基于肌电和眼动信号的简化操纵eVTOL操纵品质评估

doi:10.7527/S1000-6893.2024.31315

Abstract

Abstract:

With the advent of commercial transportation in Urban Air Mobility （UAM）， the concept of Simplified Vehicle Operations （SVO） has been integrated into aircraft design， aiming to streamline operational procedures to meet future transport demands. However， there is uncertainty regarding whether electric Vertical Take-Off and Landing （eVTOL） aircraft， which are designed based on SVO， meet airworthiness criteria and whether their control interfaces adhere to ergonomic standards for user-friendliness. To address this issue， an experiment on Mission Task Elements （MTE） was conducted to assess the handling qualities of SVO-based eVTOL aircraft. 20 participants were recruited for the experiment， during which their subjective ratings of handling qualities using Cooper-Harper Rating Scale， qualitative comments through semi-structured interviews， and electromyography （EMG） data and eye-tracking data were recorded. Additionally， a handling qualities assessment model based on Gramian Angular Field （GAF） and 2D-Convolutional Neural Networks （2D-CNN） was proposed. The results indicate that poor control interface design significantly affected the participants‍’ EMG and eye-tracking signals. Benefiting from the spatio-temporal information provided by GAF images， the proposed 2D-CNN achieved an accuracy of 93.6% in predicting eVTOL handing qualities levels. This study provides a new perspective for the objective assessment of eVTOL handling qualities and offers significant guidance for the future design of SVO.

Key words: Urban Air Mobility (UAM), Simplified Vehicle Operation (SVO), electromyography, eye-tracking, electric Vertical Take-Off and Landing (eVTOL)

CLC Number:

Yuhan LI, Shuguang ZHANG, Yibing WU. Handling qualities assessing of SVO-based eVTOL aircraft through EMG and eye data[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(11): 531315.

Figures/Tables 12

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MTE	任务描述
垂直机动	从10 ft（1 ft=0.304 8 m）的稳定悬停状态跃升到50 ft，稳定保持2 s后返回至10 ft并悬停
加减速	从稳定悬停状态迅速将速度提升至50 kn（1 kn=0.514 44 m/s），随后减速返回悬停状态，并维持高度
侧向机动	从稳定悬停状态横向移动至设定点，在整个机动过程中保持恒定高度
对角机动	沿45°的参考对角线移动至标记处，同时保持高度恒定
悬停转向	在低于20 ft的高度下，执行360°转向，保持高度和位置恒定
回旋机动	围绕100 ft半径的圆进行侧向移动，保持机鼻指向圆心，并保持10 ft高度
避障机动	沿参考路线执行一系列转向以避开每500 ft间隔的障碍物，保持高度在10 ft
起飞过渡	从稳定悬停状态起飞，垂直爬升至100 ft后纵向加速，沿参考线爬升并过渡转换为固定翼模式
过渡着陆	从固定翼模式下的80 kn速度开始，减速至过渡模式，并沿参考线飞行直至进入旋翼模式并着陆

任务科目	伸展肌小波系数	伸展肌频谱熵	屈曲肌小波系数	屈曲肌频谱熵
垂直机动	-0.885	-0.088	-0.785	-0.634
加减速	-0.141	-0.083	-0.024	-0.977
侧向机动	-0.948	-0.151	-0.470	-0.195
对角机动	-1.045	-1.319	-0.540	-0.742
避障机动	0.494	0.392	-0.182	-0.012
起飞过渡	0.068	0.240	0.228	0.189
过渡着陆	1.705	1.097	0.338	0.679
悬停转向	0.258	0.047	0.745	1.777
回旋机动	0.493	0.657	0.690	-0.085

任务科目	注视距离	瞳孔直径	虹膜直径	凝视熵
垂直机动	-0.176	-0.520	-0.766	-1.150
加减速	0.547	1.730	0.585	-0.680
侧向机动	-1.420	-0.512	-0.215	-0.695
对角机动	-1.363	-0.477	1.674	-0.499
避障机动	-0.321	-0.493	-0.857	0.207
起飞过渡	0.951	-0.506	0.272	-0.484
过渡着陆	1.637	1.796	-1.373	0.207
悬停转向	-0.144	-0.514	1.144	1.116
回旋机动	0.288	-0.505	-0.463	1.979

参数	手动特征+1D-CNN	GAF图像+全连接网络
准确率/%	89.97	83.71
卡帕系数	0.875	0.807

参数	VGG16^［28］	LSTM^［29］	2D-CNN
准确率/%	80.50	91.71	93.67
卡帕系数	0.702	0.867	0.92

Handling qualities assessing of SVO-based eVTOL aircraft through EMG and eye data

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