JP6124726B2 - Thrust direction calculation device, thrust direction calculation program, thrust direction calculation method, flying object, and flying object guidance method - Google Patents

Description

  The present invention relates to a technique for guiding a flying object such as a rocket to a target orbit.

A rocket equipped with a spacecraft such as an artificial satellite or a spacecraft is the most appropriate to be able to put the spacecraft into the target orbit even if it deviates from the planned flight course due to engine thrust error or wind. Guide in real time as you fly through a long course.
In order to obtain the most appropriate course in consideration of the influence of the atmosphere, it is necessary to perform a large amount of calculations as shown in Non-Patent Documents 1 to 4. For this reason, a computer mounted on a relatively low-performance rocket cannot perform arithmetic processing in real time. Therefore, attitude control is performed so that the attitude as planned is realized in the atmosphere, and guidance for correcting deviation from the flight course is performed in outer space.

  On the other hand, if guidance is performed from the time when the rocket is flying in the atmosphere, the deviation from the planned flight course can be corrected from an early stage, so it is considered that the fuel consumption of the rocket can be reduced.

  Patent Documents 1 to 4 and Non-Patent Documents 1 to 4 disclose techniques related to rocket guidance.

JP 7-277295 A JP 2012-106515 A JP 2013-107584 A JP 2013-107585 A

Greg A.G. Dukeman, “Closed-Loop Nominal and Abort Atmospheric Ascident Guidance for Rocket-Powered Launch Vehicles Technology”, Georgia Institute of Technology 5 Ping Lu, and Binfeng Pan, “Highly Constrained Optimal Launch Assurance Guidance”, JOURNAL OF GUIDANCE, CONTROL, AND DYNAMICS, Vol. 33, no. 2, March-April 2010 Ping Lu, Hongsheng Sun, and Bruce Tsai, “Closed-Loop Endospheric, Ascent Guidance”, JORNAL OF GUIDANCE, CONTROL, AND DYNAMICS, Vol. 26, no. 2, March-April 2003 Binfeng Pan, and Ping Lu, “Improvements to Optimal Launch Assurance Guidance”, AAAA Guidance, Navigation, and Control Conference, 2-5 August 2010, Toronto

  The present invention enables a flying object to be guided in real time in consideration of the atmosphere even when a relatively low-performance computer such as that mounted on a flying object (for example, a rocket) is used. For the purpose.

The thrust direction calculation device of the present invention is
An aerodynamic amount calculation unit for calculating an aerodynamic amount indicating a magnitude of an aerodynamic force applied to a flying object flying in the atmosphere;
A steering correction unit that corrects the steering equation for calculating the thrust direction of the flying object when the flying object flies in vacuum using the aerodynamic amount calculated by the aerodynamic amount calculating unit;
And a thrust direction calculation unit that calculates a thrust direction of the flying object flying in the atmosphere using the steering equation corrected by the steering correction unit.

  The thrust direction calculation unit starts calculating the thrust direction of the flying object in the atmosphere after a waiting time has elapsed since the flying object was launched.

  The thrust direction calculation unit calculates a thrust direction in the atmosphere of the flying object within a limit range of the thrust direction.

The thrust direction calculating device includes:
An aircraft characteristic data storage unit for storing the aircraft characteristic data of the flying object;
An atmospheric state quantity calculating unit that calculates an atmospheric state quantity representing an atmospheric state at a flight position where the flying object is flying.
The aerodynamic amount calculation unit includes the atmospheric state amount calculated by the atmospheric state amount calculation unit, the aircraft characteristic data stored in the aircraft characteristic data storage unit, the airspeed of the flying object, and the atmospheric state The aerodynamic amount applied to the flying object is calculated using an aerodynamic model representing the relationship between the amount, the airframe characteristics, the airspeed, and the aerodynamic amount.

  The atmospheric state quantity calculation unit calculates the atmospheric state quantity at the flight position using position data indicating the flight position and an atmospheric model representing a relationship between the flight position and the atmospheric state quantity.

  The thrust direction calculation program of the present invention causes a computer to function as the thrust direction calculation device.

In the thrust calculation method of the present invention,
The aerodynamic amount calculation unit calculates an aerodynamic amount indicating the size of the aerodynamic force applied to the flying object flying in the atmosphere,
A steering correction unit corrects a steering equation for calculating a thrust direction of the flying object when the flying object flies in a vacuum, using the aerodynamic amount calculated by the aerodynamic amount calculating unit,
The thrust direction calculation unit calculates the thrust direction of the flying object flying in the atmosphere using the steering equation corrected by the steering correction unit.

The flying object of the present invention is
The thrust direction calculating device;
A posture control device that controls the posture of the flying object in accordance with the thrust direction calculated by the thrust direction calculation device.

In the flying object guiding method of the present invention,
The aerodynamic amount calculation unit calculates an aerodynamic amount indicating the size of the aerodynamic force applied to the flying object flying in the atmosphere,
A steering correction unit corrects a steering equation for calculating a thrust direction of the flying object when the flying object flies in a vacuum, using the aerodynamic amount calculated by the aerodynamic amount calculating unit,
A thrust direction calculation unit calculates the thrust direction of the flying object flying in the atmosphere using the steering equation corrected by the steering correction unit,
The attitude control unit controls the attitude of the flying object according to the thrust direction calculated by the thrust direction calculation unit.

  According to the present invention, even when using a relatively low-performance computer mounted on a flying object (for example, a rocket), the appropriateness of the flying object is considered in consideration of the atmosphere by correcting the steering equation. A simple thrust direction can be calculated. By following this thrust direction, the flying object can be guided in real time in consideration of the atmosphere.

2 is a configuration diagram of a rocket 100 and a thrust direction calculation device 200 in Embodiment 1. FIG. It is a schematic diagram which shows the rocket guidance method in Embodiment 1. 3 is a flowchart showing a rocket guidance method in the first embodiment. FIG. 3 is a conceptual diagram illustrating a concept of correcting a steering equation 294 in the first embodiment. It is the figure which compared each start time of the rocket guidance in Embodiment 1, and the conventional rocket guidance. 3 is a diagram illustrating an example of a hardware configuration of a thrust direction calculating apparatus 200 according to Embodiment 1. FIG.

Embodiment 1 FIG.
Even when a relatively low-performance computer mounted on a flying object (for example, a rocket) is used, a mode in which the flying object can be guided in real time in consideration of the atmosphere will be described.

FIG. 1 is a configuration diagram of a rocket 100 and a thrust direction calculation device 200 in the first embodiment.
The configuration of the rocket 100 and the functional configuration of the thrust direction calculation device 200 in the first embodiment will be described with reference to FIG.

The rocket 100 or an artifact on which the rocket 100 is mounted is an example of a flying object that is launched on the ground, on the sea, in the ground, in the sea, or in the air and flies in the atmosphere. This rocket 100 performs attitude control in the atmosphere.
For example, the rocket 100 is equipped with a spacecraft such as an artificial satellite or a spacecraft, and controls the flight attitude in the atmosphere (in the atmosphere) and outer space (in a vacuum) in order to put the mounted spacecraft into the target orbit, Fly the appropriate course in the atmosphere and space.

  The rocket 100 is equipped with a computer (not shown) for calculating the thrust direction and calculating the attitude control. However, the computer performance is relatively low in order to limit the mass and power consumption for mounting on the rocket, and to suppress the effects of vibration and radiation.

  The rocket 100 includes a navigation device 110, a thrust direction calculation device 200, and an attitude control device 120. These devices are examples of computers mounted on the rocket 100.

The navigation device 110 is a device that repeatedly calculates the navigation data 119.
The navigation data 119 is data obtained by navigation. For example, the navigation data 119 includes position data, speed data, attitude data, and the like. The position data indicates the current three-dimensional position (position vector, coordinate value, etc.) of the rocket 100, and the speed data indicates the current tertiary of the rocket 100. The original speed is indicated, and the attitude data indicates the current three-dimensional attitude angle of the rocket 100.
The navigation device 110 includes an inertial sensor such as an angular velocity sensor (also referred to as a gyro) and an acceleration sensor, a GPS receiver, and the like, and obtains measurement values (angular velocity, acceleration, position, velocity, etc.) obtained by the inertial sensor and the GPS receiver. The navigation data 119 is calculated using this.

The thrust direction calculation device 200 is a device that calculates an appropriate thrust direction of the rocket 100.
For example, the thrust direction calculation device 200 calculates various aerodynamic quantities (such as aerodynamic vectors and aerodynamic torque, moment, and vectors) applied to the rocket 100 flying in the atmosphere, and uses the calculated aerodynamic quantities to calculate the space. The steering equation 294 for space (in vacuum) is corrected, and the thrust direction is calculated using the corrected steering equation 294.

  The thrust direction calculation device 200 includes an atmospheric state amount calculation unit 210, an aerodynamic amount calculation unit 220, a steering correction unit 230, a thrust direction calculation unit 240, and a thrust direction calculation storage unit 290.

The atmospheric state quantity calculation unit 210 calculates atmospheric state data 219 using the navigation data 119 and the atmospheric model 291.
The atmospheric model 291 is a model (for example, a mathematical expression or a program) that represents the relationship between the flight position (e.g. altitude) and the atmospheric state quantity.
The atmospheric state data 219 is data representing the atmospheric state of the flight position where the rocket 100 is flying. For example, the atmospheric state data 219 includes atmospheric state quantities such as atmospheric pressure, atmospheric density, and temperature.

The aerodynamic amount calculation unit 220 calculates aerodynamic amount data 229 using the navigation data 119, the atmospheric state data 219, the airframe characteristic data 292, and the aerodynamic model 293.
Aircraft characteristic data 292 includes characteristics related to various quantities of the rocket 100 as a rigid body (position of center of gravity, inertia tensor, etc.) and characteristics related to aerodynamic quantities (reference cross-sectional area, reference length, drag force). Coefficient, lift coefficient, axial force coefficient, normal force coefficient, etc.).
The aerodynamic model 293 is a model representing the relationship among the atmospheric state quantity, the airframe characteristics, the airspeed, and various aerodynamic quantities.
The aerodynamic amount data 229 is data indicating various aerodynamic amounts applied to the rocket 100.

The steering correction unit 230 generates a steering equation for the atmosphere (in the atmosphere) by correcting the steering equation 294 for outer space (in the vacuum) using the aerodynamic amount data 229.
The steering equation 294 is a conventional mathematical formula (or function, program) generated without considering the influence of the atmosphere under the condition that the rocket 100 flies in a vacuum, and represents a thrust direction profile. The thrust direction profile is data that has been used conventionally, and shows the relationship between the elapsed time after launch and the planned thrust direction.
By calculating the steering equation 294 before correction, an appropriate thrust direction of the rocket 100 flying in the vacuum is calculated.
By calculating the corrected steering equation 294, an appropriate thrust direction of the rocket 100 flying in the atmosphere is calculated.

The thrust direction calculation unit 240 calculates the thrust direction data 249 using the corrected steering equation 294, that is, the steering equation for the atmosphere (in the atmosphere).
The thrust direction data 249 is data indicating an appropriate thrust direction of the rocket 100 flying in the atmosphere.

The thrust direction calculation storage unit 290 stores data used, generated, or input / output by the thrust direction calculation device 200.
For example, the thrust direction calculation storage unit 290 stores in advance an atmospheric model 291, airframe characteristic data 292, an aerodynamic model 293, and a steering equation 294 before correction. The thrust direction calculation storage unit 290 stores navigation data 119, atmospheric condition data 219, aerodynamic amount data 229, corrected steering equation 294, and thrust direction data 249.

  The attitude control device 120 controls the attitude (thrust direction) of the rocket 100 so that the flight attitude of the rocket 100 matches the thrust direction indicated by the thrust direction data 249.

FIG. 2 is a schematic diagram showing a rocket guidance method in the first embodiment.
The outline | summary of the rocket guidance method in Embodiment 1 is demonstrated based on FIG.

(1) When the rocket 100 is flying at a relatively low altitude in the atmosphere, since the atmospheric density is high, the rocket 100 is subjected to a large aerodynamic force and the angle of attack cannot be increased. It is impossible to control the flight posture so as to correct the deviation from the flight course. That is, if the flight attitude of the rocket 100 is forcibly controlled, a large load (aerodynamic force) is applied to the rocket 100 and the rocket 100 may be damaged.
Therefore, it is considered better not to guide the rocket until the rocket 100 reaches a relatively high altitude in the atmosphere.

(2) When the rocket 100 is flying at a relatively high altitude in the atmosphere, since the atmospheric density is low, the aerodynamic force applied to the rocket 100 is relatively small, and the attack angle is not so large that the rocket 100 is not damaged. Thus, it is considered possible to control the flight attitude so as to correct the deviation of the rocket 100 from the planned flight course.
Therefore, when the rocket 100 reaches a relatively high altitude in the atmosphere, the rocket guidance may be started in consideration of the atmosphere.

  (3) When the rocket 100 reaches the outer space beyond the atmosphere, the outer space is in a vacuum, and thus conventional rocket guidance may be performed without considering the influence of the atmosphere.

FIG. 3 is a flowchart showing the rocket guidance method in the first embodiment.
A rocket guidance method according to Embodiment 1 will be described with reference to FIG.

In S110, the thrust direction calculation device 200 stands by after the launch of the rocket 100 until the rocket guidance waiting time elapses.
The rocket guidance waiting time is a predetermined time as a waiting time from when the rocket 100 is launched to when rocket guidance is started. For example, the rocket guidance waiting time is a scheduled time required for the rocket 100 to reach an altitude where the influence of the atmosphere is small, that is, an altitude where the atmospheric density is low.

For example, the thrust direction calculation apparatus 200 includes an elapsed time measurement unit and a waiting time determination unit, thereby determining whether or not the rocket guidance waiting time has elapsed. Then, the thrust direction calculation device 200 stands by until the rocket guidance waiting time elapses based on the determination result. The illustration of the elapsed time measurement unit and the elapsed time determination unit is omitted.
The elapsed time measuring unit measures the elapsed time that has elapsed since the rocket 100 was launched.
The waiting time determination unit compares the elapsed time with the rocket induction waiting time, and determines whether or not the elapsed time has passed the rocket induction waiting time.
After S110, the process proceeds to S120.

In S <b> 120, the atmospheric state quantity calculation unit 210 acquires current navigation data 119 from the navigation device 110.
Then, the atmospheric state amount calculation unit 210 calculates the atmospheric state data 219 using the navigation data 119 and the atmospheric model 291.
After S120, the process proceeds to S130.

In S <b> 130, the aerodynamic amount calculation unit 220 calculates aerodynamic amount data 229 using the navigation data 119, the atmospheric state data 219, the airframe characteristic data 292, and the aerodynamic model 293.
After S130, the process proceeds to S140.

In S140, the steering correction unit 230 corrects the steering equation 294 for outer space (in vacuum) by executing a steering correction program using the aerodynamic amount data 229 as input data. Thereby, the steering equation 294 for the atmosphere (in the atmosphere) is generated.
It is assumed that a steering correction program for correcting the steering equation 294 is stored in advance in the thrust direction calculation storage unit 290.

For example, the steering correction unit 230 calculates a correction amount ε (t) corresponding to the aerodynamic amount indicated by the aerodynamic amount data 229 by executing a steering correction program. Then, the steering correction unit 230 adds the correction amount ε (t) to the steering equation “γ = f (α, β, t)” representing the thrust direction profile 201, thereby correcting the staying equation “γ = f (Α, β, t) + ε (t) ”is generated (see FIG. 4).
FIG. 4 is a conceptual diagram showing the concept of correcting the steering equation 294 in the first embodiment. “Γ” represents the thrust direction, and “t” represents the elapsed time. “Α” and “β” represent parameters of the steering equation 294 and are calculated from the target trajectory and navigation data.
After S140, the process proceeds to S150.

In S150, the thrust direction calculation unit 240 calculates the thrust direction data 249 using the corrected steering equation 294, that is, the steering equation 294 for the atmosphere (in the atmosphere). Then, the thrust direction calculation unit 240 outputs the thrust direction data 249 to the attitude control device 120. The thrust direction data 249 is data indicating an appropriate thrust direction of the rocket 100.
For example, the thrust direction calculation unit 240 substitutes the measured elapsed time for the elapsed time variable t included in the steering equation 294, and calculates the steering equation 294 by substituting the measured elapsed time. The correct thrust direction is calculated.

The thrust direction calculation unit 240 adjusts the thrust direction data 249 so as to be within a predetermined limit range. Thereby, aerodynamics (burden) applied to the rocket 100 can be suppressed, and fuel consumption can be reduced.
For example, when the limit range of the elevation angle obtained from the thrust direction is “X degrees or less” and the elevation angle obtained from the thrust direction calculated using the steering equation 294 exceeds X degrees, the thrust direction calculation unit 240 Adjusts the elevation angle obtained from the calculated thrust direction so that the angle exceeds X degrees and becomes X degrees.
After S150, the process proceeds to S160.

In S160, the attitude control device 120 controls the attitude (thrust direction) of the rocket 100 so that the thrust direction of the rocket 100 matches the thrust direction indicated by the thrust direction data 249.
The method for controlling the attitude of the rocket 100 is the same as the conventional attitude control method performed in outer space.
After S160, the process proceeds to S170.

In S170, the thrust direction calculation apparatus 200 determines whether the atmospheric end time has elapsed since the rocket 100 was launched.
The atmosphere end time is a predetermined time, and is a scheduled time required for the rocket 100 to reach the outer space beyond the atmosphere after the rocket 100 is launched.

For example, the thrust direction calculation apparatus 200 includes an elapsed time measurement unit and an end time determination unit, thereby determining whether or not the atmosphere end time has elapsed.
The elapsed time measuring unit measures the elapsed time that has elapsed since the rocket 100 was launched.
The end time determination unit compares the elapsed time with the atmosphere end time, and determines whether the elapsed time has passed the atmosphere end time.

If the atmospheric end time has elapsed (YES), the process proceeds to S180.
If the atmospheric end time has not elapsed (NO), the process returns to S120.

In S180, since the rocket 100 has reached the outer space beyond the atmosphere, conventional rocket guidance without considering the influence of the atmosphere is performed.
That is, the thrust direction calculation unit 240 calculates thrust direction data using the steering equation 294 before correction, that is, the steering equation 294 for outer space (in vacuum). Then, the attitude control device 120 controls the attitude (thrust direction) of the rocket 100 so that the thrust direction of the rocket 100 matches the thrust direction indicated by the thrust direction data.
After S180, the rocket guidance method processing ends.

In the rocket guidance method described above, the thrust direction calculation device 200 operates as follows.
The thrust direction calculation device 200 uses the aerodynamic quantities for the airframe calculated based on the position, the airspeed, the atmospheric model, the rigid body characteristics of the rocket, and the aerodynamic characteristics of the rocket, to determine the optimum thrust direction in vacuum. The steering equation (formula expressing the pattern of the thrust direction profile) expressed approximately is corrected. Then, the thrust direction calculation device 200 obtains a desired rocket attitude (thrust direction) using the corrected steering equation, and outputs the obtained rocket attitude to the attitude control device.
That is, the thrust direction calculating apparatus 200 uses the guidance method in vacuum as an approximate solution and performs correction in consideration of the influence of the atmosphere. Thereby, the rocket can be guided in consideration of the influence of the atmosphere even at the level of the computer mounted on the rocket.
In addition, since the rocket guidance is started earlier than the current rocket guidance (see FIG. 5), the consumption of propellant (fuel) can be reduced.
FIG. 5 is a diagram comparing the start times of the rocket guidance in the first embodiment and the conventional rocket guidance.

FIG. 6 is a diagram illustrating an example of a hardware configuration of the thrust direction calculating apparatus 200 according to the first embodiment.
An example of the hardware configuration of the thrust direction calculation apparatus 200 according to Embodiment 1 will be described with reference to FIG.

The thrust direction calculation device 200 is a computer that includes an arithmetic device 901, an auxiliary storage device 902, a main storage device 903, a communication device 904, and an input / output device 905.
The arithmetic device 901, auxiliary storage device 902, main storage device 903, communication device 904, and input / output device 905 are connected to the bus 909.

The arithmetic device 901 is a CPU (Central Processing Unit) that executes a program.
The auxiliary storage device 902 is, for example, a ROM (Read Only Memory), a flash memory, or a hard disk device.
The main storage device 903 is, for example, a RAM (Random Access Memory).
The communication device 904 performs communication via the Internet, a LAN (local area network), a telephone line network, or other networks in a wired or wireless manner.
The input / output device 905 is, for example, a mouse, a keyboard, or a display device.

The program is normally stored in the auxiliary storage device 902, loaded into the main storage device 903, read into the arithmetic device 901, and executed by the arithmetic device 901.
For example, an operating system (OS) is stored in the auxiliary storage device 902. In addition, a program (an example of a thrust direction calculation program) that realizes the function described as “˜unit” is stored in the auxiliary storage device 902. The OS and the program that realizes the function described as “˜unit” are loaded into the main storage device 903 and executed by the arithmetic device 901.

  “Determining”, “determining”, “extracting”, “detecting”, “setting”, “registering”, “selecting”, “generating”, “to” Information, data, signal values, or variable values indicating processing results such as “input”, “output of”, “calculation of”, and the like are stored in the main storage device 903 or the auxiliary storage device 902. In addition, other data used by the thrust direction calculation device 200 is stored in the main storage device 903 or the auxiliary storage device 902.

FIG. 6 shows an example of the hardware configuration of the thrust direction calculating apparatus 200 according to Embodiment 1, and the hardware configuration of the thrust direction calculating apparatus 200 may be different from the configuration shown in FIG. .
Note that the method according to the first embodiment (an example of a thrust direction calculation method) can be realized by a procedure described with reference to a flowchart or the like, or a procedure partially different therefrom.

  According to the first embodiment, even when a relatively low-performance computer such as that mounted on a flying object (for example, a rocket) is used, the flying object is appropriately considered in consideration of the atmosphere by correcting the steering equation. A simple thrust direction can be calculated. By following this thrust direction, the flying object can be guided in real time in consideration of the atmosphere.

  100 rocket, 110 navigation device, 119 navigation data, 120 attitude control device, 200 thrust direction calculation device, 201 thrust direction profile, 210 atmospheric state amount calculation unit, 219 atmospheric state data, 220 aerodynamic amount calculation unit, 229 aerodynamic amount data, 230 Steering correction unit, 240 Thrust direction calculation unit, 249 Thrust direction data, 290 Thrust direction calculation storage unit, 291 Atmospheric model, 292 Airframe characteristic data, 293 Aerodynamic model, 294 Steering equation, 901 Arithmetic unit, 902 Auxiliary storage unit, 903 Main storage device, 904 communication device, 905 input / output device, 909 bus.

Claims (9)

An aerodynamic amount calculation unit for calculating an aerodynamic amount indicating a magnitude of an aerodynamic force applied to a flying object flying in the atmosphere;
A steering correction unit that corrects the steering equation for calculating the thrust direction of the flying object when the flying object flies in vacuum using the aerodynamic amount calculated by the aerodynamic amount calculating unit;
A thrust direction calculation device comprising: a thrust direction calculation unit that calculates a thrust direction of the flying object flying in the atmosphere using the steering equation corrected by the steering correction unit. The thrust direction calculation device according to claim 1, wherein the thrust direction calculation unit starts calculating a thrust direction in the atmosphere of the flying object after a waiting time has elapsed since the flying object was launched. The thrust direction calculation device according to claim 1, wherein the thrust direction calculation unit calculates a thrust direction in the atmosphere of the flying object within a limit range of a thrust direction. The thrust direction calculating device includes:
An aircraft characteristic data storage unit for storing the aircraft characteristic data of the flying object;
An atmospheric state quantity calculating unit for calculating an atmospheric state quantity representing an atmospheric state of a flight position where the flying object is flying,
The aerodynamic amount calculation unit includes the atmospheric state amount calculated by the atmospheric state amount calculation unit, the aircraft characteristic data stored in the aircraft characteristic data storage unit, the airspeed of the flying object, and the atmospheric state 4. The aerodynamic amount applied to the flying object is calculated using an aerodynamic model representing a relationship between an amount, an airframe characteristic, an airspeed, and an aerodynamic amount. 5. The thrust direction calculating device described. The atmospheric state quantity calculation unit calculates the atmospheric state quantity at the flight position using position data indicating the flight position and an atmospheric model representing a relationship between the flight position and the atmospheric state quantity. The thrust direction calculation device according to claim 4.   A thrust direction calculation program for causing a computer to function as the thrust direction calculation device according to any one of claims 1 to 5. The aerodynamic amount calculation unit calculates an aerodynamic amount indicating the size of the aerodynamic force applied to the flying object flying in the atmosphere,
A steering correction unit corrects a steering equation for calculating a thrust direction of the flying object when the flying object flies in a vacuum, using the aerodynamic amount calculated by the aerodynamic amount calculating unit,
A thrust direction calculation method, wherein the thrust direction calculation unit calculates the thrust direction of the flying object flying in the atmosphere using the steering equation corrected by the steering correction unit. A thrust direction calculating device according to any one of claims 1 to 5,
A flying object comprising: an attitude control device that controls the attitude of the flying object according to the thrust direction calculated by the thrust direction calculating device. The aerodynamic amount calculation unit calculates an aerodynamic amount indicating the size of the aerodynamic force applied to the flying object flying in the atmosphere,
A steering correction unit corrects a steering equation for calculating a thrust direction of the flying object when the flying object flies in a vacuum, using the aerodynamic amount calculated by the aerodynamic amount calculating unit,
A thrust direction calculation unit calculates the thrust direction of the flying object flying in the atmosphere using the steering equation corrected by the steering correction unit,
An attitude control unit controls the attitude of the flying object according to the thrust direction calculated by the thrust direction calculation unit.

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