) and Fig. 1 (f) it is found that not influencing the output of angular displacement before and after improvement.
Example 2：It is analysis object with one group of true flare maneuver curve, one group of reality for taking off the stage of input adds
Speed signal, as shown in Figure 2.
Flight simulation platform returns to initial position in time after completing movement mutation each time, and continues the acceleration of low frequency
Degree.Coordinate to be converted into angular displacement by tilting, be reasonably utilized the working space of flight simulation platform, it was demonstrated that is washed after improving
Go out the feasibility of algorithm.Such as Fig. 3, shown in Fig. 4.
Changed by display real-time monitoring data, by flight simulation interface record data, is detected and transported by the data obtained
Whether dynamic result exceeds travel limit, if meet simulation requirements, by table 1.1, table 1.2, table 1.3 as it can be seen that gained data symbols
Close the simulation standard of flight simulation Platform Requirements：
1.1 kinematic system displacement real-time monitoring data of table
| Degree of freedom | Displacement lower limit | The displacement upper limit |
| Lifting | -91.2cm | 92.5cm |
| Laterally | -92.3cm | 96.1cm |
| It is longitudinal | -95.6cm | 93.4cm |
| Pitching | -25.7° | 28.5° |
| Roll | -23.2° | 22.6° |
| Yaw | -25.9° | 27.7° |
1.2 kinematic system speed real-time monitoring data of table
1.3 specific force of table and angular acceleration real-time monitoring data
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention are limited by appended claims and its equivalency range.
Claims (7)
1. a kind of simulated flight implementation method based on virtual reality is applied in flight simulation platform, the flight simulation is flat
Platform includes analog capsule cabin, visual system, avionics system, flight control system and 6-dof motion platform, which is characterized in that the reality
Now method includes：：
Step 1：The control signal that acquisition pilot is inputted by analog capsule cabin；
Step 2：Corresponding flight parameter is provided according to preset and flight dynamics model, the flight parameter includes that body is sat
Acceleration, 3 angular speed, angular acceleration and the attitude angle of lower 3 axial directions of mark system；
Step 3：Flight parameter is coordinately transformed according to preset illusory 4 visual system, the kinematic parameter of acquisition is become
Parameter under pilot's vestibular centre coordinate system；
Step 4：According to the dynamic coordination that preset linear coordination washout algorithm generates angular movement and line movement, become by coordinate
The parameter that channel obtains is changed to distinguish again by each entrance in filtering algorithm channel, the filtered position for obtaining platform and pose
Parameter, will be in the defeated flight simulation plateform system of obtained parameter；
Step 5：Carry out that calculus is counter solves to kinematic parameter according to the anti-resolving Algorithm of preset six-degree-of freedom mathematical model, to calculate
Electric cylinder input parameter in control platform motion process obtains the elongation of each electric cylinder of 6-dof motion platform, and
Drive signal is generated to drive 6-dof motion platform according to the elongation, realizes analog simulation flight effect.
2. the simulated flight implementation method based on virtual reality as described in claim 1, which is characterized in that step 4 packet
It includes：
Coordinate transform sub-step：The angular displacement of high pass angular speed filtering output in attitude angle is subjected to coordinate using following formula
Transformation：
Wherein, θwh、And ψwhFor the attitude angle of high pass angular speed filtering output；θaLWithFor the filtering output of low pass acceleration
Attitude angle.
3. the simulated flight implementation method based on virtual reality as described in claim 1, which is characterized in that step 4 packet
It includes：
Limit frequency sub-step：Use following formula limitation flight simulation motion frequency limiting element transmission function for：
Wherein, k is preset amplification coefficient, wxFor flight simulation motion frequency extreme value, εxFor damping ratio, s is transmission factor.
4. the simulated flight implementation method based on virtual reality as described in claim 1, which is characterized in that step 4 packet
It includes：
Low frequency acceleration sub-step：High pass acceleration channel is obtained using following formula：
Wherein, abhx、abhLongitudinal acceleration in coordinate system respectively before and after High frequency filter, respectively longitudinal acceleration high channel
Filter damping ratio and cutoff frequency, wxFor first-order kernel frequency, s is transmission factor；
It is obtained using following formula and tilts coordination portion：
Wherein, abx、ablxLongitudinal acceleration in coordinate system respectively before and after low-pass filtering；εalx、walxRespectively longitudinal acceleration
Low-pass filter damping ratio and cutoff frequency；
High pass angular speed channel is obtained using following formula：
Wherein, ψbx、ψblxYaw rate in coordinate system respectively before and after low-pass filtering；εwlx、wwlxRespectively yaw rate
Low-pass filter damping ratio and cutoff frequency, s are transmission factor；
5. the simulated flight implementation method based on virtual reality as described in claim 1, which is characterized in that step 4 packet
It includes：
Pitch angle washout filter algorithm：Pitching angular acceleration is obtained by longitudinal specific force：
By pitching angular accelerationChange rate carry out first-order lag filter to obtain rate of pitch：
Above formula is write as to the form of difference：The pitch angle generated by specific force is calculated with first-order difference
θ1n,Wherein Δ T is integration step；
When aircraft has pitch angle, gravity acceleration g x-axis component be si2 θ * g, when θ be timing, be in x-axis component it is negative,
Otherwise for just；The specific force that the weight component generates in longitudinal direction (directions x), it is θ that corresponding pitch angle, which washes out signal,a,The total wash-off signal of 6-dof motion platform pitch angle is θw, θw=θ1+θa；
Roll angle washout filter algorithm：The roll angular acceleration that lateral specific force generates
By roll angular accelerationRate carry out first-order lag filtering and obtain the roll angular speed that lateral specific force generates
Above formula is write as to the form of difference：
The roll angle that lateral specific force generates：Wherein, Δ T is integration step, when φ is smaller
When, take the current roll angle φ of aircraft0=φa, total wash-off signal of 6-dof motion platform roll angle is φw,
Yaw angle washout filter algorithm sub-step：
Aircraft yaw angular acceleration is calculated using than power drive method
It washes out to obtain yaw angular acceleration using property second order, is integrated twice, obtain yaw angle and wash out signal：
Linear displacement washes out sub-step：
First-order lag filtering is carried out to aircraft acceleration change rate using following formula：
Its transmission function form：
Wherein, axwmFor this after wash-off linear acceleration, axwm-1Be the last time through wash out linear acceleration, axnFor this aircraft
Linear acceleration, axn-1For last time aircraft linear acceleration, Δ T is integration step, TcxFor first-order lag time constant, KcxFor ratio system
Number.
6. the simulated flight implementation method based on virtual reality as described in claim 1, which is characterized in that in the step 5
The anti-resolving Algorithm of six-degree-of freedom mathematical model include：
If the hinge P of 6-dof motion platform upper mounting platei(i=l, 2 ... 6) in kinetic coordinate system OP-XPYPZPIn coordinate
For Pi=[Pix,Piy,Piz]T, in inertial coodinate system OB-XBYBZBIn coordinate P 'i=[P 'ix,P′iy,P′iz]T；The hinge of lower platform
Point Bi(i=l, 2 ... 6) coordinate is bi=[bix,biy,biz]T, in inertial coodinate system, the vectorial B of electric cylinderiPi(i=l,
2 ... 6) coordinate is li=[lix,liy,liz]T, obtain li=p 'i-biI=1,2 ... 6；
The rotation sequence of yaw angle φ, pitching angle theta, roll angle ψ in the attitude angle of flight simulation platform are respectively along current
The rotation three times of coordinate system Z, Y, X；Using homogeneous coordinate transformation, kinetic coordinate system is obtained relative to inertial coodinate system by translating
It is with according to the postrotational homogeneous transform matrix of order：
In above formula, O=[0 0 0], Vp=[xp yp zp]TIt is coordinate system OP-XPYPZPRelative to coordinate system OB-XBYBZBOrigin
Position, and xp=yp=0, zp=zp0；It is from coordinate system OP-XPYPZPSpin matrix；
In formula,Eulerian angles for kinetic coordinate system relative to inertial coodinate system, flight simulation platform is used
The Euler angle rate of property coordinate system is：
Wherein, ws=[wx wy wz]TEulerian angles for kinetic coordinate system relative to inertial coodinate system, homogeneous coordinate transformation matrix
For：
I.e.：
Rectangular co-ordinate is expressed as：
li=LhSPi+Vp-biI=1,2 ... 6；
Then the length of electric cylinder is：
7. the simulated flight implementation method based on virtual reality as described in claim 1, which is characterized in that the step 5 it
After further include：
Verification step：According to the flying quality of pilot and the corresponding number library of corresponding flight check data structure, and according to number
Preset flight control system algorithm is trained according to the data in library.
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