JP2021136573A - Flight body and program - Google Patents

Abstract

To more effectively reduce interference in another radio system.SOLUTION: A flight body comprises: an array antenna for communicating with a radio communication device; an acquisition unit for acquiring angular acceleration data showing angular acceleration of the flight body; and a calculation unit for calculating complex weight for giving directivity to transmission of a radio signal from the array antenna to the radio communication device. The directivity directs null to a target orientation other than an orientation of the radio communication device. When the angular acceleration shown by the angular acceleration data is higher than a first threshold, the calculation unit calculates the complex weight so that an angle spread of the null is wider than that in the case that the angular acceleration is equal to or lower than the first threshold.SELECTED DRAWING: Figure 4

Description

The present invention relates to flying objects and programs.

Conventionally, as a technique for reducing interference when sharing frequencies among multiple wireless systems, a base station uses an array antenna to estimate the direction of arrival of radio waves from a radio wave source located in the vicinity, and the desired wave is the main one. Adaptive antenna technology is known that directs the beam and directs the null point to other incoming waves to form directivity.

Further, Patent Documents 1 to 5 disclose various communication technologies using directivity. For example, Patent Document 1 discloses an adaptive antenna technique applied to a mobile terminal, which controls antenna directivity according to the orientation or tilt of the mobile terminal. Further, Patent Document 2 is a device equipped with a plurality of wireless devices and antennas, and when focusing on one wireless device and antenna, the antenna is rotated while directivity is directed to the communication target of the wireless device. A device for directing a null to the radio antenna of the above is disclosed. Further, Patent Document 3 discloses a wireless device provided with an acceleration sensor, which changes the direction of the beam according to the movement detected by the sensor. Further, Patent Document 4 discloses a technique for increasing a transmission output when it detects that a wireless device has been shaken. Further, Patent Document 5 discloses a device that communicates with a moving body and that changes a beam width or a direction according to the speed of the moving body.

Japanese Unexamined Patent Publication No. 2004-64741 International Publication No. 2017/018070 Japanese Unexamined Patent Publication No. 2013-236301 Japanese Unexamined Patent Publication No. 2008-199099 Japanese Unexamined Patent Publication No. 2016-144194

However, in the conventional technology, the directional transmission from the air vehicle may interfere with the communication in other wireless systems. For example, when a sudden attitude change occurs in an air vehicle, a transient error may occur between the estimated attitude angle of the air vehicle and the actual attitude angle of the air vehicle. In the technique described in Patent Document 1, since the transmission directivity is determined without considering the error of the attitude angle, the beam may be directed to the direction of another wireless system and may interfere with the other wireless system. .. Further, Patent Document 5 discloses a technique for widening the beam width in a target direction as the speed of the moving body is faster. It is difficult to sufficiently reduce the effect of error.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is a novel and improved one capable of more effectively reducing interference with other wireless systems. To provide aircraft and programs.

In order to solve the above problems, according to a certain viewpoint of the present invention, an array antenna that is an air vehicle and communicates with a wireless communication device, and an acquisition unit that acquires angular acceleration data indicating the angular acceleration of the air vehicle. A calculation unit that calculates a complex weight for giving directivity to the transmission of a radio signal from the array antenna to the wireless communication device, and the directivity is a target direction other than the direction to the wireless communication device. When the angular acceleration indicated by the angular acceleration data exceeds the first threshold value, the calculation unit has the directivity of directing null to the first threshold value, as compared with the case where the angular acceleration is equal to or less than the first threshold value. An air vehicle is provided that calculates the complex weight so that the angular spread of the null is large.

The flying object further includes a transmission control unit that stops transmission of the radio signal to the radio communication device when the angular acceleration indicated by the angular acceleration data exceeds a second threshold value larger than the first threshold value. You may prepare.

When the angular acceleration indicated by the angular acceleration data exceeds the first threshold value, the calculation unit indicates that the angle of the beam to the wireless communication device spreads more than when the angular acceleration is equal to or lower than the first threshold value. The complex weight may be calculated so that

The flying object may further include a storage unit that stores position information indicating the position of the interference wave source that transmits the interference wave to the flying object, and the target direction may be the direction of the interference wave source.

Further, in order to solve the above-mentioned problems, according to another viewpoint of the present invention, it is an array antenna that communicates with a wireless communication device and a path in which the flying object is planned to move. Based on the plan information, the acquisition unit that acquires the plan information indicating a certain plan route, the calculation unit that calculates the complex weight for giving directivity to the transmission of the radio signal from the array antenna to the radio communication device, and the plan information. A fluctuation prediction region in which the attitude change of the air vehicle is predicted to occur is specified in the planned route, and transmission of the radio signal to the radio communication device is stopped when the air vehicle is located in the fluctuation prediction region. An air vehicle is provided that comprises a transmission control unit.

The planning information may include waypoint information indicating one or more moving waypoints, and the fluctuation prediction region may include moving waying points indicated by the waying point information.

The acquisition unit may acquire region information indicating a region in which the attitude of the aircraft is likely to fluctuate, and the fluctuation prediction region may include a region indicated by the region information.

Further, in order to solve the above problems, according to another viewpoint of the present invention, a driving unit that is a flying object and generates a driving force for flight and a control value for controlling the driving unit are output. The flight control unit, an array antenna that communicates with the wireless communication device, and an arithmetic unit that calculates a complex weight for giving directivity to the transmission of a radio signal from the array antenna to the wireless communication device are provided. The directivity is a directivity that directs a null to a target direction other than the direction to the wireless communication device, and the calculation unit determines that the result obtained by differentiating the control value exceeds the first threshold value. An air vehicle is provided that calculates the complex weight so that the null angular spread is greater than if the result is less than or equal to the first threshold.

The flying object may further include a transmission control unit that stops transmission of the radio signal to the radio communication device when the result exceeds a second threshold value that is greater than the first threshold value.

When the result exceeds the first threshold value, the calculation unit performs the complex so that the angular spread of the beam to the wireless communication device becomes larger than when the result is equal to or less than the first threshold value. The weight may be calculated.

The flying object may further include a storage unit that stores position information indicating the position of the interference wave source that transmits the interference wave to the flying object, and the target direction may be the direction of the interference wave source.

Further, in order to solve the above-mentioned problems, according to another viewpoint of the present invention, the computer is a flying object, from an acquisition unit for acquiring angular acceleration data indicating the angular acceleration of the flying object, and an array antenna. A calculation unit that calculates a complex weight for giving directivity to the transmission of a radio signal to the wireless communication device is provided, and the directivity is a directivity that directs null to a target direction other than the direction to the wireless communication device. When the angular acceleration indicated by the angular acceleration data exceeds the first threshold value, the calculation unit has a larger null angular spread than when the angular acceleration is equal to or lower than the first threshold value. A program is provided for calculating the complex weight so as to function as an air vehicle.

Further, in order to solve the above problems, according to another viewpoint of the present invention, the computer is a flying object, and the planning information indicating a planned route which is a route in which the flying object is planned to move. The acquisition unit that acquires the A transmission control unit that identifies a fluctuation prediction region in which fluctuations are expected to occur and stops transmission of the radio signal to the radio communication device when the flying object is located in the fluctuation prediction region. A program is provided to make it function as an air vehicle.

Further, in order to solve the above problems, according to another aspect of the present invention, the computer is a flight control that outputs a control value for controlling a drive unit that is a flying object and generates a driving force for flight. A unit and a calculation unit that calculates a complex weight for giving directivity to the transmission of a radio signal from the array antenna to the wireless communication device, and the directivity is a target direction other than the direction to the wireless communication device. When the result obtained by differentiating the control value exceeds the first threshold value, the calculation unit has a directivity to direct the null to the first threshold value or less than the first threshold value. A program is provided for functioning as an air vehicle, which calculates the complex weight so that the null angular spread becomes large.

According to the present invention described above, it is possible to more effectively reduce interference with other wireless systems.

It is explanatory drawing which shows the structural example of the wireless system by one Embodiment of this invention. It is explanatory drawing which shows the specific example of the directivity of the radio signal transmitted by the aircraft body 20. It is explanatory drawing which shows the structure of the flying object 20 by one Embodiment of this invention. It is explanatory drawing which shows the structure of the communication control unit 300. It is a flowchart which shows the operation outline of the aircraft body 20. It is a flowchart which shows the transmission process. It is a flowchart which shows the fluctuation prediction of the posture by the 1st operation example. It is explanatory drawing which shows the change example of the angular spread of a beam and null. It is explanatory drawing which shows an example of the planned route 50 indicated by the movement plan information. It is a flowchart which shows the fluctuation prediction of the posture by the 2nd operation example. It is a flowchart which shows the fluctuation prediction of the posture by the 3rd operation example.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

Further, in the present specification and the drawings, a plurality of components having substantially the same functional configuration may be distinguished by adding different alphabets after the same reference numerals. However, when it is not necessary to particularly distinguish each of the plurality of components having substantially the same functional configuration, only the same reference numerals are given to each of the plurality of components.

<1. Overview of wireless system>
One embodiment of the present invention relates to a wireless system, and more particularly to an air vehicle constituting the wireless system. Hereinafter, an outline of a wireless system and an air vehicle according to an embodiment of the present invention will be described with reference to FIG.

FIG. 1 is an explanatory diagram showing a configuration example of a wireless system according to an embodiment of the present invention. FIG. 1 shows an interference wave source 30A and an interference wave source 30B, which are other radio systems, in addition to the radio base station 10 and the air vehicle 20 constituting the radio system according to the embodiment of the present invention.

The wireless base station 10 is an example of a wireless communication device installed on the ground. The radio base station 10 wirelessly communicates various data with the aircraft 20 as shown by the solid double-headed arrow in FIG. For example, the radio base station 10 may receive sensor data detected by the flying object 20, image data obtained by imaging with the flying object 20, and the like.

The flying object 20 is a device that flies in the air. The vehicle body 20 is, for example, a multicopter, may be a manned vehicle, or may be an unmanned aerial vehicle (UAV). The aircraft 20 flies according to, for example, a control signal received from the radio base station 10 or according to a preset movement plan. Further, the flying object 20 has an array antenna. The aircraft body 20 can wirelessly communicate with the radio base station 10 via the array antenna.

Wireless communication is also performed between the interference wave source 30A and the interference wave source 30B as shown by the solid double-headed arrow in FIG. The radio signals transmitted by the interference wave source 30A and the interference wave source 30B can reach the flying object 20 as interference waves. Similarly, when the air vehicle 20 transmits a radio signal to the radio base station 10 without any special device, the radio signal becomes an interference wave to the interference wave source 30A and the interference wave source 30B as shown by the broken line arrow in FIG. Can be reached.

Therefore, the flying object 20 imparts directivity to the radio signal transmitted from the array antenna to the radio base station 10 in order to reduce the interference given to other radio systems such as the interference wave source 30A and the interference wave source 30B. A specific example of the directivity will be described with reference to FIG.

FIG. 2 is an explanatory diagram showing a specific example of the directivity of the radio signal transmitted by the flying object 20. As shown in FIG. 2, the beam is directed to the direction of the radio base station 10 in the radio signal transmitted by the flying object 20, and the directions of the interference wave source 30A and the interference wave source 30B (the interference wave source 30A and the interference wave source 30A when viewed from the flying object 20). The directivity toward null is given to the direction in which the interference wave source 30B is located). Null is the direction in which the gain drops significantly. According to such a configuration, the interference given by the flying object 20 to the interference wave source 30A and the interference wave source 30B is reduced while realizing smooth wireless communication with the radio base station 10.

Here, the flying object 20 forms a directivity that directs null to the direction of the interference wave source 30A based on the estimated values of the position of the interference wave source 30A and the attitude angle of the flying object 20. However, if the attitude variation of the flying object 20 is large, an error may occur between the estimated value of the attitude angle of the flying object 20 and the actual attitude angle of the flying object 20. As a result, the null is not actually directed to the direction of the interference wave source 30A accurately, and there is a possibility that the interference wave reaches the interference wave source 30A. Similarly, if the attitude fluctuation of the flying object 20 is large, the interference wave may reach the interference wave source 30B.

The present inventor has come to create an embodiment of the present invention with the above circumstances as the first point of view. According to one embodiment of the present invention, it is possible to more effectively reduce interference with other wireless systems such as the interference wave source 30A and the interference wave source 30B. Hereinafter, the configuration and operation of the flying object 20 according to the embodiment of the present invention will be sequentially described in detail.

<2. Aircraft composition>
FIG. 3 is an explanatory diagram showing the configuration of the flying object 20 according to the embodiment of the present invention. As shown in FIG. 3, the flying object 20 according to the embodiment of the present invention includes a flight control device 220, a drive device 230, a battery 240, and a wireless control device 250.

(Flight control device)
The flight control device 220 has a sensor group 222 and a flight control unit 224. The sensor group 222 is a set of various sensors. The sensor group 222 may include, for example, a GPS sensor (GPS: Global Positioning System), a gyro sensor (angular velocity sensor), an acceleration sensor, a pressure sensor, a magnetic sensor, an ultrasonic sensor, or the like.

The flight control unit 224 is a set of a general-purpose processor and a main memory device, and has a function as an information processing device. Further, the flight control unit 224 has an input / output interface function for acquiring sensor data output from the sensor group 222. Further, the flight control unit 224 has a function of acquiring and storing the movement plan information from the outside and controlling the drive device 230 so that the flight body 20 autonomously navigates according to the stored movement plan information. Known techniques may be used for aviation control by the flight control unit 224. Further, the flight control unit 224 wirelessly controls data such as sensor data acquired from the sensor group 222, attitude angle information indicating the attitude angle of the flying object 20 calculated by calculation using the sensor data, or movement planning information. Provided to device 250.

(Drive)
The drive device 230 is a device that generates a driving force for the flight of the flying object 20. The drive device 230 is composed of, for example, a motor for flying the flying object 20, a propeller, and an ESC (ESC: Electric Speed Controller) that controls the number of rotations thereof.

(Battery)
The battery 240 supplies power to the flight control device 220, the drive device 230, and the wireless control device 250. The flight control device 220, the drive device 230, and the wireless control device 250 operate using the electric power supplied from the battery 240. The battery 240 may be, for example, a lithium ion polymer secondary battery or a lithium ion secondary battery.

(Wireless control device)
The wireless control device 250 is configured to perform wireless communication. As shown in FIG. 3, the radio control device 250 includes an array antenna 252, an RF receiving circuit 254, an RF transmitting circuit 258, and a communication control unit 300.

The array antenna 252 has a plurality of (N) element antennas 1n (n = 1, 2, ..., N), and these element antennas are arranged on the antenna surface. The array antenna 252 is connected to the RF receiving circuit 254 and the RF transmitting circuit 258. The array antenna 252 converts the radio signal into an electrical high frequency reception signal and outputs it to the RF reception circuit 254. Further, the array antenna 252 converts the high frequency transmission signal supplied from the transmission processing unit 390 into a radio signal and transmits the radio signal.

The RF reception circuit 254 performs high frequency processing such as down conversion and AD conversion of the high frequency reception signal input from the array antenna 252. The RF reception circuit 254 outputs the reception signal obtained by down-conversion and AD conversion to the communication control unit 300.

The RF transmission circuit 258 performs high-frequency processing such as DA conversion and up-conversion of the transmission signal input from the communication control unit 300. The RF transmission circuit 258 outputs the high frequency transmission signal obtained by DA conversion and up-conversion to the RF transmission circuit 258.

The communication control unit 300 is a set of a general-purpose processor and a main memory device, and has a function as an information processing device. The communication control unit 300 may be an FPGA (FPGA: Field Programmable Gate Array) in which a part or all of the programmable logic device (PLD) is a programmable logic device (PLD). Further, the communication control unit 300 may be a functional block that shares one piece of hardware with the flight control unit 224.

The communication control unit 300 controls processing using the reception signal input from the RF reception circuit 254, processing for generating a transmission signal to be output to the RF transmission circuit 258, and the like. Hereinafter, the detailed configuration of the communication control unit 300 will be described with reference to FIG.

<3. Communication control unit configuration>
FIG. 4 is an explanatory diagram showing the configuration of the communication control unit 300. As shown in FIG. 4, the communication control unit 300 includes an arrival direction estimation unit 310, a reception directivity calculation unit 320, a reception processing unit 330, an arrival wave source position estimation unit 340, a storage unit 350, a transmission direction calculation unit 360, and fluctuations. It has a prediction unit 370, a transmission directivity calculation unit 380, and a transmission processing unit 390.

(Arrival direction estimation unit)
The arrival direction estimation unit 310 has a function of estimating the arrival direction of the radio signal from the reception signal from each element antenna. For example, the arrival direction estimation unit 310 uses a high-resolution algorithm such as the MUSIC (Multiple Signal Classication) method or the ESPRIT (Estimation of Signal Parameters via Rotation Intelligence Technology) method to estimate the direction of the radio signal. The arrival direction estimated by the arrival direction estimation unit 310 is represented by a local coordinate system with reference to the flying object 20.

(Reception directivity calculation unit)
The reception directivity calculation unit 320 calculates a complex weight for forming a directivity in which the beam is directed toward the radio base station 10 and null is directed toward the interference wave source 30. The complex weight is a weight that adjusts the phase and amplitude of the received signal from each element antenna. For the directivity calculation, for example, the DCMP (Directivity Constrained Minimization of Power) method is used. The reception directivity calculation unit 320 can be used for position information of the radio base station 10 and the interference wave source 30 stored in the storage unit 350, attitude angle information and position information of the aircraft 20 supplied from the flight control unit 224, and the like. Based on this, the orientation of the radio base station 10 and the orientation of the interference wave source 30 may be specified.

(Reception processing unit)
The reception processing unit 330 has a function of synthesizing the complex weight obtained by the reception directivity calculation unit 320 with the reception signal from each element antenna by multiplication, and a function of decoding the combined reception signal according to the communication protocol. The reception processing unit 330 outputs the received data obtained by decoding to the flight control unit 224.

(Arrived wave source position estimation unit)
The arrival wave source position estimation unit 340 estimates the position of the arrival wave source, which is the source of the radio signal received by the flying object 20. Specifically, the arrival wave source position estimation unit 340 converts the arrival direction estimated by the arrival direction estimation unit 310 into an absolute coordinate system based on the center of gravity of the earth, and the radio signal determines the arrival direction after the conversion. It is stored in the storage unit 350 in association with the position information indicating the position of the flying object 20 at the time of reception. Further, the arrival wave source position estimation unit 340 estimates the position of the arrival wave source by, for example, an association method or the like, using the arrival direction of the absolute coordinate system obtained based on the radio signals received by the flying object 20 at a plurality of different positions. Then, the estimation result is stored in the storage unit 350. The arrival wave source position estimation unit 340 may estimate the position of the arrival wave source by using the information of the arrival direction acquired from the radio base station 10.

(Memory)
The storage unit 350 stores various information used for the operation of the flying object 20. For example, the storage unit 350 indicates the arrival direction of the absolute coordinate system obtained by the arrival wave source position estimation unit 340 based on the reception of the radio signal, and the position indicating the position of the flying object 20 at the time when the radio signal is received. Associate and store information. Further, the storage unit 350 stores the arrival wave source position information indicating the position of the arrival wave source estimated by the arrival wave source position estimation unit 340. The incoming wave source may include an interference wave source 30A and an interference wave source 30B in addition to the radio base station 10.

(Transmission direction calculation unit)
The transmission direction calculation unit 360 calculates the direction in which the communication partner is located (transmission direction) and the direction in which the interference wave source is located (target direction). For example, when the transmission request to the radio base station 10 is input from the flight control unit 224, the transmission direction calculation unit 360 acquires the position information of the radio base station 10, the interference wave source 30A, and the interference wave source 30B from the storage unit 350. Based on these position information and the position information and attitude angle of the flying object 20 input from the flight control unit 224, the direction of the radio base station 10, the direction of the interference wave source 30A, and the direction of the interference wave source 30B are calculated. Here, the transmission direction calculation unit 360 may estimate the position and attitude angle of the flying object 20 at the time of transmitting the radio signal, and calculate each direction based on the position and attitude angle. The transmission direction calculation unit 360 can estimate the position and attitude angle of the air vehicle 20 at the time of transmission of the radio signal based on the movement speed data and the angular velocity data of the air vehicle 20.

(Fluctuation prediction department)
The fluctuation prediction unit 370 functions as an acquisition unit that acquires attitude change information related to the attitude change of the aircraft 20, and a transmission control unit that controls directional transmission according to the attitude change information. When the attitude fluctuation of the aircraft 20 is large, the estimation accuracy of the position and attitude angle of the aircraft 20 at the time of transmitting the radio signal becomes low as described above, and as a result, the error of the calculation result of each direction may become large. .. Therefore, the fluctuation prediction unit 370 may calculate an adjustment weight for increasing the angle spread of the beam to the transmission direction and the null angle spread to the target direction based on the attitude change information. Alternatively, the fluctuation prediction unit 370 may stop the transmission of the radio signal based on the attitude fluctuation information. There are various control methods for directional transmission by such a fluctuation prediction unit 370, and some control methods will be described in detail later.

(Transmission directivity calculation unit)
The transmission directivity calculation unit 380 is a calculation unit that calculates a complex weight for giving directivity to a radio signal from the array antenna 252 to the radio base station 10. The transmission directivity calculation unit 380 acquires the transmission direction in which the radio base station 10 is located and the target direction in which the interference wave source 30 is located from the transmission direction calculation unit 360, the beam is directed with respect to the transmission direction, and the target direction is null. Compute the complex weights so that the directivity is oriented. Here, when the adjustment weight for adjusting the angular spread of the beam and the null is supplied from the fluctuation prediction unit 370, the transmission directivity calculation unit 380 calculates the complex weight in consideration of the adjustment weight.

(Transmission processing unit)
The transmission processing unit 390 modulates the transmission data according to the communication protocol to create a baseband signal. Then, the transmission processing unit 390 multiplies the complex weight calculated by the transmission directivity calculation unit 380 to the baseband signal, and outputs the transmission signal obtained by the multiplication to the RF transmission circuit 258.

<4. Outline of operation of the aircraft ＞
The configuration of the flying object 20 according to the embodiment of the present invention has been described above. Subsequently, with reference to FIGS. 5 and 6, the outline of the operation of the flying object 20 is organized.

FIG. 5 is a flowchart showing an outline of the operation of the flying object 20. When the aircraft body 20 is activated, the radio control device 250 acquires the initial value of the position information of the incoming wave source and stores it in the storage unit 350 (S1). The initial value of the position information may be the position information of the incoming wave source estimated in the past, or may be the position information of the known incoming wave source provided by the radio base station 10.

Then, the flight control unit 224 determines whether or not the initial sequence is being executed (S2). When the initial sequence is being executed (S2 / Yes), the flight control unit 224 controls the drive device 230 so that the position of the flying object 20 is changed in order to acquire the surrounding radio wave environment (S3). At this time, at each position of the flying object 20, the arrival direction estimation unit 310 estimates the arrival direction of the radio signal, and the arrival wave source position estimation unit 340 estimates the position of the arrival wave source. Since three or more positioning points are required to estimate the position from the arrival direction, the aircraft 20 repeats the estimation of the arrival direction of the radio signal while gradually changing the altitude or position to estimate the position. Get the information you need. After the initial sequence is completed (S2 / No), the flight control unit 224 controls the flight of the flying object 20 according to the movement plan information (S17). The movement plan information may be updated in response to a command from the radio base station 10.

When there is a data transmission request from the flight control unit 224 (S4 / Yes), the communication control unit 300 executes the transmission process described later (S5).

Further, the communication control unit 300 receives the input of the received signal from the RF receiving circuit 254 (S6), and determines whether or not the radio signal is received (S7). If no wireless signal is received, the process from S2 is repeated (S7 / No). When the radio signal is received, the processes S8 to S12 and the processes S13 to S16 are performed in parallel, and then the processes from S2 are repeated (S7 / Yes).

Regarding the processing of S8 to S12, specifically, the arrival direction estimation unit 310 estimates the arrival direction of the radio signal from the reception signal from each element antenna (S8). Since the arrival direction estimated here is the direction in the relative coordinate system with respect to the flying object 20, the arrival wave source position estimation unit 340 converts the arrival direction into an absolute coordinate system with reference to the earth's center of gravity ( S9). Then, the arrival wave source position estimation unit 340 estimates the position of the arrival wave source by, for example, the interaction method, using the arrival direction of the absolute coordinate system obtained based on the radio signals received by the flying object 20 at a plurality of different positions. (S11). Further, the arrival wave source position estimation unit 340 updates the position information of the arrival wave source stored in the storage unit 350 with the position information of the arrival wave source estimated in S11 (S12).

Regarding the processing of S13 to S16, specifically, when the received radio signal is a radio signal transmitted from the radio base station 10 (S13 / Yes), the reception directivity calculation unit 320 uses the radio base station 10 to perform the processing. The complex weight for forming the directivity in which the beam is directed with respect to the interference wave source 30 and the null is directed with respect to the interference wave source 30 is calculated (S14). Then, the reception processing unit 330 synthesizes the received signal from each element antenna by multiplying the complex weight obtained by the reception directivity calculation unit 320, and decodes the synthesized received signal according to the communication protocol (S15). The received data obtained by decoding is output to the flight control unit 224 (S16).

Subsequently, the transmission process shown in S5 will be described with reference to FIG.

FIG. 6 is a flowchart showing a transmission process. In the transmission process, first, the fluctuation prediction unit 370 predicts the posture fluctuation (S17). In the process of predicting the fluctuation, when the transmission of the radio signal is stopped (S18 / No), the process of S17 is looped until the radio signal can be transmitted. When it is determined that the radio signal can be transmitted (S18 / Yes), the transmission direction calculation unit 360 acquires the position information of each incoming wave source from the storage unit 350 (S19), and the aircraft 20 to each incoming wave source. The direction of is calculated (S20). Since the direction calculated here is the direction in the absolute coordinate system, the transmission direction calculation unit 360 also converts the direction into the direction in the relative coordinate system with respect to the flying object 20.

Then, the transmission directivity calculation unit 380 calculates the complex weight so that the directivity is formed so that the beam is directed to the radio base station 10 and the null is directed to the interference wave source 30 based on the orientation of each incoming wave source (S21). .. Subsequently, the transmission processing unit 390 modulates the transmission data according to the communication protocol to create a baseband signal. Then, the transmission processing unit 390 multiplies the complex weight calculated by the transmission directivity calculation unit 380 to the baseband signal, and outputs the transmission signal obtained by the multiplication to the RF transmission circuit 258 (S22).

<5. Posture fluctuation prediction>
The operation outline of the flying object 20 has been described above. Subsequently, some operation examples related to posture fluctuation prediction will be described in detail one by one.

(First operation example)
At the start of movement and the end of movement of the flying object 20, the attitude variation of the flying object 20 becomes large. In the first operation example, when the attitude fluctuation of the air vehicle 20 is large, the air vehicle 20 interferes by increasing the angle spread of the null to the interference wave source 30 or by stopping the transmission of the radio signal. The arrival of the interference wave to the wave source 30 is suppressed.

Here, the fluctuation prediction unit 370 has a function as an acquisition unit that acquires angular acceleration data by differential calculation of the angular velocity data of the flying object 20, and changes the attitude of the flying object 20 based on the angular acceleration indicated by the angular acceleration data. Judge the size. If the angular velocity is constant even if the angular velocity is large, an error is unlikely to occur between the estimated value of the attitude angle of the flying object 20 and the actual attitude angle of the flying object 20, but if the angular velocity is indefinite, that is, the angular acceleration. This is because it is considered that the above error is likely to occur when there is. Hereinafter, such a first operation example will be specifically described with reference to FIG. 7.

FIG. 7 is a flowchart showing posture fluctuation prediction according to the first operation example. As shown in FIG. 7, first, the fluctuation prediction unit 370 acquires the angular velocity data of the flying object 20 from the flight control unit 224 (S101), and acquires the angular acceleration data by the differential calculation of the angular velocity data (S102). Then, the fluctuation prediction unit 370 compares the angular acceleration indicated by the angular acceleration data with the first threshold value (threshold value 1) (S103). When the angular acceleration is equal to or less than the first threshold value, the fluctuation prediction unit 370 does not perform any particular control (S103 / No).

On the other hand, when the angular acceleration exceeds the first threshold value (S103 / Yes), the fluctuation prediction unit 370 compares the angular acceleration with the second threshold value (threshold value 2) (S104). Here, the second threshold value is larger than the first threshold value. When the angular acceleration exceeds the second threshold value (S104 / Yes), the risk of interference is considered to be high, so the fluctuation prediction unit 370 stops the transmission of the radio signal as the transmission control unit (S105). On the other hand, when the angular acceleration exceeds the first threshold value but is less than or equal to the second threshold value (S104 / No), the fluctuation prediction unit 370 spreads the angle of the beam to the radio base station 10 and nulls the interference wave source 30. The adjustment weight for increasing the angular spread of is calculated (S106).

FIG. 8 is an explanatory diagram showing an example of changes in the angular spread of the beam and null. In FIG. 8, the alternate long and short dash line shows the angular spread of the beam and null at normal times, and the solid line shows the angular spread of the beam and null when the adjustment weight is applied.

As shown in FIG. 8, when the adjustment weight is applied, the angular spread of the null to the interference wave source 30 becomes large. Therefore, even if there is an error in the estimated value of the attitude angle of the flying object 20, it is possible to suppress the interference wave from reaching the interference wave source 30 by actually continuing to direct the null to the interference wave source 30. .. Further, when the adjustment weight is applied, the angle spread of the beam to the radio base station 10 is also increased, so that the radio signal can be more reliably reached to the radio base station 10.

Further, in the first operation example, when the angular acceleration exceeds the second threshold value, the transmission of the radio signal is stopped, so that the deterioration of the communication quality in another wireless system such as the interference wave source 30 can be suppressed. It is possible.

(Second operation example)
As described above, the aircraft body 20 moves according to the planned route indicated by the movement plan information. In the second operation example, the fluctuation prediction unit 370 obtains the movement plan information from the flight control unit 224, and the fluctuation prediction region in which the attitude change of the flying object 20 is predicted to be large from the movement path. It has a function as a transmission control unit that specifies and stops transmission of a radio signal when the aircraft 20 is located in the fluctuation prediction region.

FIG. 9 is an explanatory diagram showing an example of the planned route 50 indicated by the movement plan information. As shown in FIG. 9, the planned route 50 includes waypoints 51 to 55, which are transit points for movement. The movement plan information includes information such as position coordinates, numbers, and operations of the aircraft 20 as waypoint information for each of the waypoints 51 to 55. When the aircraft 20 moves between each waypoint, it executes the operation indicated by the movement plan information. Therefore, since control such as acceleration / deceleration or turning can occur in the vicinity of each waypoint, an error due to attitude fluctuation and attitude fluctuation is likely to occur. The fluctuation prediction unit 370 specifies the vicinity of such a waypoint as the fluctuation prediction region.

Further, the area shown by the broken line in FIG. 9 is the designated area 60, which is an area where the airflow is likely to be turbulent due to the influence of the terrain and buildings, or an area where statistical fluctuations are likely to occur from the past flight data. The fluctuation prediction unit 370 acquires area information indicating the designated area 60, and also specifies the designated area 60 as the fluctuation prediction area. Hereinafter, such a second operation example will be specifically described with reference to FIG.

FIG. 10 is a flowchart showing posture fluctuation prediction according to the second operation example. As shown in FIG. 10, the fluctuation prediction unit 370 first acquires movement plan information from the flight control unit 224 (S201), and acquires area information indicating the designated area 60 (S202). The area information may be provided by the radio base station 10.

After that, the fluctuation prediction unit 370 acquires the position information of the flight body 20 from the flight control unit 224, and compares the current position of the flight body 20 indicated by the position information with the waypoint (S204). When the current position of the aircraft 20 is near the waypoint, for example, when the current position of the aircraft 20 is within a predetermined distance from the waypoint (S204 / Yes), the fluctuation prediction unit 370 transmits a radio signal. Is stopped (S206).

On the other hand, when the current position of the flying object 20 is far from the waypoint (S204 / No), the fluctuation prediction unit 370 compares the current position of the flying object 20 with the designated area 60 (S205). When the current position of the aircraft 20 is within the designated area 60 (S205 / Yes), the fluctuation prediction unit 370 stops the transmission of the radio signal (S206). When the current position of the aircraft 20 is outside the designated area 60, the radio signal can be transmitted, so that the fluctuation prediction process is terminated.

As described above, according to the second operation example, the flying object 20 stops transmitting the radio signal in the region where an error due to the attitude fluctuation may occur, so that the interference wave source 30 and the like are used. It is possible to suppress the deterioration of communication quality in the wireless system.

(Third operation example)
In the third operation example, the fluctuation prediction unit 370 acquires a control value for controlling the drive device 230 from the flight control unit 224. The control value may be, for example, a control value related to a movement of the flying object 20 accompanied by a change in attitude, such as a movement speed and a change speed (angular velocity) of the attitude angle. The fluctuation prediction unit 370 predicts the attitude change of the flying object 20 from the control value and controls the directivity transmission. Hereinafter, such a third operation example will be specifically described with reference to FIG.

FIG. 11 is a flowchart showing posture fluctuation prediction according to the third operation example. As shown in FIG. 11, the fluctuation prediction unit 370 first acquires a control value for controlling the drive device 230 from the flight control unit 224 (S301). Then, the fluctuation prediction unit 370 performs a differential operation of the control value (S302).

Then, the fluctuation prediction unit 370 compares the result of the differential calculation of the control value with the first threshold value (threshold value 1) (S303). When the result of the differential operation is equal to or less than the first threshold value, the fluctuation prediction unit 370 does not perform any particular control (S303 / No).

On the other hand, when the result of the differential operation exceeds the first threshold value (S303 / Yes), the fluctuation prediction unit 370 compares the result of the differential operation with the second threshold value (threshold value 2) (S304). Here, the second threshold value is larger than the first threshold value. When the result of the differential operation exceeds the second threshold value (S304 / Yes), the risk of interference is considered to be large, so the fluctuation prediction unit 370 stops the transmission of the radio signal as the transmission control unit (S305). On the other hand, when the result of the differential calculation exceeds the first threshold value but is less than or equal to the second threshold value (S304 / No), the fluctuation prediction unit 370 spreads the angle of the beam to the radio base station 10 and goes to the interference wave source 30. The adjustment weight for increasing the angular spread of the null is calculated (S306).

In this way, the fluctuation prediction unit 370 predicts the attitude fluctuation of the flying object 20 in advance from the result of the differential calculation of the control value, and controls the directional transmission of the radio signal. For example, when the result of the differential calculation of the control value exceeds the first threshold value, the fluctuation prediction unit 370 increases the angular spread of the null to the interference wave source 30, so that the interference wave reaches the interference wave source 30. It is possible to prevent it from being stored. Further, the fluctuation prediction unit 370 stops the transmission of the radio signal when the result of the differential calculation of the control value exceeds the second threshold value, thereby reducing the communication quality in other wireless systems such as the interference wave source 30. It can be suppressed.

It should be noted that all of the above-mentioned first operation example to the third operation example control the directivity transmission from the air vehicle 20 based on the information on the attitude change of the air vehicle 20, which is common to the prior art. It has the technical features of.

<6. Supplement>
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is clear that a person having ordinary knowledge in the field of technology to which the present invention belongs can come up with various modifications or modifications within the scope of the technical ideas described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

For example, the embodiment of the present invention may be realized by a combination of two or more operation examples of the first operation example to the third operation example described above. In the combination of the first operation example and the second operation example, the fluctuation prediction unit 370 determines that the angular acceleration exceeds the second threshold value and that the current position of the flying object 20 is near the waypoint or within the designated area. In any case, the transmission of the radio signal is stopped.

Further, it is possible to create a computer program for causing the hardware such as the CPU, ROM, and RAM built in the flying object 20 to exhibit the same functions as the above-described configurations of the flying object 20. A storage medium for storing the computer program is also provided.

10 Radio base station 20 Aircraft 220 Flight control device 222 Sensor group 224 Flight control unit 230 Drive device 240 Battery 250 Radio control device 252 Array antenna 254 RF reception circuit 258 RF transmission circuit
300 Communication control unit 310 Arrival direction estimation unit 320 Reception directivity calculation unit 330 Reception processing unit 340 Arrival wave source position estimation unit 350 Storage unit 360 Transmission direction calculation unit 370 Fluctuation prediction unit 380 Transmission directivity calculation unit 390 Transmission processing unit 30 Interference wave source

Claims (14)

It ’s an air vehicle,
An array antenna that communicates with a wireless communication device,
An acquisition unit that acquires angular acceleration data indicating the angular acceleration of the flying object, and
An arithmetic unit that calculates a complex weight for giving directivity to the transmission of a wireless signal from the array antenna to the wireless communication device, and
With
The directivity is a directivity that directs a null to a target direction other than the direction to the wireless communication device.
When the angular acceleration indicated by the angular acceleration data exceeds the first threshold value, the calculation unit causes the null angle spread to be larger than when the angular acceleration is equal to or less than the first threshold value. An air vehicle that calculates the complex weight. The flying object further includes a transmission control unit that stops transmission of the radio signal to the radio communication device when the angular acceleration indicated by the angular acceleration data exceeds a second threshold value larger than the first threshold value. The flying object according to claim 1. When the angular acceleration indicated by the angular acceleration data exceeds the first threshold value, the arithmetic unit expands the angle of the beam to the wireless communication device more than when the angular acceleration is equal to or lower than the first threshold value. The flying object according to claim 1 or 2, wherein the complex weight is calculated so that The air vehicle further includes a storage unit that stores position information indicating the position of an interference wave source that transmits an interference wave to the air vehicle.
The flying object according to any one of claims 1 to 3, wherein the target direction is the direction of the interference wave source. It ’s an air vehicle,
An array antenna that communicates with a wireless communication device,
An acquisition unit that acquires planning information indicating a planned route, which is a route on which the aircraft is planned to move, and an acquisition unit.
An arithmetic unit that calculates a complex weight for giving directivity to the transmission of a wireless signal from the array antenna to the wireless communication device, and
Based on the plan information, a fluctuation prediction region in which the attitude change of the flying object is predicted to occur in the planned route is specified, and when the flying object is located in the fluctuation prediction region, the said to the wireless communication device. A transmission control unit that stops the transmission of wireless signals,
A flying object. The planning information includes waypoint information indicating one or more moving waypoints.
The flying object according to claim 5, wherein the fluctuation prediction region includes a moving waypoint indicated by the waypoint information. The acquisition unit acquires area information indicating a region in which the attitude of the aircraft is likely to fluctuate.
The flying object according to claim 5 or 6, wherein the fluctuation prediction region includes a region indicated by the region information. It ’s an air vehicle,
A drive unit that generates driving force for flight,
A flight control unit that outputs a control value that controls the drive unit,
An array antenna that communicates with a wireless communication device,
An arithmetic unit that calculates a complex weight for giving directivity to the transmission of a wireless signal from the array antenna to the wireless communication device, and
With
The directivity is a directivity that directs a null to a target direction other than the direction to the wireless communication device.
When the result obtained by differentiating the control value exceeds the first threshold value, the calculation unit causes the null angle spread to be larger than when the result is equal to or less than the first threshold value. A flying object that calculates the complex weight in. 8. The flying object further includes a transmission control unit that stops transmission of the radio signal to the radio communication device when the result exceeds a second threshold value larger than the first threshold value. The described flying object. When the result exceeds the first threshold value, the calculation unit performs the complex so that the angular spread of the beam to the wireless communication device becomes larger than when the result is equal to or less than the first threshold value. The flying object according to claim 8 or 9, wherein the weight is calculated. The air vehicle further includes a storage unit that stores position information indicating the position of an interference wave source that transmits an interference wave to the air vehicle.
The flying object according to any one of claims 8 to 10, wherein the target direction is the direction of the interference wave source. Computer,
It ’s an air vehicle,
An acquisition unit that acquires angular acceleration data indicating the angular acceleration of the flying object, and
An arithmetic unit that calculates complex weights to give directivity to the transmission of wireless signals from the array antenna to the wireless communication device,
With
The directivity is a directivity that directs a null to a target direction other than the direction to the wireless communication device.
When the angular acceleration indicated by the angular acceleration data exceeds the first threshold value, the calculation unit causes the null angle spread to be larger than when the angular acceleration is equal to or less than the first threshold value. A program for calculating the complex weight and making it function as an air vehicle. Computer,
It ’s an air vehicle,
An acquisition unit that acquires planning information indicating a planned route, which is a route on which the aircraft is planned to move, and an acquisition unit.
An arithmetic unit that calculates complex weights to give directivity to the transmission of wireless signals from the array antenna to the wireless communication device,
Based on the plan information, a fluctuation prediction region in which the attitude change of the flying object is predicted to occur in the planned route is specified, and when the flying object is located in the fluctuation prediction region, the said to the wireless communication device. A transmission control unit that stops the transmission of wireless signals,
A program to function as an air vehicle. Computer,
It ’s an air vehicle,
A flight control unit that outputs control values that control the drive unit that generates the driving force for flight,
An arithmetic unit that calculates complex weights to give directivity to the transmission of wireless signals from the array antenna to the wireless communication device,
With
The directivity is a directivity that directs a null to a target direction other than the direction to the wireless communication device.
When the result obtained by differentiating the control value exceeds the first threshold value, the calculation unit causes the null angle spread to be larger than when the result is equal to or less than the first threshold value. A program for calculating the complex weight to function as an air vehicle.

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