Patent ID: 11972389
Assignee: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 4:
5. The apparatus of claim 1, wherein the at least one of the memory and the storage further includes commands that when processed by the at least one processor, cause the at least one processor to:
confirm whether or not a reference value of a first sub-segment is out of a safety flight altitude range with a criterion of topographic altitude value,
confirm whether or not a reference value of a second sub-segment is out of a safety flight altitude range with a criterion of topographic altitude value, when the reference value of the first sub-segment is identified to be within the safety flight altitude range with the criterion of topographic altitude value, and
determine a start point or an end point of the first sub-segment as a first sub-segment waypoint, when the reference value of the second sub-segment is identified to be out of the safety flight altitude range with the criterion of topographic altitude value.