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Paper No. 573

METHODOLOGY AND IMPROVEMENTS

IN AIRCREW PARACHUTE DESCENT
VIRTUAL REALITY SIMULATION
TRAINING

August 30, 2000

Jeffrey R. Hogue
R. Wade Allen
Cecy A. Pelz
Systems Technology, Inc.
Hawthorne, CA

Steve Markham
Valentine Technologies Ltd
Colt Hill, Odiham

Arvid Harmsen
Automatisering en Adviesbureau
1276 CP Huizen
Stuurboord 57
The Netherlands

Prepared for:
th
38 Annual SAFE Association Symposium
October 9th – 11th, 2000
Reno Hilton Hotel
Reno, Nevada
 METHODOLOGY AND IMPROVEMENTS IN AIRCREW
PARACHUTE DESCENT VIRTUAL REALITY SIMULATION TRAINING

Jeffrey R. Hogue, Principal Specialist

R. Wade Allen, Technical Director
Cecy A. Pelz, Staff Engineer, Analytical
Systems Technology, Inc.,
13766 Hawthorne Blvd., Hawthorne, CA 90250
Steve Markham, Technical Director
Valentine Technologies Ltd., Colt Hill, Odiham
Hampshire RG29 IAN, United Kingdom
Arvid Harmsen, Technical Director
Automatisering en Adviesbureau, 1276 CP Huizen
Stuurboord 57, The Netherland

ABSTRACT The USDA Forest Service (FS) had the

Parachute simulation originated to solve the classical training problem with their smokejumpers
dilemma of providing safe training for a hazardous (civilian fire fighting parachutists operating round
activity, specifically smoke jumping for firefighting. parachutes in extremely difficult conditions): jumpers
This idea was quickly adapted for training aircrew, were being hurt in training injuries, but there would
who have far less jump options and may face even be more injuries if training were not provided. The
more critical situations. As the simulation concept earliest versions of the simulator were developed to
evolved, enhancements were made to address the solve this problem. In particular, the USDA FS
needs of other applications, such as sport jumping, sought this device to train for an emphasis on smooth
arcade and theme park entertainment, operational controls handling, a concern shared equally with
military training, mission planning and rehearsal aircrew emergency parachuting. In the fall and
including GPS navigation. winter of 1999, the FS replaced all of their existing
pre-VR systems. They requested that their new VR
This progress has in turn been applied to simulators include a simulator scene based on the
improving aircrew training. This paper details recent real-world complex mountainous jump site they
enhancements as they pertain to teaching skills for trained in, one with challenges that are also very
emergency parachuting and lessons learned during possible to encounter in aircrew mishap situations. A
their application by aviation physiology, life support, view of this database is illustrated in Figure 1.
and survival training organizations.

INTRODUCTION
This paper discusses improvements to a
virtual reality parachute descent training device that
has been described previously1-4. This training device
was originally developed for smokejumpers, but was
soon adapted for aircrew emergency training5, 6. The
design of the training device has evolved
considerably in response to aircrew training needs7, 8,
and recent improvements to the device and training
methodology are discussed herein.

Simulator and Training Enhancements from

Other Applications

SmokeJumper Figure 1. Mountain Terrain Database

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 Visualizing 3D features like ambient winds can Sport ParaSim:
be a difficult concept. The streamer visualization
When a version of ParaSim was developed
feature as illustrated in Figure 2, shows a line
specifically for sport jumpers, it became obvious that
representing a 3-d view of the actual path taken by a
a number of common sport training concepts had
streamer dropped from directly above the selected
equal application in training aircrew. The “sight
target. This allows the instructor to demonstrate the
picture concept” seems particularly useful and can be
effects of wind change with altitude and alert the
readily taught with a simulator. The idea is that the
student to any potential problem areas. When this
trainee should hold a fairly fixed view and observe
feature is in use, the student’s monitor shows the
the motion of his target landing spot: if this spot stays
jump scene selected on the startup options screen
fixed in his view, he will land there. If it moves up in
with a yellow curving line starting at the initial
his view, he will not make it with his current flight
altitude selected over the jump spot. The simulator
strategy, and should perhaps select a closer target. If
takes a few seconds when this mode is first selected
it moves down, then he should adopt a strategy to
to quickly compute a simulated path that streamer
lose altitude by maneuvering back and forth, while
would take when dropped in the particular wind field
keeping the target in view. Certain operational and
selected.
emergency parachutes can be flown in brakes, though
this requires more skill, which in turn makes these
tactics a good candidate for simulator learning.
Entertainment:
A version of the parachute simulator has been
adapted for arcade entertainment systems. The
application shown in Figure 3 was designed and is
manufactured by Illusion Inc. This version is based

Figure 2. Streamer Visualization

Previous post-simulated jump view options

were available to show the jump exactly as seen by
the jumper or via a remote view of the jumper and
jump scene from a view angle that can be moved by a
joystick. While this perspective was particularly
useful in viewing the effects of malfunctions and
jumper motions, it and the previous jumper view
playback mode presented problems in terms of
understanding and critiquing of the navigational and
collision avoidance tactics adopted by the trainee. For
this reason and at smokejumper request, a jump
review was added where the observer’s eyepoint
tracks along the windline above the jumper, and the
joystick is not used. The jumper in the previous run
is marked with a circle to distinguish it from any
jump partner. This observation is useful for Figure 3. Entertainment Application
understanding the parachutist’s path over the ground
and relative to other parachutists.

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on the MS Windows platform, and uses the Quantum Figure 4 shows two ram-air jumpers jumping above a
3D OpenGVS rendering engine. (The earlier DOS scene replicating a desert area near Yuma Arizona.
versions of the parachute simulator use a proprietary Figure 5 shows the process of generating real world
TGE library and file format from Triac Inc.). The simulator scenes. All of this is immediately
Windows graphics library uses the widely adopted applicable to, and has been specifically requested for
Open Flight file format originated by Silicon aircrew training.
Graphics Inc. The parachute dynamics, head tracker,
and jumper input sensor interface were ported to
Windows by STI as part of this effort. Windows
allows more versatile hardware compatibility and the
use of a broader range of program and graphics scene
generation tools.
Mission Planning and Rehearsal
STI is in the middle of a Phase II Small
Business Innovative Research contract from the
Special Operations Command (SOCOM) to develop a
version enabling rapid generation of real world
scenes based on digital terrain, photos, and weather
data. This process involves porting the current MS-
DOS version to a MS Windows implementation with
a more modern graphics user interface (GUI), much
better compatibility with modern PC hardware, and
readily incorporate networking so that actual (rather Figure 4. Desert Terrain Graphics
than simply pre-recorded) interaction between
parachutists will occur.

Raw Terrain Data

(DEM, DTED,
Imagery, etc.)

Commercial 3D Graphics Image

Model Modeling Editing
Libraries Software Software
Scenario Topography
3D Models
Terrain Database
Model Cultural Features Generation
Library Software
Terrain-Correlated Meteorological
Scene Data
Database
Wind Field Generation

Wind
Dynamic Elements Scenario Field

Database
Generator
Terrain Geometry
Cultural Features
Atmospheric Conditions
Dynamic Elements
Time of Day

Real-Time
Jump Simulation

Figure 5. Process for Generating Mission Rehearsal Scenarios

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Aircrew Specific Version Enhancements Although there have been earlier attempts to
use the HMD with the elastic band under a flight
US Air Force: helmet and attach the tracker to the rear of the
The process of delivering and installing helmet8, this had been unsuccessful due to
simulators in quantity to the US Air Force Air interference between the HMD earpieces/earphones
and the helmet. As a result, these procedures were
Combat Command (ACC) and the Reserve
Command (AFRC), provided an opportunity for taught prior to removing the flight helmet and
review of ParaSim™ by a wide variety of donning the combined VR HMD/tracker for the
experienced life support and SERE (Survival, simulated parachuting experience. However, the
aircrew emergency training community expressed a
Evasion, Rescue, and Escape) instructors with a
number of suggestions for improved training strong desire to address complete training scenario
capabilities. In particular, scoring criteria were issues in a single device in a continuous training
revised to accept a broader off-wind landing angle experience.
to align with aircrew parachute landing (PLF) goals In response to these concerns, the HMD has
and to allow for the high reverse landing speeds now been modified to remove the earpieces and
which may be encountered on the best of landings attach the elastic band to the brow portion as
under the strong winds which can be encountered illustrated in Figure 7a. Audio is supplied to the
during emergency parachuting. normal helmet earpieces, and the tracker is attached
to the rear of the helmet with the visor cut away to
clear the HMD as illustrated in Figure 7b.

a) Without Head Tracker b) With Head Tracker

Figure 6. VR Head Mounted Display (HMD)
Additional improvements are in development.
These include a VR system designed to be worn
with a flight helmet and improved riser force
sensors. Almost all current ParaSim™ installations
use a VR head mounted display (HMD) which can
be worn alone with an elastic band between the ear
pieces, or with an tracker substituted for the elastic
band as shown in Figure 6.
Aircrew emergency procedures call for
raising the visor and removing the oxygen mask a) HMD worn with b) Tracker attached to
(while wearing flight gloves) during descent under elastic brow band helmet
parachute canopy. Since aircrew would only
experience actual parachute procedures and Figure 7. HMD Modified to Wear Under Helmet
equipment operation as a dire and hopefully with Visor Attached to Helmet
extremely infrequent occurrence, it was perceived
as particularly important that training experiences
replicate the actual event as closely (though safely)
as possible.

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 Use of a Personnel Lowering Device (PLD)
is also required by certain aircrew emergency
procedures. A lowering strap is snapped to the riser
straps and then the harness fasteners are released
(Figure 8). Sturdier riser sensors are being
developed which include damping devices to
withstand the abrupt shock from this sudden drop
and unloading. This capability will remove the need
to train for this procedure in a separate hanging
harness device.

Figure 9. U.S. Navy Aviation Survival Training

Jump Scene.

and control lines were then run back and attached to

the wall behind the jumper. When the jumper pulled
on the lines, he was physically rotated in the
direction he pulled. This was seen as advantageous
Figure 8. Using Personnel Lower Device in systems without a simulator, even though the
control-motion-to-visual correlation was poor.
US Navy: Earliest versions of the VR parachute simulator
Aircrew emergencies can occur under far system were installed with existing hanging
more difficult conditions than operational jumps, harnesses. Attaching the controller box to the wall
which have limits on terrain, weather, etc. that or floor modified these systems, and the control
obviously do not apply to emergency situations lines were routed from the box down through the
when mishaps can occur over any terrain. Thus, pulleys to the jumper.
simulators were supplied to the US Navy Aviation
Survival Training Centers (and previous US Air Some initial aircrew training installations
Force Life Support units) which featured weather used the single ring harness attachment discussed
conditions such as rain, fog, overcast, and improved above, but it was clear that undesirable motions
night lighting renditions. Additional scenes occurred during the simulated jump. More recently
emphasizing over water and coastal locations were the frame shown in Figure 10 has been developed to
also supplied. The Instructor’s screen reminds of give a consistent installation that stabilizes the
the need to coach the trainee below 200 feet altitude trainee, and also allows for installation of four riser
to minimize maneuvering, prepare for parachute strap sensors that are used in conjunction with
landing fall, and watch the horizon. A typical jump malfunction training.7, 8. With a VR simulator, the
scene is shown in Figure 9. lack of synchronization between physical motion
cues and visual motion due to the dynamics of the
New Jumper Suspension Frames
simulated parachute would be worsened further by
Hanging harness training has long been the effects of the physical motion on the jumper’s
mandated for operational, and especially for head tracker. When possible, to minimize this
aircrew-emergency parachute training. The trainee problem, horizontal suspension rings were attached
hangs in an actual harness, suspended from above via lines tied to fasteners anchored in adjacent
by riser straps, wearing flight suit, gloves, helmet walls.
with oxygen mask and visor, etc. Some of these
rigs were suspended from a ring-attached overhead
to a single point. These existing systems often had
pulleys attached to the ring adjacent to the risers,

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 REFERENCES
1. Hogue, Jeffrey R., Walter A. Johnson, R. Wade
Allen, Dave Pierce, “A Smoke-jumpers'
Parachute Maneuvering Training Simulator,”
AIAA Paper 910829, American Institute of
Aeronautics and Astronautics 11th Aerodynamic
Decelerator Systems Technology Conf., San
Diego, CA, April 9-11, 1991.
2. Hogue, Jeffrey R., Walter A. Johnson, R. Wade
Allen, “A Simulator Solution for the Parachute
Canopy Control and Guidance Training
Problem,” SAE Paper 920984, 1992 Society of
Automotive Engineers Aerospace Atlantic Conf.
and Exposition, Dayton, Ohio, April 7-10, 1992.
3. Hogue, Jeffrey R., W. A. Johnson, R. W Allen,
Dave Pierce, ”Parachute Canopy Control and
Guidance Training Requirements and
Methodology,” AIAA Paper 931255,
RAes/AIAA 12th Aerodynamic Decelerator
Systems Technology Conf., 10-13 May 1993,
London UK.
4. “Parachute Simulation,” Aviation Week & Space
Technology, April 22, 1996.
5. Hogue, Jeffrey R., W. A. Johnson, R.W. Allen,
“Parachute Canopy Control Simulation: A
Solution for Aircrew Emergency Training,”
Systems Technology, Inc., P-473, presented at
the 29th Annual SAFE Symposium, Las Vegas,
Figure 10. Frame for Aircrew VR Trainer Nevada, November 11-13, 1991.
Installation 6. “Drooping In on Aircrew Training, Military
Simulation & Training,” March 1995
CONCLUDING REMARKS 7. Hogue, Jeffrey R., and R. W. Allen, “Virtual-
Reality Simulation in Aircrew Emergency
The Parachute descent VR training device Parachute Training, "Systems Technology, Inc.,
is still evolving to meet the needs of smokejumper P-529, presented at the 34th Annual SAFE
and aircrew training, and new applications such as Symposium, Reno, Nevada, Oct. 21-23, 1996.
special operations mission rehearsal. The VR
device which currently runs under MS-DOS is 8. Hogue, Jeffrey R., F.G. Anderson, Cecy A. Pelz,
being ported to run in the MS-Windows and R. W. Allen, “Parachute Simulation
environment. This will allow more flexibility in Enhancements for Post-Ejection Training,"
setup of the simulator-training configuration, and Systems Technology, Inc., P-546, presented at the
compatibility with new computer and graphics 36th Annual SAFE Symposium, Phoenix, AZ,
accelerator hardware. The upgraded graphics Sept. 1998.
accelerator hardware will also allow the
development and presentation of more sophisticated
visual databases. New concepts in apparatus are
also being considered, that will allow the jumper to
simulate helmet and oxygen mask procedures and
extraction from hanging in trees.

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BIOGRAPHIES
Jeffrey R. Hogue is a Principal Specialist at
Systems Technology, Inc. in Hawthorne, California.
He has more than 37 years of experience in
analysis, design, simulation, and test of flight
vehicles. He has a B.S. degree in Aeronautics and
Astronautics from the Massachusetts Institute of
Technology and a M.S. degree in Mechanical
Engineering from the University of Connecticut. He
holds a Registered Professional Engineer License,
and is a co-author of a simulation display patent and
the VR Parachute Simulation patent.
R. Wade Allen is a Technical Director at Systems
Technology, Inc. in Hawthorne, California. He has
more than 38 years experience in vehicle dynamics,
man-machine systems analysis, and simulation of
aircraft and ground vehicles. He received his B.S.
and MS degrees in Engineering from the University
of California at Los Angeles. He holds a Registered
Professional Engineer License, and is a co-author of
a simulation display patent and the VR Parachute
Simulation patent.
Cecy A. Pelz is a Staff Engineer, Analytical at
Systems Technology, Inc., in Hawthorne,
California. She is heavily involved in
three-dimensional computer graphics modeling for
real-time simulation and other applications. She
received her B.S. and M.S. degrees in Aerospace
Engineering from Northrop University. She is a
member of Tau Beta Pi National Engineering
Honor Society and Sigma Gamma Tau National
Aerospace Engineering Honor Society. She is a co-
author of the VR Parachute Simulation patent.
Steve Markham is a Technical Director of
Valentine Technologies Ltd a consulting company
in Odiham, England. He has a B.Sc. degree in
Automatic Control Engineering from Sussex
University. He has 30 years of experience in high
speed real time computing.
Arvid Harmsen is a Technical Director of
Automatisering en Adviesbureau, a consulting
company in the Netherlands. He has B.S. and M.S.
degrees in Electrical Engineering and Computer
Science from the Technical University in Delft in
the Netherlands and more than 35 years of
experience in Operations Research, Simulation and
Digital Signal Processing with various international
companies and NATO.

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