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hypothesis is that the time delay for the onset of
vection is reduced, thus making pilots believe they
are rotating.
11
4. The three previous contributions may be combined to
suggest that if lateral translational platform motion is
presented, available simulator platform actuator
displacement should not be used for yaw. Instead, the
actuator displacement should be diverted to axes that
can derive more benefit from motion.
5. Vertical platform motion has a significant effect on
simulation fidelity. For target tracking and
disturbance-rejection tasks, the following occurred as
the platform motion neared visual scene motion:
(a) improved tracking and disturbance-rejection
performance, (b) reduced pilot control activity,
(c) improved pilot opinion of motion fidelity,
(d) improved pilot-vehicle target-tracking phase
margin, (e) higher pilot-vehicle disturbance-rejection
crossover frequencies that were correlated with vertical
acceleration phasing rather than with vertical axis
gain, and (f) additional pilot-vehicle disturbancerejection
phase margin that was correlated with
vertical axis gain rather than with vertical acceleration
phasing.
6. A previously developed and unvalidated motionfidelity
criterion for the vertical axis was revised and
validated. The new criterion predicts the fidelity
effects of changes in the gain and the break frequency
of high-pass motion filters. The revised specification
allows for more reduction in the vertical gain than
previously specified. The revision also suggests that
the combination of a reduction in gain and an increase
in filter natural frequency is worse than either
perturbation alone.
7. Vertical platform motion affected pilot estimates of
steady-state altitude during altitude repositionings.
This result refutes the generally accepted view that a
pilot’s altitude and altitude-rate feedbacks are derived
from the visual cues alone. The implication is that
the input and output cueing assumptions in existing
pilot models are incorrect.
8. For coordination requirements in the coupled roll and
lateral motion axes, a combination of previous and
herein revised criteria resulted in a good prediction of
motion fidelity. Also, substantial improvements in
performance and opinion were demonstrated between
the full-motion and no-motion configurations.
9. A procedure was developed that allows simulator
users to configure their motion platforms to extract
the most simulator fidelity they can from the device.
The procedure uses the fidelity criteria validated
herein. It suggests to users that if they are not
satisfied with their predicted fidelity they should
consider modifying the simulated task.
These results will provide guidance to simulator
manufacturers, operators, and regulators on how to build
better helicopter simulators and how to use them more
effectively for training and research.
Outline
Because the Vertical Motion Simulator at NASA Ames
Research Center was used in all the experiments discussed
in this report, that facility is described first. Five
experiments are then discussed: the Yaw Experiment;
Vertical Experiments I, II, and III; and the Roll-Lateral
Experiment. The experiments are presented in a common
format in which each experiment addresses key questions
that still remain regarding how pilots use platform-motion
cues. The Yaw Experiment focused on the interaction
between lateral translational platform motion and yaw
rotational platform motion. Vertical Experiment I
explored the ways in which the quality of vertical motion
cues affects end-to-end pilot-vehicle performance and pilot
opinion. Vertical Experiment II determined how key
metrics in the pilot-vehicle control loops vary as the
quality of vertical motion cues changes. Vertical
Experiment III examined the interaction between the
vertical platform-motion cue and the visual cues. And in
the Roll-Lateral Experiment, the interaction between roll
and lateral translational platform-motion cues was
explored.
The results of these five experiments are then summarized
and presented as a set of recommendations for the manufacturer
and user communities. In the interest of consistency,
the recommendations of this work are also discussed
comparatively with the results of previous work in
motion cueing. Finally, a procedure that makes the most
effective use of the recommendations in configuring
motion cues for any motion platform is suggested,
principal conclusions are set forth, and areas requiring
further research are identified.
　
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