What you want to look into is the Fresnel Zone. There are a few online calculators out there that allow you to figure out signal strength, range, antenna heights, etc.
http://www.proxim.com/products/knowledge-center/calculations/calculations-fresnel-clearance-zoneIIRC, Ubiquity Networks even has a tool that uses the terrain capabilities of Google Maps to do this. Earlier this year, I spent many weeks on this particular problem for video transmission. Bottom line: elevation is your friend. You can improve things with a patch antenna and amplification but there really is no substitute for antenna height. UAVs don't have this problem because they're up in the air.