Vehicle height restrictions and controls

Abstract

The present application provides a system and method for providing a flight response to a flight restricted altitude. By means of a processor, it is evaluated whether the UAV should be operated according to a second set of altitude restrictions. If one or more criteria are satisfied according to the evaluation, a control signal is output to one or more power units to make the UAV operate according to the second set of altitude restrictions, wherein the second set of altitude restrictions constrains the altitude of the UAV relative to a second reference altitude, thereby improving the flight and safety / stability of the UAV.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method of limiting and controlling the height of a vehicle. Background Art

[0002] Aircraft such as unmanned aerial vehicles (UAVs) can be used to perform surveillance, reconnaissance, and exploration missions for military and civilian applications. Such vehicles can carry payloads configured to perform specific functions.

[0003] Air traffic control in each country (for example, the Federal Aviation Administration (FAA) in the United States) has various airspace controls. For example, in some jurisdictions, UAVs may be prohibited from flying above certain altitudes. When exceeding a certain altitude, the flight and safety / stability of the UAV may be affected. If the remote control fails, the UAV may continue to fly upwards, which may be dangerous. Summary of the invention

[0004] In some cases, in order to comply with regulations, enhance user experience and / or improve safety, it is desirable to impose altitude restrictions on aircraft such as unmanned aerial vehicles (UAVs) or control their flight. However, some restrictions may be both too broad and too narrow. For example, regardless of the terrain, the restrictions may be set at a certain height above a fixed horizontal plane (e.g., sea level (MSL)). This may be applicable to the case of using a global positioning system (GPS) to measure altitude. In this case, in a high-altitude city (e.g., Denver), a UAV may only be able to fly a short distance above the ground level, while in a low-altitude city (e.g., Washington, D.C.), it may be able to fly a larger distance above the ground level. The relevant altitude measurement for UAV may be a measurement above the ground level. In some jurisdictions (e.g., the United States), it is possible to measure from the ground upwards to allow the uncontrolled airspace in which the UAV can fly. Ignoring the altitude restrictions of the ground level may further fail to consider the complex terrain or larger altitude gradients in the flight position. Because high altitude ground planes, complex terrain and large altitude gradients cannot be taken into account, UAVs may intrude into controlled airspace or fail to reach permitted altitudes required for activities such as surveillance, reconnaissance, exploration or aerial photography. Therefore, improved and dynamic altitude control is required for flight-restricted altitudes.

[0005] The present invention provides systems and methods for detecting and responding to flight restricted altitudes. The relative altitude of a UAV can be determined. This can include calculating the vertical distance between the UAV and sea level (MSL) or a local ground plane. The altitude of the UAV can be compared with an altitude restriction. Based on the comparison, a flight response of the UAV can be achieved, such as allowing the UAV to rise or fall, causing the UAV to land, providing time to allow the UAV to comply with an altitude restriction, forcing the UAV to comply with an altitude restriction, and / or providing a warning or alarm to a user.

[0006] In one aspect, a method for controlling movement of an unmanned aerial vehicle (UAV) having one or more power units is provided. The method may include: (a) outputting control signals from one or more processors to the one or more power units to cause the UAV to operate according to a first set of altitude constraints, wherein the first set of altitude constraints constrains the altitude of the UAV relative to a first reference altitude; (b) evaluating, with the aid of the one or more processors and based on one or more criteria, whether the UAV should operate according to a second set of altitude constraints; and (c) if the one or more criteria are satisfied according to the evaluation of (b), outputting control signals from the one or more processors to the one or more power units to cause the UAV to operate according to the second set of altitude constraints, wherein the second set of altitude constraints constrains the altitude of the UAV relative to a second reference altitude.

[0007] In some embodiments, the first reference altitude is an altitude at sea level, and wherein the second reference altitude is an altitude at ground level where the current position of the UAV is located. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions includes a maximum altitude limit. In some embodiments, the maximum altitude limit is about 120m above the first reference altitude or the second reference altitude. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions includes a minimum altitude limit. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions includes an allowable altitude range. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions is preset before the flight of the UAV. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions is input by a user. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions is stored in a memory operably coupled to the one or more processors. In some embodiments, the one or more criteria include whether the current flight time of the UAV has exceeded a predetermined flight time threshold. In some embodiments, the predetermined flight time threshold is about 10 seconds. In some embodiments, the one or more criteria include whether the current altitude of the UAV has exceeded a predetermined altitude threshold. In some embodiments, the predetermined altitude threshold is about 100m above the ground plane. In some embodiments, the one or more criteria include whether the current altitude of the UAV is greater than the altitude of the initial position of the UAV. In some embodiments, the one or more criteria include whether the UAV is currently not located within a restricted airspace. In some embodiments, the one or more criteria include whether the second set of altitude restrictions is currently not prohibited by the controller of the UAV. In some embodiments, the controller is located on the UAV. In some embodiments, the controller is a remote control device that communicates with the UAV. In some embodiments, the one or more criteria are preset before the flight of the UAV. In some embodiments, the one or more criteria are input by a user. In some embodiments, the one or more criteria are stored in a memory operably coupled to the one or more processors.

[0008] In another aspect, a system for controlling the movement of an unmanned aerial vehicle (UAV) is provided. The system may include: a fuselage; one or more power units coupled to the fuselage and adapted to effectuate the movement of the UAV; and one or more processors operably coupled to the one or more power units and configured individually or collectively to: (a) output signals to the one or more power units to cause the UAV to operate according to a first set of altitude constraints, wherein the first set of altitude constraints constrains the altitude of the UAV relative to a first reference altitude; (b) based on one or more criteria, evaluate whether the UAV should operate according to a second set of altitude constraints; and (c) if, according to the evaluation of (b), the one or more criteria are satisfied, output signals to the one or more power units to cause the UAV to operate according to the second set of altitude constraints, wherein the second set of altitude constraints constrains the altitude of the UAV relative to a second reference altitude.

[0009] In some embodiments, the first reference altitude is an altitude at sea level, and wherein the second reference altitude is an altitude at ground level where the current position of the UAV is located. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions includes a maximum altitude limit. In some embodiments, the maximum altitude limit is about 120m above the first reference altitude or the second reference altitude. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions includes a minimum altitude limit. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions includes an allowable altitude range. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions is preset before the flight of the UAV. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions is input by a user. In some embodiments, at least one of the first set of altitude restrictions or the second set of altitude restrictions is stored in a memory operably coupled to the one or more processors. In some embodiments, the one or more criteria include whether the current flight time of the UAV has exceeded a predetermined flight time threshold. In some embodiments, the predetermined flight time threshold is about 10 seconds. In some embodiments, the one or more criteria include whether the current altitude of the UAV has exceeded a predetermined altitude threshold. In some embodiments, the predetermined altitude threshold is about 100m above the ground plane. In some embodiments, the one or more criteria include whether the current altitude of the UAV is greater than the altitude of the initial position of the UAV. In some embodiments, the one or more criteria include whether the UAV is currently not located within a restricted airspace. In some embodiments, the one or more criteria include whether the second set of altitude restrictions is currently not prohibited by the controller of the UAV. In some embodiments, the controller is located on the UAV. In some embodiments, the controller is a remote control device that communicates with the UAV. In some embodiments, the one or more criteria are preset before the flight of the UAV. In some embodiments, the one or more criteria are input by a user. In some embodiments, the one or more criteria are stored in a memory operably coupled to the one or more processors.

[0010] Other objects and features of the present invention will become apparent from an examination of the specification, claims and drawings.

[0011] Incorporation by reference

[0012] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The novel features of the invention are particularly set forth in the appended claims. The features and advantages of the invention will be better understood by referring to the following detailed description and its accompanying drawings; the detailed description sets forth an illustrative embodiment utilizing the principles of the invention; in the accompanying drawings:

[0014] Figure 1 An illustration is provided of UAV flight above the ground being subject to altitude restrictions according to an embodiment.

[0015] Figure 2 An illustration is provided of a UAV dynamically processing altitude measurements according to an embodiment, where the altitude measurements are compared to a maximum altitude limit.

[0016] Figure 3 An illustration of a UAV dynamically handling an altitude constraint as compared to an altitude measurement of the UAV is provided in accordance with an embodiment.

[0017] Figure 4 A method for controlling movement of an unmanned aerial vehicle (UAV) having one or more power units is illustrated in accordance with an embodiment.

[0018] Figure 5 A method for controlling movement of an unmanned aerial vehicle (UAV) having one or more power units is illustrated in accordance with an embodiment.

[0019] Figure 6 A method for comparing an absolute altitude measurement of the UAV to one or more altitude constraints is illustrated in accordance with an embodiment.

[0020] Figure 7 A method for controlling movement of an unmanned aerial vehicle (UAV) having one or more power units is illustrated in accordance with an embodiment.

[0021] Figure 8 A schematic diagram of communication between an unmanned aerial vehicle and an external device according to an embodiment of the present invention is provided.

[0022] Fig. 9 An example is provided in which a UAV uses a global positioning system (GPS) to determine the location of the UAV according to an embodiment of the present invention.

[0023] Fig.10 A method for comparing one or more dynamically modified altitude constraints to an altitude measurement of the UAV is illustrated in accordance with an embodiment of the present invention.

[0024] Fig.11 A method for comparing a dynamically modified altitude measurement of the UAV to one or more altitude constraints is illustrated in accordance with an embodiment of the present invention.

[0025] Fig.12 An example of an unmanned aerial vehicle having an onboard memory unit according to an aspect of the present invention is provided.

[0026] Fig.13 An unmanned aerial vehicle according to an embodiment of the present invention is illustrated.

[0027] Fig.14 A movable object including a carrier and a payload according to an embodiment of the present invention is illustrated.

[0028] Fig.15 is a schematic diagram illustrating, by way of a block diagram, a system for controlling a movable object according to an embodiment of the present invention.

[0029] Fig.16 A method for comparing an altitude measurement of a UAV to one or more altitude constraints is illustrated in accordance with an embodiment of the present invention.

[0030] Fig.17 A modified altitude restriction is illustrated that only considers terrain elevations above MSL in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The systems, apparatus and methods of the present invention provide control of an aircraft in response to one or more detected flight-restricted altitudes. The aircraft may be an unmanned aerial vehicle (UAV) or any other type of movable object.

[0032] It may be desirable to provide one or more flight limitations, such as an altitude limit, for an aircraft such as a UAV. When a certain altitude is exceeded, the flight and safety / stability of the UAV may be affected or compromised. In another example, if the remote controller of the UAV fails, the UAV may continue to fly upward, which may be dangerous. Therefore, a flying ceiling may be an advantageous feature for a UAV to have.

[0033] Aircraft may be subject to various airspace controls. For example, in the United States, there may be restricted altitudes at which unauthorized vehicles may not fly. This may include unauthorized UAVs or all UAVs. The flight restricted altitudes may be different for different jurisdictions. Examples of jurisdictions may include, but are not limited to, continents, unions, countries, states / provinces, counties, cities, towns, private property or land, or other types of jurisdictions. Therefore, providing altitude restrictions for UAVs can ensure that UAVs comply with controls in different jurisdictions.

[0034] Altitude restrictions on UAVs may provide additional benefits, such as improving safety and / or reducing the potential for damaging activities. For example, by limiting the maximum altitude at which a UAV can navigate, the potential for collisions between the UAV and other aircraft may be reduced. Additionally, minimum altitude restrictions imposed on UAVs may reduce the chances of collisions between the UAV and obstacles, buildings, terrain, and / or humans and reduce the potential for damaging activities caused by the UAV (e.g., due to noise or interference caused by the UAV).

[0035] Providing options for altitude restrictions can give certain benefits to the operator of the UAV. For example, if having an altitude restriction reduces the chance of colliding with other aircraft or objects, the UAV operator can operate the UAV with altitude restrictions more freely. If having an altitude restriction reduces the chance of losing, damaging the UAV and / or damaging other people's property, the UAV operator can operate the UAV with altitude restrictions more freely. If having an altitude restriction increases the chance of the UAV complying with the regulations of different jurisdictions, the UAV operator can operate the UAV more freely. If the altitude restriction simplifies the control process (e.g., by increasing the probability that the UAV always remains in a controllable range to simplify the control process), the UAV operator can obtain more fun or utility by operating the UAV with altitude restrictions.

[0036] For UAV manufacturers, it may be desirable to provide altitude limitations for UAVs. For example, by ensuring regulatory compliance, potential lawsuits can be reduced. By providing additional protection for UAV operators, customer complaints can be reduced. Therefore, there is a need to provide altitude limitation functionality for UAVs.

[0037] However, some limits may be both too broad and too unbroad. For example, the limit may be set at a certain height above a fixed horizontal plane (e.g., MSL) regardless of the terrain. This may be applicable when altitude is measured using a global positioning system (GPS). In this case, in a high altitude city (e.g., Denver), the UAV may only be able to fly a short distance above ground level, while in a low altitude city (e.g., Washington, DC), it may be able to fly a greater distance above ground level.

[0038] The relevant altitude measurement for UAV can be a measurement above ground level. In some jurisdictions (e.g., the United States), uncontrolled airspace in which UAVs can be allowed to fly can be measured from the ground upward. Ignoring the altitude restrictions of ground level may further fail to consider complex terrain or large altitude gradients in the flight location. Due to the inability to consider high-altitude ground level, complex terrain and large altitude gradients, UAVs may intrude into controlled airspace or fail to reach the permitted altitude required for activities such as surveillance, reconnaissance, exploration or aerial photography. Therefore, there is a need for improved and dynamic altitude control of flight-restricted altitudes.

[0039] Additionally, it may be advantageous to implement dynamic altitude restrictions based on the height of objects present in the terrain (e.g., man-made structures such as buildings; natural structures such as trees or other plants) to allow the UAV to fly at a high enough altitude to avoid safety incidents such as collisions with objects. This may be beneficial when operating in areas where tall structures are present (e.g., urban areas with skyscrapers, forest areas with very tall trees, etc.). Moreover, adjustments to altitude restrictions as described herein may be beneficial for improving other types of UAV operations such as aerial photography.

[0040] The system and method described herein can take into account the ground plane and / or terrain below. Therefore, when the altitude restriction depends on the ground plane, the system and method provided herein can allow the altitude cap of variation. The system and method provided herein can also take into account different flight altitude restrictions, which can be based on MSL or ground plane. The system and method described herein can also control the flight of the UAV so that the UAV remains within the allowed altitude range.

[0041] Although restrictions related to altitude have been primarily discussed herein, it should be understood that restrictions on UAV operation may include restrictions on position (e.g., latitude, longitude, altitude), orientation (e.g., roll, pitch, yaw), speed (e.g., translational velocity and / or angular velocity), and / or acceleration (e.g., translational acceleration and / or angular acceleration). Different restrictions may provide different benefits for the operation of the UAV. For example, restrictions on position may prevent the UAV from intruding into restricted airspace, prevent the UAV from flying too far from a starting point, or allow the UAV to fly only within a limited space. Restrictions on orientation may prevent the UAV from taking an unstable orientation that would result in loss of control and / or flight capability. Restrictions on acceleration or speed may also prevent the UAV from taking unstable movements that would result in loss of control and / or flight capability.

[0042] Figure 1The diagram shows that according to an embodiment, UAV 102 is flying above ground level 104 subject to altitude restriction 106. Although various embodiments are described herein with respect to the operation of UAV above the ground, it should be understood that the present disclosure can also be applied to the operation of UAV above all types of terrain and surfaces (e.g., water, mountains, deserts, plains, plateaus, jungles, and man-made objects). The UAV can be controlled to fly within various altitudes. In this article, altitude can be used to refer to the vertical distance between the UAV and a reference point or reference horizontal plane. Examples of reference horizontal planes include ground level, sea level (i.e., mean sea level), mean ground surface, geoid, etc. The ground plane can indicate the underlying surface of the earth. The surface of an object located in the bottom surface can be the ground plane. In some examples, the surface of an asphalt road can be the ground plane, the top of a building can be the ground plane, and the surface of a large pebble at the top of a mountain range can be the ground plane. Alternatively, the ground plane can refer to any underlying surface below the UAV. Alternatively, the ground plane can refer to the main terrain contour without including small deviations from the terrain. For example, ground plane may refer to the underlying land, mountains, hills, valleys and not include man-made buildings or structures, or smaller natural features (e.g., trees, pebbles, shrubs). For example, in a city, streets may be considered to be at ground plane, while buildings are not considered to be at ground plane. Ground plane may refer to the local ground plane of the area where the UAV is located. The local ground plane may be the surface of the ground at a point directly above the UAV. Figure 1 A uniform ground plane 104 is shown around a local ground plane 107. "Absolute altitude" 108 may be used herein to refer to the vertical distance between the UAV and the local ground plane. "True altitude" 110 may be used herein to refer to the vertical distance between the UAV and mean sea level (MSL) 112.

[0043] The UAV may be subject to one or more altitude restrictions. The altitude restrictions may be preset prior to the flight of the UAV. The altitude restrictions may be updated while the UAV is shut down. The altitude restrictions may be updated before the UAV takes off. The altitude restrictions may be updated while the UAV is flying. The altitude restrictions may be stored in a memory operably coupled to a processor on or off the UAV. The altitude restrictions may be downloaded from a router, from a cloud server, from an external device or other server. The UAV may be subject to a maximum altitude limit, or "ceiling", above which the UAV may not fly. The ceiling may be about or below 10,000m, 5,000m, 2,000m, 1,000m, 500m, 200m, 140m, 120m, 100m, 80m, 60m, 50m, 40m, 30m, 20m, 10m or 5m. The UAV may be subject to a minimum altitude, or "floor", below which the UAV may not fly. The floor can be about or above 1m, 2m, 3m, 4m, 5m, 7m, 10m, 20m, 40m, 100m or 200m. The UAV can be subject to an allowable altitude range within which the UAV must operate. The allowable altitude range can be a combination of the minimum altitude limit and the maximum altitude limit mentioned herein. For example, the allowable altitude range can be above 2m but below 140m. The altitude limit can be expressed relative to a reference horizontal plane such as "absolute altitude" and "true altitude" mentioned herein. Figure 1 The UAV 102 is shown to be subject to an upper altitude limit 106 and a lower altitude limit 114 and is allowed to navigate in an altitude range 116. The upper altitude limit 106 and the lower altitude limit 114 can be relative to the ground plane 104, the MSL 112, or any other reference level mentioned herein.

[0044] The UAV may be subject to one or more upper altitude limits and / or one or more lower altitude limits. For example, the UAV may have altitude limits that must be met by the laws of the jurisdiction in which the UAV operates, altitude limits set forth by the UAV manufacturer (e.g., pre-configured or downloaded altitude limits), and / or altitude limits set forth by the UAV operator (user). Users may enter their own limits based on their preferences. Users may enter limits in a user interface (e.g., a remote controller, a handheld device, and a computer). The preferences may be sent to a flight controller to limit the operation of the UAV. In some cases (e.g., legal requirements), users may be prevented from overriding or overriding some altitude limits.

[0045] Each of the altitude restrictions may have an upper altitude limit and / or a lower altitude limit. When the UAV has multiple upper altitude limits and / or lower altitude limits, there may be a priority of the altitude limits followed by the UAV. The UAV may give priority to the altitude limits that must be dealt with by the laws of the jurisdiction in which the UAV is operating. The UAV may give priority to the altitude limits set forth by the manufacturer. The UAV may give priority to the altitude limits set forth by the UAV operator. The priority of the altitude limits may change according to the location of the UAV. For example, near an airport, the altitude limits set forth by the manufacturer may take precedence over the altitude limits set forth by the UAV operator. When farther away from the airport, the altitude limits set forth by the UAV operator may take precedence over the altitude limits set forth by the UAV manufacturer. Priorities may be set so that the UAV operates at one of the altitude limits among competing altitude limits (e.g., an altitude limit set by a user). Priorities may be set so that the UAV follows a hierarchy of altitude limits (e.g., as long as the UAV operates within the altitude limits of the jurisdiction, the altitude limits set by the user take precedence over the manufacturer altitude limits). Priorities may be set so that the UAV operates under the safest conditions (e.g., complying with the highest altitude limit in the limits and the lowest altitude limit in the limits). Priorities may be set so that the UAV operates most freely (eg, obeying the highest upper altitude limit and the lowest lower altitude limit).

[0046] The altitude restriction may or may not depend on the location of the UAV. For example, the priority of the altitude restriction may be changed as mentioned herein. Further, the altitude restriction of a jurisdiction may change (e.g., near an airport). Further, the altitude restriction set by the manufacturer may change (e.g., having a higher altitude restriction in a rural area but a lower altitude restriction near a city). Information about altitude restrictions and locations where the altitude restrictions have a specific effect may be stored on the UAV machine. Alternatively, information about altitude restrictions and locations where the altitude restrictions have a specific effect may be accessed from a data source outside the UAV machine. Information about altitude restrictions and locations where the altitude restrictions have a specific effect can be received in various forms, including but not limited to maps, geographic coordinates, and databases.

[0047] The position (e.g., latitude and longitude) of the UAV can be determined. The position of the UAV can be determined to any specific degree. For example, the position of the UAV can be determined to be within about 2000 meters, 1500 meters, 1200 meters, 1000 meters, 750 meters, 500 meters, 300 meters, 100 meters, 75 meters, 50 meters, 20 meters, 10 meters, 7 meters, 5 meters, 3 meters, 2 meters, 1 meter, 0.5 meters, 0.1 meters, 0.05 meters or 0.01 meters. This can occur before the take-off of the UAV and / or while the UAV is flying. In some cases, the UAV can have a GPS receiver, which can be used to determine the position of the UAV. In other examples, the UAV can communicate with external devices such as mobile control terminals. The position of the external device can be determined and used to approximate the position of the UAV.

[0048] The altitude of the UAV may be processed to determine whether the UAV complies with the altitude limit. One or more sensors (e.g., an altimeter) may be on board the UAV to detect the altitude. A processor on board or off board the UAV may compare the current UAV altitude value with the altitude limit. The comparison may occur in real time. The comparison may occur every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds, or every 0.1 seconds.

[0049] Altitude restrictions can affect the operation of the UAV in a variety of ways. Once the UAV approaches a restricted altitude, an alarm can be sent to the user to warn the user of the fact. The UAV can warn the user (e.g., via a mobile application, a flight status indicator, an audio indicator, or other indicator) that the UAV is extremely close to a flight restricted altitude. The warning can include a visual warning, an audio warning, or a tactile warning via an external device. The external device can be a mobile device (e.g., a tablet computer, a smart phone, a remote control) or a stationary device (e.g., a computer). For example, the external device can be a smart phone or a remote control that implements a software application, and the software application provides a warning, for example, such as text, images, audio, vibration, etc. In other examples, the warning can be provided via the UAV itself, for example, via a lighting system or a sound system on the UAV. The warning can include flashing, text, images and / or video information, beeps or tones, audio sounds or information, vibrations, and / or other types of warnings. For example, a mobile device can vibrate to indicate a warning. In another example, the UAV can flash and / or make a noise to indicate a warning. Such a warning can be provided in combination with other flight response measures or separately.

[0050] In the case of an upper altitude limit, an alert may be provided if the UAV is above the upper altitude limit or below the upper altitude limit but at an altitude within 0.5m, 1m, 2m, 3m, 4m, 5m, 7m, 10m, 20m, 50m, 100m or 200m thereof. In the case of a lower altitude limit, an alert may be provided if the UAV is below the lower altitude limit or above the lower altitude limit but at an altitude within 0.5m, 1m, 2m, 3m, 4m, 5m, 7m, 10m, 20m, 50m, 100m or 200m thereof.

[0051] Alternatively or in combination, the altitude restriction may prevent the UAV from flying at a restricted altitude. For example, a user input instructing the UAV to fly to a restricted altitude may be ignored or modified to comply with the instruction only to the extent that the UAV flight is within the restriction.

[0052] In the event that the UAV intentionally or unintentionally stops above the upper altitude limit or below the lower altitude limit (e.g., user command, or due to updrafts such as thermal columns), the UAV control system can automatically affect the power unit of the UAV to move the UAV back to within the allowed altitude. Automatic compliance with the altitude limit can occur immediately or when the UAV continues to fly in the restricted airspace for a period of time. The period of time can be about or less than 10 minutes, 5 minutes, 2 minutes, 1 minute, 30 seconds, 10 seconds, 5 seconds, 2 seconds or 1 second.

[0053] In some embodiments, the UAV may be allowed to descend below a lower altitude limit when landing. In some cases, an automated landing sequence may be initiated. Initiating the automated landing sequence may allow the UAV to descend below the lower altitude limit. In other embodiments, the UAV may be manually landed, and an indication that the UAV is landing may be provided, or the landing of the UAV may be inferred from one or more flight characteristics.

[0054] An altitude sensor may report a measurement of the height of an object relative to a fixed horizontal plane. Examples of altitude sensors include, but are not limited to, barometric altimeters, acoustic altimeters, radar altimeters, GPS, and satellites. Some altitude sensors, such as radar altimeters, may measure an altitude corresponding to an absolute altitude. Some altitude sensors, such as GPS, may measure an altitude corresponding to a true altitude rather than an absolute altitude. Altimeters that do not measure altitude with reference to the ground plane may allow UAVs to fly both too broadly and too narrowly. This may be because the airspace in which a UAV is allowed to fly may be based on an altitude measured vertically from the ground plane. In the United States, for example, Class G airspace (in which ATC has no authority or responsibility to control air traffic) extends from the ground surface to the bottom of the overlying Class E airspace.

[0055] Fig.16A method 1600 for comparing the altitude measurement of a UAV with one or more altitude restrictions is illustrated according to an embodiment. In step 1602, one or more altitude restrictions for the UAV may be received at one or more processors of the UAV. The altitude restriction may be received as described above (e.g., received from a memory, user input, etc.). The restriction may be a maximum altitude, a minimum altitude, or a combination (e.g., a range). There may be multiple maximum altitudes (e.g., a preprogrammed maximum altitude and a maximum altitude input by a user). There may be multiple minimum altitudes. The altitude restriction input by the user may or may not override other altitude restrictions. The altitude restriction may or may not depend on the lateral (e.g., geographic) position of the UAV. The altitude restriction may or may not be based on the absolute altitude or true altitude of the UAV or any combination thereof.

[0056] In step 1604, altitude measurements of the UAV may be received at one or more processors. The altitude information may be measurements generated by an altitude sensor as described herein (e.g., a GPS onboard the UAV). The altitude information may be altitude measurements obtained relative to a reference point as described herein (e.g., a true altitude measurement measured relative to MSL, an absolute altitude measurement measured relative to ground level). Altitude measurements may be obtained at or within approximately every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds, or every 0.1 seconds.

[0057] In step 1606, one or more processors may be used to compare the altitude measurement of the UAV with one or more altitude restrictions. The comparison may occur at or within approximately every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds or every 0.1 seconds. If the altitude measurement and altitude restriction have different scales (e.g., one relative to MSL and the other relative to ground plane), the altitude measurement conversion scale may be appropriately scaled to the altitude restriction using information about the terrain below (e.g., the altitude of the ground plane relative to MSL), or vice versa. For example, if the flight restriction is 400m above the ground plane, and the height of the UAV relative to MSL is measured as 500m, information about the ground plane altitude may be incorporated. As further described elsewhere herein, information about the ground plane altitude may come from multiple sources (e.g., sensors, maps, altitude information, coordinate information, terrain information). In the example, if the ground level is 200m above MSL, the UAV is found to be 300m above the ground level and is still within the allowed flight altitude.

[0058] In step 1608, control signals can be output from one or more processors to one or more power units to make the UAV comply with one or more altitude restrictions while moving above the area. If the UAV complies with one or more altitude restrictions, there may be no reason to output control signals and step 1608 may be optional. If the UAV complies with one or more altitude restrictions but is extremely close to the altitude restriction (e.g., within 0.5m, 1m, 2m, 3m, 4m, 5m, 7m, 10m, 20m, 50m, 100m or 200m of the altitude restriction), then control signals can be output to make the UAV move further away from the restricted altitude, or to make the UAV unable to move closer to the restricted altitude. On the contrary, as an alternative or supplement to step 1608, a warning or alarm described herein can be issued. The control signal can affect the operation of the UAV immediately after the comparison, or affect the operation of the UAV when the UAV continues to fly for a period of time in the restricted altitude. The period of time can be about or less than 10 minutes, 5 minutes, 2 minutes, 1 minute, 30 seconds, 10 seconds, 5 seconds, 2 seconds or 1 second.

[0059] If UAV altitude restrictions are provided relative to ground level, while altitude measurements are relative to a different reference level (e.g., MSL), the operation of the UAV may be unnecessarily restricted. For example, in high altitude cities (e.g., Denver), UAVs may be prohibited from flying altogether, or if allowed to fly, may only be permitted to fly a limited amount above the ground, less than the legal amount. This may prevent the UAV from properly navigating its flight area and reaching altitudes that may be necessary for UAV activities such as surveillance, reconnaissance, exploration, and aerial photography.

[0060] Additionally, if the UAV altitude restriction is provided relative to ground level, but the altitude measurement is relative to a different reference level (e.g., MSL), the UAV may be operated unintentionally in restricted airspace, which may be illegal. For example, in a low altitude city (e.g., Washington, D.C.), a UAV may be allowed to fly in restricted airspace despite the altitude restriction. This may result in negative legal consequences and / or lead to safety issues (e.g., collisions with aircraft operating under the supervision and authorization of ATC).

[0061] Furthermore, altitude measurements that are independent of the ground plane may not account for complex terrain or large altitude gradients in the flight location. For example, even in a low-altitude city, a UAV may be restricted from reaching the legally permitted altitudes necessary to explore higher mountains to properly perform its activities as described above. By failing to account for the height of the local ground plane, complex terrain, and large altitude gradients, a UAV may intrude into controlled airspace or be unable to reach permitted altitudes required for activities such as surveillance, reconnaissance, exploration, or aerial photography.

[0062] Figure 2The diagram shows that a single UAV dynamically processes its altitude measurement at time points T1 202 and T2 204 according to an embodiment, wherein the altitude measurement is compared with a maximum altitude limit 206. The altitude limit 206 is constant relative to the ground plane 207, while the altitude of the UAV relative to MSL 208 is constant. These two values ​​may not be correctly compared because their respective reference altitudes are different. The altitude measurement of the UAV can be dynamically processed during the operation of the UAV to take into account the local terrain altitude. The altitude information and / or map information of the flight area of ​​the UAV can be stored on the UAV machine, or can be accessed from a data source outside the UAV machine. The map information can include the altitude information of the flight area of ​​the UAV. For example, the altitude of each point on the map or the selected features on the map can be provided. The altitude information on the map can include ground level altitude information. In some cases, the altitude information can be provided separately from the map. For example, the altitude information can be provided for the geographic coordinates at each coordinate. The map information or altitude information can be stored in a memory operably coupled to one or more processors. The map information or altitude information can be loaded in advance (before the flight) or in real time during the flight. The map information or altitude information may or may not indicate the height of man-made structures and / or natural structures in the area. The map information or altitude information may take the form of a map of the area in which the UAV is flying. The map may be a topographic map. The map may include the altitude of the terrain in the area (e.g., the height of the ground compared to MSL). The map information may include information that may affect the altitude restrictions of the area in which the UAV is flying (e.g., the location of restricted airspace; the location of areas with taller man-made structures and / or natural structures, such as cities with tall buildings, forests with tall trees).

[0063] The UAV may be located as described herein (e.g., using GPS), and a location on a map corresponding to the location of the UAV may be discerned. Further, at time T2, the instantaneous altitude or true height 210 of the terrain below or near where the UAV is operating may be determined by means of a processor (e.g., read from map information or altitude information). Although the altitude sensor may produce an altitude measurement 212 relative to a reference horizontal plane different from the local terrain altitude (e.g., using the true altitude measured by GPS), the processor may be able to dynamically process (e.g., during flight) an absolute altitude measurement 214 of the UAV by subtracting the instantaneous altitude 210 of the terrain from the true altitude 212 of the UAV.

[0064] Altitude constraints may be handled dynamically during operation of the UAV. Figure 3A single UAV is illustrated dynamically processing a maximum altitude constraint at time points T1 302 and T2 304, which is compared to the UAV altitude measurement. Modifying the altitude constraint may involve increasing or decreasing the maximum or minimum altitude at which the UAV is allowed to navigate based on the altitude information. Although similar to Figure 2 , but the altitude limit is adjusted based on the local terrain elevation, rather than adjusting the UAV's altitude measurement 306, 308. Thus, while the UAV is subject to a constant altitude measurement at both T1 and T2, after the adjustment, the UAV is subject to a maximum altitude limit 310 at T1 and a different maximum altitude limit 312 at T2. In this embodiment, the UAV altitude limit is not provided relative to ground level, but is provided relative to the same reference horizontal plane 314 (e.g., MSL) on which the UAV's altitude measurement is based, so that a correct comparison can be made between the two values.

[0065] Altitude constraints may be handled dynamically during operation of the UAV so that only the altitude of terrain above a certain reference level (e.g., MSL) is considered for adjustment of the altitude constraints. Fig.17 A modified altitude restriction is illustrated that only considers the altitude of terrain above MSL, in accordance with an embodiment. Fig.17 MSL 1702 and terrain 1704 with varying altitudes on a horizontal axis are shown. Regions 1706, 1708, 1710 of the terrain are below sea level and may not be taken into account in adjusting the altitude limit of the UAV. The adjusted altitude limit 1712 reflects a combination of the adjusted altitude limit and the unadjusted altitude limit on the horizontal axis. The UAV may operate under different altitude limit adjustments for different altitude limits. For example, for an upper altitude limit, the UAV may only consider the terrain altitude above a certain reference level (e.g., MSL), and for a lower altitude limit, the UAV may consider the altitude of the terrain regardless of whether the terrain is above or below the above-mentioned reference level. It should be understood that the altitude measurement of the UAV may also be dynamically processed during the operation of the UAV so that only the terrain altitude above a certain reference level is considered for adjustment of the UAV altitude measurement.

[0066] In some embodiments, a similar effect may be provided by defining the altitude limit as a specific altitude above a reference level, which is the higher of MSL or ground level. For example, when MSL is above ground level, the altitude limit may be defined as a specific altitude above MSL, and when ground level is above MSL, the altitude limit may be defined as a specific altitude above ground level.

[0067] Alternatively or in combination, an altitude sensor that inherently considers ground level can be used to determine the height of the UAV (e.g., the absolute height of the UAV). The absolute height of the UAV can be compared with the altitude limit without further processing. Such altitude sensors include but are not limited to acoustic sensors, radar sensors, ultrasonic sensors, synthetic aperture radar (SAR) sensors, time of flight (TOF) sensors and / or visual sensors, which can estimate the weighted average distance of obstacles between the UAV and the ground or below the UAV in a certain time window. An altitude sensor that inherently considers ground level can be used independently or in the case of being unable to determine the UAV position (e.g., GPS is unavailable) and / or unable to access terrain map information.

[0068] In some embodiments, the UAV may have multiple sensors or multiple types of sensors that can be used to determine the height of the UAV. Optionally, the UAV may have at least one sensor that detects the absolute height of the UAV and at least one sensor that detects the true height of the UAV. Depending on various factors, a specific sensor can be selected for the determination of the height of the UAV. For example, all two types of sensors can be operated to collect height data, but only data from a selected subset of sensors can be considered in the determination of the height of the UAV. Alternatively, a subset of sensors can be operated for a given scenario. In some embodiments, depending on the location of the UAV, a subset of sensors can be used to provide data for determining the height consideration of the UAV. In another example, depending on the type of height restriction appropriate for the UAV, a subset of sensors can be used to provide data for determining the height consideration of the UAV. For example, if the UAV is in an area where the height restriction is based on the true height, the data from the sensor that detects the true height of the UAV can be used to determine the height of the UAV. If the UAV is in an area where the height restriction is based on the absolute height, the data from the sensor that detects the absolute height of the UAV can be used to determine the height of the UAV.

[0069] In some embodiments, data from sensors can be used to determine the ground altitude relative to MSL. For example, data from this type of sensor measuring the absolute altitude of the UAV can be compared with data from this type of sensor measuring the true altitude of the UAV. The comparison of data can be used to calculate the estimated altitude of the ground plane below the UAV. This can be useful in the case where other sources of ground plane information (e.g., maps, stored altitudes) are inaccessible or inoperable. In one example, a first sensor can measure that the UAV is flying 200m above the ground plane, and a second sensor can measure that the UAV is flying 300m above the MSL. Based on the comparison of data, it can be determined that the local ground plane is about 100m. The local ground plane can contribute to adjusting the altitude limit or determining the vertical relationship between the UAV altitude and the altitude limit.

[0070] Figure 4 A method 400 for controlling movement of an unmanned aerial vehicle (UAV) having one or more power units is illustrated according to an embodiment. The method 400 may involve comparing an altitude measurement of the UAV to one or more altitude limits adjusted using altitude information.

[0071] In step 402, one or more altitude restrictions for the UAV may be received at one or more processors of the UAV. The altitude restrictions may be received as described above (e.g., received from a memory, a user input, etc.). The restrictions may be a maximum altitude, a minimum altitude, or a combination thereof (e.g., a range within which the UAV is allowed to fly). There may be multiple maximum altitudes (e.g., a preprogrammed maximum altitude and a user-entered maximum altitude). There may be multiple minimum altitudes. The altitude restrictions entered by the user may or may not override other altitude restrictions. The altitude restrictions may or may not depend on the lateral (e.g., geographic) position of the UAV. For example, an altitude cap relative to the ground near an airport may be 0.

[0072] In step 404, altitude information for the region may be received at one or more processors. The altitude information may be a map of the region including the altitude information. The altitude information may indicate the height of man-made structures (e.g., buildings) in the region and / or natural structures (e.g., trees) in the region. The altitude information may indicate the altitude of terrain in the region.

[0073] In addition to altitude restrictions, there may be other restrictions that may apply to man-made structures. For example, the UAV may be required to maintain a specified horizontal and / or vertical distance from a man-made structure, or may be required to maintain a specified speed and / or acceleration within a certain distance of a man-made structure. The above other restrictions may also be applicable to natural terrain and natural structures. For example, the UAV may be required to maintain a specified horizontal and / or vertical distance from a mountain peak, or may be required to maintain a specified speed and / or acceleration within a certain distance of a mountain peak.

[0074] The altitude measurement of the UAV can be received at one or more processors. The altitude measurement can be a measurement generated by an altitude sensor mentioned herein (e.g., GPS on the UAV). The altitude measurement can be an altitude measurement obtained relative to a reference point mentioned herein (e.g., a true altitude measurement measured relative to MSL). The altitude measurement can be obtained at or within about every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds or every 0.1 seconds.

[0075] The UAV may be located as described herein (e.g., using GPS). The UAV may be located on a map. The terrain altitude at the UAV location may be determined as described herein (e.g., read from altitude information using a processor). The UAV may be located at or within approximately every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds, or every 0.1 seconds.

[0076] In step 408, the altitude limit of the UAV can be modified based on the altitude information to generate a modified altitude limit. For example, based on the altitude information, the terrain altitude at the UAV position (received in step 404) can be subtracted from one or more altitude limits. The calculation can occur at or within about every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds or every 0.1 seconds. The position of the altitude information of the UAV is received and the position of the terrain altitude at the UAV position can be the same. The lateral position of the altitude information of the UAV can match or not match the lateral position of the terrain altitude at the UAV position. The lateral position can be within 1000m, 500m, 200m, 100m, 50m, 20m, 10m, 5m, 2m, 1m or 0.5m. The one or more modified altitude constraints of the UAV in step 408 may be compared to the altitude measurement of the UAV.

[0077] During operation of the UAV, the method 400 may be repeated at predetermined time intervals. The time intervals may be at or within about every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds, or every 0.1 seconds.

[0078] In step 412, control signals may be output from one or more processors to one or more power units so that the UAV complies with altitude restrictions based on the comparison. If the UAV complies with one or more adjusted altitude restrictions, there may be no reason to output a control signal and step 412 may be optional. If the UAV complies with one or more adjusted altitude restrictions but is extremely close to the altitude restriction (e.g., within 0.5m, 1m, 2m, 3m, 4m, 5m, 7m, 10m, 20m, 50m, 100m or 200m of the altitude restriction), a control signal may be output to make the UAV move further away from the restricted altitude or to make the UAV unable to move closer to the restricted altitude. On the contrary, as an alternative or supplement to step 412, a warning or alarm described herein may be issued. The control signal may affect the operation of the UAV immediately after the comparison or affect the operation of the UAV when the UAV continues to fly for a period of time in the restricted altitude. The period of time may be about or less than 10 minutes, 5 minutes, 2 minutes, 1 minute, 30 seconds, 10 seconds, 5 seconds, 2 seconds or 1 second. Although the adjustment of altitude constraints is primarily described herein, it should be understood that in alternative embodiments, the altitude measurement of the UAV may be adjusted to achieve the following: Fig.10(Adjustment of altitude limit) and Fig.11 Similar results are shown in (Adjustment of UAV's altitude measurement).

[0079] Fig.10 A method 1000 of comparing one or more dynamically modified altitude constraints to an altitude measurement of a UAV is illustrated. The method may include one or more of the steps described herein, or may include the steps provided in a different order. For example, the method may include receiving one or more altitude constraints for a UAV at one or more processors 1002. The method may also include receiving altitude information for an area at one or more processors 1004. The one or more processors may receive an altitude measurement of the UAV 1006. This information may be collected using any of the techniques described elsewhere herein.

[0080] The method may also include modifying, with the one or more processors, the one or more altitude constraints based on the altitude information to produce one or more modified altitude constraints 1008 .

[0081] The altitude measurement may be compared to one or more modified altitude constraints 1010. Such comparison may be performed using one or more processors, either individually or collectively. The one or more processors may output control signals to one or more power units to cause the UAV to comply with the one or more modified altitude constraints 1012 while moving over the area.

[0082] Fig.11 A method 1100 of comparing one or more dynamically modified altitude measurements to an altitude constraint of a UAV is illustrated. The method may include one or more of the steps described herein, or may include the steps provided in a different order. For example, the method may include receiving one or more altitude constraints for a UAV at one or more processors 1102. The method may also include receiving altitude information for an area at one or more processors 1104. The one or more processors may receive an altitude measurement of the UAV 1106. This information may be collected using any of the techniques described elsewhere herein.

[0083] The method may also include modifying the altitude measurement based on the altitude information to produce a modified altitude measurement 1108 with the aid of one or more processors.

[0084] The modified altitude measurement may be compared to one or more altitude constraints 1110. Such comparison may be performed using one or more processors, either individually or collectively. The one or more processors may output control signals to one or more power units to cause the UAV to comply with the one or more altitude constraints while moving over the area 1112.

[0085] Figure 5 A method 500 for controlling movement of an unmanned aerial vehicle (UAV) having one or more power units is illustrated according to an embodiment. The method 500 may involve comparing an altitude measurement of the UAV to one or more altitude constraints adjusted using map information.

[0086] In step 502, one or more altitude restrictions for the UAV may be received at one or more processors of the UAV. The altitude restrictions may be received as described above (e.g., from a memory, a user input, etc.). The restrictions may be a maximum altitude, a minimum altitude, or a combination (e.g., a range). There may be multiple maximum altitudes (e.g., a preprogrammed maximum altitude and a user-entered maximum altitude). There may be multiple minimum altitudes. The altitude restrictions entered by the user may or may not override other altitude restrictions. The altitude restrictions may or may not depend on the lateral (e.g., geographic) position of the UAV. For example, an altitude cap relative to the ground near an airport may be 0.

[0087] In step 504, map information for the area may be received at one or more processors. The map information may or may not include altitude information for the area. The altitude information may indicate the altitude of the terrain in the area. The altitude information may indicate the height of man-made structures and / or natural structures in the area. The map information may include other information that may affect altitude restrictions, such as the location of flight restricted areas (e.g., airports), the location of areas with taller natural structures and / or man-made structures, etc. Receiving the map information may include receiving a map of the area. The map may be a terrain map or a topographic map. The map information may be preloaded onto the UAV prior to operation. Alternatively or additionally, the map information may be uploaded to the UAV during operation.

[0088] Flight restricted areas can include no-fly airspaces, and the no-fly areas can refer to the airspace area (or volume) in which aircraft are not allowed to fly usually for safety considerations. No-fly areas can include airspaces of limited size identified by the area on the surface in which aircraft are prohibited to fly. Such areas can be established for safety reasons or other reasons associated with national welfare. These areas can be published in the Federal Register and can be depicted on aeronautical charts of the United States or in other publications in various jurisdictions. Flight restricted areas can include one or more of dedicated airspaces (for example, airspaces in which restrictions can be imposed on aircraft that do not participate in designated operations), such as restricted airspaces (that is, in which the entrances usually always prohibit all aircraft and are not subject to flight permissions from airspace control entities), military action areas, alert areas, warning areas, temporary flight restrictions (TFR) areas, national security areas, and fire control areas.

[0089] Examples of restricted flight areas may include, but are not limited to, airports, flight corridors, military or other government facilities, locations near sensitive personnel (e.g., when the President or other leader is visiting a location), nuclear bases, research facilities, private airspace, demilitarized zones, certain jurisdictions (e.g., townships, cities, counties, states / provinces, countries, bodies of water or other natural landmarks), or other types of no-fly zones. Restricted flight areas may be permanent no-fly zones or may be temporary areas where flying is prohibited. In some cases, the list of restricted flight areas may be updated.

[0090] Examples of areas with tall structures may include, but are not limited to, urban areas (e.g., cities with many skyscrapers and other tall buildings), forested areas (e.g., forests with very tall trees such as redwoods), archaeological sites (e.g., pyramids), etc. The map information may include GPS data indicating the locations of such areas.

[0091] In addition to altitude restrictions, there may be other restrictions that may apply to man-made structures. For example, the UAV may be required to maintain a specified horizontal and / or vertical distance from a man-made structure or the UAV may be required to maintain a specified speed and / or acceleration within a certain distance of a man-made structure. The above other restrictions may also be applicable to natural terrain and natural structures. For example, the UAV may be required to maintain a specified horizontal and / or vertical distance from a mountain range or may be required to maintain a specified speed and / or acceleration within a certain distance of a mountain range.

[0092] The altitude measurement of the UAV can be received at one or more processors. The altitude information can be the measurement generated by the altitude sensor mentioned herein (e.g., GPS on the UAV machine). The altitude information can be the altitude measurement obtained relative to the reference point mentioned herein (e.g., the true altitude measurement measured relative to the MSL). The altitude measurement can be obtained at or within about every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds or every 0.1 seconds.

[0093] The UAV may be located as described herein (e.g., using GPS). The UAV may be located on a map. The terrain altitude at the UAV location may be determined as described herein (e.g., read from map information). The UAV may be located at or within approximately every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds, or every 0.1 seconds.

[0094] In step 508, the altitude limit of the UAV can be modified based on the map information to generate a modified altitude limit. For example, based on the map information, the UAV can locate a nearby airport and reduce the maximum altitude limit near the airport to better comply with the flight restrictions in the event that it intrudes into a flight restricted area. Alternatively or in combination, if the map information contains altitude information, the terrain altitude determined at the UAV position can be subtracted from one or more altitude limits. The calculation can occur at or within about every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds or every 0.1 seconds. The location of the altitude information of the UAV is received and the location of the terrain altitude at the UAV position can be the same. The lateral position of the altitude information of the UAV is received and the lateral position of the terrain altitude at the UAV position can match or not match. The lateral position may be within 1000m, 500m, 200m, 100m, 50m, 20m, 10m, 5m, 2m, 1m, or 0.5m. The one or more modified altitude constraints of the UAV in step 508 may be compared to the altitude measurement of the UAV.

[0095] During operation of the UAV, the method 500 may be repeated at predetermined time intervals. The time intervals may be at or within about every hour, every half hour, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 2 minutes, every minute, every 45 seconds, every 30 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 7 seconds, every 5 seconds, every 3 seconds, every second, every 0.5 seconds, or every 0.1 seconds.

[0096] In step 512, a control signal is output from one or more processors to one or more power units so that the UAV complies with the altitude restriction based on the comparison. If the UAV complies with one or more adjusted altitude restrictions, there may be no reason to output a control signal and step 512 may be optional. If the UAV complies with one or more adjusted altitude restrictions but is extremely close to the altitude restriction (e.g., within 0.5m, 1m, 2m, 3m, 4m, 5m, 7m, 10m, 20m, 50m, 100m or 200m of the altitude restriction), a control signal may be output to make the UAV move further away from the restricted altitude or to make the UAV unable to move closer to the restricted altitude. On the contrary, as an alternative or supplement to step 512, a warning or alarm described herein may be issued. The control signal may affect the operation of the UAV immediately after the comparison or affect the operation of the UAV when the UAV continues to fly for a period of time in the restricted altitude. The period of time may be about or less than 10 minutes, 5 minutes, 2 minutes, 1 minute, 30 seconds, 10 seconds, 5 seconds, 2 seconds or 1 second. Although the adjustment of altitude constraints is primarily described herein, it should be understood that in alternative embodiments, the altitude measurement of the UAV may be adjusted to achieve the following: Fig.10 (Adjustment of altitude limit) and Fig.11 (Adjustment of UAV altitude measurement) shows similar results.

[0097] Figure 6 The method 600 for controlling the movement of an unmanned aerial vehicle (UAV) with one or more power units is illustrated according to an embodiment. The method 600 may involve comparing one or more altitude limits with the altitude measurement of the UAV measured by a sensor, and the sensor automatically considers the altitude of a local ground plane and / or a local structure (e.g., a building, a tree) on the ground. Such a sensor may include an acoustic sensor, a radar sensor, an ultrasonic sensor, a synthetic aperture radar (SAR) sensor, a time of flight (TOF) sensor, and / or a visual sensor, which may estimate the weighted average distance of the UAV and the ground or obstacles below the UAV within a certain time window. In some embodiments, the orientation of the sensor is vertically downward relative to the UAV, so as to facilitate the measurement of the distance between the UAV and the local ground plane and / or the local structure. This distance information may be used as a basis for dynamically modifying the altitude limit.

[0098] In step 602, one or more altitude restrictions for the UAV may be received at one or more processors. In step 606, an absolute altitude measurement of the UAV may be received at one or more processors. In step 608, the altitude measurement in step 606 may be compared with one or more altitude restrictions. In step 610, one or more processors may output a control signal to one or more power units to cause the UAV to comply with one or more altitude restrictions. Method 600 may be a dedicated version of method 400 or method 500, in which an altitude sensor measures an absolute altitude of the UAV instead of a true altitude. Method 600 may involve optionally receiving map information of an area. The map information may be utilized as described above. It may not be necessary to modify the altitude information based on the altitude of the terrain, because the altitude sensor in method 600 inherently takes the terrain altitude into account.

[0099] The altitude restriction may be configured so that it is always in effect during the operation of the UAV. The altitude restriction may be configured so that it is never in effect during the operation of the UAV. The altitude restriction may be configured so that it is sometimes in effect and other times ineffective. For example, the altitude restriction may be automatically turned on or off based on predefined parameters (e.g., the state of the UAV, flight time, current altitude, location, etc.) and / or based on user input.

[0100] Figure 7 A method 700 for controlling movement of a UAV having one or more power units according to an embodiment is illustrated. The method 700 may involve the UAV having multiple altitude limits and selectively applying the limits based on the environment.

[0101] In step 702, a control signal may be output from one or more processors to one or more power units so that the UAV operates according to a first set of altitude restrictions. The first set of altitude restrictions may be based on a first reference altitude. Examples of the reference altitude include ground level, sea level (MSL), mean surface, geoid, etc. The first set of altitude restrictions and the second set of altitude restrictions may include a maximum altitude limit. The first set of altitude restrictions and the second set of altitude restrictions may include a minimum altitude limit. The maximum altitude limit may be about or below 10,000m, 5,000m, 2,000m, 1,000m, 500m, 200m, 140m, 120m, 100m, 80m, 60m, 50m, 40m, 30m, 20m, 10m or 5m. The minimum altitude limit may be about or above 1m, 2m, 3m, 4m, 5m, 7m, 10m, 20m, 40m, 100m or 200m.

[0102] In step 704, it may be evaluated whether the UAV should operate according to a second set of altitude restrictions by means of one or more processors and based on one or more criteria. The criteria may be based on predefined parameters (e.g., the state of the UAV, flight time, current altitude, position) and / or based on user input. The criteria may be set before the flight of the UAV or may be input during the flight. For example, the criteria may be whether the UAV has exceeded a predetermined flight time. The predetermined flight time may be about or less than 6000 seconds, 3000 seconds, 1200 seconds, 600 seconds, 300 seconds, 120 seconds, 60 seconds, 30 seconds, 10 seconds, or 5 seconds. The flight time may measure the total flight time recorded by the UAV. The flight time may measure the flight time recorded for a specific flight segment. The criteria may be whether the battery of the UAV is low on power. The criteria may be whether the UAV is moving above a certain speed or acceleration. The criteria may be whether the UAV has exceeded a predefined altitude threshold. The predetermined altitude threshold may be about or above 10m, 20m, 40m, 100m, 200m, or 400m. The criterion may be whether the UAV is below a predetermined lower altitude limit. The criterion may be whether the current altitude of the UAV is higher than the altitude at an earlier point in time. The criterion may be whether the current altitude of the UAV is higher than the altitude of the initial position of the UAV. The criterion may be whether the UAV is within a restricted airspace. The criterion may be whether the UAV is near a restricted airspace. The criterion may be whether the second set of altitude restrictions is not currently prohibited by a controller of the UAV. The controller may be located on board the UAV. The controller may be a remote control device that communicates with the UAV.

[0103] If according to step 704, one or more criteria are met, then in step 706, a control signal can be output from one or more processors to one or more power units so that the UAV operates according to a second set of altitude restrictions. For example, when the total flight time has exceeded a certain threshold, the UAV can operate under a second set of altitude restrictions with a higher altitude upper limit or a lower altitude lower limit than the first set of altitude restrictions, which can give the UAV operator greater freedom in the process of controlling the UAV as the total flight time increases. For example, when the battery is low, the UAV can operate under a second set of altitude restrictions with a lower altitude lower limit than the first set of altitude restrictions. For example, if the UAV is moving above a certain speed, the UAV can operate under a second set of altitude restrictions with a higher altitude lower limit than the first set of altitude restrictions, which can ensure the safety of people and reduce collisions with ground objects. For example, when near a restricted airspace, the UAV can operate under a second set of altitude restrictions with a lower altitude lower limit than the first set of altitude restrictions to ensure that the UAV can land safely before entering the restricted airspace. The second set of altitude restrictions can be based on a second reference altitude. Examples of reference altitudes include ground level, sea level (mean sea level), mean ground surface, geoid, etc. The second reference altitude and the first reference altitude may or may not be equal.

[0104] When the UAV is outside the flight restricted altitude, the UAV may prompt the user (e.g., via a mobile application, a flight status indicator, an audio indicator, or other indicator) to land or navigate to an altitude that complies with the restricted altitude within a predetermined time period (e.g., 1 minute). During this time period, the operator of the UAV may provide instructions to navigate the UAV to the desired altitude and / or provide manual landing instructions. After the predetermined time period has been exceeded, the UAV may automatically navigate to comply with the altitude restriction without any input from the operator of the UAV, or may incorporate input from the operator of the UAV. After the predetermined time period, the UAV may automatically start to reduce the altitude. After the predetermined time period, the UAV may automatically start to increase the altitude. The UAV may reduce or increase the altitude at a predetermined rate or may incorporate position data in the process of determining the rate used to reduce the altitude, increase the altitude, or land. In some cases, flight response measures closer to the flight restricted area may provide a faster response of the UAV to descend or land. This may reduce the user's autonomy in the process of controlling the UAV flight, but may provide higher compliance with regulations and provide safer measures. Flight response measures further away from the flight restricted area may allow the user to have more control over the UAV. This may provide increased user autonomy in controlling the UAV and allow the user to take action to prevent the UAV from entering restricted airspace. The distance may be used to measure the risk or likelihood of the UAV falling into restricted airspace and take an appropriate level of action based on the measure of risk.

[0105] In some embodiments, the method for dynamically adjusting the altitude limit described herein takes into account the laws and regulations regarding the permissible altitude of the UAV. For example, before modifying the altitude limit according to the method introduced herein, the UAV (for example, one or more processors associated with the UAV) can compare the modified altitude limit with the legal altitude limit to determine whether the modified altitude limit is legal. If the modified limit is legal, the UAV can continue to implement the modified limit. If the modified limit is illegal, the UAV can maintain the original limit or adjust the modified limit to be legal. For example, if the modified limit sets the altitude limit to 500m, but the legal limit sets the altitude limit to 400m, the UAV can implement the altitude limit of 400m instead of 500m, so as to be legal. In some embodiments, if it is determined that the altitude limit should be modified, but the modification will be illegal, a warning can be provided to the user as described above (for example, via an application on a mobile device or a remote controller, via the UAV itself). Applicable laws and regulations can be provided to the UAV in various ways, for example, preloaded to the UAV before operation, uploaded to the UAV during operation, etc. In some embodiments, the determination of relevant laws and regulations may be performed based on the UAV's location information (eg, current GPS coordinates).

[0106] In some embodiments, the altitude restrictions described herein may be modified dynamically before the UAV approaches and / or flies over elevated terrain and / or structures that require a modified altitude restriction, for example, when the UAV is a predetermined distance from the elevated terrain and / or structure. For example, if the UAV is flying toward an area with high-rise buildings, it may begin to increase the altitude cap when it is a predetermined distance from the area, rather than increasing the ceiling when it is flying over the area. This approach may allow a user to pre-increase the UAV altitude in order to avoid collisions with elevated terrain and / or structures, because if the UAV is too close to the elevated terrain and / or structure, particularly if the UAV is moving at a relatively high speed, there may not be enough time to turn the UAV.

[0107] The UAV described herein can be operated completely autonomously (e.g., by a suitable computing system such as an onboard controller or an off-board controller), semi-autonomously (e.g., manually controlling some aspects and automatically controlling some aspects), or manually (e.g., by a human user using a remote control device or terminal). The UAV can receive commands from a suitable entity (e.g., a human user or an autonomous control system) and respond to such commands by performing one or more actions. For example, the UAV can be controlled to take off from the ground, move in the air (e.g., with up to three translational degrees of freedom and up to three rotational degrees of freedom), move to a target position or a series of target positions, hover in the air, land on the ground, etc. For another example, the UAV can be controlled to move at a specified speed and / or acceleration (e.g., with up to three translational degrees of freedom and up to three rotational degrees of freedom) or along a specified movement path. In addition, the command can be used to control one or more UAV components, such as the components described herein (e.g., sensors, actuators, power units, loads, etc.). For example, some commands can be used to control the position, orientation, and / or operation of UAV loads such as cameras. Optionally, the UAV may be configured to operate according to one or more predetermined operating rules. The operating rules may be used to control any suitable aspect of the UAV, such as the position (e.g., latitude, longitude, altitude), orientation (e.g., roll, pitch, yaw), speed (e.g., translational velocity and / or angular velocity) and / or acceleration (e.g., translational acceleration and / or angular acceleration) of the UAV. For example, the operating rules may be designed so that the UAV is not allowed to fly beyond a threshold altitude, for example, the UAV may be configured to fly at an altitude of no more than 400m from the ground. In some embodiments, the operating rules may be suitable for providing an automated mechanism for improving the safety of the UAV and preventing safety accidents. For example, the UAV may be configured to detect a restricted flight area (e.g., 1,200ft above ground level) and not fly within a predetermined distance of the restricted flight area, thereby avoiding potential collisions with aircraft and other obstacles, ensuring compliance with the law and providing the best user experience for its operator.

[0108] Figure 8 A schematic diagram of UAV 800 communicating with external device 810 according to an embodiment of the present invention is provided.

[0109] UAV 800 may include one or more power units that can control the position of the UAV. The power unit can control the position of the UAV (e.g., about up to three directions of position, such as latitude, longitude, altitude) and / or the orientation of the UAV (e.g., about up to three rotation axes, such as pitch, yaw, roll). The power unit can allow the UAV to maintain or change position. The power unit may include one or more rotor blades that can rotate to generate lift for the UAV. The power unit may be driven by one or more actuators 850 such as one or more motors. In some cases, a single motor may drive a single power unit. In other examples, a single motor may drive multiple power units, or a single power unit may be driven by multiple motors.

[0110] The operation of one or more actuators 850 of the UAV 800 can be controlled by a flight controller 820. The flight controller may include one or more processors and / or memory units. The memory unit may include a non-transitory computer-readable medium that may include code, logic, or instructions for performing one or more steps. The processor may be capable of performing one or more steps described herein. The processor may provide the steps based on the non-transitory computer-readable medium. The processor may perform location-based calculations and / or utilize algorithms to generate flight commands for the UAV.

[0111] The flight controller 820 can receive information from the receiver 830 and / or the locator 840. The receiver 830 can communicate with the external device 810. The external device can be a remote terminal. The external device can be a control device that can provide one or more sets of instructions for controlling the flight of the UAV. The user can interact with the external device to issue instructions for controlling the flight of the UAV. The external device can have a user interface that can accept user input that can lead to controlling the flight of the UAV. Examples of external devices are described in more detail elsewhere herein.

[0112] The external device 810 can communicate with the receiver 830 via a wireless connection. Wireless communication can be performed directly between the external device and the receiver, and / or can be performed through a network or other forms of indirect communication. In some embodiments, wireless communication can be communication based on proximity. For example, the external device can be within a predetermined distance from the UAV to control the operation of the UAV. Alternatively, the external device does not need to be within a predetermined proximity of the UAV. Communication can be performed directly, through a local area network (LAN), a wide area network (WAN) such as the Internet, a cloud environment, a telecommunications network (e.g., 3G, 4G), WiFi, Bluetooth, radio frequency (RF), infrared (IR) or any other communication technology. In an alternative embodiment, communication between the external device and the receiver can be performed via a wired connection.

[0113] The communication between the external device and the UAV can be two-way communication and / or one-way communication. For example, the external device can provide the UAV with instructions that can control the flight of the UAV. The external device can operate other functions of the UAV, such as one or more settings of the UAV, one or more sensors, the operation of one or more loads, the operation of the carrier of the load, or any other operation of the UAV. The UAV can provide data to the external device. The data may include information about the position of the UAV, data sensed by one or more sensors of the UAV, images captured by the load of the UAV, or other data from the UAV. Instructions from the external device and / or data from the UAV can be transmitted simultaneously or sequentially. They can be transmitted through the same communication channel or different communication channels. In some cases, instructions from the external device can be transmitted to the flight controller. The flight controller can generate command signals to one or more actuators of the UAV using flight control instructions from the external device.

[0114] The UAV may also include a locator 840. The locator may be used to determine the location of the UAV. The location may include the latitude, longitude and / or altitude of the aircraft. The location of the UAV may be determined relative to a fixed reference system (e.g., geographic coordinates). The location of the UAV may be determined relative to a map received by a processor and containing map information and / or altitude information. The location of the UAV may be determined relative to a flight-restricted area. The locator may use any technology in the art or a technology developed later to determine the location of the UAV. For example, the locator may receive a signal from an external location unit 845. In one example, the locator may be a global positioning system (GPS) receiver and the external location unit may be a GPS satellite. In another example, the locator may be an inertial measurement unit (IMU), an ultrasonic sensor, a visual sensor (e.g., a camera), or a communication unit that communicates with an external location unit. The external location unit may include a satellite, a tower, or other structures that may be able to provide location information. One or more external location units may utilize one or more triangulation techniques to provide the location of the UAV. In some cases, the external location unit may be an external device 810 or other remote control device. The location of the external device may be used as the location of the UAV or used to determine the location of the UAV. The location of the external device can be determined using a location unit within the external device and / or one or more base stations capable of determining the location of the external device. The location unit of the external device can use any of the technologies described herein, including but not limited to GPS, laser, ultrasound, vision, inertial, infrared, or other location sensing technologies. The location of the external device can be determined using any technology such as GPS, laser, ultrasound, vision, inertial, infrared, triangulation, base stations, towers, relays, or any other technology.

[0115] In alternative embodiments, the position of the UAV can be determined without an external device or an external position unit. For example, an IMU can be used to determine the position of the UAV. The IMU can include one or more accelerometers, one or more gyroscopes, one or more magnetometers, or a suitable combination thereof. For example, the IMU can include up to three orthogonal accelerometers to measure the linear acceleration of the movable object along up to three translation axes, and up to three orthogonal gyroscopes to measure the angular acceleration around up to three rotation axes. The IMU can be rigidly coupled to the aircraft so that the movement of the aircraft corresponds to the movement of the IMU. Alternatively, the IMU can be allowed to move relative to the aircraft about up to six degrees of freedom. The IMU can be mounted directly to the aircraft, or coupled to a support structure mounted to the aircraft. The IMU can be provided outside or inside the housing of the movable object. The IMU can be permanently or removably attached to the movable object. In some embodiments, the IMU can be an element of the payload of the aircraft. The IMU can provide signals indicative of the motion of the aircraft, such as the position, orientation, velocity, and / or acceleration of the aircraft (e.g., about one, two, or three translational axes and / or one, two, or three rotational axes). For example, the IMU can sense a signal representing the acceleration of the aircraft, and the signal can be integrated once to provide velocity information and integrated twice to provide position and / or orientation information. The IMU can be able to determine the acceleration, velocity, and / or position / orientation of the aircraft without interacting with any external environmental factors or receiving any signals from outside the aircraft. The IMU can alternatively be used in conjunction with other position determination devices such as GPS, visual sensors, ultrasonic sensors, or communication units.

[0116] The position determined by the localizer 840 can be used by the flight controller 820 to generate one or more command signals to be provided to the actuators. For example, the position of the UAV, which can be determined based on the localizer information, can be used to determine the priority of the altitude constraints in the presence of competing altitude constraints. The flight controller can also determine which flight response measures (if any) need to be taken by the UAV. The flight controller can determine command signals to one or more actuators, which can control the flight of the UAV.

[0117] Fig. 9An example of an unmanned aerial vehicle using a global positioning system (GPS) to determine the location of the unmanned aerial vehicle according to an embodiment of the present invention is provided. The UAV may have a GPS module. The GPS module may include a GPS receiver 940 and / or a GPS antenna 942. The GPS antenna may pick up one or more signals from GPS satellites or other structures and transmit the captured information to the GPS receiver. The GPS module may also include a microprocessor 925. The microprocessor may receive information from the GPS receiver. The microprocessor may transmit data from the GPS receiver in raw form or may process or analyze it. The microprocessor may use the GPS receiver data to perform calculations and / or may provide location information based on the calculations.

[0118] The GPS module can be operably connected to the flight controller 920. The flight controller of the UAV can generate command signals to be provided to one or more actuators of the UAV and thereby control the flight of the UAV. Any connection can be provided between the GPS module and the flight controller. For example, a communication bus such as a controller area network (CAN) bus can be used to connect the GPS module and the flight controller. The GPS receiver can receive data via a GPS antenna and can transfer data to a microprocessor, which can transfer data to the flight controller via a communication bus.

[0119] In some cases, once the UAV is turned on, the UAV may search for a GPS signal. If a GPS signal is found, the UAV may be able to determine its location and altitude.

[0120] Some embodiments may rely on an aircraft GPS module to determine the location, including the altitude of the UAV. If the GPS module takes too long to successfully determine the location, this will affect the flight capability. If the GPS module is not operational or cannot detect a GPS signal, the flight function of the UAV may be limited. In some cases, other systems and methods may be used to determine the location of the UAV, such as altitude, as described herein.

[0121] Fig.12 An example of an unmanned aerial vehicle 1200 having an onboard memory unit 1250 according to one aspect of the invention is provided. The UAV may have a flight controller 1220 that may generate one or more command signals to effectuate flight of the UAV. A location unit 1240 may be provided. The location unit may provide data indicating the altitude and location of the UAV. The location unit may be a GPS receiver, a communication module that receives location data from an external device, an ultrasonic sensor, a visual sensor, an IR sensor, an inertial sensor, or any other type of device that may be used to determine the location of the UAV. The flight controller may use the location of the UAV to generate flight command signals.

[0122] The memory unit 1250 may include data on altitude information or map information of the region in which the UAV may operate. For example, one or more onboard databases or memories 1255A may be provided to store maps (e.g., topographic maps) including altitude information of terrain and / or lists of flight restricted regions and / or their locations. In one example, maps of various regions may be stored in the onboard memory of the UAV. In one example, a memory storage device may store altitude information of the region covered by the map. All maps (e.g., topographic maps) in the world, continent, country, or world region may be stored in the memory unit. Alternatively or in combination, information about flight restricted regions or any other information that may affect the altitude restrictions of the UAV may be stored. The coordinates may include only latitude and longitude coordinates, may also include altitude coordinates, or may include the boundaries of flight restricted regions. Therefore, information about terrain altitude (including location and / or related rules) may be preprogrammed into the UAV.

[0123] The UAV may be able to access onboard memory to determine altitude and / or map information for the area in which it is operating. This may be useful in situations where the UAV's communications may be inoperable or where it may be difficult to access external sources. For example, some communication systems may be unreliable. In some cases, accessing information stored onboard may be more reliable and / or may require less power consumption. Accessing information stored onboard may also be faster than downloading the information in real time.

[0124] In some cases, other data may be stored on the UAV machine. For example, a database and / or memory 1255B related to the rules for specific flight restricted altitudes or different jurisdictions may be provided. For example, the memory may store information on flight rules for different jurisdictions on board. For example, country A may not allow UAVs to fly more than 700ft above ground level, while country B may not allow UAVs to fly more than 1200ft above ground level. In some cases, the rules may be specific to the jurisdiction. In some cases, regardless of the jurisdiction, the rules may be specific to flight restricted areas. For example, in country A, airport A may not allow UAVs to fly anywhere within 5 miles of the airport at all times, while airport B may allow UAVs to fly near the airport from 1:00-5:00 A.M. The rules may be stored on the UAV machine and may optionally be associated with the relevant jurisdiction and / or flight restricted area.

[0125] The rules stored in the database may be about height restrictions for different jurisdictions or different regions. The rules may be provided by the manufacturer, the user or a third party. The rules may be stored in the database and / or may be updated.

[0126] The flight controller 1220 can access the onboard memory to calculate the height of the UAV relative to the altitude limit. In some embodiments, the sensor data can be used to determine the height of the UAV in the comparison of the UAV altitude with the altitude limit. Optionally, the onboard memory that may include altitude data about the ground plane can be used to assist in the comparison. In some cases, the flight controller can also access the onboard memory to calculate the distance between the UAV and the flight restricted area. The flight controller can use the information from the position unit 1240 as the position of the UAV, and can use the information from the onboard memory for the flight restricted area position. The calculation of the distance between the UAV and the flight restricted area can be performed by the flight controller with the aid of a processor.

[0127] The flight controller 1220 can access onboard memory to determine the flight response measures to be taken. For example, the UAV can access onboard memory with respect to different rules. The location of the UAV can be used to determine the flight response measures to be taken by the UAV according to the relevant rules. For example, if it is determined that the location of the UAV is within Country A, the flight controller can examine the rules of Country A to determine the flight response measures to be taken. For example, this can include instructing the UAV to descend below the altitude limit when the UAV approaches or exceeds the altitude limit. This can affect the command signal generated and sent to one or more actuators of the UAV.

[0128] The onboard memory of the UAV can be updated. For example, a mobile device in communication with the UAV can be used for updating. When the mobile device and the UAV are connected, the onboard memory can be updated. The mobile device and the UAV can be updated via a wireless connection (such as a direct wireless connection or an indirect wireless connection). In one example, the connection can be provided via WiFi or Bluetooth. The mobile device can be used to control the flight of the UAV and / or receive data from the UAV. Information such as altitude information or map information of a region can be updated. Such an update can occur while the mobile device is interacting with the UAV. Such an update can occur when the mobile device is first connected to the UAV, at periodic time intervals, when an event is detected, or continuously in real time.

[0129] In another example, a wired connection can be provided between the UAV and the external device for providing updates to the onboard memory. For example, a USB port or similar port on the UAV can be used to connect to a personal computer (PC) and can be updated using PC software. In another example, the external device can be a mobile device or other type of external device. The update can occur when the UAV is first connected to the external device, at periodic time intervals while maintaining a wired connection, when an event is detected, or continuously in real time while maintaining a wired connection.

[0130] Additional examples may allow the UAV to have a communication device for accessing the Internet or other networks. Each time the UAV is powered on, it may automatically check whether an onboard memory needs to be updated. For example, each time the UAV is powered on, it may automatically check whether altitude information or map information needs to be updated. In some embodiments, the UAV only checks if there is an update pending when powered on. In other embodiments, the UAV may check periodically, upon detection of an event or command, or continuously.

[0131] In some cases, different jurisdictions may have different height limits. For example, different countries may have different rules and / or some rules may be more complex depending on the jurisdiction and may need to be implemented gradually. Examples of jurisdictions may include, but are not limited to, continents, unions, countries, states / provinces, counties, cities, towns, private property or land, or other types of jurisdictions.

[0132] The location of the UAV can be used to determine the jurisdiction in which the UAV is currently located and in which all rules may apply. For example, GPS coordinates can be used to determine the jurisdiction in which the UAV is located and in which the law applies. For example, jurisdiction A may prohibit the flight of UAVs at 700ft above the ground, while jurisdiction B may prohibit flight at 1200ft above the ground. Then after the aircraft acquires the GPS coordinates, the aircraft can determine whether it is currently located in jurisdiction A or jurisdiction B. Based on this determination, it can assess whether the flight restrictions are in effect at 700ft or 1200ft above the ground, and flight response measures can be taken accordingly.

[0133] For example, a boundary may be provided between jurisdictions. Based on the UAV position, it may be determined that the UAV falls within jurisdiction A to the right of the boundary. Jurisdiction B may be on the left of the boundary and may have different rules than jurisdiction A. In one example, the location of the UAV may be determined using any of the positioning techniques described elsewhere herein. The coordinates of the UAV may be calculated. In some cases, the onboard memory of the UAV may include boundaries for different jurisdictions. For example, the UAV may be able to access the onboard memory to determine in which jurisdiction the UAV falls based on its position. In other examples, information about different jurisdictions may be stored outside the machine. For example, the UAV may communicate with an external device to determine in which jurisdiction the UAV falls.

[0134] Thus, the UAV may be able to access information about the jurisdiction in which the UAV falls and / or applicable flight rules for the UAV. Applicable altitude restrictions may be used along with the position information to determine whether a flight response measure is required and / or which flight response measure should be taken.

[0135] The systems, devices and methods described herein can be applicable to numerous movable objects. As mentioned above, any description of UAV herein can be applicable to and used for any movable object. Any description of UAV herein can be applicable to any aircraft. The movable object of the present invention can be configured to move in any suitable environment, such as in the air (e.g., fixed-wing aircraft, rotary-wing aircraft or aircraft with neither fixed-wing nor rotary-wing), in water (e.g., ships or submarines), on the ground (e.g., motor vehicles, such as cars, trucks, buses, vans, motorcycles, bicycles; movable structures or frames, such as sticks, fishing rods; or trains), underground (e.g., subways), in space (e.g., space shuttles, satellites or probes) or any combination of these environments. The movable object can be a vehicle, such as a vehicle described elsewhere herein. In some embodiments, the movable object can be carried by a living body such as a human or an animal, or take off from a living body. Suitable animals can include birds, dogs, cats, horses, cattle, sheep, pigs, dolphins, rodents or insects.

[0136] The movable object may be able to move freely about six degrees of freedom (e.g., three translational degrees of freedom and three rotational degrees of freedom) within the environment. Alternatively, the movement of the movable object may be constrained about one or more degrees of freedom, such as constrained by a predetermined path, trajectory or orientation. The movement may be actuated by any suitable actuating mechanism such as an engine or motor. The actuating mechanism of the movable object may be powered by any suitable energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or any suitable combination thereof. The movable object may be self-propelled via a power system as described elsewhere herein. The power system may optionally rely on energy to operate, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or any suitable combination thereof. Alternatively, the movable object may be carried by a living being.

[0137] In some cases, the movable object can be a vehicle. Suitable vehicles can include water vehicles, aircraft, space vehicles or ground vehicles. For example, aircraft can be fixed-wing aircraft (for example, airplane, glider), rotary-wing aircraft (for example, helicopter, rotorcraft), aircraft with fixed-wing and rotary-wing at the same time or aircraft without fixed-wing and rotary-wing (for example, airship, hot air balloon). Vehicle can be self-propelled, such as self-propelled in the air, on water or water, in space or on the ground or underground. Self-propelled vehicles can utilize power systems, such as including one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles or any suitable combination thereof. In some cases, power systems can be used to enable movable objects to take off from the surface, land on the surface, maintain its current position and / or orientation (for example, hover), change orientation and / or change position.

[0138] The movable object may be controlled remotely by a user or locally by an occupant in or on the movable object. In some embodiments, the movable object is an unmanned movable object, such as a UAV. An unmanned movable object (such as a UAV) may not have an occupant onboard the movable object. The movable object may be controlled by a human or an autonomous control system (e.g., a computer control system) or any suitable combination thereof. The movable object may be an autonomous or semi-autonomous robot, such as a robot configured with artificial intelligence.

[0139] The movable object may have any suitable size and / or dimensions. In some embodiments, the movable object may have a size and / or dimensions that allow a human occupant to be within or on a vehicle. Alternatively, the movable object may have a size and / or dimensions that are smaller than the size and / or dimensions that allow a human occupant to be within or on a vehicle. The movable object may have a size and / or dimensions that are suitable for being carried or carried by a human. Alternatively, the movable object may be larger than a size and / or dimensions that are suitable for being carried or carried by a human. In some cases, the movable object may have a maximum dimension (e.g., length, width, height, diameter, diagonal) that is less than or equal to approximately: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m, or 10m. The maximum dimension may be greater than or equal to approximately: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m, or 10m. For example, the distance between the axes of the relative rotors of the movable object may be less than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Alternatively, the distance between the axes of the relative rotors may be greater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.

[0140] In some embodiments, the movable object can have a volume of less than 100 cm x 100 cm x 100 cm, less than 50 cm x 50 cm x 30 cm, or less than 5 cm x 5 cm x 3 cm. The total volume of the movable object can be less than or equal to about: 1 cm3, 2 cm3, 5 cm3, 10 cm3, 20 cm3, 30 cm3, 40 cm3, 50 cm3, 60 cm3, 70 cm3, 80 cm3, 90 cm3, 100 cm3, 150 cm3, 200 cm3, 300 cm3, 500 cm3, 750 cm3, 1000 cm3, 5000 cm3, 10,000 cm3, 100,000 cm3, 1 m3, or 10 m3. Conversely, the total volume of the movable object can be greater than or equal to approximately: 1cm3, 2cm3, 5cm3, 10cm3, 20cm3, 30cm3, 40cm3, 50cm3, 60cm3, 70cm3, 80cm3, 90cm3, 100cm3, 150cm3, 200cm3, 300cm3, 500cm3, 750cm3, 1000cm3, 5000cm3, 10,000cm3, 100,000cm3, 1m3 or 10m3.

[0141] In some embodiments, the movable object may have a footprint (which may refer to the cross-sectional area enclosed by the movable object) of less than or equal to about: 32,000 cm2, 20,000 cm2, 10,000 cm2, 1,000 cm2, 500 cm2, 100 cm2, 50 cm2, 10 cm2, or 5 cm2. Conversely, the footprint may be greater than or equal to about: 32,000 cm2, 20,000 cm2, 10,000 cm2, 1,000 cm2, 500 cm2, 100 cm2, 50 cm2, 10 cm2, or 5 cm2.

[0142] In some cases, the movable object may weigh no more than 1000 kg. The weight of the movable object may be less than or equal to about: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg. Conversely, the weight may be greater than or equal to approximately: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg.

[0143] In some embodiments, the movable object may be smaller than the load carried by the movable object. As further described elsewhere herein, the load may include a load and / or a carrier. In some examples, the ratio of the movable object weight to the load weight may be greater than, less than, or equal to about 1:1. In some cases, the ratio of the movable object weight to the load weight may be greater than, less than, or equal to about 1:1. Alternatively, the ratio of the carrier weight to the load weight may be greater than, less than, or equal to about 1:1. When desired, the ratio of the movable object weight to the load weight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10 or even less. Conversely, the ratio of the movable object weight to the load weight may also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1 or even greater.

[0144] In some embodiments, the movable object can have low energy consumption. For example, the movable object can use less than about: 5W / h, 4W / h, 3W / h, 2W / h, 1W / h or less. In some cases, the carrier of the movable object can have low energy consumption. For example, the carrier can use less than about: 5W / h, 4W / h, 3W / h, 2W / h, 1W / h or less. Optionally, the load of the movable object can have low energy consumption, such as less than about: 5W / h, 4W / h, 3W / h, 2W / h, 1W / h or less.

[0145] Fig.13An unmanned aerial vehicle (UAV) 1300 according to an embodiment of the present invention is illustrated. The UAV may be an example of a movable object as described herein. The UAV 1300 may include a power system having four rotors 1302, 1304, 1306, and 1308. Any number of rotors (e.g., one, two, three, four, five, six, or more) may be provided. The rotors, rotor assemblies, or other power systems of the unmanned aerial vehicle may enable the unmanned aerial vehicle to hover / maintain position, change orientation, and / or change position. The distance between the axes of the relative rotors may be any suitable length 1310. For example, the length 1310 may be less than or equal to 2m, or less than or equal to 11m. In some embodiments, the length 1310 may be in the range of from 40cm to 7m, from 70cm to 2m, or from 11cm to 11m. Any description of the UAV herein may be applicable to movable objects, such as movable objects of different types, and vice versa. The UAV may use an assisted takeoff system or method as described herein.

[0146] In some embodiments, the movable object may be configured to carry a load. The load may include one or more of passengers, cargo, equipment, instruments, etc. The load may be provided in a shell. The shell may be separate from the shell of the movable object, or may be part of the shell of the movable object. Alternatively, the load may be provided with a shell, while the movable object does not have a shell. Alternatively, part of the load or the entire load may be provided without a shell. The load may be rigidly fixed relative to the movable object. Alternatively, the load may be movable relative to the movable object (e.g., may translate or rotate relative to the movable object). As described elsewhere herein, the load may include a load and / or a carrier.

[0147] In some embodiments, the movement of the movable object, carrier and load relative to a fixed reference system (e.g., the surrounding environment) and / or relative to each other can be controlled by a terminal. The terminal can be a remote control device at a position away from the movable object, carrier and / or load. The terminal can be placed on a support platform or fixed to a support platform. Alternatively, the terminal can be a handheld or wearable device. For example, the terminal can include a smart phone, a tablet computer, a laptop computer, a computer, glasses, gloves, a helmet, a microphone, or a suitable combination thereof. The terminal can include a user interface, such as a keyboard, a mouse, a joystick, a touch screen, or a display. Any suitable user input can be used to interact with the terminal, such as manually inputting commands, voice control, gesture control, or position control (e.g., via movement, position, or tilt of the terminal).

[0148] The terminal can be used to control any suitable state of the movable object, carrier and / or load. For example, the terminal can be used to control the position and / or orientation of the movable object, carrier and / or load relative to a fixed reference system and / or relative to each other. In some embodiments, the terminal can be used to control a separate element of the movable object, carrier and / or load, such as an actuating component of the carrier, a sensor of the load, or a transmitter of the load. The terminal may include a wireless communication device suitable for communicating with one or more of the movable object, carrier or load.

[0149] The terminal may include a suitable display unit for viewing information of the movable object, carrier and / or load. For example, the terminal may be configured to display information of the movable object, carrier and / or load regarding position, translational velocity, translational acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. In some embodiments, the terminal may display information provided by the load, such as data provided by the functional load (e.g., images recorded by a camera or other image capture device).

[0150] Optionally, the same terminal can simultaneously control the movable object, carrier and / or load or the state of the movable object, carrier and / or load, and receive and / or display information from the movable object, carrier and / or load. For example, the terminal can control the positioning of the load relative to the environment, while displaying image data captured by the load or information about the position of the load. Alternatively, different terminals can be used for different functions. For example, the first terminal can control the movement or state of the movable object, carrier and / or load, and the second terminal can receive and / or display information from the movable object, carrier and / or load. For example, the first terminal can be used to control the positioning of the load relative to the environment, and the second terminal displays the image data captured by the load. Various communication modes can be used between a movable object and an integrated terminal that simultaneously controls the movable object and receives data or between a movable object and multiple terminals that simultaneously control the movable object and receive data. For example, at least two different communication modes can be formed between a movable object and a terminal that simultaneously controls the movable object and receives data from the movable object.

[0151] Fig.14A movable object 1400 is illustrated that includes a carrier 1402 and a payload 1404 according to an embodiment. Although the movable object 1400 is depicted as an aircraft, this depiction is not intended to be limiting, and any suitable type of movable object may be used as described above. It will be appreciated by those skilled in the art that any of the embodiments described herein in the context of an aircraft system may be applicable to any suitable movable object (e.g., a UAV). In some cases, a payload 1404 may be provided on the movable object 1400 without the carrier 1402. The movable object 1400 may include a power mechanism 1406, a sensing system 1408, and a communication system 1410.

[0152] As described above, power mechanism 1406 may include one or more of a rotor, a propeller, a blade, an engine, a motor, a wheel, an axle, a magnet, or a nozzle. The movable object may have one or more, two or more, three or more, or four or more power mechanisms. The power mechanisms may all be of the same type. Alternatively, one or more power mechanisms may be different types of power mechanisms. Power mechanism 1406 may be mounted on movable object 1400 using any suitable means, such as a support element (e.g., a drive shaft) as described elsewhere herein. Power mechanism 1406 may be mounted on any suitable portion of movable object 1400, such as the top, bottom, front, back, side, or a suitable combination thereof.

[0153] In some embodiments, the power mechanism 1406 can enable the movable object 1400 to take off vertically from a surface or land vertically on a surface without any horizontal movement of the movable object 1400 (e.g., without traveling along a runway). Optionally, the power mechanism 1406 can be operable to allow the movable object 1400 to hover in the air at a specified position and / or orientation. One or more of the power mechanisms 1406 can be controlled independently of other power mechanisms. Alternatively, the power mechanism 1406 can be configured to be controlled simultaneously. For example, the movable object 1400 can have a plurality of horizontally oriented rotors, which can provide lift and / or thrust to the movable object. The plurality of horizontally oriented rotors can be actuated to provide vertical takeoff, vertical landing, and hovering capabilities to the movable object 1400. In some embodiments, one or more of the horizontally oriented rotors can rotate in a clockwise direction, while one or more of the horizontal rotors can rotate in a counterclockwise direction. For example, the number of clockwise rotors can be equal to the number of counterclockwise rotors. The rotation rate of each of the horizontally-oriented rotors can be independently varied to control the lift and / or thrust generated by each rotor and thereby adjust the spatial placement, velocity, and / or acceleration of movable object 1400 (e.g., with respect to up to three degrees of translation and up to three degrees of rotation).

[0154] The sensing system 1408 may include one or more sensors that can sense the spatial placement, speed, and / or acceleration (e.g., with respect to up to three degrees of translation and up to three degrees of rotation) of the movable object 1400. The one or more sensors may include a global positioning system (GPS) sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor. The sensed data provided by the sensing system 1408 can be used to control the spatial placement, speed, and / or orientation of the movable object 1400 (e.g., using a suitable processing unit and / or control module, as described below). Alternatively, the sensing system 1408 can be used to provide data about the environment surrounding the movable object, such as meteorological conditions, proximity to potential obstacles, location of geographic features, location of man-made structures, etc.

[0155] The communication system 1410 supports communication with a terminal 1412 having a communication system 1414 via a wireless signal 1416. The communication system 1410, the communication system 1414 may include any number of transmitters, receivers and / or transceivers suitable for wireless communication. The communication may be a one-way communication, so that data can only be transmitted in one direction. For example, a one-way communication may only involve the movable object 1400 transmitting data to the terminal 1412, or vice versa. Data may be transmitted from one or more transmitters of the communication system 1410 to one or more receivers of the communication system 1414, or vice versa. Alternatively, the communication may be a two-way communication, so that data can be transmitted in both directions between the movable object 1400 and the terminal 1412. The two-way communication may involve transmitting data from one or more transmitters of the communication system 1410 to one or more receivers of the communication system 1414, and vice versa.

[0156] In some embodiments, the terminal 1412 can provide control data to one or more of the movable object 1400, the carrier 1402, and the load 1404, and receive information from one or more of the movable object 1400, the carrier 1402, and the load 1404 (e.g., position and / or motion information of the movable object, the carrier, or the load; data sensed by the load, such as image data captured by the load camera). In some cases, the control data from the terminal may include instructions for the relative position, movement, actuation, or control of the movable object, the carrier, and / or the load. For example, the control data may result in modification of the position and / or orientation of the movable object (e.g., via control of the power mechanism 1406), or movement of the load relative to the movable object (e.g., via control of the carrier 1402). The control data from the terminal may result in control of the load, such as control of the operation of a camera or other image capture device (e.g., taking still or moving pictures, zooming in or out, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing viewing angle or field of view). In some cases, the communication from the movable object, carrier and / or load may include information from one or more sensors (e.g., of the sensing system 1408 or of the load 1404). The communication may include sensed information from one or more different types of sensors (e.g., GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors). Such information may be about the positioning (e.g., position, orientation), movement, or acceleration of the movable object, carrier, and / or load. Such information from the load may include data captured by the load or the sensed state of the load. The control data provided and transmitted by the terminal 1412 may be configured to control the state of one or more of the movable object 1400, the carrier 1402, or the load 1404. Alternatively or in combination, the carrier 1402 and the load 1404 may also each include a communication module configured to communicate with the terminal 1412 so that the terminal can independently communicate with and control each of the movable object 1400, the carrier 1402, and the load 1404.

[0157] In some embodiments, the movable object 1400 may be configured to communicate with another remote device in addition to or in place of the terminal 1412. The terminal 1412 may also be configured to communicate with another remote device as well as the movable object 1400. For example, the movable object 1400 and / or the terminal 1412 may communicate with another movable object or a carrier or load of another movable object. When necessary, the remote device may be a second terminal or other computing device (e.g., a computer, a laptop computer, a tablet computer, a smart phone or other mobile device). The remote device may be configured to transmit data to the movable object 1400, receive data from the movable object 1400, transmit data to the terminal 1412, and / or receive data from the terminal 1412. Optionally, the remote device may be connected to the Internet or other telecommunications network so that data received from the movable object 1400 and / or the terminal 1412 may be uploaded to a website or server.

[0158] Fig.15 1 is a schematic diagram illustrating a system 1500 for controlling a movable object according to an embodiment through a block diagram. The system 1500 can be used in combination with any suitable embodiment of the systems, devices, and methods disclosed herein. The system 1500 may include a sensing module 1502, a processing unit 1504, a non-transitory computer readable medium 1506, a control module 1508, and a communication module 1510.

[0159] The sensing module 1502 can utilize different types of sensors that collect information related to the movable object in different ways. Different types of sensors can sense different types of signals or signals from different sources. For example, the sensor may include an inertial sensor, a GPS sensor, a proximity sensor (e.g., a lidar), or a visual / image sensor (e.g., a camera). The sensing module 1502 can be operably coupled to a processing unit 1504 having multiple processors. In some embodiments, the sensing module can be operably coupled to a transmission module 1512 (e.g., a Wi-Fi image transmission module), which is configured to directly transmit sensing data to a suitable external device or system. For example, the transmission module 1512 can be used to transmit an image captured by a camera of the sensing module 1502 to a remote terminal.

[0160] The processing unit 1504 may have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU)). The processing unit 1504 may be operably coupled to a non-transitory computer-readable medium 1506. The non-transitory computer-readable medium 1506 may store logic, code, and / or program instructions that can be executed by the processing unit 1504 to perform one or more steps. The non-transitory computer-readable medium may include one or more memory units (e.g., removable media or external storage devices, such as an SD card or a random access memory (RAM)). In some embodiments, data from the sensing module 1502 may be directly transmitted to and stored in the memory unit of the non-transitory computer-readable medium 1506. The memory unit of the non-transitory computer-readable medium 1506 may store logic, code, and / or program instructions that can be executed by the processing unit 1504 to perform any suitable embodiment of the method described herein. For example, the processing unit 1504 may be configured to execute instructions so that one or more processors of the processing unit 1504 analyze the sensing data generated by the sensing module. The memory unit may store sensing data from the sensing module to be processed by the processing unit 1504. In some embodiments, the memory unit of the non-transitory computer-readable medium 1506 may be used to store processing results generated by the processing unit 1504.

[0161] In some embodiments, the processing unit 1504 can be operably coupled to a control module 1508, which is configured to control the state of the movable object. For example, the control module 1508 can be configured to control the power mechanism of the movable object to adjust the spatial layout, speed and / or acceleration of the movable object with respect to six degrees of freedom. Alternatively or in combination, the control module 1508 can control the state of one or more of the carrier, the load or the sensing module.

[0162] The processing unit 1504 may be operably coupled to a communication module 1510, which is configured to transmit and / or receive data from one or more external devices (e.g., a terminal, a display device, or other remote controller). Any suitable communication means may be used, such as wired communication or wireless communication. For example, the communication module 1510 may utilize one or more of a local area network (LAN), a wide area network (WAN), infrared, radio, WiFi, a point-to-point (P2P) network, a telecommunications network, a cloud communication, etc. Alternatively, a relay station such as a tower, a satellite, or a mobile station may be used. Wireless communication may rely on proximity or be independent of proximity. In some embodiments, communication may or may not require line of sight. The communication module 1510 may transmit and / or receive one or more of the sensing data from the sensing module 1502, the processing results generated by the processing unit 1504, predetermined control data, user commands from a terminal or remote controller, etc.

[0163] The components of system 1500 may be arranged in any suitable configuration. For example, one or more of the components of system 1500 may be located on a movable object, a carrier, a load, a terminal, a sensing system, or an additional external device that communicates with one or more of the above. Fig.15 A single processing unit 1504 and a single non-transitory computer-readable medium 1506 are depicted, but those skilled in the art will appreciate that this is not intended to be limiting, and that the system 1500 may include multiple processing units and / or non-transitory computer-readable media. In some embodiments, one or more of the multiple processing units and / or non-transitory computer-readable media may be located at different locations, such as on a movable object, a carrier, a payload, a terminal, a sensing module, an additional external device in communication with one or more of the foregoing, or a suitable combination thereof, such that any suitable aspects of the processing and / or memory functions performed by the system 1500 may occur at one or more of the foregoing locations.

[0164] Although preferred embodiments of the present invention have been shown and described herein, it is apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will now appreciate that many variations, changes and substitutions will occur without departing from the present invention. It should be understood that various alternatives to the embodiments of the present invention described herein may be employed in the process of practicing the present invention. The appended claims are intended to define the scope of the present invention, and therefore cover methods and structures within the scope of these claims and their equivalents.

Claims

1. A method for controlling the movement of an aircraft having one or more power units, the method comprising: (a) outputting control signals from one or more processors to the one or more power units to cause the aircraft to operate according to a first set of altitude constraints, wherein the first set of altitude constraints constrains the altitude of the aircraft relative to a first reference altitude; (b) evaluating, with the aid of the one or more processors and based on one or more criteria, whether the aircraft should operate in accordance with a second set of altitude constraints; as well as (c) if the one or more criteria are satisfied according to the evaluation in (b), outputting control signals from the one or more processors to the one or more power units to cause the aircraft to operate in accordance with the second set of altitude constraints, wherein the second set of altitude constraints constrains the altitude of the aircraft relative to a second reference altitude; The first reference height and the second reference height are reference heights based on different reference planes. 2 . The method of claim 1 , wherein the first reference altitude is an altitude at sea level, and wherein the second reference altitude is an altitude at ground level at which the current position of the aircraft is located. 3 . The method of claim 1 , wherein at least one of the first set of altitude constraints or the second set of altitude constraints comprises a maximum altitude limit, a minimum altitude limit, or an allowable altitude range. The method according to claim 3 , wherein the maximum altitude limit is 120 m above the first reference altitude or the second reference altitude.

5. The method according to claim 1, wherein presetting at least one of the first set of altitude constraints or the second set of altitude constraints prior to a flight of the aircraft; or At least one of the first set of altitude constraints or the second set of altitude constraints is input by a user; or At least one of the first set of altitude constraints or the second set of altitude constraints is stored in a memory operably coupled to the one or more processors. The method of claim 1 , wherein the one or more criteria include whether a current flight time of the aircraft has exceeded a predetermined flight time threshold. The method according to claim 6 , wherein the predetermined flight time threshold is 10 seconds. 8 . The method of claim 1 , wherein the one or more criteria include whether a current altitude of the aircraft has exceeded a predetermined altitude threshold.

9. The method of claim 8, wherein the predetermined height threshold is 100 m above ground level.

10. The method according to claim 1, wherein The one or more criteria include whether the current altitude of the aircraft is greater than the altitude of the initial position of the aircraft; or The one or more criteria include whether the aircraft is not currently located within restricted airspace; or The one or more criteria include whether the second set of altitude constraints is not currently inhibited by a controller of the aircraft.

11. The method according to claim 10, wherein The controller is located on the aircraft; or The controller is a remote control device that communicates with the aircraft.

12. The method according to claim 1, wherein The one or more criteria are preset prior to a flight of the aircraft; or The one or more criteria are input by a user; or The one or more criteria are stored in a memory operatively coupled to the one or more processors.

13. The method according to claim 1, wherein: The one or more criteria are determined by predefined parameters based on the state of the aircraft, or the flight time, or the current altitude, or the position.

14. A device for controlling the movement of an aircraft, the device comprising: one or more memory units for storing program instructions; A processing unit, configured to execute the program instructions to implement the method according to any one of claims 1 to 13.

15. A system for controlling the movement of an aircraft, the system comprising: body; one or more power units coupled to the fuselage and adapted to effect movement of the vehicle; as well as One or more processors operably coupled to the one or more power units and individually or collectively configured to: implement the method according to any one of claims 1 to 13.

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