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<p>This paper presents an autonomous Unmanned Aerial Vehicle (UAV) navigation framework designed to track a programmable square-pulse altitude profile in real time. The system integrates a Cube Orange Plus flight controller with a Raspberry Pi companion computer through the Micro Air Vehicle Link (MAVLink) protocol, enabling dynamic switching between discrete altitude levels during GPS-guided missions. Unlike existing UAV systems that primarily emphasize continuous trajectory following, dense mapping, or learning-based altitude regulation, the proposed approach focuses on real-time discrete altitude modulation supported by a lightweight sensor-fusion architecture. A LiDAR-barometer fusion mechanism provides continuous altitude correction, ensuring stable climbs, descents, and sustained low-altitude cruise phases without the need for computationally intensive processing. Experimental flight results demonstrate reliable square-wave altitude tracking and robust horizontal stability under varied operating conditions, underscoring the practicality and efficiency of the system for structured and energy-aware aerial missions.</p>

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Autonomous LiDAR-guided dynamic altitude profiling for real-time UAV navigation in structured environments

  • 期刊论文

  • 发表日期：

    2026年1月16日

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  • Shaik Riyaz Hussain,
  • Shaik Sajid,
  • Dasari Eswar

摘要

This paper presents an autonomous Unmanned Aerial Vehicle (UAV) navigation framework designed to track a programmable square-pulse altitude profile in real time. The system integrates a Cube Orange Plus flight controller with a Raspberry Pi companion computer through the Micro Air Vehicle Link (MAVLink) protocol, enabling dynamic switching between discrete altitude levels during GPS-guided missions. Unlike existing UAV systems that primarily emphasize continuous trajectory following, dense mapping, or learning-based altitude regulation, the proposed approach focuses on real-time discrete altitude modulation supported by a lightweight sensor-fusion architecture. A LiDAR-barometer fusion mechanism provides continuous altitude correction, ensuring stable climbs, descents, and sustained low-altitude cruise phases without the need for computationally intensive processing. Experimental flight results demonstrate reliable square-wave altitude tracking and robust horizontal stability under varied operating conditions, underscoring the practicality and efficiency of the system for structured and energy-aware aerial missions.