Experimental equipment (devices or software, etc.)

Experimental equipment:

        E-Prime system, flight simulation driving system, 3D column screen visual system software, 3D column screen visual system hardware, flight simulation software package, general small aircraft desktop exerciser, multi-function instructor station, TWUAVS-270UAV pilot virtual reality flight Imaging system, high configuration computer terminal, HTC vive pro virtual imaging host, etc.

High configuration computer terminal requirements:

            Graphics card

Nvidia GeForce GTX 970, AMD Radeon R9 290 or higher;

            processor

Intel i5-4590 AMD FX 8350 or higher;

            RAM

4GB or higher;

            Video output

HDMI 1.4, DisplayPort 1.2 or higher;

            USB port

USB 2.0 or higher port;

            operating system

Windows 7 SP1 or higher.

Introduction to the experimental software:

            The TWUAVS-270UAV human factors system developed by the supporting unit undertakes the main experimental task of this project. UAVS-270 is a multi-platform experimental UAV that can be run and controlled on a personal computer of a ground base station. It can realistically present the cockpit environment, such as the main flight display system, level status gauges, mode control panels, engine display gauges, and alarms. System, navigation and radio communication instruments, and other system control instruments, etc., have a good failure model, which can set the failure of the landing gear, control surface, instrument, engine and other system components. At the same time, it can record the operation steps of the subjects using the keyboard or mouse in video mode, and can also record many flight parameters, such as flight time, flight altitude, airspeed, tilt, roll, heading, yaw distance, formation distance, latitude and longitude Wait. The aircraft is mainly composed of the aircraft body, navigation and flight control system, avionics, and power system.

            1) The aircraft body: adopts the normal upper monoplane layout, the layout scheme of the straight wing with large aspect ratio, the central pull propeller, and the rear three-point landing gear. The control surface of the aircraft has ailerons and elevators. Wingspan: 2590MM; total length: 2100MM; maximum take-off weight: 17 kg; cruising speed: 100-110 km/h; wing area: 80 square decimeters; maximum level flight speed: 150 km/h; minimum stall speed: 50km/h; endurance time: 3 hours; minimum take-off and landing distance: 50 meters; effective task load: 3 kg; control distance: 30km; take-off and landing method: wheel roll take-off and landing.

            2) Navigation and flight control: flight control computer, the core component of navigation and flight control system, composed of main processing controller, secondary power supply (5V, ±15V, etc. DC power supply), analog input/output interface, discrete interface, communication interface (RS232/RS422/RS485, ARINC429, 1553B bus), redundancy management, heating circuit, detection interface, flight control computer chassis, the function is attitude stability and control, navigation and guidance control, autonomous flight control, automatic take-off, and landing control.

            3) Avionics subsystem: complete UAV attitude calculation, flight control, track control, flight management and other functions, while also supplying power for all airborne equipment. (Figure 1) Among them, in order to further study the psychological and behavioral characteristics of UAV operators, the ground base station also integrates a behavioral data collection system in the later flight process, including: 1) Real-time processing software system: installed in the flight monitoring computer. It mainly completes functions such as remote control coding, telemetry decoding, data recording and playback; 2) Comprehensive behavior display software system: installed in the comprehensive display computer. It mainly completes parameter display, soft panel control, real-time processing of UAV and base station switching and data exchange, as well as UAV operator emotions, eye movements and other indicators collection functions; 3) Track monitoring software system: installed in the track monitoring computer. Mainly complete functions such as map display, track display, behavior task record, auxiliary functions and data exchange;

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Figure 1 Ground base station avionics subsystem

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Figure 2 Operator physiological feedback collection

            4) Behavior task monitoring software: installed in the task monitoring computer, it mainly completes the functions of the airborne optoelectronic platform's status control, parameter display, reconnaissance image capture and target positioning solution.

            5) Comprehensive recording software: The comprehensive recording software is installed in the comprehensive recorder. It is mainly responsible for the synchronous recording and playback of visible light video, measurement and control information, the recording and playback of SAR radar images, and the collection of physiological and psychological feedback from operators. (Figure 2) Figure 1 Ground base station avionics subsystem Figure 2 Synchronous recording and playback of measurement and control information Screen display 2-5 Experimental materials (or preset parameters, etc.) Experimental materials are integrated in TWUAVS-270[1] UAV flight simulation In the cockpit, in this experiment, the airport is set up with TWUAVS-270 simulation data, which can truly reflect the height and angle, the latitude and longitude, and the signal system of the runway when approaching. The UAV provided by the test driving simulation system approached the field with the flaps fully extended. The screen resolution is 1024*768, and the refresh frequency is above 70Hz. The experiment program is compiled with VisualC++ language, so that the accuracy of stimulus presentation and timing reaches the millisecond level, the position of the subject is fixed, and the visual distance between the subject and the computer is controlled to 35cm. The test data collection uses the filter function in Matlab6.5 to perform low-pass filtering on all test speed data. The cut-off frequency is 20Hz. The preset parameters of the software mainly include certain time clues, space clues, flight altitude, speed, flight admission angle and other experiments. variable. (Shown in Figure 3-8)

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Figure 3 Schematic diagram of TWUAVS-270

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 Figure 4 The cockpit scene presented on the screen

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Figure 5 Countdown task

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Figure 6 Schematic diagram of the masking paradigm

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Figure 7 Schematic diagram of easy space experiment

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 Figure 8 Schematic diagram of difficult time experiment

        Hardware preset parameters include

        1) Visual positioning system: a positioning system that combines ultrasound and image to determine the current altitude through ultrasound, and at the same time use the camera image to obtain the aircraft position information, so that the aircraft can be accurately positioned. The vision positioning system is located at the bottom of the aircraft and consists of two modules, an ultrasonic sensor and a camera. P mode (positioning) uses GPS module or visual positioning system to achieve precise hovering of the aircraft. According to the strength of GPS signal reception, P mode switches among three dynamics-P-GPS (good signal, use GPS module to hover accurately), P-OPIT (low signal or no GPS signal indoors, use visual positioning system Achieve precise hovering), P-ATTI (the signal is poor and does not meet the visual positioning conditions, and provides posture stabilization). A mode (attitude) is not suitable for GPS module and visual positioning system for positioning, but only provides attitude stabilization. If the GPS signal is good, it can return home. F mode (function) is an auxiliary function mode. In addition to the positioning function, it can also provide a reference for the height of the aircraft to the ground.

        2) Front-looking obstacle perception system: Two front-view sensors are built-in, and these two vision sensors will continue to work when the barrier system is turned on. Judge whether there is an obstacle by scanning the space ahead, and when an obstacle is found, it will slow down and hover. Obstacle perception range: 0.7-15 meters.

        3) PTZ: The controllable rotation range is from -90° to +30°; the stabilization system: 3-axis (pitch, roll, yaw).

        4) Remote control: working frequency is 2.400 GHz-2.483 GHz, 6000 mAh lithium rechargeable battery 2S; transmitting frequency is FCC: 23 dBm/CE: 17 dBm; maximum signal effective distance FCC: 5000 m/CE: 3500 m (no interference , No occlusion).

        5) Battery: The intelligent flight battery is a specially designed battery with a capacity of 5350mAh, a voltage of 22.2V, and a charge-discharge function. It adopts new high-energy batteries and an advanced battery management system to provide sufficient power for the aircraft.

        Remarks: [1] TWUAVS-270 is a multi-platform flight simulation environment that can be run on a personal computer, which can simulate the cockpit environment very realistically, such as the main flight display system, level status instrument, mode control panel, engine display instrument , Alarm systems, navigation and radio communication instruments, and other system control instruments, etc., have a good failure model, and can set the failure of the landing gear, control surface, instrument, engine and other system components. At the same time, it can record all operation steps in keyboard or mouse mode in video mode, and can also record many flight parameters, such as flight time, flight altitude, airspeed, tilt, roll, heading, yaw distance, formation distance, latitude and longitude, etc. . Has obtained national patents.