CN204705825U - No-manned plane three-dimensional solid aobvious control comprehensive training system - Google Patents

Abstract

The utility model discloses a three-dimensional display and control comprehensive training system for an unmanned aerial vehicle, which includes a control system, a display system and a server. It is the interactive platform of the system. The display system is composed of three-dimensional curved surface display, touch flat display and touch flat display. It is the simulation core of the system. The server is composed of data computer, calculation computer and graphics workstation. The control system transmits the control instructions of the operator to the server, and the server completes the flight data calculation and analysis of the control information, and displays the corresponding actions and parameters through the display system. Through this system, UAV operators can master the UAV control method, operation process and special situation handling methods, accurately perceive the state of the three-dimensional space of the aircraft and the environmental situation, and the maintenance personnel can quickly become familiar with the principle, structure and environment of the UAV. function, master the guarantee process and maintenance methods.

Description

UAV 3D display and control comprehensive training system

technical field

The utility model belongs to an unmanned aerial vehicle three-dimensional display and control comprehensive training system for flight training of flight control personnel and ground maintenance personnel, and relates to the technical field of simulation training.

Background technique

The training of manned flight personnel mainly relies on actual flight training, and the simulated flight time only accounts for 30% of the total training time. However, the training of UAV operators is fundamentally different, and a large amount of training work is completed by ground simulation training. Therefore, a ground simulation training system is needed to meet the training needs of UAV operators. Since most UAV operators have no actual air flight experience, they need to use the 3D stereoscopic display system to train their aerial situation awareness and accurately grasp the position and surrounding status of the UAV in the 3D space to deal with emergencies in the air. The current 3D stereoscopic display system is expensive and has a limited service life, making it difficult to meet training needs. Due to the limited number of actual installations and the high price, the maintenance operation training of ground maintenance personnel can only be explained by the instructor through pictures to explain the principle structure and inspection process of various parts and equipment, or simple practical operation demonstrations on the actual installation. There are few opportunities to operate, which results in a long training period for maintenance personnel and weak practical operation ability. If virtual maintenance and 3D interactive technology can be applied to the training of maintenance personnel, it will intuitively show the performance of various parts and equipment. The disassembly method, inspection process and working principle will greatly shorten the training period and improve the maintenance operation ability of maintenance personnel. In addition, compared with traditional manned aircraft, there is a big difference in maintenance methods between UAVs. Its particularity determines that it is difficult to achieve a high degree of simulation of UAV systems using traditional simulator technology, which cannot meet the needs of training and use. . Therefore, there is a need for a simulation training technical solution that is cheap and can provide a three-dimensional environment for flight control and maintenance personnel.

Utility model content

The purpose of the utility model is to provide a three-dimensional display and control comprehensive training system for unmanned aerial vehicles with good immersion, strong interactivity, high integration, rich functions, easy expansion, and low cost.

The technical scheme of the utility model is: a three-dimensional display and control comprehensive training system for unmanned aerial vehicles, including a control system, a display system and a server, and the control system includes a touch panel display (2), a touch panel display (3 ), gas pedal (4), driving stick (5), three-dimensional mouse (6), keyboard (7), are the interactive platform of this system, and described display system is made of three-dimensional curved surface display (1), touch plane display ( 2) and a touch panel display (3), which is the simulation core of the system, and the server is composed of a data computer (8), a computing computer (9) and a graphics workstation (10), and is used for data computing and processing. The storage center is characterized in that: the control system transmits the control instructions of the operator to the server, the server completes the calculation of flight data and analyzes the control information, and displays the corresponding actions and parameters through the display system.

The effect of the utility model is: the utility model can be used for the simulation training of flight control and maintenance personnel of small and medium-sized UAVs, and can enable the UAV operators to master the UAV control method, operation process and special situation handling method, and accurately perceive The position of the three-dimensional space of the aircraft and the situation of the environment, the maintenance personnel can quickly become familiar with the principle, structure and function of the non-entry aircraft, master the support process and maintenance methods, reduce the training cost, alleviate the small number of installations, limited service life, and limited number of trainees And other training problems. The utility model applies 3D interactive technology and three-dimensional driving technology to the UAV simulation training, uses the virtual environment to replace the physical equipment, keeps consistent with the real equipment in appearance and operation, and the three-dimensional image effect is realistic and immersive. sense, in line with the intuitive thinking mode, and has strong human-computer interaction. A prominent feature of the utility model is that without changing the main hardware components of the system, the system can be easily expanded to other models without changing the hardware, and the system has strong versatility.

Description of drawings

Figure 1 is the structural layout of the UAV 3D display and control comprehensive training system;

Figure 2 is a block diagram of the UAV 3D display and control comprehensive training system;

Fig. 3 is the flow chart of three-dimensional scene generation based on vector map;

Figure 4 is a converging dual center imaging model;

Figure 5 is a flow chart of monitoring software design.

In the figure: 1. Three-dimensional curved surface display; 2. Touch flat display; 3. Touch flat display; 4. Throttle; 5. Driving stick; 6. Three-dimensional mouse; 7. Keyboard; 8. Data computer; 9. Solution Computing computer; 10. Graphics workstation. the

Detailed ways

A comprehensive three-dimensional display and control training system for UAVs, which uses a control platform consistent with the general ground station structure to improve the fidelity and training effect of simulation training. The system structure layout is shown in Figure 1. System hardware is mainly composed of control system, display system and server. The control system includes a touch panel display (2), a touch panel display (3), an accelerator (4), a joystick (5), a three-dimensional mouse (6), and a keyboard (7), which are the interactive platforms of the system and receive control The control instructions of the personnel are transmitted to the computing computer (9), and the corresponding actions and parameters are displayed through the display system. The display system consists of a three-dimensional curved surface display (1), a touch flat display (2) and a touch flat display (3), which is the simulation core of the system. Scene screen, maintenance operation screen, equipment maintenance cabin, aircraft, 3D model of key parts, and loading scene, touch flat-panel display (2) mainly displays aircraft comprehensive information, mission planning software, virtual maintenance inspection interface, touch flat-panel display (3) Mainly display link monitoring software, load control software and PMA control interface. The server is composed of a data computer (8), a calculation computer (9) and a graphics workstation (10), and is a data calculation and storage center. The data computer (8) stores flight data, maintenance resource data, multimedia resources, and electronic maintenance manuals. Booklet and assessment question bank, solving computer (9) completes aircraft motion model solving, analysis control information and data calling and distribution, graphics workstation (10) is used to store virtual flight environment data, equipment 3D model data, and generate 3D stereo scene.

The utility model integrates three training modes, that is, a flight control training mode, a maintenance operation training mode and an independent learning assessment mode. In the flight control training mode, the curved three-dimensional display displays a three-dimensional virtual scene superimposed on the head-up display, the touch flat display (1) displays aircraft comprehensive information and mission planning interface, and the touch flat display (2) displays link monitoring and load control In the interface, the instructor sets the flight mission, route, environmental data and special conditions through the mission planning software, and the trainees realize the aircraft attitude control and engine control through the joystick and throttle, and realize the link management, navigation control and load control through the touch screen. Mission preparation, flight monitoring, manual control, load control and other training subjects. When encountering a special situation, make the correct disposal action. After the flight, the mission planning software makes a comprehensive judgment on the flight, and allows the trainees to find and correct problems through data playback. In the maintenance operation training mode, the curved three-dimensional display displays the three-dimensional model of the UAV and the appearance structure of important equipment, the touch flat display (1) displays the virtual maintenance inspection interface, and the touch flat display (2) displays the PMA control interface. The operator uses the 3D mouse to perform the disassembly operation consistent with the real scene to realize the simulated disassembly and appearance inspection, controls the maintenance interface and plug through the 3D mouse, inputs detection instructions on the maintenance detection interface, and feeds back the detection results through the PMA control interface to realize the training of the detection process . In the self-learning assessment mode, the curved three-dimensional display displays pictures, animations and videos, the touch flat display (1) displays the query guide directory, and the touch flat display (2) displays operation prompts, assessment tasks and result information. Through human-computer interaction, the device principle, inspection process and technical information can be retrieved, and self-learning can be realized.

The utility model includes five functional modules including a flight simulation module, a visual simulation module, a flight control interaction module, a maintenance operation training module and an independent learning assessment module, and the system composition block diagram is shown in FIG. 2 .

The flight simulation module utilizes the aerodynamic parameters and dynamic parameters of the aircraft to set up a flight model and control law, simulates real equipment such as aircraft aerodynamics and power systems, steering gear, flight control, and navigation computers by means of mathematical simulation, and receives control instructions. It is the core of the whole training system to generate the flight attitude, position information, flight distance and other parameters of the aircraft. The UAV requires stable flight when the load equipment is turned on, and the flight controller needs to manually correct it in time when it is disturbed. Therefore, the utility model analyzes the influence of wind and turbulence on the movement of the aircraft. The aircraft motion model under turbulence disturbance meets the needs of UAV training.

The visual simulation module includes a virtual environment database, an equipment model library, a visual generation system and a visual display system, and mainly completes three-dimensional display of aircraft attitude, three-dimensional display of virtual space environment, atmospheric environment simulation, special effect simulation, and disassembly and assembly of parts. Process demonstration and other work provide operators with a virtual three-dimensional scene. Use software such as Creator to model 3D scenes and equipment models, integrate and drive various models through Vega Prime software, receive control instructions through interface programs, and realize human-computer interaction. Develop stereo driver based on Direct3D technology, separate and generate left and right eye stereo signals, and obtain realistic stereo display effect. The realistic simulation scene makes the trainees have an immersive feeling. The 3D scene simulation effect depends on the degree of refinement of the terrain model and the degree of realism of the surface texture, but the more detailed the terrain model, the more data involved in interaction and calculation. The larger the value, the slower the real-time display of the landscape. An effective way to solve this problem is to simplify the terrain model and show the terrain details through realistic surface textures. The utility model takes the vector digital map as a constraint, combines with the method of generating the three-dimensional landscape from the surface texture sample map, ensures the authenticity and accuracy of the terrain database, and solves the problem that the terrain database cannot be changed after it is generated. The mathematical abstract model is:

S ₁ +S ₂ +…+S _n +T＝R

In the formula, S ₁ , S ₂ , and S _n represent different surface textures, while T represents a vector map, and R represents the generated 3D landscape.

According to the functional division, the above process can be divided into four parts as shown in Figure 3: determine the vertex coordinates and attributes, draw the grid, select the surface texture sample, and texture fusion. The specific process is:

1. Build and initialize the vertex data structure. Read in a metafile. Build a vertex array, each vertex consists of two parts: three-dimensional coordinates and attributes.

2. Generate DEM data from contour data. Import the contour data into the DEM analysis module in MAPGIS to obtain DEM data with regular grids.

3. Interpolate the unknown elevation points in the DEM data.

4. Determine which primitive each vertex belongs to by judging the positional relationship between the vertex and the primitive.

5. Traverse all vertices and assign them three-dimensional coordinate values.

6. Draw the terrain mesh according to the vertex coordinates.

7. Synthesize the attributes of all vertices and select the appropriate texture.

8. Traversing vertices, mapping textures to terrain grids according to their attributes, and performing texture fusion at the borders of primitives.

To realize the three-dimensional display of the three-dimensional view, the dual-camera projection mode will be adopted. The utility model adopts the converging dual-center imaging model as shown in Figure 4, and the binocular gaze center point C is limited in the dotted line frame, and the center line is 65° left and right. °, the convergence change angle is ±1.5°, which makes it conform to the horizontal field of view of the human eye and achieves good visual effects.

The projection coordinates of the left camera A (x ₁ , y ₁ , z ₁ ) can be calculated as:

$<span\; class="notranslate">\; (</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; e</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; ,</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}\mathrm{<span\; class="notranslate">\; d</span>}}{{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; )</span>$

The projection coordinates of the right camera B (x _r , y _r , z _r ) are:

$<span\; class="notranslate">\; (</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; e</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; c</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; ,</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}\mathrm{<span\; class="notranslate">\; d</span>}}{{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; )</span>$

Among them, d is the distance from the camera to the XOY plane, and e is the distance between the two viewpoints.

The relationship model between the parallax i in the left and right images of a point C (x _c , y _c , z _c ) in the scene, binocular focal length f, baseline distance h, and optical center declination angle β is:

$\frac{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}}<span\; class="notranslate">\; -</span>\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}}$

According to the calculated positions of the left and right cameras and related parameters, they are set in Direct3D so as to realize three-dimensional display. The left camera position, orientation and view matrix setting code is:

The right camera position, direction and view matrix setting code is:

The flight control interaction module mainly completes the simulation of functions such as mission planning, flight monitoring, manual control, link control, load control, special situation handling, etc., and is composed of a control unit and a display unit to realize the display and control of various types of aircraft information The input of instructions is a platform for human-computer interaction. The control unit includes a joystick, accelerator, keyboard, three-dimensional mouse and touch screen, which are used to receive the operator's operation intention, convert it into computer control language, and provide information feedback through the display unit. The display unit includes comprehensive aircraft information, mission planning software, link monitoring software and load control software. The comprehensive aircraft information mainly displays aircraft attitude, heading, altitude, speed, position, engine status, and airborne equipment information; the mission planning software displays information such as waypoints, positions, and environmental conditions; the link monitoring software displays link mode and status. The aircraft status can switch the link mode; the load control interface displays the load status, controls the load working mode through control commands, and receives and distributes mission data. The mission planning software uses ArcGis software to draw and drive through the VisioStudio environment. Aircraft comprehensive information, link monitoring software, and load control software are designed by GLStudio software and driven by VC++ environment. The development process is shown in Figure 5, and the specific development process is as follows:

1. Create texture, that is, use image processing software to make a picture of the required texture;

2. According to the display requirements of the display module, create polygons and paste textures, rename graphics, specify callback functions and behaviors, etc.;

3. Create the display module as a component for easy reuse;

4. Add codes in the application program, create behaviors for the display module, call control functions, such as rotation, movement, scaling, etc., to complete the dynamic control of the display module;

5. Convert the written behavior code and graphic data into C++ class code;

6. Compile and test on the VC++ platform, check the display effect, if not satisfied, go back to the second step.

The maintenance operation training module mainly realizes the maintenance operation training of aircraft power-on inspection, equipment appearance inspection, load mounting and other subjects. It can simulate the appearance of the UAV and the functional state during normal operation, that is, dynamically simulate the composition and functions of the UAV, demonstrate the inspection route of the UAV, and learn the interior of the UAV through dragging and disassembling operations consistent with the actual installation Structure and disassembly method. According to the actual installation training operation and equipment operation settings, describe the state relationship between different systems and testing equipment, establish a functional simulation unit based on the specific functions of the testing equipment PMA, simulate the real function of the inspection equipment, and make operations consistent with the actual installation Response, so that maintenance personnel master the inspection standards and procedures, to achieve the effect of simulating real operations. Using the method of combining virtual inspection panel based on touch technology and three-dimensional dynamic display, using the flat touch display and three-dimensional mouse to send control commands, and feedback the control actions through the three-dimensional curved surface display to enhance the immersion of virtual maintenance training. Use the Creator software to model the appearance features, physical features, and activity features of the key components of the equipment, and establish a three-dimensional model. The GLStudio software is used to make the detection and control interface, and the Vega Prime software is used to realize the interaction of model driving and control information.

The self-learning assessment module includes a maintenance information unit and an assessment unit. The maintenance information is divided into equipment principle introduction, basic function description, operation process analysis and maintenance knowledge. Participants select the corresponding items in the system framework and enter the corresponding knowledge points to learn, that is, to watch the called text, pictures, 3D Animation and video resources. The assessment unit provides trainees with an assessment question bank consisting of principles, functions, structures, inspection procedures, maintenance, etc. of drones. Participants perform interactive answering operations in the virtual equipment object or assessment interface according to the assessment tasks, and the assessment is over. When evaluating the assessment situation. Use Authorware software to build a software framework, link text files, picture files, video files, database files, etc., to form an overall packaged maintenance information query unit. Retrieve maintenance information by means of intelligent retrieval, and compare it with previous operation tasks and assessment results, that is, provide maintenance personnel with a highly relevant assessment question bank through optimized algorithms according to the maintenance personnel's operation level, current operation status and error-prone test points , to improve the learning efficiency of trainees.

Claims (1)

1. a no-manned plane three-dimensional solid aobvious control comprehensive training system, comprise control system, display system and server, described control system comprises touch surface display (2), touch surface display (3), throttle (4), jociey stick (5), 3D mouse (6), keyboard (7), it is the interaction platform of this system, described display system is by 3 D stereo flexible displays (1), touch surface display (2) and touch surface display (3) composition, it is the emulation core of this system, described server is by data computer (8), resolve computing machine (9) and graphics workstation (10) composition, resolving and storage center of data, it is characterized in that: control system sends the steering order of manipulation personnel to server, server completes flying quality and resolves and resolve control information, corresponding action and parameter is shown by display system.