UAV Altitude Control Using Terrain-Based Vertical Limit Calculation
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Solution Overview
Problem
Current methods for determining the maximum vertical height of unmanned aircraft are inadequate in areas with steep gradients, resulting in a reduced airspace available due to a discrepancy between the theoretical vertical limit and the actual flying height allowed by regulations.
Innovation Solution
A method that determines the maximum flying altitude by calculating the intersection between a circle centered on surrounding ground points and a vertical plane, using a digital map to account for terrain gradients and uncertainties, allowing for a more precise adjustment of the aircraft's altitude based on the maximum authorized ground distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the maximum vertical height is determined by simply adding the maximum authorized ground distance to the ground altitude, then the calculation is simple, but the result is less than the theoretical vertical limit in areas with steep gradients, reducing the available airspace
Solution Approach 1:
The method segments the terrain analysis by examining multiple surrounding ground points (at least three points) around the aircraft position rather than relying on a single ground altitude value. This segmentation allows the system to account for terrain variations and gradients by analyzing the altitude differences between surrounding points, thereby achieving more precise alignment with the theoretical vertical limit while maintaining computational feasibility through structured processing of discrete points.
2Ease of operation
If the maximum authorized ground distance is kept constant over a flight route, then the regulation compliance is straightforward, but the authorized vertical height varies with terrain gradient, creating uncertainty in airspace availability
Solution Approach 1:
The method dynamically adjusts the maximum vertical height calculation by continuously analyzing the altitudes of surrounding ground points relative to the aircraft position. Instead of using a static ground altitude value, the system adapts to terrain variations by computing the vertical limit based on the actual gradient conditions detected from multiple surrounding points, thereby maintaining regulatory compliance while optimizing airspace utilization according to real-time terrain conditions.
Solution Approach 2:
The system implements feedback by continuously monitoring the altitude relationships between the aircraft and surrounding ground points. By comparing the calculated vertical limits with the actual terrain configuration, the method adjusts the authorized flying height to align with the theoretical vertical limit, ensuring that the aircraft operates within compliant boundaries while maximizing available airspace based on feedback from the terrain analysis.
3Measurement precision
If multiple surrounding ground points are analyzed to determine the maximum flying altitude, then the alignment with theoretical vertical limit is improved, but the computational complexity increases
Solution Approach 1:
The method applies partial action by analyzing a limited but sufficient number of surrounding ground points (at least three points) rather than performing exhaustive analysis of all possible terrain data. This selective approach to terrain sampling provides adequate precision for aligning with the theoretical vertical limit while avoiding excessive computational complexity that would result from analyzing every possible ground point along the flight route.
Data Source
AI summary
A method for controlling an unmanned aircraft includes determining a maximum flying altitude for a ground position of the aircraft, the method comprising: for each point from a plurality of ground points situated within a perimeter around the ground position of the aircraft, referred to as “surrounding points”, determining one or more intersections between firstly a circle, the centre of which is the point and the radius of which is the maximum authorized ground distance at this point, referred to as the “determination circle”, and secondly a vertical related to the ground position of the aircraft, the circle being contained in a vertical plane comprising the vertical related to the ground position of the aircraft; and for all of the intersections thus obtained, selecting the greatest altitude as the maximum flying altitude.