WO2025041144A1

WO2025041144A1 - Pilot training system utilizing integrated real/virtual aircraft and object data

Info

Publication number: WO2025041144A1
Application number: PCT/IL2024/050848
Authority: WO
Inventors: Ninet HAIMOVITZ; Yaacov TAVGER
Original assignee: Israel Aerospace Industries Ltd
Current assignee: Israel Aerospace Industries Ltd
Priority date: 2023-08-23
Filing date: 2024-08-22
Publication date: 2025-02-27
Anticipated expiration: 2026-02-23
Also published as: IL305422A

Abstract

There is provided a system of monitoring an airborne training aircraft, the system comprising a processing circuitry configured to: a) receive, from one or more ground- based aircraft simulators, data indicative of, at least, respective three-dimensional (3D) positions and bearings of one or more virtual aircraft associated with the respective simulators; b) receive, from the training aircraft, data indicative of, at least, the training aircraft's 3D position and bearing; c) construct, utilizing, at least, the training aircraft's 3D position and bearing, and the respective three-dimensional (3D) positions and bearings of respective virtual aircraft, at least one of: i) imaging depicting a view, from an external point of reference, of the training aircraft and relative positions of virtual aircraft, and ii) imaging depicting at least one instrument of the training aircraft, wherein the depicted at least one instrument depicts positions of the one or more virtual aircraft relative to training aircraft.

Description

PILOT TRAINING SYSTEM UTILIZING INTEGRATED REAL/VIRTUAL AIRCRAFT AND OBJECT DATA

TECHNICAL FIELD

The presently disclosed subject matter relates to pilot tactical training systems, and in particular to implementation of such systems operating in coordination with ground- based aircraft simulators.

BACKGROUND

Problems of implementation in pilot tactical training systems have been recognized in the conventional art and various techniques have been developed to provide solutions.

GENERAL DESCRIPTION

According to one aspect of the presently disclosed subject matter there is provided a system of monitoring an airborne training aircraft, the system comprising a processing circuitry configured to: a) receive, from one or more ground-based aircraft simulators, data indicative of, at least, respective three-dimensional (3D) positions and bearings of one or more virtual aircraft associated with the respective simulators; b) receive, from the training aircraft, data indicative of, at least, the training aircraft's 3D position and bearing; c) construct, utilizing, at least, the training aircraft's 3D position and bearing, and the respective three-dimensional (3D) positions and bearings of respective virtual aircraft, at least one of: i) imaging depicting a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and ii) imaging depicting at least one instrument of the training aircraft, wherein the depicted at least one instrument depicts positions of the one or more virtual aircraft relative to the training aircraft.

In addition to the above features, the system according to this aspect of the presently disclosed subject matter can comprise feature (i) listed below:

(i) the processing circuitry is additionally configured to: d) display the constructed imaging on a display device.

According to another aspect of the presently disclosed subject matter there is provided a computer-implemented method of monitoring an airborne training aircraft, the method comprising: a) receiving, from one or more ground-based aircraft simulators, data indicative of, at least, respective three-dimensional (3D) positions and bearings of one or more virtual aircraft associated with the respective simulators; b) receiving, from the training aircraft, data indicative of, at least, the training aircraft's 3D position and bearing; c) constructing, utilizing, at least, the training aircraft's 3D position and bearing, and the respective three-dimensional (3D) positions and bearings of respective virtual aircraft, at least one of: i) imaging depicting a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and ii) imaging depicting at least one instrument of the training aircraft, wherein the depicted at least one instrument depicts positions of the one or more virtual aircraft relative to the training aircraft. This aspect of the disclosed subject matter can further optionally comprise feature (i) listed above with respect to the system, mutatis mutandis.

According to another aspect of the presently disclosed subject matter there is provided a computer program product comprising a non-transitory computer readable storage medium retaining program instructions, which, when read by a processing circuitry, cause the processing circuitry to perform a computerized method monitoring an airborne training aircraft, the method comprising: a) receiving, from one or more ground-based aircraft simulators, data indicative of, at least, respective three-dimensional (3D) positions and bearings of one or more virtual aircraft associated with the respective simulators; b) receiving, from the training aircraft, data indicative of, at least, the training aircraft's 3D position and bearing; c) constructing, utilizing, at least, the training aircraft's 3D position and bearing, and the respective three-dimensional (3D) positions and bearings of respective virtual aircraft, at least one of: i) imaging depicting a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and ii) imaging depicting at least one instrument of the training aircraft, wherein the depicted at least one instrument depicts positions of the one or more virtual aircraft relative to the training aircraft.

This aspect of the disclosed subject matter can further optionally comprise feature (i) listed above with respect to the system, mutatis mutandis. BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it can be carried out in practice, embodiments will be described, by way of non-limiting examples, with reference to the accompanying drawings, in which:

Fig. 1 illustrates an example deployment scenario method of processing incoming sensor data, in accordance with some embodiments of the presently disclosed subject matter;

Fig. 2A illustrates a logical block diagram of an example on-board system configured for integrated support of virtual objects/virtual aircraft, optionally including one or more manned ground-based aircraft simulators, in accordance with some embodiments of the presently disclosed subject matter;

Fig. 2B illustrates a logical block diagram of an example real-time training ground station (RTGS) configured for integrated support of virtual aircraft, including one or more manned ground-based aircraft simulators,, in accordance with some embodiments of the presently disclosed subject matter;

Fig. 3A illustrates a flow diagram of an example method of processing incoming sensor data, in accordance with some embodiments of the presently disclosed subject matter;

Fig. 3B illustrates a flow diagram of an example method of processing incoming virtual object data, in accordance with some embodiments of the presently disclosed subject matter;

Fig. 4 illustrates a flow diagram of an example method of emulating and/or tracking the progress of an emulated projectile, in accordance with some embodiments of the presently disclosed subject matter; and

Fig. 5 illustrates a flow diagram of an example method of monitoring an airborne training aircraft in the realtime ground station (RTGS), in accordance with some embodiments of the presently disclosed subject matter. DETAILED DESCRIPTION

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the presently disclosed subject matter may be practiced without these specific details. In other instances, well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the presently disclosed subject matter.

Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as "processing", "computing", "comparing", "encrypting", “decrypting”, "determining", "calculating", “receiving”, “providing”, “obtaining”, “emulating” or the like, refer to the action(s) and/or process(es) of a computer that manipulate and/or transform data into other data, said data represented as physical, such as electronic, quantities and/or said data representing the physical objects. The term “computer” should be expansively construed to cover any kind of hardware -based electronic device with data processing capabilities including, by way of non-limiting example, the processor, mitigation unit, and inspection unit therein disclosed in the present application.

The terms "non-transitory memory" and “non-transitory storage medium” used herein should be expansively construed to cover any volatile or non-volatile computer memory suitable to the presently disclosed subject matter.

The operations in accordance with the teachings herein may be performed by a computer specially constructed for the desired purposes or by a general-purpose computer specially configured for the desired purpose by a computer program stored in a non- transitory computer-readable storage medium.

Embodiments of the presently disclosed subject matter are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the presently disclosed subject matter as described herein. Fig. 1 illustrates an example deployment scenario of an airplane including a pilot tactical training systems operating in coordination with one or more ground-based aircraft simulators, in accordance with some embodiments of the presently disclosed subject matter.

Aircraft equipped with training system 100 can be a aircraft customized for tactical training of a pilot. Aircraft equipped with training system 100 can be a comparatively low-cost airplane, and can lack actual high-cost equipment such as radar that can be present in an actual tactical aircraft, and can instead include a “virtual radar” display.. Aircraft equipped with training system 100 can include weapons systems adapted for use in such pilot training - in some such systems, the target tracking and projectile firing subsystems have been modified so that they do not fire projectiles, but rather perform simulations of projectile firings. Aircraft equipped with training system 100 can receive data from remote systems implementing virtual aircraft and/or other virtual objects, as described below.

Peer aircraft 110 can be a tactical aircraft which is in communication with aircraft equipped with training system 100. Aircraft equipped with training system 100 can - for example - participate in training exercises in coordination with peer aircraft 110.

Ground-based aircraft simulator 120 can be a suitable ground-based system which simulates operational behavior of an aircraft for pilot training purposes. In some embodiments, ground-based aircraft simulator 120 includes a cockpit and pilot-operated or pilot-utilized instruments station. Ground-based aircraft simulator 120 can communicate with e.g. real-time training ground station 130

Real-time training ground station 130 can be a suitable ground-based system which, in some embodiments, at least partially manages and/or monitors (e.g. in real time) an aircraft equipped with training system 100 and/or ground-based aircraft simulator 120.

Fig. 2A illustrates an example logical block diagram of an on-board system configured for integrated support of virtual objects/virtual aircraft, optionally including one or more manned ground-based aircraft simulators, in accordance with some embodiments of the presently disclosed subject matter.

Processing circuitry 210A can include e.g. processor 220A, memory 230A, and network controller 240 A.

Processor 220A can be a suitable hardware -based electronic device with data processing capabilities, such as, for example, a general purpose processor, digital signal processor (DSP), a specialized Application Specific Integrated Circuit (ASIC), one or more cores in a multicore processor, etc. Processor 220 can also consist, for example, of multiple processors, multiple ASICs, virtual processors, combinations thereof etc.

Memory 230A can be, for example, a suitable kind of volatile and/or non-volatile storage, and can include, for example, a single physical memory component or a plurality of physical memory components. Memory 230A can also include virtual memory. Memory 230A can be configured to, for example, store various data used in computation.

Processing circuitry 210A can be configured to execute several functional modules in accordance with computer-readable instructions implemented on a non- transitory computer-readable storage medium. Such functional modules are referred to hereinafter as comprised in the processing circuitry. These modules can include, for example, navigation data integration unit 280A, projectile launching data integration unit 290A, integrated real/virtual space management unit 250A, and integrated real/virtual data repository 260A.

Virtual aircraft 270 can be a hardware or software device (located e.g. on the ground) that generates data indicative of behavior and properties of an aircraft. For example, virtual aircraft 270 can be a manned ground-based aircraft simulator, which generates data indicative of virtual objects (for example: data describing its own emulated location in 3D space, velocity, direction etc.). Virtual aircraft 270 can generate the data indicative of virtual objects e.g. in response to actions by the simulator pilot. Virtual aircraft 270 can generate the data indicative of virtual objects e.g., periodically. Virtual aircraft 270 can transmit the generated data to the aircraft. There can be one or more instances of virtual aircraft 270. In some other embodiments, virtual aircraft 270 can be an entirely software-based virtual aircraft executing inside a server computer, or be a different variation of a hardware or software device that generates data indicative of behavior and properties of an aircraft.

Display system 205A can be suitable type of display device for providing the pilot with situational awareness - for example a head-mounted device (HMD) or a head-up display (HUD). Display system 205A can display information pertaining to objects on the ground and/or in the air. In some embodiments, display system 205A displays information that is derivative of data provided by aircraft navigation sensors 215A. In some embodiments, display system 205A displays information that is derivative of data provided by virtual aircraft 270. In some embodiments, display system 205A displays information that is derivative of data provided by ground control station 275, as described in detail below. In some embodiments, display system 205A displays information that is derivative of combinations of the aforementioned and/or other data sources. Display system 205A can receive its data from - for example - navigation data integration unit 280A.

Navigation data integration unit 280A can, for example, receive situational awareness data from different sources, and can them integrate them and/or otherwise prepare the data for display on display system 205A. By way of non-limiting example, navigation data integration unit 280A can receive data (e.g. current radar data) from aircraft navigation sensors 215A. By way of further non-limiting example, navigation data integration unit 280A can receive data (e.g. data descriptive of current location and properties of a virtual aircraft 270) from network controller 240A.

Integrated real/virtual space management unit 250A can, for example, receive situational awareness data from different sources, and can them integrate them and/or otherwise prepare the data for storage, and store the data in integrated real/virtual data repository 260A. Integrated real/virtual space management unit 250A can - for example - store the integrated data in a manner that is indicative of a virtual three-dimensional (3D) space (herein termed a “dynamically-updating 3D map”), in which real and virtual objects are present and associated with 3D coordinates as well as properties such as size, velocity etc.

By way of non-limiting example, integrated real/virtual space management unit 250A can receive data (e.g. current radar data) from aircraft navigation sensors 215A. By way of further non-limiting example, integrated real/virtual space management unit 250A can receive data (e.g. a current data descriptive of location and properties of a virtual aircraft 270) from virtual aircraft 270 via network controller 240A.

Integrated real/virtual data repository 260A can be a suitable type of data storage.

Network controller 240A can be, for example, a type of communications controller suitable for bidirectional aircraft-to-ground communication. In some embodiments, network controller 240A can utilize a data link with suitable latency and/or jitter requirements to ensure that the dynamically-updating 3D map accurately represents a synchronized map of real and virtual objects. In some embodiments, network controller 240A is software that controls the network management, distributed slot allocation and RF data correlation and predictions.

Network controller 240A can be in communication with ground control station 275 and can send/receive data to/from ground control station 275.

Network controller 240A can be in communication with virtual entities 270 and can send/receive data to/from virtual entities 270.

Projectile launching data integration unit 290A can receive instructions from the aircraft pilot - such as, for example: a signal to launch a virtual projectile (e.g. a virtual heat-seeking missile) at a real or virtual target (such as a specific virtual aircraft 270). Projectile launching data integration unit 290A can emulate the behavior of the launched projectile. In some embodiments display system 205A displays the virtual projectile hitting missing of the real or virtual target.

Projectile launching data integration unit 290A can, in emulating the behavior of the launched projectile, utilize data from the dynamically updated 3D map stored in integrated real/virtual data repository 260A. In this manner, the projectile emulation can be performed according to the most up-to-date construction of the integrated/real 3D space (e.g. including recent actions or maneuvers performed by a ground-based emulator pilot).

Fig. 2B illustrates an example logical block diagram of a real-time training ground station (RTGS) configured for integrated support of virtual aircraft, including one or more manned ground-based aircraft simulators, in accordance with some embodiments of the presently disclosed subject matter.

Processing circuitry 210B can include e.g. processor 220B, memory 230B, and network controller 240B.

Processor 220B can be a suitable hardware -based electronic device with data processing capabilities, such as, for example, a general purpose processor, digital signal processor (DSP), a specialized Application Specific Integrated Circuit (ASIC), one or more cores in a multicore processor, etc. Processor 220B can also consist, for example, of multiple processors, multiple ASICs, virtual processors, combinations thereof etc.

Memory 230B can be, for example, a suitable kind of volatile and/or non-volatile storage, and can include, for example, a single physical memory component or a plurality of physical memory components. Memory 230B can also include virtual memory. Memory 230 can be configured to, for example, store various data used in computation.

Processing circuitry 210B can be configured to execute several functional modules in accordance with computer-readable instructions implemented on a non- transitory computer-readable storage medium. Such functional modules are referred to hereinafter as comprised in the processing circuitry. These modules can include, for example, network controller 240B, integrated virtual space management unit 250B, integrated virtual data repository 260B, imaging construction unit 290B.

Display device 280B can be a monitor or other suitable type of display device for providing imaging informative of relative positions of real and virtual aircraft.

Integrated real/virtual space management unit 250B can, for example, receive situational awareness data from different sources, and can them integrate them and/or otherwise prepare the data for storage, and store the data in integrated real/virtual data repository 260B. Integrated real/virtual space management unit 250 can - for example - store the integrated data in a manner that is indicative of a virtual three-dimensional (3D) space (herein termed a “dynamically-updating 3D map”), in which real and virtual objects are present and associated with 3D coordinates as well as properties such as size, velocity etc.

By way of non-limiting example, integrated real/virtual space management unit 250B can receive data (e.g. current 3D location and bearing (i.e. velocity /direction) data) from airborne training aircraft 260. By way of further non-limiting example, integrated real/virtual space management unit 250B can receive data (e.g. a current data descriptive of location and properties such as velocity /direction of a virtual aircraft 270) from virtual aircraft 270 via network controller 240B.

Integrated real/virtual data repository 260B can be a suitable type of data storage.

Network controller 240B can be, for example, a type of communications controller suitable for bidirectional aircraft-to-ground communication. In some embodiments, network controller 240B can utilize a data link with suitable latency and/or jitter requirements to ensure that the dynamically-updating 3D map accurately represents a synchronized map of real and virtual objects. In some embodiments, network controller 240A is software that controls the network management, distributed slot allocation and RF data correlation and predictions.

Network controller 240B can be in communication with airborne training aircraft 260 and can send/receive data to/from airborne training aircraft 260.

Network controller 240B can be in communication with virtual aircraft 270 and can send/receive data to/from virtual aircraft 270.

Imaging construction unit 290B can utilize up-to-date 3D map data from integrated virtual data repository 260B. Imaging construction unit 290B can construct synthetic images using the 3D map data to illustrate one or more of: a) a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and b) a depiction of at least one onboard instrument of the training aircraft, which shows positions of the virtual aircraft relative to the training aircraft.

Imaging construction unit 290B can display the constructed images on display device 280B. Imaging construction unit 290B can continually construct new images based on e.g. updated 3D map information and display them, thereby resulting in a periodically updating display. In some embodiments, the updating is sufficient frequent so as to provide video illustrating the real and virtual airplane movements.

Fig. 3A illustrates a method of processing incoming sensor data, in accordance with some embodiments of the presently disclosed subject matter.

Processing circuitry 210 (e.g. navigation data integration unit 280) can receive 310A sensor data (e.g. from aircraft navigation sensors 215).

Processing circuitry 210 (e.g. navigation data integration unit 280) can then update 320A display system 205 to display the received sensor data.

Processing circuitry 210 (e.g. integrated real/virtual space management unit 250) can then update 330A integrated real/virtual data repository with the received sensor data.

In some embodiments, the method illustrated in Fig. 3A is performed periodically. For example: in some embodiments, navigation data integration unit 280 reads aircraft navigation sensors 215 every e.g. 20 milliseconds (ms) to obtain new sensor data.

Fig. 3B illustrates a method of processing incoming virtual object data, in accordance with some embodiments of the presently disclosed subject matter.

Processing circuitry 210 (e.g. navigation data integration unit 280) can receive 310B virtual aircraft or other virtual object data (e.g. from network controller 240, which can receive the data from e.g. virtual aircraft 270). Processing circuitry 210 (e.g. navigation data integration unit 280) can then update 320B display system 205 to display the received virtual aircraft or object data. For example: display system 205 can display the virtual aircraft (in its current virtual location) on an HMD together with velocity and/or other information.

Processing circuitry 210 (e.g. integrated real/virtual space management unit 250) can then update 330B integrated real/virtual data repository with the received sensor data, thereby updating the dynamically-updating 3D map with the current virtual object data.

In some embodiments, the method illustrated in Fig. 3A is performed periodically. For example: in some embodiments, navigation data integration unit 280 reads network controller 240 every e.g. 20 milliseconds (ms) to obtain new virtual object data.

Fig. 4 illustrates an example method of emulating and/or tracking the progress of an emulated projectile, in accordance with some embodiments of the presently disclosed subject matter.

Processing circuitry 210 (e.g. projectile launching data integration unit 290) can receive 410 an event indicating that a projectile launch should take place. By way of nonlimiting example: the pilot can perform an in cockpit operation to launch a missile (e.g. a heat-seeking missile, or a programmed path missile). Processing circuitry 210 (e.g. projectile launching data integration unit 290) can then receive a signal indicating the incockpit event.

Processing circuitry 210 (e.g. projectile launching data integration unit 290) can then access 420 dynamically -updated real/virtual space that is e.g. stored in integrated real/virtual data repository 260.

Processing circuitry 210 (e.g. projectile launching data integration unit 290) can then track 430 status and properties (e.g. 3D location, velocity etc.) of the emulated projectile in its emulated flight towards its real or emulated target. Processing circuitry 210 (e.g. projectile launching data integration unit 290) can utilize the dynamically- updated real/virtual space in tracking the status of the projectile. Thus - for example - if the target is a moving virtual aircraft (i.e. an “enemy” aircraft), the course of an emulated heat-seeking missile can change accordingly.

Processing circuitry 210 (e.g. projectile launching data integration unit 290) can then evaluate 440 whether projectile course has completed, and when projectile course has completed, processing circuitry 210 (e.g. projectile launching data integration unit 290) can determine 450 status of the projectile e.g. whether it hit/missed its target.

Fig. 5 illustrates an example method of monitoring an airborne training aircraft in the realtime ground station (RTGS), in accordance with some embodiments of the presently disclosed subject matter.

Processing circuitry 210 (e.g. imaging construction unit 290B) can receive 510 position/bearing data of virtual aircraft from the ground-based simulators.

Processing circuitry 210 (e.g. imaging construction unit 290B) can receive 520 training aircraft position/bearing data.

Processing circuitry 210 (e.g. imaging construction unit 290B) can then update 530 the status/properties of data (e.g. 3d map data) stored in integrated real/virtual data repository 260B.

Processing circuitry 210 (e.g. imaging construction unit 290B) can next construct 540, for a given point of reference, a view of the relative locations of the training aircraft and the one or more virtual aircraft.

By way of non-limiting example, processing circuitry 210 (e.g. imaging construction unit 290B) can construct one or more of: c) a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and d) a depiction of at least one onboard instrument of the training aircraft, wherein the depiction shows positions of the virtual aircraft relative to the training aircraft.

Processing circuitry 210 (e.g. imaging construction unit 290B) can then display 550 the constructed view and/or depiction on e.g. display device 280B.

It is to be understood that the invention is not limited in its application to the details set forth in the description contained herein or illustrated in the drawings. The invention is capable of other embodiments and of being practiced and carried out in various ways. Hence, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting. As such, those skilled in the art will appreciate that the conception upon which this disclosure is based may readily be utilized as a basis for designing other structures, methods, and systems for carrying out the several purposes of the presently disclosed subject matter.

It will also be understood that the system according to the invention may be, at least partly, implemented on a suitably programmed computer. Likewise, the invention contemplates a computer program being readable by a computer for executing the method of the invention. The invention further contemplates a non-transitory computer-readable memory tangibly embodying a program of instructions executable by the computer for executing the method of the invention.

Those skilled in the art will readily appreciate that various modifications and changes can be applied to the embodiments of the invention as hereinbefore described without departing from its scope, defined in and by the appended claims.

Claims

1. A system of monitoring an airborne training aircraft, the system comprising a processing circuitry configured to: a) receive, from one or more ground-based aircraft simulators, data indicative of, at least, respective three-dimensional (3D) positions and bearings of one or more virtual aircraft associated with the respective simulators; b) receive, from the training aircraft, data indicative of, at least, the training aircraft's 3D position and bearing; c) construct, utilizing, at least, the training aircraft's 3D position and bearing, and the respective three-dimensional (3D) positions and bearings of respective virtual aircraft, at least one of: i) imaging depicting a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and ii) imaging depicting at least one instrument of the training aircraft, wherein the depicted at least one instrument depicts positions of the one or more virtual aircraft relative to the training aircraft.

2. The system of claim 1 , wherein the processing circuitry is additionally configured to: d) display the constructed imaging on a display device.

3. A processing-circuitry -based method of monitoring an airborne training aircraft, the method comprising: a) receiving, from one or more ground-based aircraft simulators, data indicative of, at least, respective three-dimensional (3D) positions and bearings of one or more virtual aircraft associated with the respective simulators; b) receiving, from the training aircraft, data indicative of, at least, the training aircraft's 3D position and bearing; c) constructing, utilizing, at least, the training aircraft's 3D position and bearing, and the respective three-dimensional (3D) positions and bearings of respective virtual aircraft, at least one of: i) imaging depicting a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and ii) imaging depicting at least one instrument of the training aircraft, wherein the depicted at least one instrument depicts positions of the one or more virtual aircraft relative to the training aircraft.

4. A computer program product comprising a non-transitory computer readable storage medium retaining program instructions, which, when read by a processing circuitry, cause the processing circuitry to perform a computerized method monitoring an airborne training aircraft, the method comprising: a) receiving, from one or more ground-based aircraft simulators, data indicative of, at least, respective three-dimensional (3D) positions and bearings of one or more virtual aircraft associated with the respective simulators; b) receiving, from the training aircraft, data indicative of, at least, the training aircraft's 3D position and bearing; c) constructing, utilizing, at least, the training aircraft's 3D position and bearing, and the respective three-dimensional (3D) positions and bearings of respective virtual aircraft, at least one of: i) imaging depicting a view, from an external point of reference, of the training aircraft and relative positions of the virtual aircraft, and ii) imaging depicting at least one instrument of the training aircraft, wherein the depicted at least one instrument depicts positions of the one or more virtual aircraft relative to the training aircraft.