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differences from actual flight were perceptible, but not
objectionable, and (3) High Fidelity—motion cues were
close to those of actual flight. These definitions were
taken (and slightly modified) from Sinacori (ref. 44)
(modification discussed later in sec. 4). For this
experiment, pilots had to rely on recollection of their
actual in-flight experience. These subjective ratings were
given numerical values 0 to 2, respectively.
Finally, the pilots were asked to report whether they
perceived any cockpit translational or rotational motion. A
zero was assigned if they did not feel a particular motion.
Each of the four configurations was flown four times in a
random sequence by each pilot.
19
Table 1. Motion filter quantities for yaw tasks.
Rotation Lateral Longitudinal Vertical
Task K wm K wm K wm K wm
(rad/sec) (rad/sec) (rad/sec) (rad/sec)
1 - translational
+rotational
1.00 1.0E-5 1.00 1.0E-5 1.00 1.0E-5 0.00 1.0E-5
1 - translational 0.00 1.0E-5 1.00 1.0E-5 1.00 0.2 0.00 1.0E-5
1 - rotational 1.00 1.0E-5 0.00 1.0E-5 0.00 1.0E-5 0.00 1.0E-5
1 - motionless 0.00 1.0E-5 0.00 1.0E-5 0.00 1.0E-5 0.00 1.0E-5
2 - translational
+rotational
0.35 0.55 0.35 0.55 0.35 0.55 0.00 1.0E-5
2 - translational 0.00 0.55 0.35 0.55 0.35 0.55 0.00 1.0E-5
2 - rotational 0.35 0.55 0.00 0.55 0.00 0.55 0.00 1.0E-5
2 - motionless 0.00 0.55 0.00 0.55 0.00 0.55 0.00 1.0E-5
3 - translational
+rotational
1.00 1.0E-5 1.00 1.0E-5 1.00 1.0E-5 1.00 1.0E-5
3 - translational 0.00 1.0E-5 1.00 1.0E-5 1.00 0.2 1.00 1.0E-5
3 - rotational 1.00 1.0E-5 0.00 1.0E-5 0.00 1.0E-5 1.00 1.0E-5
3 - motionless 0.00 1.0E-5 0.00 1.0E-5 0.00 1.0E-5 1.00 1.0E-5
Results
Using standard terminology, the above experimental
design is called a two-factor fully-within-subjects factorial
experiment (ref. 54). The two factors were translational
and rotational motion. Each of the two factors had two
motion levels: present or absent. The combination of the
two levels within each factor results in four motion
configurations for each task. An analysis of variance was
performed on the data taken for each task, with the
observed significance levels (p-values) given below. The
quantity F(x,y) is the estimated ratio of the effects due to
individual subjects, plus the effects due to experimental
variation, all divided by the effects due to individual
subjects. The values of x and y are the numerator and
denominator statistical degrees of freedom, respectively.
The p-values represent the probability of making an error
in stating that a difference exists based on the experimental
results when no difference actually exists. If no
difference actually exists, the variations are due to
randomness. Typically, differences are deemed significant
for p < 0.05 (5 chances in 100 of making an error). An
example of how data are processed using the above is
given in appendix C.
Task 1: 15° Yaw Rotational Capture
Objective Performance Data. Figure 12 shows a
representative time-history of several key variables for
Task 1 for both the full motion (Translation+Rotation)
and the motionless condition. Peak yaw rates (not shown)
for the full-motion run were near 10°/sec. Comparing the
full-motion case with the Motionless case shows that the
latter had more yaw rotational overshoots about north,
higher math model yaw rotational accelerations, and larger
control inputs.
Figure 13 depicts, for the four motion conditions, the
means (circles and x’s) and standard deviations (vertical
lines through circles and x’s) of the number of times
pilots overshot the ±1° heading point about north. The
solid and dashed lines connecting the means are drawn to
show trends when going from “No rotation” to
“Rotation.”
20
-20
-10
0
10
20
Yaw rotation, deg
-5
0
5
Ayp, ft/sec2
-20
0
20
Yaw rot. accel., deg/sec2
0 20 40 60 80 100
-2
-1
0
1
2
Pedal, in
Time, sec
Translation+Rotation
-20
-10
0
10
20
Yaw rotation, deg
-5
0
5
Ayp, ft/sec2
-20
0
20
Yaw rot. accel., deg/sec2
0 20 40 60 80 100
-2
-1
0
1
2
Pedal, in
Time, sec
Motionless
Figure 12. Comparison of full motion and no motion for Task 1.
21
No rotation Rotation
0
5
10
15
20
No. of overshoots
No translation
Translation
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Helicopter Flight Simulation Motion Platform Requirements(16)
