| 摘要 |
Navigating a UAV including orbiting a waypoint including defining four bracket lines surrounding a waypoint, flying the UAV from a course segment having coordinate values in a range into a course segment not having coordinate values in the range, wherein a bounding bracket line defines a boundary between the segments; selecting, a heading parallel to a bracket line in dependence upon an orbital direction; the UAV in the orbital direction to fly on a the heading; and repeatedly: flying the UAV from a course segment having coordinate values in a range into a course segment not having coordinate values in the range, wherein a bounding bracket line defines a boundary between the segments; and turning the UAV in the orbital direction to fly on a heading parallel to the bounding bracket line.
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