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Terrain Following System Based on Online Detection Data

This paper discusses the development of a terrain following system for aerial vehicle based on ground elevation data obtained by an online detection system. The developed approach utilizes a set of elevation data obtained sequentially to generate vertical trajectory references that includes a safe clearance with respect to the ground. This reference then is fed to a flight path control system such that the aircraft can change its trajectory to follow the terrain contour. The trajectory reference generating algorithms have some parameters that can be tuned so that it can produce a reference path that will not require high g-load maneuvers. The flight path control system tracks the reference by controlling the altitude change or the flight path angle of the aircraft. The developed approach is then implemented and simulated numerically on a hypothetical air vehicle model. The results show that the approach can steer the vehicle to follow a terrain contour model, while maintain relatively moderate maneuvers.