Flight mode conversion method and device for keeping flight stable, computer equipment and medium

Abstract

The embodiment of the invention provides a flight mode conversion method and device for keeping flight stable, computer equipment and a medium, and the method comprises the following steps: defining a reference and a threshold value of a height interception mode; if the flight mode is a height layer mode or a pre-selected mode, acquiring the current flight height of the aircraft, and judging whether to convert the flight mode into a height interception mode according to the current flight height and an entry threshold value; if the aircraft is in the height interception mode, when the target height set by an operator and / or the current flight height change, whether the height interception mode is kept or not is judged; the flight mode of the aircraft is continuously obtained at a fixed time interval, and if the aircraft is still in the height interception mode, whether the aircraft exits the height interception mode and enters the height maintaining mode is judged according to the current flight height and the exit threshold value. According to the scheme, a height interception mode is added in a flight mode, so that the aircraft is gently converted into a level flight state from a climbing / descending state.

Description

Technical Field

[0001] This invention relates to the field of automatic flight control technology, and in particular to a flight mode conversion method, apparatus, computer equipment, and medium for maintaining stable flight. Background Technology

[0002] An automatic flight control system (AFCS) is an advanced avionics system whose primary function is to ensure the stability of an aircraft's attitude, heading, and altitude during critical flight missions. This system precisely and automatically controls the aircraft's flight according to pre-set headings, routes, tracks, and altitudes. When the AFCS guides the aircraft to approach and reach the predetermined target altitude, the aircraft smoothly transitions from a climb or descent to a level flight state. However, at the moment of this mode transition, the rapid change in flight status may cause brief fluctuations and instability in the aircraft's attitude. To ensure flight safety, the AFCS needs to issue a clear warning to the operator at the critical moment when the aircraft approaches the target altitude, so that the operator can closely monitor the flight status and prepare accordingly. However, currently, there is a lack of solutions to address this situation. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a flight mode transition method for maintaining stable flight, to solve the technical problem in the prior art where instantaneous mode transitions may cause aircraft attitude instability. The method includes: Define the entry, hold, and exit references for the height interception mode, and determine the entry, hold, and exit thresholds; The current flight mode of the aircraft is obtained through the automatic flight control system. If the flight mode is an altitude layer mode or a pre-selected mode, the current flight altitude of the aircraft is obtained. Based on the current flight altitude and the entry threshold, it is determined whether to convert the flight mode into an altitude interception mode. The pre-selected modes include vertical velocity pre-selected mode and track tilt angle pre-selected mode. If the aircraft is in the altitude interception mode, when the target altitude set by the operator and / or the current flight altitude changes, it is determined whether to maintain the altitude interception mode based on the current flight altitude and the holding threshold. At fixed time intervals, the flight mode of the aircraft is continuously acquired. If the aircraft is still in the altitude interception mode, it is determined whether to exit the altitude interception mode and enter the altitude holding mode based on the current flight altitude and the exit threshold.

[0004] This invention also provides a flight mode transition device for maintaining stable flight, thereby solving the technical problem in the prior art where instantaneous mode transitions may cause aircraft attitude instability. The device includes: The baseline definition module is used to define the entry baseline, hold baseline, and exit baseline of the height interception mode, and to determine the entry threshold, hold threshold, and exit threshold. The altitude interception mode module is used to obtain the current flight mode of the aircraft through the automatic flight control system. If the flight mode is an altitude layer mode or a pre-selected mode, the current flight altitude of the aircraft is obtained. Based on the current flight altitude and the entry threshold, it is determined whether to convert the flight mode into the altitude interception mode. The pre-selected modes include vertical velocity pre-selected mode and track tilt angle pre-selected mode. The altitude interception mode module is used to determine whether to maintain the altitude interception mode when the target altitude set by the operator and / or the current flight altitude changes if the aircraft is in the altitude interception mode, based on the current flight altitude and the holding threshold. The altitude holding mode module is used to continuously acquire the flight mode of the aircraft at fixed time intervals. If the aircraft is still in the altitude interception mode, it is determined whether to exit the altitude interception mode and enter the altitude holding mode based on the current flight altitude and the exit threshold.

[0005] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the flight mode conversion methods described above for maintaining flight stability, thereby solving the technical problems in the prior art.

[0006] This invention also provides a computer-readable storage medium storing a computer program that executes any of the above-described flight mode transition methods for maintaining flight stability, in order to solve the technical problem that instantaneous mode transition may cause aircraft attitude instability in the prior art.

[0007] Compared with the prior art, the beneficial effects that at least one technical solution adopted in the embodiments of this specification can achieve include at least: Adding an altitude acquisition mode to the flight modes, and using the altitude acquisition mode as a transition mode, enables the aircraft to smoothly transition from climb / descent to level flight. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a flowchart of a flight mode conversion method for maintaining flight stability provided by an embodiment of the present invention; Figure 2 This is a flowchart illustrating an embodiment of the flight mode conversion method for maintaining flight stability provided by an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the principle of the flight mode conversion method provided in this embodiment of the invention; Figure 4 This is a schematic diagram illustrating the principle of controlling an aircraft through an automatic flight control system, provided in an embodiment of the present invention. Figure 5 This is a structural block diagram of a computer device provided in an embodiment of the present invention; Figure 6 This is a structural block diagram of a flight mode conversion device for maintaining flight stability provided in an embodiment of the present invention. Detailed Implementation

[0010] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0011] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] In this embodiment of the invention, a flight mode transition method for maintaining stable flight is provided, such as... Figure 1 and Figure 2 As shown, the method includes: Step S101: Define the entry reference, hold reference, and exit reference for the height interception mode, and determine the entry threshold, hold threshold, and exit threshold; Step S102: Obtain the current flight mode of the aircraft through the automatic flight control system. If the flight mode is an altitude layer mode or a pre-selected mode, obtain the current flight altitude of the aircraft. Based on the current flight altitude and the entry threshold, determine whether to convert the flight mode into an altitude interception mode. The pre-selected modes include vertical velocity pre-selected mode and track tilt angle pre-selected mode. Step S103: If the aircraft is in the altitude interception mode, when the target altitude set by the operator and / or the current flight altitude changes, determine whether to maintain the altitude interception mode based on the current flight altitude and the holding threshold. Step S104: At fixed time intervals, continuously acquire the flight mode of the aircraft. If the aircraft is still in the altitude interception mode, determine whether to exit the altitude interception mode and enter the altitude hold mode based on the current flight altitude and the exit threshold.

[0013] In specific implementation, the following steps are used to define the entry reference, hold reference, and exit reference for the height interception mode, and to determine the entry threshold, hold threshold, and exit threshold: Obtain the average vertical velocity of the aircraft during the climb or descent phase from flight data. V z Obtain the response time of the control system T response Set a safety margin C safe The control system response time includes the autopilot system's command processing time, actuator response time, and aircraft dynamics delay. The safety margin is a quantified coefficient that considers disturbances in the flight environment and system errors. The entry threshold is calculated using the average vertical speed, the control system response time, and the safety margin. H 1, among which, H 1= V z × T response + C safe Obtain altitude deviations caused by disturbances from flight data. Dh perturb Set navigation error ϵ nav ; through the height deviation Δhperturb and the navigation error ϵ nav The retention threshold was calculated. H 2, of which, H 2=max( Dh perturb + ϵ nav,H 1) Obtain the measurement error of the altitude sensor. ϵ sensor steady-state error of the control system ϵ control Set comfort margin C comfort Measurement error via the height sensor ϵ sensor The steady-state error of the control system ϵ control and comfort margin C comfort Calculate the exit threshold H 3, of which, H 3= ϵ sensor + ϵ control + C comfort .

[0014] In specific implementation, the following steps are used to determine whether to convert the flight mode to an altitude interception mode based on the current flight altitude and the entry threshold: Obtain the target altitude set by the operator, compare the current altitude with the target altitude by a first difference, and if the first difference is less than or equal to the entry threshold, switch the flight mode from the altitude layer mode or the pre-selected mode to the altitude interception mode; if the first difference is greater than or equal to the entry threshold, keep the flight mode unchanged.

[0015] In specific implementation, the following steps are used to determine whether to maintain the altitude interception mode based on the current flight altitude and the holding threshold: Obtain a second difference between the current flight altitude and the target altitude. If the second difference is less than or equal to the holding threshold, maintain the altitude interception mode. If the first difference is greater than the holding threshold, return the flight mode of the aircraft to the altitude layer mode or the pre-selected mode.

[0016] In specific implementation, the following steps are used to determine whether to exit the altitude interception mode and enter the altitude hold mode based on the current flight altitude and the exit threshold: Obtain a third difference between the current flight altitude and the target altitude. If the third difference is less than or equal to the exit threshold, exit the altitude interception mode and convert the flight mode to the altitude hold mode. If the third difference is greater than the exit threshold, keep the altitude interception mode unchanged.

[0017] In specific implementation, when the flight mode is converted to the altitude interception mode, the control of the aircraft is achieved through the following steps: The system acquires the real-time difference between the current altitude and the target altitude of the aircraft; it obtains the climb rate signal and indicated airspeed from the atmospheric data system, and transmits the climb rate signal, indicated airspeed, and real-time difference to the integrated flight control module of the aircraft's automatic control system; the integrated flight control module calculates the control command for the longitudinal channel of the aircraft based on the climb rate signal and the real-time difference, and the aircraft's automatic control system controls the aircraft's elevator based on the control command for the longitudinal channel of the aircraft.

[0018] In practice, the following steps are used to display the mode on the automatic flight vertical mode notification area: The automatic flight vertical mode notification area is divided into a current mode display area and a pre-position mode display area, and font colors are set for the current mode display area and the pre-position mode display area respectively; When transitioning from the altitude layer mode to the altitude interception mode, the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area changes from altitude layer to altitude interception, while the displayed text in the prepositioning mode display area remains altitude layer. After entering the altitude interception mode, the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area changes from altitude interception to altitude layer, while the displayed text in the prepositioning mode display area remains altitude interception. When exiting the altitude interception mode and entering the altitude hold mode, the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area changes from altitude interception to altitude hold.

[0019] In one embodiment of the present invention, the flight mode transition method for maintaining stable flight is as follows: like Figure 3 As shown, in the altitude layer mode (or vertical speed / track inclination pre-selection mode), when the difference between the current altitude and the target altitude is less than 100 m, it automatically enters the altitude interception mode, controls the aircraft to intercept the pre-selected altitude value in the "altitude" window, and reaches the pre-selected altitude by controlling the aircraft attitude. When the predetermined altitude is reached, it automatically exits the altitude interception mode and enters the altitude hold mode. The automatic flight control system monitors the target altitude value selected by the operator through the automatic flight control panel in real time, receives the current altitude value measured by the sensor system, and automatically runs the altitude interception control law when the altitude interception mode entry conditions are met. It outputs control commands to control the aircraft to continue to approach the target altitude, smoothly transitioning from the climb / descent state to the level flight state. At the same time, it outputs display control signals for automatic flight status display and mode transition reminders.

[0020] When using the altitude layer mode to climb from the current altitude of 1000 m to the target altitude of 2000 m, the mode display is as shown in the figure. When the current altitude is 1000 m, the altitude layer mode is activated, and the green "Altitude Layer" status text is displayed above the automatic flight vertical mode announcement area. When the current altitude is 1910 m, the difference between the current altitude and the pre-selected altitude is less than 100 m, and the altitude interception mode is automatically entered. The green "Altitude Layer" status text above the automatic flight vertical mode announcement area changes to the green "Altitude Interception" status text, and the white "Altitude Layer" status text is displayed below. When the current altitude is 2000 m, the difference between the current altitude and the pre-selected altitude is less than 5 m, the altitude interception mode is automatically exited, and the altitude hold mode is automatically activated. The green "Altitude Interception" status text above the automatic flight vertical mode announcement area changes to the green "Altitude Hold" status text.

[0021] Entry threshold H 1: When the difference between the current altitude and the target altitude is less than H At time 1, the system transitions from the ascent / descent mode to the altitude interception mode.

[0022] Entry threshold H The settings for position 1 should ensure that the aircraft has sufficient time to smoothly transition from climb or descent to altitude acquisition mode, avoiding overshoot or oscillation. Considerations include: Typical vertical speed (rate of climb / rate of descent) is the average vertical speed of an aircraft during the climb or descent phase, obtained from flight data (e.g., the rate of climb for commercial aircraft is approximately 5-15 m / s, while that for general aviation may be lower). Control system response time includes autopilot system command processing, actuator response, and aircraft dynamics delay (typically 2-5 seconds). Safety margins take into account flight environment disturbances (such as turbulence) and system errors.

[0023] Maintain threshold H 2: In the height interception mode, if the height difference is greater than or equal to... H 2 (Due to a change or disturbance in the target altitude), the system exits the altitude interception mode and returns to the altitude layer mode.

[0024] Maintain threshold H The settings for 2 should prevent unnecessary mode exits due to minor disturbances (such as turbulence or measurement noise) while being able to respond promptly to significant changes (such as changes in target altitude). Considerations include: Maximum expected disturbance altitude deviation, analyze the statistics of altitude deviation from flight data (such as 95th percentile or maximum value), especially under turbulent conditions; The accuracy of the navigation system, the measurement error of GPS or barometric altimeter (usually 5-10m); Modal switching hysteresis, to avoid frequent switchingH 2 is usually set to be higher than H 1. Slightly larger or equal.

[0025] Exit threshold H 3: In the height interception mode, when the height difference is less than or equal to H At time 3, the system exits the altitude interception mode and enters the altitude hold mode.

[0026] Exit threshold H 3. This determines the accuracy of altitude maintenance, ensuring the aircraft remains stable near the target altitude while avoiding premature exit from interception due to sensor noise or control errors. Factors to consider include: Altitude sensor accuracy, barometric altimeter or GPS measurement error (typically 1-3m); The steady-state error of the control system, the steady-state error of the height holding loop (typically 1-2m); Passenger comfort, too small H 3. It may lead to frequent modal switching, causing discomfort.

[0027] Entry threshold H 1. Maintain threshold H 2 and exit threshold H 3. It can be scientifically determined based on the specific aircraft's flight data and performance parameters.

[0028] Reference values ​​are used in the embodiments of the present invention. H 1 = 100m, H 2 = 100m, H 3 = 5m.

[0029] like Figure 4 The diagram illustrates the process of controlling an aircraft using an automatic flight control system.

[0030] After acquiring the climb / deceleration rate (CDR) and indicated airspeed from the atmospheric data system and entering altitude intercept mode, the CDR, indicated airspeed, and real-time difference are transmitted to the integrated flight control module of the aircraft's automatic control system. Based on the CDR and the real-time difference, the integrated flight control module calculates the control commands for the aircraft's longitudinal path. The aircraft's automatic control system then controls the aircraft's elevators based on the control commands for the aircraft's longitudinal path.

[0031] In this embodiment, a computer device is provided, such as... Figure 5 As shown, it includes a memory 501, a processor 502, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the flight mode conversion methods described above for maintaining flight stability.

[0032] Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0033] In this embodiment, a computer-readable storage medium is provided, which stores a computer program that performs any of the above-described flight mode transition methods for maintaining flight stability.

[0034] Specifically, computer-readable storage media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable storage media do not include transient media, such as modulated data signals and carrier waves.

[0035] Based on the same inventive concept, this invention also provides a flight mode switching device for maintaining stable flight, as described in the following embodiments. Since the principle of the flight mode switching device for maintaining stable flight is similar to that of the flight mode switching method for maintaining stable flight, the implementation of the flight mode switching device for maintaining stable flight can refer to the implementation of the flight mode switching method for maintaining stable flight, and will not be repeated. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0036] Figure 6 This is a structural block diagram of a flight mode conversion device for maintaining flight stability according to an embodiment of the present invention, such as... Figure 6 As shown, it includes: a reference definition module 601, an entry height interception mode module 602, a hold height interception mode module 603, and an entry height hold mode module 604. The structure is described below.

[0037] The reference definition module 601 is used to define the entry reference, hold reference, and exit reference of the height interception mode, and to determine the entry threshold, hold threshold, and exit threshold. The altitude interception mode module 602 is used to obtain the current flight mode of the aircraft through the automatic flight control system. If the flight mode is an altitude layer mode or a pre-selected mode, the current flight altitude of the aircraft is obtained. Based on the current flight altitude and the entry threshold, it is determined whether to convert the flight mode into an altitude interception mode. The pre-selected modes include vertical velocity pre-selected mode and track tilt angle pre-selected mode. The altitude interception mode module 603 is used to determine whether to maintain the altitude interception mode when the target altitude set by the operator and / or the current flight altitude changes if the aircraft is in the altitude interception mode, based on the current flight altitude and the holding threshold. The altitude holding mode module 604 is used to continuously acquire the flight mode of the aircraft at fixed time intervals. If the aircraft is still in the altitude interception mode, it determines whether to exit the altitude interception mode and enter the altitude holding mode based on the current flight altitude and the exit threshold.

[0038] In one embodiment, the benchmark definition module includes: The first parameter calculation unit is used to obtain the average vertical velocity of the aircraft during the climb or descent phase from the flight data. V z Obtain the response time of the control system T response Set a safety margin C safe The control system response time includes the autopilot system processing command, actuator response, and aircraft dynamics delay, and the safety margin is a quantification coefficient that takes into account disturbances in the flight environment and system errors. threshold H A calculation unit is used to calculate the entry threshold using the average vertical velocity, the control system response time, and the safety margin. H 1, among which, H 1= V z × T response + C safe ; The second parameter calculation unit is used to obtain the altitude deviation caused by disturbances from the flight data. Dh perturb Set navigation error ϵ nav ; threshold H2. Calculation unit, used to calculate the height deviation Δhperturb and the navigation error ϵ nav The retention threshold was calculated. H 2, of which, H 2=max( Dh perturb + ϵ nav, H 1); The third parameter calculation unit is used to obtain the measurement error of the height sensor. ϵ sensor steady-state error of the control system ϵ control Set comfort margin C comfort ; threshold H 3. Calculation unit for calculating the measurement error of the height sensor. ϵ sensor The steady-state error of the control system ϵ control and comfort margin C comfort Calculate the exit threshold H 3, of which, H 3= ϵ sensor + ϵ control + C comfort .

[0039] In one embodiment, entering the highly intercepted modal module includes: The first conversion mode unit is used to obtain the target altitude set by the operator, compare the current altitude with the target altitude by a first difference, and if the first difference is less than or equal to the entry threshold, convert the flight mode from the altitude layer mode or the pre-selected mode to the altitude interception mode. A first mode-holding unit is configured to maintain the flight mode unchanged if the first difference is greater than or equal to the entry threshold.

[0040] In one embodiment, the high-interception modal module includes: The second holding mode unit is used to obtain a second difference between the current flight altitude and the target altitude, and if the second difference is less than or equal to the holding threshold, the altitude interception mode is held. The return mode unit is used to return the flight mode of the aircraft to the altitude layer mode or the pre-selected mode if the first difference is greater than the holding threshold.

[0041] In one embodiment, entering the height-maintaining mode module includes: The second conversion mode unit is used to obtain a third difference between the current flight altitude and the target altitude. If the third difference is less than or equal to the exit threshold, the unit exits the altitude interception mode and converts the flight mode into an altitude holding mode. The third mode-holding unit is used to maintain the height interception mode unchanged if the third difference is greater than the exit threshold.

[0042] In one embodiment, the above-described device further includes an aircraft control module.

[0043] In one embodiment, the aircraft control module includes: The difference calculation unit is used to obtain the real-time difference between the current altitude of the aircraft and the target altitude. The command signal transmission unit is used to acquire the climb rate signal and indicated airspeed from the atmospheric data system, and transmit the climb rate signal, the indicated airspeed and the real-time difference to the integrated flight control module of the aircraft automatic control system. The elevator control unit is used by the integrated flight control module to calculate the control command for the longitudinal channel of the aircraft based on the elevator speed signal and the real-time difference. The aircraft automatic control system controls the elevator of the aircraft based on the control command for the longitudinal channel of the aircraft.

[0044] In one embodiment, the device further includes an instrument panel display module.

[0045] In one embodiment, the dashboard display module includes: The notification area setting unit is used to divide the automatic flight vertical mode notification area into a current mode display area and a pre-positioning mode display area, and to set the font color for the current mode display area and the pre-positioning mode display area respectively; The first mode conversion display unit is used to change the displayed text of the current mode display area of ​​the automatic flight vertical mode notification area from altitude layer mode to altitude interception mode when the mode transitions from altitude layer mode to altitude interception mode, and the displayed text of the prepositioning mode display area remains altitude layer. The second mode conversion display unit is used to change the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area from altitude interception to altitude layer after entering the altitude interception mode, and the displayed text in the prepositioning mode display area is altitude interception; The third mode conversion display unit is used to change the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area from altitude interception to altitude hold when exiting the altitude interception mode and entering the altitude hold mode.

[0046] The embodiments of the present invention achieve the following technical effects: By introducing and adding a specific transition mode, namely the altitude interception mode, this mode is designed to achieve a smooth and gradual transition of the aircraft from climb or descent to level flight. Specifically, this transition mode effectively guides the aircraft to gradually transition to level flight in a more stable and controllable manner after the climb or descent phase, ensuring flight safety and comfort. Furthermore, the status of this mode is clearly displayed in the vertical mode notification area of ​​the automatic flight system, allowing the operator to monitor the aircraft's mode changes in real time. Simultaneously, the system provides timely reminders and prompts to the operator, ensuring that the operator has a full understanding and preparation for the current flight status and the upcoming mode transition, thereby further improving flight safety and operational efficiency.

[0047] Obviously, those skilled in the art should understand that the modules or steps of the above-described embodiments of the present invention can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of the present invention are not limited to any particular hardware and software combination.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flight mode transition method for maintaining stable flight, characterized in that, include: Define the entry, hold, and exit references for the height interception mode, and determine the entry, hold, and exit thresholds; The current flight mode of the aircraft is obtained through the automatic flight control system. If the flight mode is an altitude layer mode or a pre-selected mode, the current flight altitude of the aircraft is obtained. Based on the current flight altitude and the entry threshold, it is determined whether to convert the flight mode into an altitude interception mode. The pre-selected modes include vertical velocity pre-selected mode and track tilt angle pre-selected mode. If the aircraft is in the altitude interception mode, when the target altitude set by the operator and / or the current flight altitude changes, it is determined whether to maintain the altitude interception mode based on the current flight altitude and the holding threshold. At fixed time intervals, the flight mode of the aircraft is continuously acquired. If the aircraft is still in the altitude interception mode, it is determined whether to exit the altitude interception mode and enter the altitude holding mode based on the current flight altitude and the exit threshold.

2. The flight mode transition method for maintaining flight stability as described in claim 1, characterized in that, Based on the current flight altitude and the entry threshold, determine whether to convert the flight mode to an altitude interception mode, including: Obtain the target altitude set by the operator, compare the current altitude with the target altitude by a first difference, and if the first difference is less than or equal to the entry threshold, convert the flight mode from the altitude layer mode or the pre-selected mode to the altitude interception mode; If the first difference is greater than or equal to the entry threshold, the flight mode remains unchanged.

3. The flight mode transition method for maintaining flight stability as described in claim 1, characterized in that, Based on the current flight altitude and the hold threshold, determine whether to maintain the altitude interception mode, including: Obtain a second difference between the current flight altitude and the target altitude; if the second difference is less than or equal to the holding threshold, maintain the altitude interception mode. If the first difference is greater than the holding threshold, the flight mode of the aircraft is returned to the altitude layer mode or the pre-selected mode.

4. The flight mode transition method for maintaining flight stability as described in claim 1, characterized in that, Based on the current flight altitude and the exit threshold, determine whether to exit the altitude interception mode and enter the altitude hold mode, including: Obtain the third difference between the current flight altitude and the target altitude. If the third difference is less than or equal to the exit threshold, exit the altitude interception mode and convert the flight mode to the altitude holding mode. If the third difference is greater than the exit threshold, the height interception mode remains unchanged.

5. The flight mode transition method for maintaining flight stability as described in claim 1, characterized in that, Define the entry, hold, and exit references for the height interception mode, and determine the entry, hold, and exit thresholds, including: Obtain the average vertical velocity of the aircraft during the climb or descent phase from flight data. V z Obtain the response time of the control system T response Set a safety margin C safe The control system response time includes the autopilot system processing command, actuator response, and aircraft dynamics delay, and the safety margin is a quantification coefficient that takes into account disturbances in the flight environment and system errors. The entry threshold is calculated using the average vertical velocity, the control system response time, and the safety margin. H 1, among which, H 1= V z × T response + C safe ; Obtain altitude deviation caused by disturbances from flight data. Δh perturb Set navigation error ϵ nav ; Through the height deviation Δhperturb and the navigation error ϵ nav The retention threshold was calculated. H 2, of which, H 2=max( Δh perturb + ϵ nav, H 1); Obtain the measurement error of the height sensor ϵ sensor steady-state error of the control system ϵ control Set comfort margin C comfort ; Measurement error of the height sensor ϵ sensor The steady-state error of the control system ϵ control and comfort margin C comfort Calculate the exit threshold H 3, of which, H 3= ϵ sensor + ϵ control + C comfort .

6. The flight mode transition method for maintaining flight stability as described in any one of claims 1 to 5, characterized in that, Also includes: When the flight mode is converted to the altitude interception mode, the aircraft is controlled through the following steps: The real-time difference between the current altitude of the aircraft and the target altitude is obtained. The system acquires the climb rate and indicated airspeed from the atmospheric data system and transmits the climb rate, indicated airspeed, and real-time difference to the integrated flight control module of the aircraft's automatic control system. The integrated flight control module calculates the control commands for the longitudinal channel of the aircraft based on the climb rate signal and the real-time difference. The aircraft automatic control system controls the elevator of the aircraft based on the control commands for the longitudinal channel.

7. The flight mode transition method for maintaining flight stability as described in any one of claims 1 to 5, characterized in that, Also includes: The automatic flight vertical mode notification area is divided into a current mode display area and a pre-position mode display area, and font colors are set for the current mode display area and the pre-position mode display area respectively; When transitioning from the altitude layer mode to the altitude interception mode, the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area changes from altitude layer to altitude interception, while the displayed text in the prepositioning mode display area remains altitude layer. Upon entering the altitude interception mode, the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area changes from altitude interception to altitude layer, while the displayed text in the prepositioning mode display area remains altitude interception. When exiting the altitude interception mode and entering the altitude hold mode, the displayed text in the current mode display area of ​​the automatic flight vertical mode notification area changes from altitude interception to altitude hold.

8. A flight mode conversion device for maintaining stable flight, characterized in that, include: The baseline definition module is used to define the entry baseline, hold baseline, and exit baseline of the height interception mode, and to determine the entry threshold, hold threshold, and exit threshold. The altitude interception mode module is used to obtain the current flight mode of the aircraft through the automatic flight control system. If the flight mode is an altitude layer mode or a pre-selected mode, the current flight altitude of the aircraft is obtained. Based on the current flight altitude and the entry threshold, it is determined whether to convert the flight mode into the altitude interception mode. The pre-selected modes include vertical velocity pre-selected mode and track tilt angle pre-selected mode. The altitude interception mode module is used to determine whether to maintain the altitude interception mode when the target altitude set by the operator and / or the current flight altitude changes if the aircraft is in the altitude interception mode, based on the current flight altitude and the holding threshold. The altitude holding mode module is used to continuously acquire the flight mode of the aircraft at fixed time intervals. If the aircraft is still in the altitude interception mode, it is determined whether to exit the altitude interception mode and enter the altitude holding mode based on the current flight altitude and the exit threshold.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the flight mode conversion method for maintaining flight stability as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that performs the flight mode conversion method for maintaining flight stability as described in any one of claims 1 to 7.

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