JP2024042916A - Freefall Navigation System - Google Patents

Abstract

[Problem] The objective is to minimize the power required for flight, thereby suppressing the use of energy resources and transporting supplies to places where normal transport is difficult, such as in times of disaster, emergency, polar regions, etc. Another objective is to transport supplies quickly and flexibly by automatic flight using inertial navigation even in situations where radio waves cannot reach. [Solution] A free-fall navigation system comprising a balloon and an aircraft connected below the balloon so that it can be detached from the balloon, the aircraft having at least a fuselage, left and right wings, and a vertical tail, and adjusting its course depending on the direction, altitude, and speed by the lift of the left and right wings. The aircraft is also characterized in that a propeller is installed on the fuselage, and the rotational kinetic energy generated by the rotation of the propeller is used to adjust the course depending on the direction, altitude, and speed, and the aircraft further comprises a device for measuring the flight position of the aircraft using a satellite positioning system. [Selected Figure] Figure 2

Description

The present invention is a free-fall navigation system in which a flying object is separated after rising to a certain altitude by a balloon, the separated flying object flies to the destination while adjusting the descending speed, and after reaching a certain distance, the flying object descends. It is related to.
It also relates to a navigation system that can perform aerial observation and aerial relay while securing time in the air in situations where meteorological observation or radio wave relay is required.

The inventor of the present application has been considering a system that can transport supplies within a certain margin of error to locations where normal transportation is difficult, such as during disasters, emergencies, and polar regions.
Currently, the methods of transporting goods to their destination include truck transport and drone transport. It is conceivable that such technology could be used as a method of transporting supplies to places where normal transportation is difficult, such as disasters, emergencies, polar regions, etc., which is the object of the present invention.
However, truck transportation inevitably uses fossil fuels and electricity. Fossil fuels are viewed as problematic because they destroy the natural environment, such as by mining underground resources and stranding large tankers, and there are concerns that the decline in valuable biological resources will have an impact on human life.

In addition, it is easy to imagine that transportation to areas such as disasters or polar regions will be difficult due to restrictions due to infrastructure such as exhaust gas, traffic congestion, driver shortages, roads, routes, etc.
Another problem with drone transport is that it is inefficient for transporting goods due to the weight of the drone itself. In particular, current drones have built-in storage batteries, so depending on the distance they fly and the weight of the goods they carry, the drone itself becomes larger and heavier, reducing efficiency and greatly limiting flight distance. Some problems have been pointed out.
Drones currently in practical use are operated by remote control using electronic equipment. Discharge from high-voltage power lines, radio stations conducting other wireless communications, jamming radio waves and other illegal radio waves from railways, factories, etc., large-scale buildings such as high-rise buildings, and elevated structures such as railways and roads. Problems with electronic devices have become a problem due to shielding of radio waves by radio waves, ghosting due to reflections, and attenuation of radio waves in forest areas.

To solve this problem, transportation by drone requires the construction of a relay base station, resulting in a huge initial investment cost.
Further, the present invention is intended to transport supplies to polar regions during disasters, emergencies, but in such cases, it becomes difficult to transport supplies to locations where no relay base station is installed. Furthermore, in the event of a disaster, problems may occur with the relay base station or the system itself, such as radio wave interference or building collapse, so there is a risk that a quick and flexible response may not be ensured by drone transportation.

Japanese Patent Application Publication No. 4-126697 Patent No. 7055915 Patent No. 3711538 JP 2021-28473 Publication Japanese Patent Application Publication No. 2000-214254

The present invention aims to minimize the power required for flight, thereby reducing the use of energy resources and transporting supplies to places where normal transportation is difficult, such as during disasters, emergencies, polar regions, etc. In particular, the invention aims to meet the demand for decarbonization by reducing fuel consumption when ascending to a certain altitude.
Another object of the present invention is to transport goods quickly and flexibly by eliminating the need for the installation of relay base stations, significantly reducing initial investment costs, and by using inertial navigation for automatic flight even in situations where radio waves cannot reach.
Another object of the present invention is to prevent the size and weight of the casing of an aircraft equipped with a storage battery from increasing, thereby achieving long-distance flight efficiently.
Furthermore, the present invention aims to transport supplies within a certain margin of error by guiding an aircraft using gravity, its own weight, falling speed, lift, and renewable energy that utilizes wind power.

In order to solve the above problems, the present invention employs the following configuration.
(1) The present invention provides a free fall navigation system comprising a balloon and a flying object detachably connected below the balloon, wherein the flying object includes at least a fuselage, left and right wings, and a vertical tail. It is a free-fall navigation system that uses the lift of the left and right wings to adjust direction, altitude, and speed.
Here, the balloon and the flying object are separated by providing an electrical or electromagnetic separation structure at the joint between the balloon and the flying object. For example, when the navigation system reaches a predetermined altitude, the built-in computer that has obtained the altitude, latitude, and longitude information sends a signal to the servo motor control circuit and drive circuit via wireless or wired lines, and the servo motor ( This can be done by driving the motor (which changes the movement of the motor into an angle) and automatically unlocking the hook.
In addition, by adjusting the falling speed of the aircraft, the impact upon landing can be adjusted to prevent damage to the aircraft. Furthermore, it is possible to weaken the impact upon landing by using a parachute or the like near the arrival point. It is also possible to change the direction and altitude of the aircraft by adjusting the angles of the left and right wings. In addition, since the left and right wings are used to adjust the flight path, the ability to adjust the direction, altitude, and speed of the aircraft is minimal. It is also possible to use the left and right wings for other aircraft movements.

Furthermore, the balloon according to the present invention can also be recovered. For example, the balloon according to the present invention discharges the gas inside the balloon after separating from the flying object. The main wing is installed in the release device provided below the balloon. The main wing makes it possible to stabilize the flight of the balloon and fly along a desired route while obtaining lift by adjusting the angle of the main wing. It is also possible to steer the balloon by adjusting the angle of the main wings, which can assist in the function of correcting the balloon's course.
Furthermore, it is also possible to install a propeller at the tip of the release device. The propeller can adjust the falling speed by using the rotational kinetic energy generated by the rotation of the propeller when the balloon falls. Such functionality allows the balloon to navigate to a certain range of destinations.
By adopting the configuration of the present invention, the balloon connected to the flying object can be raised to a certain altitude, so that the flight power can be minimized. With these effects, it becomes possible to suppress the use of energy resources and transport goods to places where normal transportation is difficult, such as during disasters, emergencies, and polar regions. In particular, by reducing the use of fuel when climbing to a certain altitude, it has an excellent effect that meets the demands of decarbonization.

(2) The aircraft described in (1) above further includes a propeller installed in the fuselage, and a device that uses the rotational kinetic energy generated by the rotation of the propeller to adjust the course according to the direction, altitude, and speed. It is a free-fall navigation system.
The propeller according to the present invention has the function of applying air resistance to the falling motion of the aircraft to reduce the falling speed. In some cases, it also has the ability to change the elevation angle of the propeller and rotate it electrically to generate lift and lift the aircraft. Also, since propellers are used to adjust the flight path, the ability to adjust the orientation, altitude, and speed of the aircraft is minimal. It is also possible to use the propeller function for the operation of other flying vehicles.
Such propellers may be installed, for example, at the tip of the fuselage or at two locations in front of the left and right wings. There is no limit to the number of propellers, and they can be installed in other locations on the fuselage as long as they can perform their functions.

(3) The free-fall navigation system according to claim 1, characterized in that the aircraft has a device for measuring the flight position of the aircraft using a satellite positioning system, and/or the aircraft functions as a relay station for wireless communication by emitting radio waves from the aircraft. This is the free-fall navigation system described in (1) or (2) above.
The satellite positioning system used in the present invention is a GNSS that uses a global positioning system (GPS) or the like to measure positions on the ground. By incorporating such a GNSS into an aircraft, the position of the aircraft can be measured. In general, this is a system in which radio waves transmitted from four or more satellites are simultaneously observed by multiple surveying receivers, and these data are combined and analyzed to obtain the geometric three-dimensional positional relationship between observation points with an error of a few centimeters or less. In surveying, in addition to the positioning signal for navigation, information on the carrier wave carrying the signal (wavelengths of approximately 19.0 cm, 24.4 cm, and 25.5 cm) can also be used to measure the distance to the satellite, thereby improving the positioning accuracy from the meter level to the centimeter level. Satellite orbit information is required for analysis, and the broadcast calendar transmitted from the satellite can be used. Simultaneous observation at reference points is required to obtain the coordinate values for the survey, but this can be made possible by using data from electronic reference points (facilities that perform constant GNSS observation) established by the Geospatial Information Authority of Japan throughout the country.
In addition, the device that transmits the current position of the flying object functions as a relay station for wireless communication between the flying object and the aircraft. Wireless communication is performed using radio waves, infrared rays, visible light, sound waves, ultrasonic waves, pulse signals, X-rays, etc. Examples include a pulse signal transmitter that transmits the flight position measured by communication survey.
Furthermore, the present invention does not require the installation of relay base stations, significantly reducing initial investment costs, and enables the rapid and flexible transport of supplies through automatic flight even in situations where radio signals cannot reach.
The flying object according to the present invention can also employ so-called inertial navigation, i.e., it can measure direction, inclination, speed, current position, and altitude using a gyroscope, acceleration sensor, barometric altimeter, etc., and can transport goods while guiding the flying object to a specified destination while constantly measuring and recording the current moving speed, moving altitude, position, remaining distance to the destination, and remaining altitude.

(4) The flying object has a device that measures the aircraft's position on the ground by detecting the altitude, position, or time of the flying object and calculating its speed and distance traveled; The free fall navigation system described in (1) or (2) above is characterized by having a function of transmitting a position.
Here, the flying object according to the present invention can also employ so-called inertial navigation. In other words, the direction, inclination, speed, current position, and altitude are measured using a gyroscope, acceleration sensor, barometric altimeter, etc., and the current moving speed, moving altitude, position, remaining distance to the destination, and remaining altitude are measured and recorded at any time. It is possible to transport supplies while guiding the aircraft to a predetermined destination.
Furthermore, the detection of the altitude, position, or time of an aircraft according to the present invention is the minimum necessary information for automatic flight of the aircraft.
Therefore, in order to automatically correct the route in detail, in addition to altitude, position, and time, it is necessary to automatically correct the route in more detail and continue automatic flight based on the direction of the aircraft to the destination, remaining distance, etc. Of course, it may also have a function to obtain necessary information.

(5) The propeller is connected to a power generation device that generates rotational kinetic energy, and uses the electric power produced by the rotational kinetic energy to adjust the course according to the direction, altitude, and speed of the flying object, and to move the flying object in advance. The free fall navigation system described in (2) above is characterized in that it is possible to guide the vehicle to a set destination.
By adopting such a configuration, the present invention uses the tail to stabilize the aircraft in the windward direction when hovering at a certain altitude (with a certain altitude as the destination), and utilizes wind power to stabilize the aircraft in the windward direction. It gains lift and rises. Maintain a constant altitude while adjusting the ascent and descent. Also, since electric power is used to adjust the flight path, the ability to adjust the flight vehicle's orientation, altitude, and speed is minimal. It is also possible to power the operation of other air vehicles.
In addition, since the present invention can generate electricity by the flight of the aircraft itself, there is no need to provide a large-capacity storage battery or power generation device, and it is possible to prevent an increase in the size and weight of the casing, allowing for efficient long-distance and long-distance operation. It is possible to achieve time flight and also enable built-in devices to operate for long periods of time.

(6) The aircraft has a radio wave receiver and a transmitter, and functions as a relay base for wireless communication by receiving radio waves from outside the aircraft or transmitting radio waves. The free fall navigation system described in (1) or (2) above is characterized by:
By adopting the configuration of the present invention, it becomes possible for the aircraft itself to temporarily fulfill the role of a relay base in polar regions where radio waves do not reach.
(7) The flying object detects the altitude, position, or time of the flying object, transmits the detected information to a supervisor, and the supervisor who receives the information sends a signal to control the operation of the flying vehicle. The free fall navigation system described in (1) or (2) above is characterized in that it is capable of transmitting information to the human body.
According to the invention, when a monitor receives information detected by a flying object and there is an error between the route to a preset destination and the current position of the flying object, the observer can determine the correct position of the flying object. It has a configuration that transmits a correction signal for correction to the flying object.
The flying object that has received the correction signal is able to fly to its destination by adjusting the wing angle, propeller rotation speed, etc. in accordance with the correction signal and correcting the route to the correct route.

By minimizing flight power, the present invention can suppress the use of energy resources and transport supplies to places where normal transportation is difficult, such as during disasters, emergencies, and polar regions. In particular, by suppressing fuel use when climbing to a certain altitude, it is effective in meeting the demands for decarbonization.
Furthermore, the present invention does not require the installation of a relay base station, significantly reduces the initial investment cost, and allows goods to be transported quickly and flexibly by automatic flight using inertial navigation even in situations where radio waves do not reach.
Furthermore, the present invention can prevent an increase in the size and weight of the casing of an aircraft equipped with a storage battery, and can efficiently achieve long-distance flight.
Further, the flying object itself according to the present invention has the effect of temporarily playing the role of a relay base.
Furthermore, the present invention has the excellent effect of transporting goods within a certain degree of error while guiding the flying object by utilizing renewable energy using gravity, self-weight, falling speed, lift force, and wind power.

FIG. 1 is a front view illustrating a free fall navigation system according to Embodiment 1 of the present invention. FIG. 1 is a front view illustrating a free fall navigation system according to Embodiment 1 of the present invention. 1 is a conceptual diagram illustrating a usage state of the free fall navigation system according to Embodiment 1 of the present invention. FIG. 2 is a front view illustrating a flying object used in the free-fall navigation system according to the first embodiment. FIG. 2 is a front view illustrating a flying object used in the free-fall navigation system according to the first embodiment. FIG. 2 is a front view illustrating a flying object used in the free-fall navigation system according to the first embodiment. FIG. 2 is a conceptual diagram illustrating navigation of a flying object used in the free-fall navigation system according to the first embodiment. FIG. 3 is a perspective view illustrating a flying object used in a free-fall navigation system according to a second embodiment. FIG. 7 is a diagram illustrating navigation of a flying object used in a free-fall navigation system according to a second embodiment. (a) is a plan view, and (b) is a side view. FIG. 7 is a side view illustrating navigation of a flying object used in a free-fall navigation system according to a third embodiment.

An example of an embodiment according to the present invention will be described with reference to the drawings. However, the following explanation is an illustration of the present invention, and does not limit the technical scope of the present invention.
Embodiment 1
1 and 2 are front views illustrating a free fall navigation system according to Embodiment 1 of the present invention.
As shown in FIG. 1, a free fall navigation system 10 according to Embodiment 1 of the present invention includes a balloon 1 and a flying object 2 detachably connected below the balloon 1. The balloon 1 and the flying object 2 are connected by a release device 5.
The flying object 2 has at least a fuselage, left and right wings, and a vertical tail. Further, a propeller 4 is installed at the rear end of the fuselage. The flying object 2 has a device that uses rotational kinetic energy generated by the rotation of the propeller 4 to adjust its falling speed.
FIG. 2 is a diagram showing a state in which the flying object 2 is separated from the balloon 1. A release device 5 is provided between the balloon 1 and the flying object 2, which functions to separate the flying object 2. Such a release device 5 realizes the disconnection by an electrical method. Specifically, the free-fall navigation system 10 has built-in separation information consisting of a certain range of altitude, latitude, longitude, and time if necessary, and the coincidence of information obtained by the navigation system 10 using sensors. When the computer detects this, it sends a signal to the servo motor control circuit through a wired line, driving the servo motor, and hooking the flying object 2 in the release device provided on the underside of the balloon 1. This is done by automatically unlocking the door.

FIG. 3 is a conceptual diagram illustrating the usage state of the free fall navigation system according to the first embodiment of the present invention.
As shown in FIG. 3, the flying object 2 separated by the release device 5 of the balloon 1 in the navigation system 10 is automatically operated within a certain range of objectives without relying on external guidance using GPS or the like. The flying vehicle 2 or the supplies loaded on the flying vehicle 2 can be transported to the destination by flying while correcting the route.
At this time, the flying object 2 according to the present invention can measure the altitude of the flying object 2 itself.
The flying object 2 includes arithmetic processing means for processing the vertical acceleration output from the accelerometer and a reference altitude, and a barometric altimeter that outputs a barometric altitude as the reference altitude.
and receiving a GPS altitude from a GPS receiver, and in a state where the pressure altitude is valid, supplies the pressure altitude as the reference altitude to the arithmetic processing means to estimate a bias error of the GPS altitude using the inertial altitude as a reference. Can be done.
When the pressure altitude becomes invalid, a GPS correction altitude is generated by correcting the GPS altitude using the bias error immediately before the pressure altitude becomes invalid, and the GPS correction altitude is selected as the reference altitude. can do.
Such automatic measurement of altitude can be implemented by referring to the invention described in Patent Document 3, for example.
Further, the flying object 2 of the present invention can be guided to a destination by navigation using an acceleration sensor, a barometer, or a gyro sensor.

Further, the flying object 2 according to the present invention may include a device that measures the position of the flying object 2 on the ground using a satellite positioning system.
As a device for measuring the position of the flying object 2 on the ground using a satellite positioning system, for example, a communication satellite and a GPS satellite are used.
A person monitoring the flying object (hereinafter referred to as a "monitor") can communicate information with each other by setting up a communication line via the flying object and a communication satellite. The supervisor is a person who uses flight information of the flying object 2 using external equipment such as ground facilities, vehicles, other airplanes, and ships.
The flying object 2 receives a GPS signal from a GPS satellite, uses the installation position as position information, and generates a GPS correction signal based on the deviation from the position information obtained from the GPS signal. A correction signal is transmitted to the flying object 2 via a communication satellite.
On the other hand, after generating position information, selecting required map information from a map information database based on the position information, and encoding it, the map data may be transmitted to the flying object 2 via a communication satellite.
Next, the GPS signal received from the GPS satellite is corrected to obtain accurate position information of the flying object 2. Position information can also be transmitted to the observer by communication satellite. The flying object 2 performs alignment between position information and map information using a built-in computer. Data after alignment can be transmitted to a monitor via a communication satellite. Such alignment between position information and map transfer may be performed by the flying object 2 itself, or may be performed by instructions from a supervisor.
For example, if an error occurs between the position information and the map information, the monitor who receives the data adjusts the driving status of the wings and propellers of the aircraft 2 in order to correct the aircraft 2 to the correct position. By transmitting the signal to the flying object 2, it becomes possible to guide the flying object 2 to its destination.

At this time, by using a camera built into the flying object 2, it is also possible to perform positioning with higher precision. Techniques regarding alignment using a camera can be implemented by referring to Patent Document 5, for example.
By using such a technique, the flying object 2 can be transported to the destination while correcting the course of the flying object 2 itself.
The flying object 2 used in the present invention has at least a fuselage 11, left and right wings, and a vertical tail 8 .
A propeller 4 is installed at the rear end of the fuselage, and as shown in FIGS. 4 and 5, the aircraft 2 separated from the navigation system 10 can be moved by opening the left and right wings 7, 7. It becomes possible to fly along a desired route while maintaining stability and adjusting the angle of the main wings to obtain lift. The left and right wings 7, 7 are normally housed along the fuselage 11.
It is also possible to steer by adjusting the angle of the main wings 7, 7, which can assist the function of correcting the course of the flying object 2. A tail 8 is also installed at the rear end of the fuselage.
As shown in FIG. 4, the tail 8 is housed in the fuselage 11. Four tail planes 8 are installed at equal intervals at the rear end of the fuselage 11, and function as a vertical tail plane and a horizontal tail plane. That is, the vertical stabilizer turns the flying vehicle 2 left and right, and the horizontal stabilizer controls the flying vehicle 2 in the vertical direction.
As shown in FIG. 5, the flying object 2 flies by gliding by opening the main wings 7, 7 and the tail 8.

FIG. 6 is a diagram illustrating the flying vehicle 2 used in the free-fall navigation system according to the first embodiment.
The flying object 2 according to the first embodiment has a propeller 4 installed at the rear end of the fuselage 11. The flying object 2 can adjust its falling speed by utilizing the rotational kinetic energy generated by the rotation of the propeller 4 when it falls.
In addition, the flight path of the flying object 2 can be adjusted by left and right wings 17, 17 provided at the rear of the aircraft fuselage. The left and right wings 17, 17 are usually stored so as to follow the outer periphery of the propeller 4.
As shown in Fig. 6, the tail is stored in the fuselage. By opening the left and right wings 17, 17, the flying object 2 flies with the fuselage 11 fixed in a substantially vertical direction by the rotation of the propeller. That is, the flying object 2 shown in Fig. 5 flies like a glider, while the flying object 2 shown in Fig. 6 flies with the fuselage 11 fixed in a substantially vertical direction with the propeller at its apex.
By changing the direction of rotation of the propellers, the ascent, i.e., the flight time, can be flexibly adjusted based on the altitude of the flying object 2, the height of the destination, the horizontal movement speed, the vertical fall speed, and the remaining distance to the destination.

As shown in FIG. 7, the route calculated after the start of descent is 1, but since the flying object deviated from the ideal route, the route is recalculated from the position where it deviated, and route 3 is recalculated from the position where it deviated. By sequentially performing this for the course and altitude, the flying object 15 can be navigated within a certain range of destinations.

EMBODIMENT 2
8 and 9 are diagrams illustrating the flying object 20 used in the free-fall navigation system according to the second embodiment.
8, the flying body 20 according to the second embodiment can adjust its altitude, falling speed, flying speed, or direction by using the lift of left and right wings 27, 27 joined to the fuselage 21. In particular, the flight time can be extended by utilizing the wind force present in the atmosphere.
As shown in Fig. 9(a), the vertical tail 28 of the aircraft 20 can turn the nose into the wind by using the effect of the tail, and as shown in Fig. 9(b), by adjusting the angle of elevation of the left and right wings 27, 27, it is possible to obtain lift and raise the gas. It is also possible to reduce the descent speed by using the same effect.

Embodiment 3
FIG. 10 is a side view illustrating a flying object 30 used in the free-fall navigation system according to the third embodiment.
As shown in FIG. 10, the flying object 30 according to the third embodiment can adjust its altitude and falling speed by the lift forces of the left and right wings 37. In particular, the wind power present in the atmosphere can be used to extend the flight time.
The aircraft 30 used in the present invention has a propeller 34 installed at the rear end of the fuselage 31, and can adjust the descending speed and altitude.
As shown in FIG. 10, the flying object 30 separated from the navigation system opens the left and right wings 37 to stabilize the flying object 30 and fly along a desired route while adjusting the angle of the main wings to obtain lift. becomes possible. It is also possible to steer by adjusting the angle of the main wings 37, which can assist the function of correcting the course of the flying object 30.
Further, as shown in FIG. 10, a tail 38 is also installed at the rear end of the fuselage 31. The tail fin 38 functions as a vertical tail fin. That is, the vertical stabilizer 38 can direct the nose of the aircraft upwind due to the effect of the tail, and by adjusting the elevation angle of the left and right wings 37, lift can be obtained and the flying object 30 can rise.
That is, when the flying object 30 is separated from the balloon and is required to stay in the air at a certain altitude or to fly for a long time, the flying object 30 adjusts its direction so that it is perpendicular to the direction of the wind, and turns the ship toward the windward. (Do this on tail 38). The angle of attack of the tail 38 is set sufficiently to obtain lift. If the wind direction is an updraft, the aircraft will continue to climb, and if the wind is in a downdraft, the aircraft's descent speed can be reduced.

1 Balloon 2, 20, 30 Flying vehicle 4, 34 Propeller 5 Release device 7, 17, 27, 37 Left and right wings 8, 28, 38 Tail 10 Free-fall navigation system 11, 21, 31 Aircraft fuselage

Claims (7)

A free-fall navigation system consisting of a balloon and an aircraft connected below the balloon so that it can be separated from the balloon, the aircraft having at least a fuselage, left and right wings, and a vertical tail, and adjusting its direction by the lift of the left and right wings, and its course by adjusting its altitude and speed. The free-fall navigation system described in claim 1 further comprises a propeller mounted on the fuselage, and uses the lift generated by the left and right wings and the rotational kinetic energy generated by the rotation of the propeller to adjust the course according to direction, altitude, and speed. 3. The free-fall navigation system according to claim 1, wherein the flying object has a device for measuring the flight position of the flying object using a satellite positioning system. The free-fall navigation system described in claim 1 or 2, characterized in that the flying object has a device that detects the flying object's altitude, position, or time, and measures the flying object's position on the ground by calculating its speed and travel distance, and/or transmits the flying object's current position and guides the flying object to a preset destination. The propeller is connected to a power generation device that generates rotational kinetic energy, and uses the electric power produced by the rotational kinetic energy to adjust the course according to the direction, altitude, and speed of the flying object, thereby propelling the flying object. The free-fall navigation system according to claim 2, wherein the free-fall navigation system is capable of guiding to a preset destination. The aircraft is characterized in that it has a radio wave receiver and a transmitter, and functions as a relay base for wireless communication by receiving radio waves from outside the aircraft or transmitting radio waves. A free fall navigation system according to claim 1 or 2. The free-fall navigation system described in claim 1 or 2, characterized in that the flying object detects the altitude, position or time of the flying object, transmits the detected information to an observer, and the observer who receives the information transmits a signal to the flying object to control the operation of the flying object.

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