Processes for generating and updating flyable airspace for unmanned aerial vehicles

A computing device configured to:

• receive a digital surface model of an area for an unmanned aerial vehicle (UAV) to navigate, wherein the digital surface model represents an environmental surface in the area;
• determine, for each grid cell of a plurality of grid cells in the area, a confidence value indicating confidence in an altitude of the environmental surface as depicted by the digital surface model at the grid cell, wherein the confidence value is based on sensor data previously collected by one or more UAVs other than the UAV;
• determine, for each grid cell of the plurality of grid cells in the area, a terrain clearance value based at least on the confidence value of the altitude of the environmental surface at the grid cell, wherein a higher value of the confidence value of the altitude of the environmental surface at the grid cell leads to a lower value of the terrain clearance value and more available airspace for the UAV at the grid cell, and wherein a lower value of the confidence value of the altitude of the environmental surface at the grid cell leads to a higher value of the terrain clearance value and less available airspace at the grid cell;
• determine a route for autonomous navigation of the UAV through the area such that, at each grid cell of a sequence of grid cells of the route, the altitude of the UAV at the grid cell is above the altitude of the environmental surface by at least the terrain clearance value determined for the grid cell;
• and
• transmit, by the computing device to the UAV, the route for the UAV.

An unmanned aerial vehicle (UAV) configured to:

• receive a digital surface model of an area for the unmanned aerial vehicle (UAV) to navigate, wherein the digital surface model represents an environmental surface in the area;
• determine, for each grid cell of a plurality of grid cells in the area, a confidence value indicating confidence in an altitude of the environmental surface as depicted by the digital surface model at the grid cell, wherein the confidence value is based on sensor data previously collected by one or more UAVs other than the UAV;
• determine, for each grid cell of the plurality of grid cells in the area, a terrain clearance value based at least on the confidence value of the altitude of the environmental surface at the grid cell, wherein a higher value of the confidence value of the altitude of the environmental surface at the grid cell leads to a lower value of the terrain clearance value and more available airspace for the UAV at the grid cell, and wherein a lower value of the confidence value of the altitude of the environmental surface at the grid cell leads to a higher value of the terrain clearance value and less available airspace at the grid cell;
• determine a route for the UAV through the area such that such that, at each grid cell of a sequence of grid cells of the route, the altitude of the UAV at the grid cell is above the altitude of the environmental surface by at least the terrain clearance value determined for the grid cell;
• and
• autonomously navigate through the area using the determined route.