Abstract: Disclosed are a route altitude adjustment method, an unmanned aerial vehicle operation method, and a related apparatus. The route altitude adjustment method includes: acquiring an operating route and an initial height table corresponding to the operating route are acquired; and then, optimizing the initial height table by using the maximum vertical velocity and the maximum vertical acceleration of an unmanned aerial vehicle in a height direction to obtain a target height table including the plurality of interpolation points and a target height of each of the plurality of interpolation point, so that a vertical velocity for flight between any two adjacent interpolation points is less than the maximum vertical velocity and a vertical acceleration for flight between any three adjacent interpolation points is less than the maximum vertical acceleration, so that the unmanned aerial vehicle may always satisfy a flight performance requirements during flight.

Abstract: A method and a device for obstacle or ground recognition and flight control, and an aircraft. The method for obstacle or ground recognition includes: determining point cloud data of a region in front of an aircraft; dividing the region in front into several subareas, determining an altitude of each of the subregions based on the point cloud data in each of the subregions; performing linear fitting on the altitudes of the several subregions, and determining whether an obstacle and/or ground is present in the front region according to the fitting result.

Abstract: A method for configuring navigation chart is provided. The method may include: acquiring a current flight position, posture information and a depth image detected at the current flight position of an unmanned aerial vehicle (S110); acquiring three-dimensional position information of each point according to the current flight position, the posture information and the depth image (S120); and projecting the three-dimensional position information of the each point into a local navigation chart taking the current flight position as a center according to a weight that is set respectively (S130). An automatic obstacle avoidance method, an automatic obstacle avoidance apparatus, a terminal and the unmanned aerial vehicle (800) are further provided.

Abstract: A method and a device for obstacle or ground recognition and flight control, and an aircraft. The method for obstacle or ground recognition includes: determining point cloud data of a region in front of an aircraft; dividing the region in front into several subareas, determining an altitude of each of the subregions based on the point cloud data in each of the subregions; performing linear fitting on the altitudes of the several subregions, and determining whether an obstacle and/or ground is present in the front region according to the fitting result.