自由空域下多旋翼无人机安全间隔标定方法

张洪海, 李博文, 刘皞, 钟罡, 费毓晗

Demarcation method of safety separation for multi-rotor UAV in free airspace

Honghai ZHANG, Bowen LI, Hao LIU, Gang ZHONG, Yuhan FEI

图8. 航向与垂直速度离散化示意图

Fig.8. Schematic diagram of the discretization of heading and >vertical velocity