Autonomous UAV Flight Control With Safe-Envelope Emergency Switching

The control system is segmented into three distinct modules: a high-performance controller for nominal operation, a high-safety controller for safe-state monitoring, and a decision module for mode switching. This segmentation allows each module to specialize in specific functions, with the high-safety controller dedicated solely to safety assurance through safe-state verification, thereby guaranteeing flight safety while maintaining manageable complexity through clear functional separation.

The fully autonomous control system operates independently without human intervention by implementing self-service mechanisms. The decision module automatically monitors safe-state conditions and switches between controllers based on real-time safety assessments, while the high-safety controller continuously verifies aircraft state against predefined safe states. This self-service autonomy guarantees flight safety through automated safety management while simplifying operation by eliminating the need for human pilot input during critical safety decisions.

The system applies partial monitoring action by focusing computational resources on critical safe-state parameters rather than continuously analyzing all possible flight variables. The high-safety controller monitors a predefined set of safe states representing critical flight envelopes, applying just enough monitoring to guarantee safety without excessive computational overhead. This selective monitoring approach ensures safety assurance while optimizing energy consumption by avoiding unnecessary computational analysis of non-critical parameters.