Method, apparatus and unmanned aerial vehicle for terrain following flight of unmanned aerial vehicles

摘要

Embodiments of the present invention relate to a method, apparatus, and unmanned aerial vehicle for terrain following flight of an unmanned aerial vehicle. The method obtains a vertical distance between the unmanned aircraft and the ground, obtains an oblique distance between the unmanned aircraft and the ground, and obtains a depression angle between the vertical distance and the oblique distance. And adjusting the state of terrain following flight of the unmanned aerial vehicle based on the depression angle, the vertical distance, and the oblique distance. According to the unmanned aerial vehicle to which the embodiment of the present invention is applied, the unmanned aircraft can be controlled to perform different flight operations at different oblique distances from the ground, whereby the unmanned aerial vehicle can be controlled in the mountains, hills, terraced fields. Can realize terrain-following flight in various environments such as plains, high-stem plants, etc., improving the working efficiency of unmanned aircraft and the ability to adapt to the environment of unmanned aircraft, and the reliability and safety of unmanned aircraft To increase.