@dajbelshaw yes, it's crazy with these regulations. Couldn't we just follow this simple basic rule everywhere: do not disturb anybody and leave nothing but your footprints? *sigh*
In reality, nobody cares. In the UK people are camping everywhere, in parkings, streets, town parks, the only question that bothers them is whether someone is actually going to try to remove them. So I wouldn't bother, just apply common sense.