Aircraft Altitude Capture Control Method, Device and Storage Medium

Abstract

The present invention discloses an aircraft altitude capture control method, device, and storage medium. The method comprises: determining a control mode corresponding to an aircraft's vertical mode; determining an activated flight altitude when activating the control mode, obtaining a target altitude, target vertical speed, and target flight path angle preselected by the pilot, and the aircraft's real-time altitude and real-time vertical speed; and pre-positioning and activating the aircraft's altitude selection mode based on a variety of information including the control mode, activated flight altitude, target altitude, target vertical speed, target flight path angle, real-time altitude, and real-time vertical speed. The technical solution provided by the present invention can solve the technical problem in the prior art that the design of the altitude selection mode fails to comprehensively consider multiple factors such as the flight altitude, target altitude, and aircraft motion state in different flight scenarios, resulting in the target altitude not being captured as expected or being captured incorrectly.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft control, and in particular to an aircraft altitude capture control method, device and storage medium. Background Art

[0002] The Automatic Flight Control System (AFCS) is a critical onboard system for civil aircraft, primarily encompassing functions such as flight guidance, autopilot, and autothrottle. The flight guidance function provides different horizontal and vertical operating modes depending on the flight mission and scenario. The Altitude Select (ASEL) mode is a transitional vertical mode whose primary purpose is to ensure that the aircraft captures the target altitude selected by the pilot on the flight control panel as smoothly as possible from its current altitude, thereby meeting the comfort requirements of civil airliners. Designing the altitude select mode requires comprehensive consideration of factors such as the current flight altitude, target altitude, and aircraft motion state for different flight scenarios, such as takeoff, go-around, and approach, to avoid the problem of the target altitude not being captured as expected or being captured incorrectly.

[0003] Currently, mainstream aircraft all implement the basic functionality of the Altitude Select Mode in various ways. Before reaching the target altitude, the aircraft uses a certain vertical mode to steer the aircraft toward the target altitude. Once the aircraft approaches the target altitude, the flight director's vertical mode switches to ASEL mode, allowing the aircraft to smoothly acquire the target altitude. For example, Airbus aircraft, such as the A350, have an Altitude Acquire Mode enabled. This mode is activated when approaching the target altitude. Depending on the altitude target (AFS CP target altitude, waypoint forced altitude, or cruising altitude), the FAM displays "ALT*," "ALT CST*," or "ALT CRZ*." Boeing aircraft, such as the B737, have an Altitude Acquire Mode enabled. When climbing or descending to the target altitude selected by the MCP using V / S, LVL CHG, or VNAV, the FMA displays "ALT ACQ." A common Altitude Select Mode design is to divide the mode into three phases: Arm, Acquire, and Track. During the Arm phase, the AFCS continues to climb or descend using the currently active vertical mode. During the Acquire phase, the acquisition maneuver is performed and the aircraft levels off at the selected altitude. During the Track phase, the aircraft is maintained at the target altitude. Altitude Select Mode is automatically armed when the target altitude is selected on the Flight Mode Control Pad (FMCP) via the altitude knob and when a vertical mode (VS / FPA / FLCH) is activated to acquire the target altitude. It is automatically activated when a smooth and controllable altitude target reference is acquired.

[0004] During aircraft operation, there are many different application scenarios, each using a different AFCS flight control mode. There are two main types of problems in the existing technology: one is that the target altitude is not captured as expected, and the other is incorrect capture. The existing technology has at least the following technical problems:

[0005] (1) In a go-around scenario, failure to distinguish between the lowest point of the aircraft during the go-around and the pre-selected go-around altitude may result in a failure to climb as expected during the go-around. For example, if the pilot forgets to set the go-around altitude, that is, the target altitude set on the FMCP is lower than the lowest point of the go-around, after an automatic go-around in GA mode, the ASEL mode will be unexpectedly activated, causing the aircraft to descend to capture and maintain the pre-selected altitude target, and fail to climb as expected.

[0006] (2) The vertical speed fluctuation caused by atmospheric disturbances is not fully considered in the approach scenario, which may lead to incorrect altitude capture. For example, when using VS mode or Flight Path Angle (FPA) mode to perform a non-precision approach, if the missed approach altitude is the same as the altitude of the Final Approach Fix (FAF), the pilot sets the missed approach altitude after the FAF point and descends using VS mode or FPA mode. Due to atmospheric disturbances, the aircraft's vertical speed or FPA is temporarily positive, which may cause the vertical mode to mistakenly enter ASEL mode from VS mode or FPA mode instead of the expected missed approach altitude.

[0007] (3) When using the constant vertical speed (VS) mode to climb or descend and then transition to altitude select / altitude hold mode, improper setting of the altitude select mode pre-set VS threshold may result in the aircraft being unable to acquire the target altitude. For example, if the altitude select mode pre-set VS threshold is ±100 fpm, then when using the VS mode to acquire the target altitude, if a VS target value of -50 fpm is used to descend, the aircraft may not be able to acquire the target altitude as expected.

[0008] (4) In takeoff and go-around scenarios, the altitude selection mode pre-position and activation inhibition logic are not set based on the target altitude, which may cause the altitude selection mode to be incorrectly activated when the altitude is low, further resulting in a decrease in thrust during takeoff and go-around.

[0009] In summary, there is a technical problem in the existing technology that the design of the altitude selection mode fails to comprehensively consider multiple factors such as the flight altitude, target altitude and aircraft motion state in different flight scenarios, which leads to the target altitude not being captured as expected or being captured incorrectly. Summary of the Invention

[0010] The present invention provides an aircraft altitude capture control method, device and storage medium, aiming to effectively solve the technical problem in the prior art that the altitude selection mode design fails to comprehensively consider multiple factors such as the flight altitude, target altitude and aircraft motion state in different flight scenarios, resulting in the target altitude not being captured as expected or being captured incorrectly.

[0011] According to one aspect of the present invention, the present invention provides an aircraft altitude capture control method, the method comprising:

[0012] determining an operating mode of the aircraft, and when the operating mode is a vertical mode, determining a control mode corresponding to the vertical mode;

[0013] determining an activated flight altitude when the control mode is activated, obtaining a target altitude, a target vertical speed, and a target flight path angle preselected by the pilot, and obtaining a real-time altitude and real-time vertical speed of the aircraft;

[0014] performing an arming operation on an altitude selection mode of the aircraft according to a plurality of information selected from the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight path angle, the real-time altitude, and the real-time vertical speed;

[0015] The altitude selection mode is activated according to a plurality of information including the control mode, the target altitude, the real-time altitude and the real-time vertical speed.

[0016] Furthermore, the control mode includes a first vertical mode and a second vertical mode, wherein the first vertical mode includes a takeoff mode, a go-around mode, a VS mode, an FPA mode, a glide slope mode and an altitude hold mode, and the second vertical mode is a flight vertical mode other than the first vertical mode.

[0017] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0018] If the control mode is the takeoff mode or the go-around mode, when the target altitude is greater than the preset safety altitude and greater than the activated flight altitude, a first altitude difference between the target altitude and the activated flight altitude is calculated, and when the first altitude difference is greater than a preset first threshold, the altitude selection mode is controlled to enter the pre-position state.

[0019] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0020] If the control mode is the takeoff mode or the go-around mode and the altitude selection mode is in the armed state, a second altitude difference between the target altitude and the real-time altitude is calculated; when the second altitude difference is less than a second threshold and the real-time vertical speed is positive, the altitude selection mode is controlled to enter an activated state.

[0021] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0022] If the control mode is the VS mode, when the target altitude is greater than the real-time altitude and the target vertical speed is positive, controlling the altitude selection mode to enter the armed state; or,

[0023] When the target altitude is less than the real-time altitude and the target vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

[0024] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0025] If the control mode is the VS mode and the altitude selection mode is in the armed state, calculating a third altitude difference between the target altitude and the real-time altitude;

[0026] When the target altitude is greater than the real-time altitude, the third altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or,

[0027] When the target altitude is less than the real-time altitude, the third altitude difference is less than a second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0028] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0029] If the control mode is the FPA mode, when the target altitude is greater than the real-time altitude and the target flight track angle is positive, controlling the altitude selection mode to enter the armed state; or,

[0030] When the target altitude is less than the real-time altitude and the target flight track angle is negative, the altitude selection mode is controlled to enter an armed state.

[0031] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0032] If the control mode is the FPA mode and the altitude selection mode is in the armed state, calculating a fourth altitude difference between the target altitude and the real-time altitude;

[0033] When the target altitude is greater than the real-time altitude, the fourth altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or,

[0034] When the target altitude is less than the real-time altitude, the fourth altitude difference is less than the second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0035] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0036] When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering the arming state.

[0037] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0038] When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering an active state.

[0039] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0040] If the control mode is the second vertical mode, when the target altitude is greater than the real-time altitude and the real-time vertical speed is positive, controlling the altitude selection mode to enter the arming state; or,

[0041] When the target altitude is less than the real-time altitude and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

[0042] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0043] If the control mode is the second vertical mode and the altitude selection mode is in the armed state, calculating a fifth altitude difference between the target altitude and the real-time altitude;

[0044] When the target altitude is greater than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an active state; or,

[0045] When the target altitude is less than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0046] According to another aspect of the present invention, the present invention further provides an aircraft altitude capture control device, the device comprising:

[0047] a control mode determination module, configured to determine an operating mode of the aircraft, and when the operating mode is a vertical mode, determine a control mode corresponding to the vertical mode;

[0048] an information acquisition module, configured to determine an activated flight altitude when the control mode is activated, and to obtain a target altitude, a target vertical speed, and a target flight path angle preselected by the pilot, as well as the real-time altitude and real-time vertical speed of the aircraft;

[0049] an arming module, configured to arm an altitude selection mode of the aircraft according to a plurality of information selected from the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed;

[0050] An activation module is used to activate the altitude selection mode according to multiple information including the control mode, the target altitude, the real-time altitude and the real-time vertical speed.

[0051] According to another aspect of the present invention, the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded by a processor to execute any of the aircraft altitude capture control methods described above.

[0052] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:

[0053] In the technical solution disclosed in the present invention, when performing altitude capture control on an aircraft, by distinguishing different flight scenarios such as takeoff, go-around, approach and other stages, the pre-position and activation conditions of the altitude capture mode are designed separately, and parameters such as target altitude and target vertical speed are introduced, which can effectively avoid the problem of target altitude not being captured as expected or being captured incorrectly. In the scenario where the vertical mode VS is converted to ASEL, the ASEL pre-position condition introduces the automatic flight target VS value. In the non-precision approach scenario, when the aircraft is disturbed by the atmosphere and generates a positive VS, it can avoid erroneous activation of ASEL and allow the aircraft to approach normally. In the takeoff / go-around to ASEL scenario corresponding to the vertical mode, the ASEL pre-position condition introduces an altitude limit to avoid the occurrence of ASEL activation at low altitudes and the resulting thrust drop, so that the aircraft can maintain thrust and fly normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The technical solutions and other beneficial effects of the present invention will be made apparent by describing in detail the specific embodiments of the present invention in conjunction with the accompanying drawings.

[0055] Figure 1 A flowchart of a method for controlling aircraft altitude acquisition provided by an embodiment of the present invention;

[0056] Figure 2 Schematic diagram of a missed approach scenario;

[0057] Figure 3 A schematic diagram of a scenario of using VS to perform a non-precision approach;

[0058] Figure 4 A schematic structural diagram of an aircraft altitude capture control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0060] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the term "and / or" herein is merely a description of an association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " herein, unless otherwise specified, generally indicates that the associated objects are in an "or" relationship.

[0061] Figure 1 FIG. 1 is a flowchart of a method for controlling aircraft altitude capture according to an embodiment of the present invention. The method includes:

[0062] Step 101: Determine the operating mode of the aircraft. When the operating mode is the vertical mode, determine the control mode corresponding to the vertical mode.

[0063] Step 102: determining an activation flight altitude when activating the control mode, obtaining a target altitude, a target vertical speed, and a target flight path angle preselected by the pilot, and obtaining the real-time altitude and real-time vertical speed of the aircraft;

[0064] Step 103: performing an arming operation on an altitude selection mode of the aircraft according to the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed;

[0065] Step 104: activating the altitude selection mode according to the control mode, the target altitude, the real-time altitude, and the real-time vertical speed.

[0066] The above steps 101 to 104 are described in detail below.

[0067] In step 101, the operating mode of the aircraft is determined, and when the operating mode is the vertical mode, the control mode corresponding to the vertical mode is determined;

[0068] For example, the flight director function provides different operating modes in the horizontal and vertical directions according to different flight missions and flight scenarios. Among them, the vertical mode has multiple control modes, such as takeoff mode, go-around mode, and VS mode. Different control modes can enter the Altitude Select mode (ASEL). ASEL is a typical vertical mode. Its main purpose is to ensure that the aircraft captures the target altitude selected by the pilot on the flight control panel in the most stable manner possible from the current vertical mode, thereby meeting the comfort requirements of civil airliners.

[0069] In step 102 , the activation flight altitude when the control mode is activated is determined, and the target altitude, target vertical speed, and target flight path angle preselected by the pilot are obtained, as well as the real-time altitude and real-time vertical speed of the aircraft.

[0070] For example, the design of an altitude selection mode requires comprehensive consideration of factors such as the current flight altitude, target altitude, and aircraft motion state for different flight scenarios, such as takeoff, go-around, and approach, to avoid the problem of target altitude not being captured as expected or being captured incorrectly. In this application, multiple aircraft parameters are obtained, and altitude capture control is performed based on different control modes and corresponding multiple parameters.

[0071] In step 103, the altitude selection mode of the aircraft is pre-positioned according to the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude and the real-time vertical speed.

[0072] For example, the aircraft's altitude selection mode consists of three phases: arming, acquisition, and tracking. During the arming phase, the AFCS continues to climb or descend using the currently active vertical mode. During the acquisition phase, it performs an acquisition maneuver and levels the aircraft at the selected altitude. During the tracking phase, the aircraft maintains the target altitude. To avoid situations where the aircraft cannot climb as expected, the present application improves upon the existing arming operation, considering multiple factors and determining whether to arm the altitude selection mode based on multiple parameters.

[0073] In step 104, the altitude selection mode is activated according to the control mode, the target altitude, the real-time altitude, and the real-time vertical speed.

[0074] For example, similar to the pre-positioning operation, multiple factors are considered simultaneously and it is determined whether to activate the altitude selection mode according to multiple parameters.

[0075] Furthermore, the control mode includes a first vertical mode and a second vertical mode, wherein the first vertical mode includes at least one of a takeoff mode, a go-around mode, a VS mode, an FPA mode, a glide slope mode and an altitude hold mode, and the second vertical mode is a flight vertical mode other than the first vertical mode.

[0076] Exemplarily, each aircraft's vertical mode corresponds to a plurality of control modes, and the plurality of control modes can be specifically divided into a first vertical mode and a second vertical mode. Among them, the first vertical mode is a takeoff mode, a go-around mode, a VS mode, an FPA mode, a glide slope mode, and an altitude hold mode. The second vertical mode refers to other flight vertical modes in addition to the first vertical mode and the altitude selection mode. The settings of the vertical modes of aircraft of different models are different. Therefore, the second vertical mode differs according to the different aircraft models. For example, the second vertical mode is one or more of the flight altitude layer change mode and the FMS vertical navigation mode, or it can be other flight vertical modes (except the first vertical mode). The present invention does not limit the type of the second vertical mode, and it is determined specifically according to application requirements.

[0077] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0078] If the control mode is the takeoff mode or the go-around mode, when the target altitude is greater than the preset safety altitude and greater than the activated flight altitude, a first altitude difference between the target altitude and the activated flight altitude is calculated, and when the first altitude difference is greater than a preset first threshold, the altitude selection mode is controlled to enter the pre-position state.

[0079] Illustratively, when the vertical mode is the takeoff mode (TO) or the go-around mode (GA), the altitude select mode (ASEL) is armed when all of the following conditions are met:

[0080] The target altitude preselected by the pilot via the flight control panel is greater than the flight altitude when the vertical mode TO or GA mode is activated, and the difference is greater than a first threshold; and the target altitude preselected by the pilot via the flight control panel is greater than a preset safety altitude, for example, a safety altitude of 400 feet AGL. In actual applications, the safety altitude value can be defined according to specific circumstances.

[0081] The pre-position conditions that need to be met in the altitude selection mode (ASEL) are expressed as follows:

[0082] ALT target -ALT active ≥const1,

[0083] ALT target ≥H safe ,

[0084] Among them, ALT target Indicates the target altitude, ALT active represents the activation flight height, const1 represents the first threshold, H safe Indicates the safety height.

[0085] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0086] If the control mode is the takeoff mode or the go-around mode and the altitude selection mode is in the armed state, a second altitude difference between the target altitude and the real-time altitude is calculated; when the second altitude difference is less than a second threshold and the real-time vertical speed is positive, the altitude selection mode is controlled to enter an activated state.

[0087] For example, when the vertical mode is takeoff mode (TO) or go-around mode (GA), the altitude select mode (ASEL) is activated when all of the following conditions are met:

[0088] The target altitude preselected by the pilot through the flight control panel is greater than the current flight altitude of the aircraft, and the difference is less than a second threshold; and the vertical speed at the current moment is positive.

[0089] The activation conditions that need to be met for the altitude selection mode (ASEL) are expressed as follows:

[0090] 0 <ALT target -ALT≤const2,

[0091] Vs>const3,

[0092] Among them, ALT target represents the target altitude, ALT represents the real-time altitude, const2 represents the second threshold, Vs represents the real-time vertical speed, and const3 represents the vertical speed threshold.

[0093] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0094] If the control mode is the VS mode, when the target altitude is greater than the real-time altitude and the target vertical speed is positive, controlling the altitude selection mode to enter the armed state; or,

[0095] When the target altitude is less than the real-time altitude and the target vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

[0096] For example, when the control mode of the vertical mode is the VS mode, the altitude selection mode (ASEL) is armed when any of the following conditions is met:

[0097] The first arming condition: the target altitude preselected by the pilot through the flight control panel is greater than the current flight altitude, and the target vertical speed preselected by the pilot through the flight control panel is positive;

[0098] The second pre-position condition: the target altitude pre-selected by the pilot through the flight control panel is less than the current flight altitude, and the target vertical speed pre-selected by the pilot through the flight control panel is negative.

[0099] In the first case, the pre-position condition that needs to be met in the altitude selection mode (ASEL) is expressed as follows:

[0100] ALT target -ALT>0,

[0101] Vs target >0,

[0102] Among them, ALT target Indicates the target altitude, ALT indicates the real-time altitude, Vs target represents the target vertical speed.

[0103] In the second case, the pre-position condition that needs to be met in the altitude selection mode (ASEL) is expressed as follows:

[0104] ALT target -ALT<0,

[0105] Vs target <0,

[0106] Among them, ALT target Indicates the target altitude, ALT indicates the real-time altitude, Vs target represents the target vertical speed.

[0107] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0108] If the control mode is the VS mode and the altitude selection mode is in the armed state, calculating a third altitude difference between the target altitude and the real-time altitude;

[0109] When the target altitude is greater than the real-time altitude, the third altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or,

[0110] When the target altitude is less than the real-time altitude, the third altitude difference is less than a second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0111] For example, when the control mode of the vertical mode is the VS mode, the altitude selection mode (ASEL) is activated when any of the following conditions is met:

[0112] The first activation condition: the target altitude preselected by the pilot through the flight control panel is greater than the current flight altitude, the difference is less than the second threshold, and the aircraft is climbing;

[0113] The second activation condition is: the target altitude preselected by the pilot through the flight control panel is less than the current flight altitude, the difference is less than a second threshold, and the aircraft is descending.

[0114] In the first case, the activation conditions that need to be met for the altitude selection mode (ASEL) are expressed as follows:

[0115] 0 <ALTtarget -ALT≤const2,

[0116] Vs>const3,

[0117] Among them, ALT target represents the target altitude, ALT represents the real-time altitude, const2 represents the second threshold, Vs represents the real-time vertical speed, and const3 represents the vertical speed threshold.

[0118] In the second case, the activation conditions that need to be met for the altitude selection mode (ASEL) are expressed as follows:

[0119] 0 <ALT-ALT target ≤const2,

[0120] Vs<-const3,

[0121] Among them, ALT target represents the target altitude, ALT represents the real-time altitude, const2 represents the second threshold, Vs represents the real-time vertical speed, and const3 represents the vertical speed threshold.

[0122] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0123] If the control mode is the FPA mode, when the target altitude is greater than the real-time altitude and the target flight track angle is positive, controlling the altitude selection mode to enter the armed state; or,

[0124] When the target altitude is less than the real-time altitude and the target flight track angle is negative, the altitude selection mode is controlled to enter an armed state.

[0125] For example, when the vertical mode is FPA mode (Flight Path Angle), the altitude select mode (ASEL) is armed when any of the following conditions are met:

[0126] The first pre-position condition: the target altitude pre-selected by the pilot through the flight control panel is greater than the current flight altitude, and the target flight path angle pre-selected by the pilot through the flight control panel is positive;

[0127] The second pre-position condition: the target altitude pre-selected by the pilot through the flight control panel is less than the current flight altitude, and the target flight track angle pre-selected by the pilot through the flight control panel is negative.

[0128] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0129] If the control mode is the FPA mode and the altitude selection mode is in the armed state, calculating a fourth altitude difference between the target altitude and the real-time altitude;

[0130] When the target altitude is greater than the real-time altitude, the fourth altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or,

[0131] When the target altitude is less than the real-time altitude, the fourth altitude difference is less than the second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0132] For example, when the vertical mode control mode is FPA mode (Flight Track Angle), the altitude select mode (ASEL) is activated when any of the following conditions are met:

[0133] The first activation condition: the target altitude preselected by the pilot through the flight control panel is greater than the current flight altitude, the difference is less than the second threshold, and the aircraft is climbing;

[0134] The second activation condition is: the target altitude preselected by the pilot through the flight control panel is less than the current flight altitude, the difference is less than a second threshold, and the aircraft is descending.

[0135] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0136] When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering the arming state.

[0137] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0138] When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering an active state.

[0139] Exemplarily, when the control mode is the glideslope mode (GS) or the altitude hold mode (ALT), the altitude select mode (ASEL) prohibits arming and activation.

[0140] Furthermore, the pre-positioning operation of the aircraft's altitude selection mode according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed includes:

[0141] If the control mode is the second vertical mode, when the target altitude is greater than the real-time altitude and the real-time vertical speed is positive, controlling the altitude selection mode to enter the arming state; or,

[0142] When the target altitude is less than the real-time altitude and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

[0143] Exemplarily, when the vertical mode is the second vertical mode and is not TO, GA, VS, FPA, GS, or ALT, the altitude selection mode (ASEL) is armed when any of the following conditions is met:

[0144] The first pre-position condition: the target altitude pre-selected by the pilot through the flight control panel is greater than the current flight altitude, and the aircraft is climbing;

[0145] The second pre-position condition: the target altitude pre-selected by the pilot through the flight control panel is lower than the current flight altitude, and the aircraft is descending.

[0146] In the first case, the pre-position condition that needs to be met in the altitude selection mode (ASEL) is expressed as follows:

[0147] ALT target -ALT>0,

[0148] Vs>const3,

[0149] Among them, ALT target represents the target altitude, ALT represents the real-time altitude, Vs represents the real-time vertical speed, and const3 represents the vertical speed threshold.

[0150] In the second case, the pre-position condition that needs to be met in the altitude selection mode (ASEL) is expressed as follows:

[0151] ALT target -ALT<0,

[0152] Vs<-const3,

[0153] Among them, ALT target represents the target altitude, ALT represents the real-time altitude, Vs represents the real-time vertical speed, and const3 represents the vertical speed threshold.

[0154] Furthermore, the activating the altitude selection mode according to the multiple information among the control mode, the target altitude, the real-time altitude, and the real-time vertical speed includes:

[0155] If the control mode is the second vertical mode and the altitude selection mode is in the armed state, calculating a fifth altitude difference between the target altitude and the real-time altitude;

[0156] When the target altitude is greater than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an active state; or,

[0157] When the target altitude is less than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0158] Exemplarily, when the vertical mode is the second vertical mode and is not TO, GA, VS, GS, or ALT, the altitude selection mode (ASEL) is activated when any of the following conditions is met:

[0159] The first activation condition: the target altitude preselected by the pilot through the flight control panel is greater than the current real-time altitude, the difference is less than the second threshold, and the aircraft is climbing;

[0160] The second activation condition is: the target altitude preselected by the pilot through the flight control panel is less than the current real-time altitude, the difference is less than a second threshold, and the aircraft is descending.

[0161] In the first case, the activation conditions that need to be met for the altitude selection mode (ASEL) are expressed as follows:

[0162] 0 <ALT target -ALT≤const2,

[0163] Vs>const3,

[0164] Among them, ALT target represents the target altitude, ALT represents the real-time altitude, const2 represents the second threshold, Vs represents the real-time vertical speed, and const3 represents the vertical speed threshold.

[0165] In the second case, the activation conditions that need to be met for the altitude selection mode (ASEL) are expressed as follows:

[0166] 0 <ALT-ALT target ≤const2,

[0167] Vs<-const3,

[0168] Among them, ALT target represents the target altitude, ALT represents the real-time altitude, const2 represents the second threshold, Vs represents the real-time vertical speed, and const3 represents the vertical speed threshold.

[0169] It should be noted that the specific values of the first threshold const1, the second threshold const2 and the vertical speed threshold const3 can be determined according to actual conditions. For example, the first threshold const1 is 100 ft, which is a constant value; for example, the value of the second threshold const2 is Vs active 2 , is a function related to parameters such as aircraft vertical speed, target altitude, and aircraft altitude difference. For example, the vertical speed threshold const3 is set to 50 fpm, which is a constant. The present invention does not limit the numerical range of the threshold, which is determined based on actual application.

[0170] This application separately designs the pre-position and activation conditions of the altitude capture mode for takeoff, go-around, approach and other stages, which can effectively avoid the problem of target altitude not being captured as expected or being captured incorrectly. The following describes the specific application scenarios of the present invention and the technical effects achieved based on four embodiments.

[0171] Example 1

[0172] In the prior art, there is a technical problem of an aircraft capturing and maintaining a preselected altitude target downward in a missed approach scenario. Figure 2 The following is a schematic diagram of a missed approach scenario. The specific scenario of this problem is that the pilot presses the TOGA button to enter the missed approach mode during the descent. At this time, due to the negative vertical speed of the aircraft, a positive climb gradient cannot be established immediately due to inertia. The aircraft's flight altitude continues to decrease. Since the pre-selected missed approach altitude is lower than the lowest point of the missed approach trajectory, the ASEL mode is activated. The aircraft captures the pre-selected altitude (the pilot forgot to set the missed approach altitude) and does not climb as expected. Figure 2 The solid line trajectory is shown in the figure.

[0173] The present invention proposes an improved solution: in the scenario of switching from missed approach mode to ASEL mode, ASEL pre-position should meet the following conditions: the target altitude (missed approach altitude) pre-selected by the pilot through the flight control panel is greater than the flight altitude when the vertical mode TO or GA mode is activated, and the difference is greater than the first threshold. Figure 1 Below the maximum altitude line shown, ASEL arming is suppressed. According to the altitude capture control method described in the present invention, ASEL mode cannot be armed in this scenario, and the aircraft maintains the missed approach mode and climbs as expected. Figure 2 The dotted line trajectory is shown in the figure.

[0174] Example 2

[0175] In the existing technology, atmospheric disturbances can cause vertical velocity fluctuations, which in turn lead to incorrect altitude capture. Figure 3 The following is a diagram of a scenario in which a non-precision approach is performed using VS. The specific scenario of this problem is that when the pilot uses the VS mode to perform a non-precision approach, when the pre-selected missed approach altitude is the same as the final approach fix altitude, near the final approach fix altitude, due to atmospheric disturbances, the vertical speed is positive for a short period of time, causing the ASEL mode to be activated. The aircraft captures the pre-selected missed approach altitude (final approach fix altitude) and fails to complete the approach as expected. Figure 3 The solid line trajectory is shown in the figure.

[0176] The present invention proposes an improved solution: in the scenario of switching from VS mode to ASEL mode, ASEL pre-positioning should meet any one of the following pre-positioning conditions:

[0177] The target altitude preselected by the pilot via the flight control panel is greater than the current flight altitude, and the target vertical speed preselected by the pilot via the flight control panel is positive; or,

[0178] The target altitude preselected by the pilot through the flight control panel is less than the current flight altitude, and the target vertical speed preselected by the pilot through the flight control panel is negative.

[0179] By introducing the target vertical speed, atmospheric disturbances can be avoided to cause VS fluctuations, which may lead to unexpected activation of ASEL. According to the altitude capture control method described in the present invention, in this scenario, if the target VS set by the pilot is negative and the pre-selected missed approach altitude is slightly higher than the current altitude of the aircraft, then even if the VS becomes positive due to the disturbance, the ASEL mode cannot be armed, and the aircraft will remain in the VS mode and approach as expected. Figure 3 The dotted line trajectory is shown in the figure.

[0180] Example 3

[0181] In the prior art, there is a problem that the VS threshold setting is unreasonable, resulting in the inability to pre-position and activate the ASEL mode.

[0182] The specific scenario of this issue is that the existing technology requires that the altitude acquisition mode arming condition be greater than a certain threshold (to account for wind effects). If this threshold is set large (e.g., ±100 fpm), then in VS mode, if the aircraft's vertical speed is less than 100 fpm, the altitude acquisition mode arming condition is not met and the altitude acquisition mode is not armed, resulting in failure to capture the target altitude as expected.

[0183] The improvement proposed in the present invention is to cancel the requirement that VS is greater than a certain threshold in the altitude capture mode pre-position condition, and perform a logical judgment of the altitude capture mode pre-position condition by judging whether the target vertical speed is positive or negative.

[0184] Example 4

[0185] In the prior art, there is a problem of insufficient takeoff / go-around thrust due to erroneous activation of the altitude selection mode.

[0186] The specific scenario of this problem is that in the takeoff and go-around scenarios, the vertical mode TO / GA is activated. If the target altitude preselected by the pilot through the flight control panel is low, after approaching the target altitude, the ASEL preposition and activation conditions are met, and the vertical mode is changed from TO / GA to ASEL. At this time, the autothrottle working mode is changed from takeoff thrust mode / go-around thrust mode to speed control thrust mode, and the thrust decreases, which may make it impossible to maintain the aircraft altitude at low altitude.

[0187] The improvement proposed in the present invention is that, in the scenario of switching from TO / GA mode to ASEL mode, ASEL pre-positioning should meet the following pre-positioning conditions:

[0188] The target altitude preselected by the pilot through the flight control panel is greater than the flight altitude when the vertical mode TO or GA mode is activated, and the difference is greater than a first threshold, and;

[0189] The pilot preselected a target altitude greater than 400 feet AGL via the flight control panel. By introducing a target altitude limit, unexpected ASEL arming and activation at low altitudes during takeoff and go-around scenarios can be avoided. According to the altitude capture control method described in this invention, ASEL mode cannot be armed in this scenario, and the aircraft remains in TO / GA mode, with the autothrottle operating mode remaining in takeoff thrust mode / go-around thrust mode.

[0190] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:

[0191] In the technical solution disclosed in the present invention, when performing altitude capture control on an aircraft, by distinguishing different flight scenarios such as takeoff, go-around, approach and other stages, the pre-position and activation conditions of the altitude capture mode are designed separately, and parameters such as target altitude and target vertical speed are introduced, which can effectively avoid the problem of target altitude not being captured as expected or being captured incorrectly. In the scenario where the vertical mode VS is converted to ASEL, the ASEL pre-position condition introduces the automatic flight target VS value. In the non-precision approach scenario, when the aircraft is disturbed by the atmosphere and generates a positive VS, it can avoid erroneous activation of ASEL and allow the aircraft to approach normally. In the takeoff / go-around to ASEL scenario corresponding to the vertical mode, the ASEL pre-position condition introduces an altitude limit to avoid the occurrence of ASEL activation at low altitudes and the resulting thrust drop, so that the aircraft can maintain thrust and fly normally.

[0192] Figure 4This is a structural diagram of an aircraft altitude capture control device provided by an embodiment of the present invention. Based on the same inventive concept as an aircraft altitude capture control method according to an embodiment of the present invention, an aircraft altitude capture control device is provided according to an embodiment of the present invention. Figure 4 , the device comprises:

[0193] The control mode determination module 201 is used to determine the operating mode of the aircraft, and when the operating mode is the vertical mode, determine the control mode corresponding to the vertical mode;

[0194] An information acquisition module 202 is configured to determine an activated flight altitude when the control mode is activated, and to obtain a target altitude, a target vertical speed, and a target flight path angle preselected by the pilot, as well as the real-time altitude and real-time vertical speed of the aircraft;

[0195] An arming module 203 is configured to arm an altitude selection mode of the aircraft according to the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed;

[0196] The activation module 204 is configured to activate the altitude selection mode according to the control mode, the target altitude, the real-time altitude, and the real-time vertical speed.

[0197] Furthermore, the control mode includes a first vertical mode and a second vertical mode, wherein the first vertical mode includes at least one of a takeoff mode, a go-around mode, a VS mode, an FPA mode, a glide slope mode and an altitude hold mode, and the second vertical mode is a flight vertical mode and a wind shear guidance mode in addition to the first vertical mode.

[0198] Furthermore, the pre-positioning module 203 is further configured to:

[0199] If the control mode is the takeoff mode or the go-around mode, when the target altitude is greater than the preset safety altitude and greater than the activated flight altitude, a first altitude difference between the target altitude and the activated flight altitude is calculated, and when the first altitude difference is greater than a preset first threshold, the altitude selection mode is controlled to enter the pre-position state.

[0200] Furthermore, the activation module 204 is further configured to:

[0201] If the control mode is the takeoff mode or the go-around mode and the altitude selection mode is in the armed state, a second altitude difference between the target altitude and the real-time altitude is calculated; when the second altitude difference is less than a second threshold and the real-time vertical speed is positive, the altitude selection mode is controlled to enter an activated state.

[0202] Furthermore, the pre-positioning module 203 is further configured to:

[0203] If the control mode is the VS mode, when the target altitude is greater than the real-time altitude and the target vertical speed is positive, controlling the altitude selection mode to enter the armed state; or,

[0204] When the target altitude is less than the real-time altitude and the target vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

[0205] Furthermore, the activation module 204 is further configured to:

[0206] If the control mode is the VS mode and the altitude selection mode is in the armed state, calculating a third altitude difference between the target altitude and the real-time altitude;

[0207] When the target altitude is greater than the real-time altitude, the third altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or,

[0208] When the target altitude is less than the real-time altitude, the third altitude difference is less than a second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0209] Furthermore, the pre-positioning module 203 is further configured to:

[0210] If the control mode is the FPA mode, when the target altitude is greater than the real-time altitude and the target flight track angle is positive, controlling the altitude selection mode to enter the armed state; or,

[0211] When the target altitude is less than the real-time altitude and the target flight track angle is negative, the altitude selection mode is controlled to enter an armed state.

[0212] Furthermore, the activation module 204 is further configured to:

[0213] If the control mode is the FPA mode and the altitude selection mode is in the armed state, calculating a fourth altitude difference between the target altitude and the real-time altitude;

[0214] When the target altitude is greater than the real-time altitude, the fourth altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or,

[0215] When the target altitude is less than the real-time altitude, the fourth altitude difference is less than the second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0216] Furthermore, the pre-positioning module 203 is further configured to:

[0217] When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering the arming state.

[0218] Furthermore, the activation module 204 is further configured to:

[0219] When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering an active state.

[0220] Furthermore, the pre-positioning module 203 is further configured to:

[0221] If the control mode is the second vertical mode, when the target altitude is greater than the real-time altitude and the real-time vertical speed is positive, controlling the altitude selection mode to enter the arming state; or,

[0222] When the target altitude is less than the real-time altitude and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

[0223] Furthermore, the activation module 204 is further configured to:

[0224] If the control mode is the second vertical mode and the altitude selection mode is in the armed state, calculating a fifth altitude difference between the target altitude and the real-time altitude;

[0225] When the target altitude is greater than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an active state; or,

[0226] When the target altitude is less than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

[0227] Among them, other aspects and implementation details of the aircraft altitude capture control device are the same as or similar to the aircraft altitude capture control method described above, and will not be repeated here.

[0228] According to another aspect of the present invention, the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded by a processor to execute any of the aircraft altitude capture control methods described above.

[0229] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. An aircraft altitude capture control method, characterized in that: The method comprises: determining an operating mode of the aircraft, and when the operating mode is a vertical mode, determining a control mode corresponding to the vertical mode; determining an activated flight altitude when the control mode is activated, obtaining a target altitude, a target vertical speed, and a target flight path angle preselected by the pilot, and obtaining a real-time altitude and real-time vertical speed of the aircraft; performing an arming operation on an altitude selection mode of the aircraft according to a plurality of information selected from the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight path angle, the real-time altitude, and the real-time vertical speed; The altitude selection mode is activated according to a plurality of information including the control mode, the target altitude, the real-time altitude and the real-time vertical speed.

2. The method according to claim 1, wherein The control mode includes a first vertical mode and a second vertical mode, wherein the first vertical mode includes at least one of a takeoff mode, a go-around mode, a VS mode, an FPA mode, a glide slope mode and an altitude hold mode, and the second vertical mode is a flight vertical mode other than the first vertical mode.

3. The method according to claim 2, wherein The performing of an arming operation on the altitude selection mode of the aircraft according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed comprises: If the control mode is the takeoff mode or the go-around mode, when the target altitude is greater than the preset safety altitude and greater than the activated flight altitude, a first altitude difference between the target altitude and the activated flight altitude is calculated, and when the first altitude difference is greater than a preset first threshold, the altitude selection mode is controlled to enter the pre-position state.

4. The method according to claim 3, wherein The activating operation of the altitude selection mode according to the multiple information of the control mode, the target altitude, the real-time altitude and the real-time vertical speed includes: If the control mode is the takeoff mode or the go-around mode and the altitude selection mode is in the armed state, a second altitude difference between the target altitude and the real-time altitude is calculated; when the second altitude difference is less than a second threshold and the real-time vertical speed is positive, the altitude selection mode is controlled to enter an activated state.

5. The method according to claim 2, wherein The performing of an arming operation on the altitude selection mode of the aircraft according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed comprises: If the control mode is the VS mode, when the target altitude is greater than the real-time altitude and the target vertical speed is positive, controlling the altitude selection mode to enter the armed state; or, When the target altitude is less than the real-time altitude and the target vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

6. The method according to claim 5, wherein The activating operation of the altitude selection mode according to the multiple information of the control mode, the target altitude, the real-time altitude and the real-time vertical speed includes: If the control mode is the VS mode and the altitude selection mode is in the armed state, calculating a third altitude difference between the target altitude and the real-time altitude; When the target altitude is greater than the real-time altitude, the third altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or, When the target altitude is less than the real-time altitude, the third altitude difference is less than the second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

7. The method according to claim 2, wherein The performing of an arming operation on the altitude selection mode of the aircraft according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed comprises: If the control mode is the FPA mode, when the target altitude is greater than the real-time altitude and the target flight track angle is positive, controlling the altitude selection mode to enter the armed state; or, When the target altitude is less than the real-time altitude and the target flight track angle is negative, the altitude selection mode is controlled to enter an armed state.

8. The method according to claim 7, wherein The activating operation of the altitude selection mode according to the multiple information of the control mode, the target altitude, the real-time altitude and the real-time vertical speed includes: If the control mode is the FPA mode and the altitude selection mode is in the armed state, calculating a fourth altitude difference between the target altitude and the real-time altitude; When the target altitude is greater than the real-time altitude, the fourth altitude difference is less than a preset second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an activated state; or, When the target altitude is less than the real-time altitude, the fourth altitude difference is less than the second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

9. The method according to claim 2, wherein The performing of an arming operation on the altitude selection mode of the aircraft according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed comprises: When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering the arming state.

10. The method according to claim 9, wherein The activating operation of the altitude selection mode according to the multiple information of the control mode, the target altitude, the real-time altitude and the real-time vertical speed includes: When the control mode is the glide slope mode or the altitude hold mode, the altitude selection mode is prohibited from entering an active state.

11. The method according to claim 2, wherein The performing of an arming operation on the altitude selection mode of the aircraft according to the multiple information of the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed comprises: If the control mode is the second vertical mode, when the target altitude is greater than the real-time altitude and the real-time vertical speed is positive, controlling the altitude selection mode to enter the arming state; or, When the target altitude is less than the real-time altitude and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an armed state.

12. The method according to claim 11, wherein The activating operation of the altitude selection mode according to the multiple information of the control mode, the target altitude, the real-time altitude and the real-time vertical speed includes: If the control mode is the second vertical mode and the altitude selection mode is in the armed state, calculating a fifth altitude difference between the target altitude and the real-time altitude; When the target altitude is greater than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is positive, controlling the altitude selection mode to enter an active state; or, When the target altitude is less than the real-time altitude, the fifth altitude difference is less than a second threshold, and the real-time vertical speed is negative, the altitude selection mode is controlled to enter an active state.

13. An aircraft altitude capture control device, characterized in that: The device comprises: a control mode determination module, configured to determine an operating mode of the aircraft, and when the operating mode is a vertical mode, determine a control mode corresponding to the vertical mode; an information acquisition module, configured to determine an activated flight altitude when the control mode is activated, and to obtain a target altitude, a target vertical speed, and a target flight path angle preselected by the pilot, as well as the real-time altitude and real-time vertical speed of the aircraft; an arming module, configured to arm an altitude selection mode of the aircraft according to a plurality of information selected from the control mode, the activated flight altitude, the target altitude, the target vertical speed, the target flight track angle, the real-time altitude, and the real-time vertical speed; An activation module is used to activate the altitude selection mode according to multiple information including the control mode, the target altitude, the real-time altitude and the real-time vertical speed.

14. A storage medium, characterized in that The storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the method according to any one of claims 1 to 12.

Images