Efficient creation of computer-generated force (CGF) entities using frequency response matrices

1 . A method of generating a computer-generated forces (CGF) entity that includes a simulated external vehicle to be used within an interactive computer simulation that is displayed within an interactive simulation environment by an interactive computer simulation station, the simulated external vehicle being distinct from a simulated user-controlled vehicle controlled by a user of the interactive computer simulation, the method comprising:

creating an array of state-space model structures having initially unknown parameters that, once known, will define a linearized approximation of a non-linear model of the simulated external vehicle;

generating frequency response matrices by exciting each input-output relationship of the non-linear model of the simulated external vehicle at a plurality of trim conditions using Gaussian pulses each having a period no longer than 2 seconds, wherein the Gaussian pulses are provided by physically manipulating one or more tangible instruments of the interactive computer simulation station via a mechanical instrument actuator, wherein the frequency response matrices define a plurality of linear equations;

calculating the parameters by solving the linear equations of the frequency response matrices to thereby provide an array of state-space models that defines the linearized approximation of the non-linear model of the simulated external vehicle; and

using the array of state-space models to generate the CGF entity.

2 . The method of claim 1 further comprising simulating the simulated external vehicle as part of the interactive computer simulation.

3 . The method of claim 1 wherein each of the Gaussian pulses has a period no longer than 1 second.

4 . The method of claim 1 wherein calculating the parameters by solving the linear equations of the frequency response matrices comprises calculating the frequency response matrices over a wider range of frequencies than a band of frequencies of the Gaussian pulses.

5 . The method of claim 1 , wherein the simulated external vehicle is a simulated aircraft, wherein the trim conditions comprise one or more of a rudder position, an elevator position, an aileron position, angle-of-attack, center of gravity and altitude.

6 . The method of claim 1 , further comprising using pole placement controllers to eliminate spectral leakage without impairing frequency resolution and wherein the controllers cause an output to return to an unperturbed trim condition.

7 . A computer system to generate a computer-generated forces (CGF) entity that includes a simulated external vehicle to be used within an interactive computer simulation that is displayed within an interactive simulation environment by an interactive computer simulation station, the simulated external vehicle being distinct from a simulated user-controlled vehicle controlled by a user of the interactive computer simulation, the computer system comprising a processor and a memory coupled to the processor, the processor being configured to:

create an array of state-space model structures having initially unknown parameters that, once known, will define a linearized approximation of a non-linear model of the simulated external vehicle;

generate frequency response matrices by exciting each input-output relationship of the non-linear model of the simulated external vehicle at a plurality of trim conditions using Gaussian pulses each having a period no longer than 2 seconds, wherein the Gaussian pulses are provided by physically manipulating one or more tangible instruments of the interactive computer simulation station via a mechanical instrument actuator, wherein the frequency response matrices define a plurality of linear equations;

calculate the parameters by solving the linear equations of the frequency response matrices to thereby provide an array of state-space models that defines the linearized approximation of the non-linear model of the simulated external vehicle; and

use the array of state-space models to generate the CGF entity.

8 . The computer system of claim 7 wherein the processor is configured to simulate the simulated external vehicle as part of the interactive computer simulation.

9 . The computer system of claim 7 wherein each of the Gaussian pulses has a period no longer than 1 second.

10 . The computer system of claim 7 wherein the processor is configured to calculate the parameters by calculating the frequency response matrices over a wider range of frequencies than a band of frequencies of the Gaussian pulses.

11 . The computer system of claim 7 , wherein the simulated external vehicle is a simulated aircraft, wherein the trim conditions comprise one or more of a rudder position, an elevator position, an aileron position, angle-of-attack, center of gravity and altitude.

12 . The computer system of claim 7 , wherein the processor is configured to use pole placement controllers to eliminate spectral leakage without impairing frequency resolution and wherein the controllers cause an output to return to an unperturbed trim condition.

13 . A non-transitory computer-readable medium having computer-readable code which is executable by a processor to perform a method of generating a computer-generated forces (CGF) entity that includes a simulated external vehicle to be used within an interactive computer simulation that is displayed within an interactive simulation environment by an interactive computer simulation station, the simulated external vehicle being distinct from a simulated user-controlled vehicle controlled by a user of the interactive computer simulation, the method comprising:

creating an array of state-space model structures having initially unknown parameters that, once known, will define a linearized approximation of a non-linear model of the simulated external vehicle;

generating frequency response matrices by exciting each input-output relationship of the non-linear model of the simulated external vehicle at a plurality of trim conditions using Gaussian pulses each having a period no longer than 2 seconds, wherein the Gaussian pulses are provided by physically manipulating one or more tangible instruments of the interactive computer simulation station via a mechanical instrument actuator, wherein the frequency response matrices define a plurality of linear equations;

calculating the parameters by solving the linear equations of the frequency response matrices to thereby provide an array of state-space models that defines the linearized approximation of the non-linear model of the simulated external vehicle; and

using the array of state-space models to generate the CGF entity.

14 . The non-transitory computer-readable medium of claim 13 wherein the processor is configured to simulate the simulated external vehicle as part of the interactive computer simulation.

15 . The non-transitory computer-readable medium of claim 13 wherein each of the Gaussian pulses has a period no longer than 1 second.

16 . The non-transitory computer-readable medium of claim 13 wherein the processor is configured to calculate the parameters by calculating the frequency response matrices over a wider range of frequencies than a band of frequencies of the Gaussian pulses.

17 . The non-transitory computer-readable medium of claim 13 , wherein the simulated external vehicle is a simulated aircraft, wherein the trim conditions comprise one or more of a rudder position, an elevator position, an aileron position, angle-of-attack, center of gravity and altitude.

18 . The non-transitory computer-readable medium of claim 13 , wherein the processor is configured to use pole placement controllers to eliminate spectral leakage without impairing frequency resolution and wherein the controllers cause an output to return to an unperturbed trim condition.