JP2000203491A - Radio relay station system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the time lag in communication or broadcast by launching an airship to the stratosphere from a prescribed point on the ground, moving it from the prescribed point to another prescribed point and mooring it, and lowering it to the ground from the prescribed point in the sky. SOLUTION: An airship having missions such as the radio relay for communication or broadcast and earth observation is launched to the sky from a prescribed point on the ground, and it is moved from the prescribed point to another prescribed point and moored there, then it is lowered to the ground from the prescribed point in the sky. In the whole sequence of this radio relay station system, the path guidance in the launching, movement, mooring and recovery of the airship 1 is conducted by the airframe control for turning the airship 1 in the specified direction. The airship 1 for the radio relay is retained at a low altitude in the sky, thus the time lag in communication or broadcast can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio relay base system which is mainly used for communication and broadcasting between various terrestrial facilities or portable terminals and stays in the sky.

[0002]

2. Description of the Related Art FIG. 19 is a diagram showing a conventional wireless relay base system. In the figure, 40 is a communication / broadcast satellite, 4
1 is a facility related to communication or broadcasting, and 42 is various facilities on the ground.

The conventional radio relay base system uses a communication / broadcasting satellite 40, which is a geostationary satellite, as a base to perform radio relay between a facility 41 involved in communication or broadcasting and various terrestrial facilities 42. Regarding the concept of using an airship as a radio relay station, specific means for realizing the concept has not been established.

[0004]

The operation of the conventional wireless relay base system has been described above. As described above, in the conventional wireless relay base system, if the wireless relay base is a geostationary satellite, it stays at an altitude of about 36,000 km above the sky, so there is a time delay in communication / broadcasting and the limit of miniaturization of terminal equipment. There was a problem. In addition, if the radio relay base is an airship, launch, recover, move, and stop the airship, take measures against the effects of wind, perform prescribed tasks with the least possible energy consumption, deal with changes in flight environment conditions, etc. Is the challenge.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and stays at a low altitude above the sky, so that there is almost no time delay in communication / broadcasting, and the terminal device can be miniaturized. In addition, launch, collection, movement,
An object of the present invention is to provide a radio relay base system which provides a means for suppressing energy consumption in consideration of the influence of wind and changes in flight environment conditions in order to realize a stop.

[0006]

According to a first aspect of the present invention, there is provided a radio relay base system which raises an airship from a predetermined point on the ground to a stratosphere, moves it from a predetermined point to another predetermined point, and And descend from a predetermined point in the sky to the ground. In order to realize the route guidance of these airships, an airframe control for turning the airships in a designated direction is provided.

[0007] A wireless relay base system according to a second aspect of the present invention comprises:
It is raised by buoyancy or the like, and is propelled and turned in the horizontal direction in consideration of a horizontal coordinate component of a relative distance between a predetermined point in the sky and the position of the airship.

[0008] In the wireless relay base system according to the third aspect of the present invention, the launch timing is determined in consideration of the wind prediction result before launching the airship as launching means.

In the radio relay base system according to a fourth aspect of the present invention, as a launch means, after launching the airship, a command is issued from the ground to the airship in consideration of the updated wind prediction result.

[0010] In the wireless relay base system according to a fifth aspect of the present invention, as the moving means, the airship is moved to the second point along a straight line connecting the position of the airship (first point) and the stop point (second point). Determine the speed of the airship so as to stop at and move the airship from the first point to the second point.

According to a sixth aspect of the present invention, in the wireless relay base system, the airship is turned at a predetermined point in the sky by turning the airship in a direction in which the wind flows and propelling the airship depending on the strength of the wind. .

[0012] In a wireless relay base system according to a seventh aspect of the present invention, an airship is provided as a recovery means.
It is raised by buoyancy or the like, and is propelled and turned in the horizontal direction in consideration of a horizontal coordinate component of a relative distance between a predetermined point in the sky and the position of the airship.

According to an eighth aspect of the present invention, in the radio relay base system, as the recovery means, before the airship is recovered, the timing of the recovery start is determined in consideration of the wind prediction result.

In the radio relay station system according to the ninth aspect, as the recovery means, after starting the recovery of the airship, a command is issued from the ground to the airship in consideration of the update result of the wind prediction.

[0015] In a wireless relay base system according to a tenth aspect of the present invention, as a control means, an airframe parameter that fluctuates depending on environmental conditions is estimated in real time, and an actual azimuth angle is determined in response to a required azimuth angle command. A feedback control system is configured by detecting the signal with a sensor or the like to ensure quick response and stability.

[0016] In the radio relay base system according to the eleventh aspect of the present invention, as the control means, the response of the actual azimuth angle to the azimuth angle command has a desired characteristic even if the body parameters fluctuate depending on environmental conditions. It is possible to have.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As an embodiment of the present invention, a radio relay base system including steps of launching, moving, stopping, collecting, and controlling an airship will be described below with reference to the drawings.

FIG. 1 is a diagram showing a first embodiment of the present invention. In the drawing, reference numeral 1 denotes an airship for performing duties such as wireless communication / broadcasting and earth observation, reference numeral 2 denotes a ground station for performing tracking control processing, 3 is a communication satellite for wirelessly relaying various information, 4
Is a wireless communication line, and 5 is a terrestrial communication line.

FIG. 2 is a configuration diagram showing a flow of processing according to the first embodiment of the present invention. In the figure, 6 is a tracking control process, 7A is an operation request, 7B is information exchange with another ground station, 8 is a command signal for navigation, judgment, change, evacuation, etc., 9 is the position, speed, attitude, consumption of an airship. Information related to airships such as electric power.

The details of the processing in FIG. 2 will be described below.
First, the operation request 7A is a launch request for lifting the airship from a predetermined point on the ground to the sky, a movement request for moving the airship from a predetermined point to another predetermined point, or stopping the airship at a predetermined point in the sky. This is a stop request to stop the airship or a recovery request to lower the airship from a predetermined point in the sky to the ground. Based on the operation request 7A, the tracking control processing 6
At the time of the flight command, the command to change the altitude at the stop, the navigation command at the time of launch due to failure / abnormality, wind prediction result, etc., the navigation command at the time of movement, the navigation command at the fixed point stop, and at the time of recovery Navigation Directive,
Alternatively, a command signal 8 for launch determination / command based on observation prediction of wind direction / wind speed distribution and recovery determination / command is generated. In the tracking control processing 6, information relating to the airship is used for monitoring the self-position information of the airship, housekeeping information, or grasping the position information by tracking the airship. Also, when issuing commands to move the airship in missions such as disaster monitoring / earth observation, or when issuing a command to change the stop altitude based on the observation prediction of the wind direction / wind speed distribution near the stop altitude, communication with other ground stations is not possible. Exchange information between them.

As described above, according to the first embodiment of the present invention,
In the entire sequence of the wireless relay base system, each of the route guidances of launching, moving, stopping, and collecting an airship can be realized by body control for turning the airship in a designated direction.

Embodiment 2 FIG. As an embodiment of the present invention, a method for ascending an airship in launch means, and an approximate estimation of launch timing based on a wind prediction result before launching an airship,
The command guidance based on the update result of the wind prediction after launching the airship will be described with reference to the drawings based on the following.

FIG. 3 is a view showing a second embodiment of the present invention, and is a view of an airship rising in a launch stage of the airship as viewed from the side. In the figure, 1 is an airship, 2 is a ground station, and 10 is a flight direction of the airship. Here, it is raised in the vertical direction by buoyancy or the like.

FIG. 4 is a view showing an example of a route according to the present invention in the case where the wind direction changes as shown in the figure while the airship is navigating, and this figure is a view of the airship ascending during the launch phase of the airship as viewed from above. It is. In the figure, 11 is a stop point, 12 is a wind direction, 13 is a case where the relative distance between the horizontal coordinate component of a predetermined point in the stratosphere and the horizontal coordinate component of the position of the airship decreases, and the floating point floats in the direction in which the wind flows. Step (non-guided by the wind), 14 is when the relative distance increases,
This is a stage of propelling and turning so that the relative distance is constant (during route guidance operation).

FIG. 5 is a detailed diagram of FIG. 4 and shows a method of realizing the present invention. In the figure, 15 is a wind speed vector, 16 is a thrust speed vector, and 17 is a route speed vector. Here, the direction of the thrust is controlled depending on the direction in which the wind flows, and as a result, the speed direction of the route is determined so that the relative distance is constant.

FIG. 6 is a diagram showing a processing procedure according to the second embodiment of the present invention. The processing procedure in FIG. 6 will be described. First, before launching an airship, the energy required to propel and turn the airship is estimated based on the wind prediction result, and an approximate estimate for determining launch timing is made (S1). Next, the airship is raised in the vertical direction by buoyancy or the like (S
2) In the horizontal direction, the relative distance between the horizontal coordinate component of a predetermined point in the sky and the horizontal coordinate component of the position of the airship is:
Depending on the direction of the wind, if it decreases, it floats in the direction in which the wind flows (S3, S4), and if it increases, it propells and turns so that the relative distance is constant (S3).
3, S5). Further, after launching the airship, the energy required to propel and turn the airship is recalculated based on the update result of the wind prediction (S6), and a command guidance for instructing the airship from the ground to the airship is performed (S6). S7).

As described above, according to the second embodiment of the present invention,
In the launching means of the airship, in the horizontal direction, when the horizontal coordinate component of the relative distance between the predetermined point in the sky and the position of the airship decreases, if it decreases, it floats in the direction in which the wind flows, and if it increases, The propulsion and turning of the airship so that the relative distance is constant can suppress the energy required for the airship to travel from the ground to a predetermined point in the sky.

Embodiment 3 As an embodiment of the present invention, linear navigation of an airship in a moving means will be described below with reference to the drawings.

FIG. 7 is a diagram showing a third embodiment of the present invention, and is a diagram showing a method for realizing the present invention. This figure is a view of the airship in the moving stage of the airship as viewed from above.
In the drawing, 1 is an airship, 11 is a stop point, 15 is a wind speed vector, 16 is a thrust speed vector, and 17 is a route speed vector. Here, the airship sails toward the stop by controlling the direction of the thrust depending on the direction in which the wind flows.

FIG. 8 is a diagram showing a processing procedure according to the second embodiment of the present invention. The processing procedure in FIG. 6 will be described. First, a straight line connecting the position of the airship (first point) and the stop point (second point) is determined (S10). Next, the speed of the airship is determined so as to stop at the second point (S11). Then, the airship is moved from the first point to the second point (S12).

FIG. 9 is a diagram showing a method for determining the speed of the airship in a straight line connecting the first point and the second point. Here, 18 is a distance from the first point on a straight line connecting the first point and the second point, 19 is a speed of the airship, 20 is a straight line distance between the first point and the second point, 21 is the speed at the first point of the airship. According to this figure, the airship travels straight toward the stop point and stops at the stop point.

As described above, according to the third embodiment of the present invention,
The above-mentioned moving means is a linear navigation method in which an airship is moved along a straight line connecting a first point and a second point.

Embodiment 4 FIG. As an embodiment of the present invention, wind vane turning of an airship in a stopping means will be described below with reference to the drawings.

FIG. 10 is a diagram showing a fourth embodiment of the present invention, and is a diagram showing a method for realizing the present invention. This figure is a view of the airship at the stop stage of the airship as viewed from above. In the figure, 1 is an airship, 22 is a stop point, 23 is a wind direction, 24 is gravity, 25 is buoyancy, 26 is thrust, 27 is lift, and 28 is drag.

FIG. 11 shows a fourth embodiment of the present invention, and shows a method for realizing the present invention.
This figure is a view of the airship at the stop stage of the airship viewed from the side.

10 to 11, the airship stops at the stop point by controlling the direction of the thrust depending on the direction in which the wind flows.

FIG. 12 is a diagram showing a processing procedure according to the fourth embodiment of the present invention. The processing procedure in FIG. 12 will be described. First, the airship is turned in the direction in which the wind flows (S20). Next, the propulsion is performed depending on the strength of the wind (S21). Therefore, the airship stops at the predetermined point in the sky by turning the airship around (S2).
2).

As described above, according to the fourth embodiment of the present invention,
In the stopping means, the airship turns in the direction in which the wind flows, and stops at a predetermined point in the stratosphere.

Embodiment 5 As an embodiment of the present invention, a method for descending an airship in the recovery means, an approximate estimation of the timing of starting the recovery based on the wind prediction result before the airship recovery, and a command guidance based on the update result of the wind prediction after the start of the airship recovery , Will be described below with reference to the drawings.

FIG. 13 is a view showing Embodiment 5 of the present invention, and is a view of an airship descending in a recovery stage of the airship as viewed from the side. In the figure, 1 is an airship, 2 is a ground station, and 29 is a flight direction of the airship. Here, it is lowered in the vertical direction by gravity or the like.

FIG. 14 is a view showing an example of a route according to the present invention in the case where the wind direction changes as shown in the figure while the airship is traveling, and this figure shows the airship descending during the recovery stage of the airship as viewed from above. FIG. In the figure, 30 is a collection base, 12 is a wind direction, and 13 is a case where the relative distance between the horizontal coordinate component of a predetermined point on the ground and the horizontal coordinate component of the position of the airship decreases, and the floating point floats in the direction in which the wind flows. The stage (non-guidance guided by wind), 14 is a stage in which the relative distance is increased, and the propulsion and turning are performed so that the relative distance is constant (during a route guidance operation).

FIG. 15 is a detailed view of FIG. 14, showing a method for realizing the present invention. In the figure, 15 is a wind speed vector, 16 is a thrust speed vector, 1
7 is a velocity vector of the route. Here, the direction of the thrust is controlled depending on the direction in which the wind flows, and as a result, the speed direction of the route is determined so that the relative distance is constant.

FIG. 16 is a diagram showing a processing procedure according to the fifth embodiment of the present invention. The processing procedure in FIG. 16 will be described. First, before recovering the airship, the energy required to propel and turn the airship is estimated based on the wind prediction result, and the rough estimation for determining the timing of starting the recovery is performed (S30). next,
The airship is lowered by gravity or the like in the vertical direction (S31), and in the horizontal direction, the relative distance between the horizontal coordinate component of a predetermined point on the ground and the horizontal coordinate component of the position of the airship is: Depending on the direction of the wind, when it decreases, it floats in the direction in which the wind flows (S32, S33), and when it increases, it propells and turns so that the relative distance becomes constant (S32, S32). S34). Further, after the collection of the airship is started, the energy required for propelling and turning the airship is recalculated based on the update result of the wind prediction (S35), and the instruction guidance for instructing the airship to descend from the ground is given. Perform (S36).

As described above, according to the fifth embodiment of the present invention,
In the airship recovery means, in the horizontal direction, the horizontal coordinate component of the relative distance between the predetermined point on the ground and the position of the airship decreases, if it decreases, floats in the direction of wind flow, and if it increases, The propulsion and turning of the airship so that the relative distance is constant can suppress the energy required for the airship to sail from the sky to a predetermined point on the ground.

Embodiment 6 FIG. As an embodiment of the present invention, parameter estimation and control of an airship in a control means will be described below with reference to the drawings.

FIG. 17 is a block diagram showing the flow of processing according to the sixth embodiment of the present invention. In the figure, reference numeral 31 denotes an airship to be controlled, 32 denotes parameter identification processing, 33 denotes state feedback, and 34 denotes a control amount. The azimuth of the airship,
35 is an airship rudder angle which is an operation amount, 36 is an azimuth and turning angular velocity of an airship which is an observation value, 37 is a gain and a time constant of an airship to be controlled, and 38 is a azimuth angle command of an airship which is a target value. is there.

A specific processing formula for the parameter identification processing 32 and the state feedback 33 will be described below. First, an identifier in the parameter identification processing is represented by the following equation.

[0048]

(Equation 1)

The adjustment rule in the parameter identification process is as follows.

[0050]

(Equation 2)

Next, the state feedback is given by the following formula.

[0052]

(Equation 3)

Here, x2 is the azimuth of the airship, r is the azimuth command of the airship, and k1 and k2 are feedback coefficients.

As described above, according to the sixth embodiment of the present invention,
In the moving means, an actual azimuth angle is detected by a sensor or the like in response to a required azimuth angle command, and a feedback control system is configured.

Embodiment 7 FIG. Hereinafter, as an embodiment of the present invention, a reference model following and control of an airship in control means will be described with reference to the drawings.

FIG. 18 is a block diagram showing the flow of processing according to the sixth embodiment of the present invention. In the drawing, reference numeral 31 denotes an airship to be controlled, 39 denotes adaptive control processing, and 34 denotes the heading of the airship which is a control amount. The angle, 35 is the operation amount of the airship rudder angle,
36 is the azimuth and turning angular velocity of the airship, which are observation values, 3
Reference numeral 8 denotes an airship azimuth command which is a target value.

A specific processing formula for the adaptive control processing 72 will be described below. First, the reference model in the adaptive control process is the following formula.

[0058]

(Equation 4)

Here, xm1 and xm2 are state variables of the reference model, and b11 and c1 are coefficients of the reference model.

The adjustment rule in the adaptive control process is as follows.

[0061]

(Equation 5)

Here, ε1 is the difference between x1 and xm1, ε2 is the difference between x2 and xm2, θ is the linear combination of ε1 and ε2, ξa
And ξb are positive constants.

Further, the state feedback in the adaptive control processing is represented by the following formula.

[0064]

(Equation 6)

Here, k1 and k2 are feedback coefficients.

As described above, according to the seventh embodiment of the present invention,
In the control means, a control system is configured such that a response of an actual azimuth angle to the azimuth angle command has a desired characteristic.

[0067]

The present invention is configured as described above and has the following effects.

According to the first aspect, the radio relay base system includes various stages of launching, moving, stopping, recovering, and controlling the airship, so that it is possible to cope with various operation requirements of the system. .

According to the second invention, the launch means is
Since the airship is propelled and turned depending on the direction of the wind, energy for launching can be efficiently consumed.

According to the third invention, the launch means is:
Before launching the airship, the launch timing for suppressing the required energy of the airship can be determined based on the wind prediction results to estimate the energy required to propel and turn the airship.

According to the fourth aspect, the launching means includes:
After launching the airship, recalculate the energy required to propel and turn the airship based on the updated wind predictions, and instruct the airship to climb from the ground to the airship. Navigate to the point.

According to the fifth aspect of the present invention, since the airship is moved linearly from the first point to the second point, an optimal moving method with respect to energy consumption and required time is provided.

According to the sixth aspect of the present invention, since the airship turns around to a predetermined point in the sky, a stable stopping method against disturbance such as wind can be obtained.

According to the seventh aspect of the present invention, the collecting means includes:
Since the airship is propelled and turned depending on the direction of the wind, energy for recovery can be efficiently consumed.

According to the eighth aspect, the collecting means is
Before recovering the airship, it is possible to estimate the energy required to propel and turn the airship based on the wind prediction result, so that it is possible to determine the timing of the recovery start for suppressing the required energy of the airship.

Further, according to the ninth aspect, the collecting means includes:
After resuming the airship, the energy required to propel and turn the airship is recalculated based on the updated wind forecast, and the airship must be re-established on the ground in order to instruct how to descend from the ground to the airship. It is possible to navigate to a predetermined point.

According to the tenth aspect, since the airframe parameters of the airship are estimated in real time, quick response and stability can be ensured even when environmental conditions fluctuate.

Further, according to the eleventh aspect, even if the airframe parameters fluctuate depending on the environmental conditions, the control system including the airship converges to the reference model, so that it can have desired characteristics. .

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a wireless relay base system according to the present invention.

FIG. 2 is a configuration diagram showing a processing flow of the first embodiment of the wireless relay base system according to the present invention;

FIG. 3 is a diagram showing a second embodiment of the wireless relay base system according to the present invention;

FIG. 4 is a diagram showing an example of a route when a wind direction changes as shown in the drawing while an airship according to a second embodiment of the wireless relay base system according to the present invention is traveling.

FIG. 5 is a detailed view of FIG. 4 of the second embodiment of the wireless relay base system according to the present invention.

FIG. 6 is a diagram showing a processing procedure of a wireless relay base system according to a second embodiment of the present invention.

FIG. 7 is a diagram showing a third embodiment of the wireless relay base system according to the present invention;

FIG. 8 is a diagram showing a processing procedure of a wireless relay base system according to a third embodiment of the present invention.

FIG. 9 is a diagram showing a method of determining the speed of an airship on a straight line connecting a first point and a second point according to the third embodiment of the wireless relay base system of the present invention.

FIG. 10 is a diagram of an airship according to a fourth embodiment of the present invention, as viewed from above.

FIG. 11 is a view of an airship according to a fourth embodiment of the present invention, viewed from the side.

FIG. 12 is a diagram showing a processing procedure of a wireless relay base system according to a fourth embodiment of the present invention.

FIG. 13 is a diagram showing Embodiment 5 of the wireless relay base system according to the present invention.

FIG. 14 is a diagram illustrating an example of a route when a wind direction changes as shown in the figure while an airship according to a fifth embodiment of the present invention is operating.

FIG. 15 is a detailed view of FIG. 14 of the fifth embodiment of the wireless relay base system according to the present invention.

FIG. 16 is a diagram showing a processing procedure of a wireless relay base system according to a fifth embodiment of the present invention.

FIG. 17 is a configuration diagram showing a processing flow of a sixth embodiment of the wireless relay base system according to the present invention.

FIG. 18 is a configuration diagram illustrating a flow of a process in a wireless relay base system according to a seventh embodiment of the present invention;

FIG. 19 is a diagram showing a conventional wireless relay base system.

[Explanation of symbols]

1 airship, 2 ground stations, 3 communication satellites, 4 wireless communication lines, 5 ground communication lines, 6 tracking control processing, 30 collection bases, 31 airships, 40 communication / broadcast satellites.

Claims (11)

[Claims] 1. A launch means for raising an airship from a predetermined point on the ground to the sky, a moving means for moving the airship from a predetermined point to another predetermined point, and a stop for stopping the airship at a predetermined point above the sky A radio relay base system comprising: means, recovery means for lowering an airship from a predetermined point in the sky to the ground, and control means for turning the airship in a designated direction. 2. The launching means raises an airship in a vertical direction by buoyancy or the like, and raises an airship in a horizontal direction.
When the relative distance between the horizontal coordinate component of the predetermined point in the sky and the horizontal coordinate component of the position of the airship depends on the direction of the wind, if it decreases, it floats in the direction in which the wind flows. 2. The wireless relay base system according to claim 1, further comprising means for propelling and turning so that the distance is constant. 3. The launching means calculates the energy required to propel and turn the airship based on the wind prediction result before launching the airship, and determines the launch timing based on the calculation result. The wireless relay base system according to claim 2, wherein the wireless relay base system is provided. 4. The launch means, after launching the airship, recalculates the energy required to propel and turn the airship based on the updated wind prediction result, and instructs the airship to climb from the ground. 3. The wireless relay base system according to claim 2, further comprising a guidance unit. 5. The moving means moves the airship from a first point to a second point along a straight line connecting the first point and the second point so as to stop at the second point. 2. The wireless relay base system according to claim 1, further comprising a linear navigation means. 6. A wind vane turning means for turning the airship in a direction in which the wind flows, and propelling the airship depending on the strength of the wind to stop the airship at a predetermined point in the sky. The wireless relay base system according to claim 1. 7. The collecting means lowers the airship in the vertical direction by gravity or the like, and in the horizontal direction,
If the relative distance between the horizontal coordinate component of the predetermined point on the ground and the horizontal coordinate component of the position of the airship depends on the wind direction, if it decreases, it floats in the direction in which the wind flows. 2. The wireless relay base system according to claim 1, further comprising means for propelling and turning so that the distance is constant. 8. The collecting means calculates the energy required to propel and turn the airship based on the prediction result of the wind before collecting the airship, and determines the timing of starting the recovery based on the calculation result. The radio relay base system according to claim 7, further comprising means. 9. The collection means recalculates the energy required to propel and turn the airship based on the updated wind prediction after starting the collection of the airship, and instructs a method of descending from the ground to the airship. 8. The wireless relay base system according to claim 7, further comprising a command guiding means for performing the operation. 10. A feedback control system comprising: estimating, in real time, an aircraft parameter that fluctuates depending on environmental conditions; detecting an actual azimuth angle with a sensor or the like in response to a required azimuth angle command; 2. The wireless relay base system according to claim 1, further comprising control means for ensuring quick response and stability. 11. The apparatus according to claim 1, wherein the control means includes a control means having a desired characteristic of a response of an actual azimuth angle to an azimuth angle command even if a body parameter fluctuates depending on environmental conditions. The wireless relay base system according to claim 1.