Motion cueing algorithms (MCA) are often applied in the motion simulators.In this paper,a nonlinear optimal MCA,taking into account translational and rotational motions of a simu-lator within its physical limitation,is designed for the motion platform aiming to minimize human\'s perception error in order to provide a high degree of fidelity.Indeed,the movement sensation center of most MCA is placed at the center of the upper platform,which may cause a certain error.Pilot\'s station should be paid full attention to in the MCA.Apart from this,the scaling and limiting module plays an important role in optimizing the motion platform workspace and reducing false cues during motion reproduction.It should be used along within the washout filter to decrease the amplitude of the translational and rotational motion signals uni-formly across all frequencies through the MCA.A nonlinear scal-ing method is designed to accurately duplicate motions with high realistic behavior and use the platform more efficiently without violating its physical limitations.The simulation experiment is verified in the longitudinal/pitch direction for motion simulator.The result implies that the proposed method can not only over-come the problem of the workspace limitations in the simulator motion reproduction and improve the realism of movement sensa-tion,but also reduce the false cues to improve dynamic fidelity during the motion simulation process.