Unmanned aerial vehicle autonomous obstacle avoidance method, flying method and system

The invention discloses an unmanned aerial vehicle autonomous obstacle avoidance method, a flying method and a system, and relates to the technical field of unmanned aerial vehicle high-altitude flight and obstacle avoidance, and the obstacle avoidance method comprises the following steps: determining obstacle information, carrying out model fitting on an obstacle, and obtaining a two-dimensional fitting model of the obstacle; wherein the obstacle information comprises a center position size, a horizontal contour size and a vertical contour size; mapping the two-dimensional fitting model into a three-dimensional fitting model, and determining the boundary size of the three-dimensional fitting model; a fly-around distance is defined based on the boundary size of the three-dimensional fitting model, obstacle avoidance path planning is executed, and the fly-around distance comprises a safe distance; the flying method and system are realized based on an obstacle avoidance method. According to the obstacle avoidan