JP6689804B2 - Communication relay device, system and management device - Google Patents

Description

  The present invention relates to flight control of a HAPS (high altitude platform station) suitable for constructing a three-dimensional network for fifth generation communication.

  Conventionally, there is known a communication standard called LTE-Advanced Pro, which is an extension of LTE (Long Term Evolution) -Advanced (see Non-Patent Document 1) of 3GPP, which is a communication standard of a mobile communication system (see Non-Patent Document 2). . In this LTE-Advanced Pro, specifications have been established for providing communication to recent IoT (Internet of Things) devices. Furthermore, a fifth generation mobile device that supports simultaneous connection to a large number of terminal devices such as IoT devices (also referred to as “UE (user device)”, “mobile station”, and “communication terminal”) and low delay. Communication is under consideration (see Non-Patent Document 3, for example).

3GPP TS 36.300 V10.12.0 (2014-12). 3GPP TS 36.300 V13.5.0 (2016-09). G. Romano, "3GPP RAN progress on" 5G "", 3GPP, 2016.

  In the wireless communication with the terminal device including the IoT device in the fifth generation mobile communication, etc., the propagation delay is low, a large number of terminals in a wide range can be simultaneously connected, high speed communication is possible, and the system capacity per unit area is high. There is a problem to realize a large three-dimensional network stably over a wide area. In addition, a device realized by such a three-dimensional network has a problem of reducing energy consumption.

A communication relay device according to an aspect of the present invention includes a wireless relay station that performs wireless communication with a terminal device, and a levitation body that is controlled to be located in an airspace of a predetermined altitude by autonomous control or control from the outside. And a flight control means for controlling to fly using the air flow based on environmental information including the wind speed and the wind direction of the air flow.

  In the communication relay device, the environment information may include a wind speed and a wind direction of an airflow at each of a plurality of altitudes. The environmental information may include atmospheric pressure and temperature at each of a plurality of altitudes. Further, the environmental information may be obtained from at least one of statistical values of past high-rise weather observation data, latest high-rise weather observation data, and measurement data measured by a measurement device provided in the communication relay device itself. Good.

  Further, in the communication relay device, the flight control means may control to fly using an air flow based on the environment information and device state information indicating a state of the communication relay device itself. . The device status information may include information on a current position of the communication relay device itself and a preset flight route. Further, the device state information may include at least one of information on an airspeed, a ground speed, and a propulsion direction of the communication relay device itself.

  The communication relay device further includes means for determining the flight control content by the flight control means based on the environment information or based on the environment information and the device state information, and the flight control means includes the determination. The flight may be controlled based on the performed flight control content.

  In the communication relay device, a means for receiving from the external device information of flight control content of the communication relay device itself determined based on the environment information or based on the environment information and the device state information, The flight control means may perform flight control based on the received flight control content. The external device may be a ground or sky management device that manages the communication relay device.

  In the communication relay device, the flight control content includes a target flight route from a departure point of the communication relay device itself to a target point, and the flight control means controls to fly the target flight route. May be.

  Further, in the communication relay device, the flight control content by the flight control means may be individually set for each of a plurality of types of flight patterns. The plurality of types of flight patterns include a flight pattern for takeoff, a flight pattern for climbing to a predetermined altitude range, a flight pattern for staying in an area over a stay target within a predetermined altitude range, and a descent from a predetermined altitude range. And the flight pattern when landing may be included. In addition, the plurality of types of flight patterns include a flight pattern that moves laterally to a stay target sky area after moving to a predetermined altitude range, a flight pattern that maximizes a time zone for maintaining a predetermined attitude, and two stay target sky areas. It may include at least one of a flight pattern that moves between areas, a patrol flight pattern that patrols between a plurality of stay target sky areas, and a flight pattern that moves up and down in the stay target sky area according to a time zone.

  Further, in the communication relay device, the flight control content is determined based on a learning result obtained by a plurality of flight tests executed under a plurality of different conditions of the environment information and the device state information. Good.

  Further, the communication relay device may include at least one of a battery and a solar power generation system, and may fly with electric power. Further, in the communication relay device, a three-dimensional cell may be formed in a predetermined cell formation target airspace between the ground and the sea surface, and the altitude of the cell formation target airspace may be 10 [km] or less. Further, the communication relay device may be located at an altitude of 100 [km] or less.

  A system according to another aspect of the present invention is a system including a plurality of any one of the communication relay devices, wherein the plurality of communication relay devices form a formation having a mutual positional relationship that reduces air resistance during flight. You may fly in.

  A management device according to another aspect of the present invention is a management device located on the ground or in the sky for managing any one of the communication relay devices, the communication relay device being based on the environment information and the device state information. The flight control content may be determined, and the determined flight control content may be transmitted to the communication relay device.

  ADVANTAGE OF THE INVENTION According to this invention, the propagation delay of the wireless communication with the terminal device containing the device for IoT in 5th generation mobile communication etc. is low, it can be simultaneously connected with many terminal devices of a wide range, high-speed communication is possible, A three-dimensional network having a large system capacity per unit can be stably realized over a wide area, and energy consumption during flight can be reduced.

1 is a schematic configuration diagram showing an example of the overall configuration of a communication system that realizes a three-dimensional network according to an embodiment of the present invention. The perspective view which shows an example of HAPS used for the communication system of embodiment. The side view which shows the other example of HAPS used for the communication system of embodiment. FIG. 3 is an explanatory diagram showing an example of a wireless network formed in the sky by a plurality of HAPSs according to the embodiment. The schematic block diagram which shows an example of the whole structure of the communication system which implement | achieves the three-dimensional network which concerns on other embodiment. The block diagram which shows one structural example of the wireless relay station of HAPS of embodiment. The block diagram which shows the other structural example of the wireless relay station of HAPS of embodiment. The block diagram which shows the further another structural example of the wireless relay station of HAPS of embodiment. Explanatory drawing which illustrates the various flight patterns of HAPS of embodiment. The functional block diagram which shows one structural example of the flight control system of HAPS of embodiment. The flowchart which shows an example of the flight control of HAPS of embodiment. FIG. 3 is a functional block diagram showing a configuration example of a flight control system of the HAPS and the remote control device of the embodiment. The sequence diagram which shows the other example of the flight control of HAPS of embodiment. The functional block diagram which shows the other structural example of the flight control system of HAPS and a remote control apparatus of embodiment. The sequence diagram which shows another example of the flight control of HAPS of embodiment. The top view which shows an example of the formation flight by several HAPS of embodiment. (A) is explanatory drawing of the vortex airflow and lift which are formed in the main wing edge part of HAPS during formation flight of FIG. FIG. 6B is a top view showing a lift-increasing region formed obliquely rearward of the main wing end portion of the HAPS.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic configuration diagram showing an example of the overall configuration of a communication system according to an embodiment of the present invention.
The communication system according to the present embodiment is suitable for realizing a three-dimensional network for fifth generation mobile communication, which supports simultaneous connection to a large number of terminal devices and low delay.

As illustrated in FIG. 1, the communication system includes a plurality of high altitude platform stations (HAPS) 10 and 20 as a plurality of aerial levitation type communication relay devices. The HAPS 10 and 20 are located in an air space of a predetermined altitude and form three-dimensional cells (three-dimensional areas) 41 and 42 in the cell formation target air space 40 of the predetermined altitude as shown by hatched areas in the figure. HAPS10,20 autonomously controlled or 100 from the ground or sea surface by external control [km] The following high-altitude airspace (flotation airspace) 50 to the floating or buoyant body is controlled so as to lie flight (e.g., (Solar plane, airship) is equipped with a wireless relay station.

  The airspace 50 in which the HAPS 10 and 20 are located is, for example, a stratospheric airspace with an altitude of 11 [km] or more and 50 [km] or less. The airspace 50 may be an airspace having an altitude of 15 [km] or more and 25 [km] or less, in which the weather conditions are relatively stable, and may be an airspace having an altitude of approximately 20 [km]. Hrsl and Hrsu in the figure respectively indicate the relative heights of the lower end and the upper end of the air space 50 where the HAPS 10, 20 are located with respect to the ground (GL).

  The cell formation target airspace 40 is a target airspace for forming a three-dimensional cell by one or more HAPS in the communication system of the present embodiment. The cell formation target airspace 40 is located between the airspace 50 in which the HAPS 10 and 20 are located and the cell formation region near the ground covered by the base station 90 such as the conventional macrocell base station, and the predetermined altitude range (for example, 50 [ It is an airspace of an altitude range from m] to 1000 [m]. Hcl and Hcu in the figure respectively indicate the relative altitudes of the lower end and the upper end of the cell formation target airspace 40 with respect to the ground (GL).

  The cell formation target air space 40 in which the three-dimensional cell of this embodiment is formed may be above the sea, river, or lake.

  The wireless relay stations of the HAPS 10 and 20 form beams 100 and 200 for wireless communication with a terminal device, which is a mobile station, toward the ground. The terminal device may be a communication terminal module incorporated in a drone 60 which is an aircraft such as a small helicopter capable of remote control, or a user device used by a user in an airplane 65. In the cell formation target air space 40, the regions through which the beams 100 and 200 pass are the three-dimensional cells 41 and 42. The plurality of beams 100 and 200 adjacent to each other in the cell formation target airspace 40 may partially overlap.

  The wireless relay stations of the HAPS 10 and 20 are each connected to the core network of the mobile communication network 80 via a feeder station (gateway) 70 which is a relay station installed on the ground or at the sea. Communication between the HAPS 10 and 20 and the feeder station 70 may be performed by wireless communication using radio waves such as microwaves, or may be performed by optical communication using laser light or the like.

  Each of the HAPSs 10 and 20 may autonomously control its own levitating movement (flying) and processing at the wireless relay station by a control unit configured by a computer or the like incorporated therein to execute a control program. For example, the HAPS 10 and 20 each acquire their own current position information (for example, GPS position information), position control information (for example, flight schedule information) stored in advance, position information of other HAPS located in the vicinity, and the like. The levitation movement (flight) and the process in the wireless relay station may be autonomously controlled based on the information of (1).

  Further, the floating movement (flight) of each of the HAPS 10 and 20 and the processing in the wireless relay station may be controlled by a remote control device 85 as a management device provided in a communication center of the mobile communication network 80 or the like. In this case, the HAPS 10, 20 has a control communication terminal device (for example, a mobile communication module) incorporated therein so as to receive control information from the remote control device 85 and send various information to the remote control device 85, Terminal identification information (eg, IP address, telephone number, etc.) may be assigned so that the remote control device 85 can identify it. The MAC address of the communication interface may be used to identify the control communication terminal device. In addition, the HAPS 10 and 20 respectively provide information regarding the levitation movement (flight) of HAPS or its surrounding HAPS and processing at the wireless relay station, and information such as observation data acquired by various sensors to a predetermined value of the remote control device 85 or the like. You may make it transmit to a transmission destination.

  In the cell formation target airspace 40, there may be a region where the beams 100 and 200 of the HAPS 10 and 20 do not pass (regions where the three-dimensional cells 41 and 42 are not formed). In order to complement this area, as in the configuration example of FIG. 1, a radial beam 300 is formed upward from the ground side or the sea side to form a three-dimensional cell 43 to form an ATG (Air To Ground) connection. A base station (hereinafter, referred to as “ATG station”) 30 for performing may be provided.

  In addition, by adjusting the positions of the HAPSs 10 and 20, the divergence angles (beam widths) of the beams 100 and 200, etc. without using the ATG station 30, the wireless relay stations of the HAPSs 10 and 20 are set up in the cell formation target airspace 40. The beams 100 and 200 may be formed so as to cover the entire upper end surface of the cell formation target airspace 40 so that the dimensional cells are formed all over.

  The three-dimensional cells formed by the HAPS 10 and 20 may be formed so as to reach the ground surface or the sea surface so that they can communicate with a terminal device located on the ground or at the sea.

FIG. 2 is a perspective view showing an example of the HAPS 10 used in the communication system of the embodiment.
The HAPS 10 of FIG. 2 is a solar plane type HAPS, and has a plurality of main blades 101 with both ends in the longitudinal direction extending upward and a plurality of bus power system propulsion devices at one edge of the main blade 101 in the lateral direction. Motor driven propeller 103. A solar power generation panel (hereinafter referred to as “solar panel”) 102 as a solar power generation unit having a solar power generation function is provided on the upper surface of the main wing portion 101. In addition, pods 105 serving as a plurality of device accommodating parts for accommodating mission devices are connected to two positions on the lower surface of the main wing part 101 in the longitudinal direction via plate-like connecting parts 104. Inside each pod 105, a wireless relay station 110 as a mission device and a battery 106 are housed. Further, wheels 107 used at the time of taking off and landing are provided on the lower surface side of each pod 105. The electric power generated by the solar panel 102 is stored in the battery 106, the motor of the propeller 103 is rotationally driven by the electric power supplied from the battery 106, and the wireless relay processing by the wireless relay station 110 is executed.

  The solar plane type HAPS 10 can be levitated by a lift force by performing a turning flight or a figure-8 flight, and can be levitated so as to stay in a predetermined horizontal range at a predetermined altitude. The solar plane type HAPS 10 can fly like a glider when the propeller 103 is not rotationally driven. For example, the power of the battery 106 rises to a high position when the solar panel 102 generates power during the daytime, and when the solar panel 102 cannot generate power during the night, the power supply from the battery 106 to the motor is stopped and the glider. You can fly like.

  The HAPS 10 also includes a three-dimensional directional optical antenna device 130 as a communication unit used for optical communication with other HAPS and artificial satellites. In the example of FIG. 2, the optical antenna device 130 is arranged at both ends of the main wing portion 101 in the longitudinal direction, but the optical antenna device 130 may be arranged at another portion of the HAPS 10. The communication unit used for optical communication with other HAPS and artificial satellites is not limited to such optical communication, and may be wireless communication by other methods such as wireless communication by radio waves such as microwaves. Good.

FIG. 3 is a perspective view showing another example of the HAPS 20 used in the communication system of the embodiment.
The HAPS 20 of FIG. 3 is an unmanned airship type HAPS and has a large payload, so a large capacity battery can be mounted. The HAPS 20 includes an airship body 201 filled with a gas such as helium gas for levitating with buoyancy, a motor-driven propeller 202 as a bus power system propulsion device, and a device housing portion 203 that houses mission devices. Prepare A wireless relay station 210 and a battery 204 are housed inside the device housing unit 203. The electric power supplied from the battery 204 rotationally drives the motor of the propeller 202, and the wireless relay station 210 executes wireless relay processing.

  A solar panel having a solar power generation function may be provided on the upper surface of the airship body 201 so that the battery 204 stores the electric power generated by the solar panel.

  The unmanned airship type HAPS 20 also includes a three-dimensional directional optical antenna device 230 as a communication unit used for optical communication with other HAPS and artificial satellites. In the example of FIG. 3, the optical antenna device 230 is arranged on the upper surface of the airship body 201 and the lower surface of the device housing 203, but the optical antenna device 230 may be arranged on other parts of the HAPS 20. The communication unit used for optical communication with other HAPS or artificial satellites is not limited to such optical communication, but may be wireless communication by other methods such as wireless communication by radio waves such as microwaves. It may be.

FIG. 4 is an explanatory diagram showing an example of a wireless network formed in the sky by the plurality of HAPS 10 and 20 of the embodiment.
The plurality of HAPS 10 and 20 are configured to be capable of performing inter-HAPS communication by optical communication in the sky, and form a wireless communication network with excellent robustness that can stably realize a three-dimensional network over a wide area. This wireless communication network can also function as an ad hoc network by dynamic routing according to various environments and various information. The wireless communication network can be formed to have various two-dimensional or three-dimensional topologies, and may be, for example, a mesh type wireless communication network as shown in FIG.

FIG. 5 is a schematic configuration diagram showing an example of the overall configuration of a communication system according to another embodiment.
In FIG. 5, the same parts as those in FIG. 1 described above are designated by the same reference numerals, and the description thereof will be omitted.

  In the embodiment of FIG. 5, communication between the HAPS 10 and the core network of the mobile communication network 80 is performed via the feeder station 70 and the low-orbit artificial satellite 72. In this case, the communication between the artificial satellite 72 and the feeder station 70 may be wireless communication using radio waves such as microwaves, or may be optical communication using laser light or the like. Further, the communication between the HAPS 10 and the artificial satellite 72 is performed by optical communication using laser light or the like.

FIG. 6 is a block diagram showing a configuration example of the wireless relay stations 110 and 210 of the HAPS 10 and 20 of the embodiment.
The wireless relay stations 110 and 210 in FIG. 6 are examples of repeater type wireless relay stations. The wireless relay stations 110 and 210 respectively include a 3D cell forming antenna unit 111, a transmitting / receiving unit 112, a feed antenna unit 113, a transmitting / receiving unit 114, a repeater unit 115, a monitoring control unit 116, and a power supply unit 117. Prepare Further, each of the wireless relay stations 110 and 210 includes an optical communication unit 125 used for inter-HAPS communication and the like, and a beam control unit 126.

  The 3D cell formation antenna unit 111 has an antenna that forms radial beams 100 and 200 toward the cell formation target airspace 40, and forms three-dimensional cells 41 and 42 that can communicate with a terminal device. The transmission / reception unit 112 configures a first wireless communication unit together with the 3D cell formation antenna unit 111, has a duplexer (DUP: DUPlexer), an amplifier, and the like, and includes the three-dimensional cell 41 via the 3D cell formation antenna unit 111. , 42 for transmitting a wireless signal to the terminal device located in the area, and receiving a wireless signal from the terminal device.

  The feed antenna unit 113 has a directional antenna for wireless communication with the feeder station 70 on the ground or at sea. The transmission / reception unit 114 constitutes a second wireless communication unit together with the feed antenna unit 113, has a duplexer (DUP: DUPlexer), an amplifier, etc., and transmits a radio signal to the feeder station 70 via the feed antenna unit 113. To receive a wireless signal from the feeder station 70.

  The repeater unit 115 relays the signal of the transmission / reception unit 112 transmitted / received to / from the terminal device and the signal of the transmission / reception unit 114 transmitted / received to / from the feeder station 70. The repeater unit 115 may have a frequency conversion function.

  The monitoring control unit 116 is composed of, for example, a CPU and a memory, and executes a program incorporated in advance to monitor the operation processing status of each unit in the HAPS 10 and 20 and control each unit. In particular, the monitoring control unit 116 controls the motor drive unit 141 that drives the propellers 103 and 202 by executing the control program to move the HAPS 10 and 20 to the target position and to stay near the target position. To control.

  The power supply unit 117 supplies the power output from the batteries 106 and 204 to each unit in the HAPS 10 and 20. The power supply unit 117 may have a function of storing electric power generated by a solar power generation panel or the like or electric power supplied from the outside in the batteries 106 and 204.

  The optical communication unit 125 communicates with other HAPSs 10 and 20 in the vicinity and the artificial satellite 72 via an optical communication medium such as a laser beam. This communication enables dynamic routing that dynamically relays wireless communication between the terminal device such as the drone 60 and the mobile communication network 80, and when one HAPS fails, another HAPS backs it up. By wirelessly relaying the data, the robustness of the mobile communication system can be enhanced.

  The beam control unit 126 controls the direction and intensity of a beam of laser light or the like used for inter-HAPS communication and communication with the artificial satellite 72, and a relative position with respect to other HAPSs (wireless relay stations) in the vicinity. The other HAPS (wireless relay station) that performs communication using a light beam such as a laser beam is controlled to be switched according to the change of This control may be performed based on, for example, the position and orientation of HAPS itself, the position of surrounding HAPS, and the like. The information on the position and orientation of the HAPS itself is acquired based on the outputs of the GPS receiving device, the gyro sensor, the acceleration sensor, etc. incorporated in the HAPS, and the information on the position of the HAPS around the remote is provided in the mobile communication network 80. It may be obtained from the controller 85 or another HAPS management server.

FIG. 7 is a block diagram showing another configuration example of the wireless relay stations 110 and 210 of the HAPS 10 and 20 of the embodiment.
The wireless relay stations 110 and 210 in FIG. 7 are examples of base station type wireless relay stations.
Note that, in FIG. 7, the same components as those in FIG. 6 are denoted by the same reference numerals, and description thereof will be omitted. Each of the wireless relay stations 110 and 210 in FIG. 7 further includes a modem unit 118, and includes a base station processing unit 119 instead of the repeater unit 115. Further, the wireless relay stations 110 and 210 each include an optical communication unit 125 and a beam control unit 126.

  The modem unit 118 performs demodulation processing and decoding processing on the received signal received from the feeder station 70 via the feed antenna unit 113 and the transmission / reception unit 114, and outputs the data signal to the base station processing unit 119 side. To generate. Also, the modem unit 118 performs encoding processing and modulation processing on the data signal received from the base station processing unit 119 side, and transmits to the feeder station 70 via the feed antenna unit 113 and the transmission / reception unit 114. Generate a signal.

  The base station processing unit 119 has a function as an e-NodeB that performs baseband processing based on, for example, a method based on the LTE / LTE-Advanced standard. The base station processing unit 119 may perform processing by a method that complies with future mobile communication standards such as the fifth generation.

  The base station processing unit 119 executes, for example, demodulation processing and decoding processing on a reception signal received from the terminal device located in the three-dimensional cells 41 and 42 via the 3D cell formation antenna unit 111 and the transmission / reception unit 112. , And generates a data signal to be output to the modem unit 118 side. Also, the base station processing unit 119 performs encoding processing and modulation processing on the data signal received from the modem unit 118 side, and the three-dimensional cells 41 and 42 via the 3D cell forming antenna unit 111 and the transmitting / receiving unit 112. To generate a transmission signal to be transmitted to the terminal device.

FIG. 8 is a block diagram showing still another configuration example of the wireless relay stations 110 and 210 of the HAPS 10 and 20 of the embodiment.
The wireless relay stations 110 and 210 in FIG. 8 are examples of highly functional base station type wireless relay stations having an edge computing function. Note that, in FIG. 8, the same components as those in FIGS. 6 and 7 are denoted by the same reference numerals, and description thereof will be omitted. Each of the wireless relay stations 110 and 210 of FIG. 8 further includes an edge computing unit 120 in addition to the components of FIG. 7.

  The edge computing unit 120 is composed of, for example, a small computer, and can execute various information processing related to wireless relay in the wireless relay stations 110 and 210 of the HAPS 10 and 20 by executing a program installed in advance. it can.

  For example, the edge computing unit 120 determines the transmission destination of the data signal based on the data signal received from the terminal device located in the three-dimensional cell 41, 42, and the relay destination of the communication based on the determination result. Execute the process of switching. More specifically, when the destination of the data signal output from the base station processing unit 119 is a terminal device located in its own three-dimensional cell 41, 42, the data signal is not passed to the modem unit 118. Then, the data is returned to the base station processing unit 119 and transmitted to the terminal device of the transmission destination located in the own three-dimensional cells 41 and 42. On the other hand, when the destination of the data signal output from the base station processing unit 119 is a terminal device located in a cell other than the own three-dimensional cells 41 and 42, the data signal is passed to the modem unit 118. The data is transmitted to the feeder station 70 and is transmitted via the mobile communication network 80 to the terminal device of the transmission destination located in another cell of the transmission destination.

  The edge computing unit 120 may execute a process of analyzing information received from a large number of terminal devices located in the three-dimensional cells 41 and 42. The analysis result may be transmitted to a large number of terminal devices located in the three-dimensional cells 41 and 42, or may be transmitted to a server device of the mobile communication network 80 or the like.

  The uplink and downlink duplex schemes for wireless communication with the terminal device via the radio relay stations 110 and 210 are not limited to specific schemes, and for example, Time Division Duplex (TDD) schemes are also available. Alternatively, a frequency division duplex (FDD) method may be used. Further, the access method of wireless communication with the terminal device via the wireless relay stations 110 and 210 is not limited to a specific method, and for example, an FDMA (Frequency Division Multiple Access) method, a TDMA (Time Division Multiple Access) method, A CDMA (Code Division Multiple Access) system or an OFDMA (Orthogonal Frequency Division Multiple Access) system may be used. In addition, the wireless communication has functions such as diversity coding, transmission beamforming, and space division multiplexing (SDM), and a plurality of antennas are simultaneously used for both transmission and reception to enable a unit frequency per unit frequency. A MIMO (Multi-Input and Multi-Output) technology that can increase the transmission capacity of the above may be used. The MIMO technology may be SU-MIMO (Single-User MIMO) technology in which one base station transmits a plurality of signals at the same time and the same frequency as one terminal device, or one base station has a plurality of signals. Even in the MU-MIMO (Multi-User MIMO) technique in which signals are transmitted to different communication terminal devices at the same time and the same frequency, or a plurality of different base stations transmits signals to one terminal device at the same time and the same frequency. Good.

  In the present embodiment, the HAPS 10 is operated by flying in various flight patterns such as takeoff, climb, stay in a predetermined airspace 50, descent, and landing. However, since the HAPS 10 has low power consumption for power saving, unlike an ordinary airplane, it may be difficult to fly in a desired flight route (flight route) against the air flow. In addition, when flying against the air flow for a long time, the power consumption during flight increases, and the staying time for a predetermined stay becomes short.

  Therefore, in the present embodiment, the flight control of the HAPS 10 is performed so that the airflow is actively utilized for each flight pattern of the HAPS 10 to fly the HAPS 10 in various flight patterns and to the predetermined airspace 50 for a long time. Energy is saved (power saving) by reducing the energy required for flight (power consumption) when operating the communication service provision by staying for a long time. In the following example, only the solar plane type HAPS 10 is used, but the unmanned airship type HAPS 20 may be used, or these HAPS 10 and 20 may be mixed.

  FIG. 9 is an explanatory diagram illustrating various flight patterns of the HAPS 10 of the embodiment. FIG. 9 illustrates nine types of flight patterns in a series of flights from the take-off to the landing of the HAPS 10. Note that, in FIG. 9, portions common to those in FIGS. 1 and 5 described above are denoted by the same reference numerals, and description thereof will be omitted.

  The HAPS 10 according to the present embodiment is optimized for the most energy-saving flight as follows, based on the environment information such as the air flow and the device state information such as the airspeed of the HAPS 10 for each of the plurality of flight patterns in FIG. 9. Take control.

  “Take-off” in FIG. 9 is a flight pattern when the HAPS 10 takes off from the ground (or the sea surface or a ship on the sea). In this take-off flight pattern, flight control is performed so that the HAPS 10 takes off in the windy condition toward the airflow so that the HAPS 10 can take off quickly.

  “Rise” in FIG. 9 is a flight pattern when the HAPS 10 takes off and then rises to a predetermined airspace 50 (for example, the airspace of the stratosphere). In this ascending flight pattern, flight control is performed so that the airspeed of the HAPS 10 is kept constant and the HAPS 10 rises without countering the airflow. Also, in areas with strong winds such as westerly winds and westerly winds, flight control is performed so as to rise upward.

  "Transition between two points (transit)" in FIG. 9 is a flight pattern when moving from the position where the HAPS 10 has completed the ascent to the stay position (communication service providing point) at the time of operation for providing the communication service. In this flight pattern of movement between two points, flight control is performed so as to move at a constant airspeed aiming at a weak altitude. Further, if there is a destination in the lee of a windy area of low altitude, the flight control is performed so that the altitude is intentionally lowered and the vehicle is swept away and moved, and when reaching a predetermined place, the altitude is increased. Flight control may be performed so as to move while generating power by gliding (gliding) when the airflow is applied.

  “Station keeping” in FIG. 9 is a flight pattern when the HAPS 10 stays at a stay position during operation. In this flight pattern of station keeping, flight control is performed so as to stay within a predetermined stay area. In the flight pattern of this station keeping, even if flight control is performed so as to repeat a flight in which solar power generation is performed by the solar panel 102 in the daytime and a nighttime airflow power generation is performed by gliding in the next night. Good.

  “Gliding (night power generation)” in FIG. 9 is a flight pattern in which the HAPS 10 performs power generation (wind power generation) by rotating the propeller at night. In this gliding (night power generation) flight pattern, flight control is performed so as to glide within a predetermined area while slowly turning using potential energy.

  “Attitude maintenance” in FIG. 9 is a flight pattern for maintaining the attitude so that the solar panel 102 can efficiently generate power when the HAPS 10 is staying. In this attitude-maintaining flight pattern, flight control is performed so as to fly on a flight path (for example, a modified elliptical patrol flight path) that maintains the attitude so as to maximize the time for which the light-receiving surface of the solar panel 102 is directed to the sun. I do.

  The “patrol” in FIG. 9 is a flight pattern when the HAPS 10 patrols between a plurality of stay positions. In the movement between the two points of this patrol flight pattern, flight control is performed so as to move at a constant airspeed aiming at a weak altitude where the wind is weak, similar to the flight pattern of the movement between the two points. Further, if there is a destination in the lee of a windy area of low altitude, the flight control is performed so that the altitude is intentionally lowered and the vehicle is swept away and moved, and when reaching a predetermined place, the altitude is increased. Flight control may be performed so as to move while generating power by gliding (gliding) when the airflow is applied.

  “Descent” in FIG. 9 is a flight pattern when the HAPS 10 descends from a predetermined air space 50 (for example, an air space in the stratosphere) to the vicinity of the ground (or the sea surface). In this descending flight pattern, flight control is performed so that the HAPS 10 descends along a flight path that does not oppose the wind as much as possible.

  “Landing” in FIG. 9 is a flight pattern when the HAPS 10 lands on the ground (or the sea surface or a ship on the sea). In this descending flight pattern, flight control is performed so that the HAPS 10 lands on a flight path that does not oppose the wind as much as possible.

  FIG. 10 is a functional block diagram showing a configuration example of the flight control system of the HAPS 10 of the embodiment. The flight control system in FIG. 10 is an example of an autonomous control type flight control system in which the HAPS 10 itself determines flight control contents based on environment information and device state information.

  In FIG. 10, the flight control system of the HAPS 10 includes an environment information acquisition unit 161, a device state information acquisition unit 162, a flight control database 163, a flight pattern selection unit 164, a flight control content determination unit 165, a drive control unit 166, and a motor drive unit. 141 and a flight result information acquisition unit 167 are provided.

  The environment information acquisition unit 161 acquires environment information including the wind speed and the wind direction of the airflow at each of the plurality of altitudes. The environmental information may include atmospheric pressure and air temperature at each of a plurality of altitudes. The environmental information can be obtained from at least one of the statistical value of the past high-rise weather observation data, the latest high-rise weather observation data, and the measurement data measured by the measuring device provided in the HAPS 10 itself.

  The high-level meteorological observation data is, for example, high-level meteorological observation data that is observed twice a day at 800 locations around the world using a meteorological observation device (radiosonde). The radiosonde measures the temperature, pressure (altitude), humidity, etc. in the sky while rising at about 360 m / min due to the buoyancy of the balloon, and sends each measured value to the ground by radio waves. Of the radio sondes, the one that calculates the wind direction and speed using GPS signals is called a "GPS sonde". The GPS sonde receives the radio waves of multiple GPS satellites, and the frequency of the GPS satellite signal generated by the movement of the GPS sonde. The wind direction and speed are obtained by using the deviation. The high-level meteorological observation data is in a data format such as a high-level weather map at a plurality of altitudes, a graph showing the relationship between altitude and wind direction / wind speed, a graph showing the relationship between altitude and temperature / humidity, and is available in the website of the Japan Meteorological Agency. Can be obtained from.

  There are various sensors such as a barometer, a thermometer, and a hygrometer as environment information measuring devices provided in the HAPS 10, and these sensors measure and acquire information such as the atmospheric pressure, temperature, and humidity around the HAPS 10. be able to.

  The device status information acquisition unit 162 acquires device status information indicating the status of the HAPS 10 itself. The device status information includes information on the current position of the HAPS 10 itself and a preset flight route. Further, the device state information may include at least one of the airspeed, ground speed, and propulsion direction of the HAPS 10 itself. There are various sensors such as an accelerometer, an angular velocity meter, a magnetometer (direction sensor), an absolute pressure gauge, a differential pressure gauge, a GPS receiver, and an attitude angle sensor as the apparatus for measuring the apparatus state information provided in the HAPS 10. , The current position of the HAPS 10 (latitude, longitude, altitude), airspeed, ground speed, and propulsion direction can be measured and acquired.

  The flight control database 163 includes, for each of the plurality of types of flight patterns, flight control contents for causing the HAPS 10 to fly on the target flight path that is the most energy-saving (for example, the values of the control parameters of the rotational drive of each of the plurality of propellers 103). , Relational data indicating the relation between the environment information and the device state information is stored. The flight control database 163 also has a function of artificial intelligence (AI) that performs machine learning based on flight control contents, environment information and device state information, and actual flight result information to update the relational data. . Machine learning is, for example, for each of the plurality of types of flight patterns, the relational data so that the difference between at least one of the predicted value of the flight route (flight route), the flight time, and the power consumption and the actual measured value becomes small. To correct.

  The flight pattern selection unit 164 selects a flight pattern to be used in the next flight from the plurality of flight patterns.

  The flight control content determination unit 165 refers to the flight control database 163 for the flight pattern selected by the flight pattern selection unit 164 based on the latest acquisition data of the environment information and the device state information, and determines the target flight route that is the most energy-saving. The power consumption is predicted, and the flight control content for causing the HAPS 10 to fly on the target flight path (for example, the value of the control parameter of the rotational drive of each of the plurality of propellers 103) is determined. The flight control content determination unit 165 stores flight control content of a plurality of preset flight control contents, and selects one flight control content that is the most energy-saving from the plurality of types of flight control content, thereby performing flight control. You may decide the content.

  The drive control unit 166 transmits a control signal to the motor drive unit 141 of each propeller 103 of the HAPS 10 based on the flight control content determined by the flight control content determination unit 165 to individually control the rotation of each propeller 103. . By individually controlling the rotation of each propeller 103, the traveling direction, speed, attitude (roll angle (bank angle), pitch angle, yaw angle) and the like of the flying HAPS 10 can be controlled. As a method for controlling the flight of the HAPS 10, instead of the individual control of the rotation of the propeller 103 or in addition to the individual control of the rotation of the propeller 103, the HAPS 10 is provided with a moving blade (for example, aileron, rudder, elevator, etc.), A method of controlling the moving blade may be adopted.

  The flight result information acquisition unit 167 acquires the flight result information (for example, the actual flight path and the measured value of the power consumption) of the HAPS 10 when the flight control is performed according to the determined flight control content. This flight result information is measured by, for example, a GPS receiver provided in the HAPS 10 or an electric power meter of a motor drive power source, and is used for machine learning in the flight control database 163 described above.

FIG. 11 is a flowchart showing an example of flight control of the HAPS 10 of the embodiment. The example of FIG. 11 is an example of autonomous control type flight control corresponding to the flight control system of FIG. 10.
In FIG. 11, the HAPS 10 selects one flight pattern from the above-mentioned plurality of types of flight patterns (S101), and acquires the latest information of environment information and device state information (S102). Next, the HAPS 10 refers to the flight control database for the selected flight pattern based on the acquired environment information and device state information, predicts the target flight route and the power consumption amount that are the most energy-saving, and the target flight route. In step S103, the flight control content for flying the HAPS 10 (for example, the value of the control parameter for the rotational drive of each of the plurality of propellers 103) is determined, and the flight control is executed based on the determined flight control content (S104). ). Next, the HAPS 10 acquires the flight result information (for example, the actual flight path and the actual measurement value of the power consumption) during or after the flight control (S105), and acquires the acquired flight result information and the above-described target flight path and The machine learning described above is performed based on the prediction result of the power consumption (S106), and the flight control database is updated so as to improve the accuracy of the energy-saving flight control (S107).

  FIG. 12 is a functional block diagram showing a configuration example of the flight control system of the HAPS 10 and the remote control device 85 of the embodiment. The flight control system in FIG. 12 is an example of a remote control type flight control system in which the remote control device 85 transmits flight control content determined based on environment information and device state information to the HAPS 10 for flight control. In FIG. 12, the same parts as those in FIG. 10 are designated by the same reference numerals, and the description thereof will be omitted.

  In FIG. 12, the flight control system of the HAPS 10 further includes an environment information transmission unit 168, a device state information transmission unit 169, a flight control content reception unit 170, and a flight result information transmission unit 171. The environment information transmitting unit 168, the device state information transmitting unit 169, and the flight result information transmitting unit 171 have the environment information and the device state information acquired by the environment information acquiring unit 161, the device state information acquiring unit 162, and the flight result information acquiring unit 167, respectively. And the flight result information to the remote control device 85. The flight control content receiving unit 170 receives the flight control content determined and transmitted by the remote control device 85.

  Further, in FIG. 12, the flight control system of the remote control device 85 includes an environment information receiving unit 851, a device state information receiving unit 852, a flight control database 853, a flight pattern selecting unit 854, a flight control content determining unit 855, and a flight control content. The transmitter 856 and the flight result information receiver 857 are provided. The flight control database 853, the flight pattern selection unit 854, and the flight control content determination unit 855 in the figure have the same functions as the flight control database 163, the flight pattern selection unit 164, and the flight control content determination unit 165 in the HAPS 10 in FIG. Have. The environment information receiving unit 851, the device status information receiving unit 852, and the flight result information receiving unit 857 respectively receive the environment information, the device status information, and the flight result information acquired and transmitted by the HAPS 10. In addition, the flight control content transmission unit 856 transmits the flight control content determined by the flight control content determination unit 855 to the HAPS 10.

FIG. 13 is a sequence diagram showing another example of HAPS flight control of the embodiment. The example of FIG. 13 is an example of remote control type flight control corresponding to the flight control system of FIG.
In FIG. 13, the remote control device 85 selects one flight pattern from a plurality of types of flight patterns used in the HAPS 10 described above (S201). On the other hand, the HAPS 10 acquires the latest information of the environment information and the device status information (S202) and sends it to the remote control device 85 (S203). Next, the remote control device 85 refers to the flight control database based on the environmental information and the device state information received from the HAPS 10 for the selected flight pattern, and predicts the target flight route and the power consumption amount that are the most energy-saving. , Flight control content for flying the HAPS 10 on the target flight path (for example, a value of a control parameter for rotational drive of each of the plurality of propellers 103) is determined (S204), and the determined flight control content is transmitted to the HAPS 10. (S205). The HAPS 10 executes flight control based on the flight control content received from the remote control device 85 (S206). Next, the HAPS 10 acquires the flight result information (for example, the actual flight route and the measured value of the power consumption) during or after the flight control (S207), and transmits the acquired flight result information to the remote control device 85. Yes (S208). The remote control device 85, flight to enhance the aforementioned performs machine learning (S209), the accuracy of the energy saving flight control based on the prediction result of the flight result information to the target flight path and power consumption of the aforementioned received from HAPS10 The control database is updated (S210).

  FIG. 14 is a functional block diagram showing another configuration example of the flight control system of the HAPS 10 and the remote control device 85 of the embodiment. The flight control system of FIG. 14 acquires environmental information by the remote control device 85 instead of the HAPS 10, and other parts are the same as the example of FIG.

FIG. 15 is a sequence diagram showing still another example of flight control of the HAPS 10 of the embodiment. The example of FIG. 15 is an example of remote control type flight control corresponding to the flight control system of FIG. 14.
In FIG. 15, the remote control device 85 selects one flight pattern from a plurality of types of flight patterns used in the HAPS 10 described above (S301), and acquires the latest environmental information (S302). On the other hand, the HAPS 10 acquires the latest device status information (S303) and sends it to the remote control device 85 (S304). Next, the remote control device 85 refers to the flight control database based on the environment information acquired by itself and the device state information received from the HAPS 10 for the selected flight pattern, and the target flight route and the power consumption amount that are the most energy-saving. And the flight control content for causing the HAPS 10 to fly on the target flight path (for example, the value of the control parameter of the rotational drive of each of the plurality of propellers 103) is determined (S305), and the determined flight control content is determined. It transmits to HAPS10 (S306). The subsequent control is the same as that in FIG. 12 described above.

  As described above, according to the present embodiment, it is possible to reduce energy consumption during flight by predicting a target flight route that is the most energy-saving for each of a plurality of types of flight patterns and performing flight control.

  In the above embodiment, when a plurality of HAPS 10 are taken off and raised to reach a predetermined airspace 50 (for example, the stratosphere), a formation having a mutual positional relationship that reduces air resistance during flight (for example, a geese shape is used). Flight control may be performed so as to fly in a formation. In this case, it is possible to reduce the energy required for movement in the flight pattern of transit between two points (transit) after reaching the predetermined airspace 50 (for example, the stratosphere), and further to reduce the energy consumption during flight (consumption The amount of electric power) can be reduced.

FIG. 16 is a top view showing an example of formation flight by the plurality of HAPS 10 of the embodiment. 17 (a) is an explanatory view of the vortex airflow and lift formed at the main wing end of the HAPS 10 during the formation flight of FIG. 16, and FIG. 17 (b) is diagonally rearward of the main wing end of the HAPS 10. FIG. 6 is a top view showing a lift-increasing region formed in FIG.
The example of FIG. 16 is an example in which six HAPS 10 are flying in a V-shape (a geese shape) with the leading portion in the traveling direction F as the apex. When the HAPS 10 is flying horizontally, as shown in FIG. 17 (a), an air flow (blade tip vortex) S that goes around upward is generated at both longitudinal ends of the main wing portion 101, and FIG. 17 (b). As shown in FIG. 5, a portion R where the lift is large is generated obliquely rearward of the main wing portion 101. By forming a formation so that the succeeding HAPS 10 are sequentially positioned in the portion R where the lift becomes large, the lift of the HAPS 10 other than the head can be gained, and the energy consumption (power consumption) of the entire formation of multiple HAPS can be increased. Can be reduced.

  It should be noted that the processing steps described in the present specification and wireless relay stations of communication relay devices such as HAPS 10 and 20, feeder stations, remote control devices, terminal devices (user devices, mobile stations, communication terminals) and base stations in base stations. The components of the device can be implemented by various means. For example, these processes and components may be implemented in hardware, firmware, software, or a combination thereof.

  As for hardware implementation, the entity (for example, wireless relay station, feeder station, base station device, wireless relay station device, terminal device (user device, mobile station, communication terminal), remote control device, hard disk drive device, or optical disk In the drive device), means such as a processing unit used for realizing the steps and components are one or a plurality of application-specific ICs (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs). ), Programmable logic device (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, electronic device, designed to perform the functions described herein. Other electronic units, comps Over data, or it may be implemented in a combination thereof.

  Also, for firmware and / or software implementations, means such as processing units used to implement the components are programs (eg, procedures, functions, modules, instructions) that perform the functions described herein. , Etc.) may be implemented. In general, any computer / processor readable medium embodying firmware and / or software code, means, such as a processing unit, used to implement the steps and components described herein. May be used to implement. For example, firmware and / or software code may be stored in memory and executed by a computer or processor, eg, at the controller. The memory may be mounted inside the computer or the processor, or may be mounted outside the processor. The firmware and / or software code may be, for example, random access memory (RAM), read only memory (ROM), non-volatile random access memory (NVRAM), programmable read only memory (PROM), electrically erasable PROM (EEPROM). ), A FLASH memory, a floppy disk, a compact disk (CD), a digital versatile disk (DVD), a magnetic or optical data storage device, etc., and may be stored on a computer or processor readable medium. Good. The code may be executed by one or more computers or processors, or may cause the computers or processors to perform the functional aspects described herein.

  Also, the description of the embodiments disclosed herein is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to this disclosure will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of this disclosure. Therefore, the present disclosure should not be limited to the examples and designs described herein, but should be admitted to the broadest extent consistent with the principles and novel features disclosed herein.

10 HAPS (Solar plane type)
10A-10E Partial structure 20 HAPS (airship type)
40 Cell formation target air space 41, 42, 43 Three-dimensional cell 50 Air space where HAPS is located 60 Drone 65 Airplane 70 Feeder station 72 Artificial satellite 75 Microwave feeding station 80 Mobile communication network 85 Remote control device (control center)
100, 200, 300 beam 101 main wing 102 solar panel (solar power generation panel)
103,202 Propeller 104 Connecting part 105 Pod 106 Battery 107 Wheel 108 Power receiving pod 110,210 Wireless relay station 111 Three-dimensional (3D) cell forming antenna part 112 Transmitting / receiving part 113 Feeding antenna part 114 Transmitting / receiving part 115 Repeater part 116 Monitoring control Part 117 Power supply part 118 Modem part 119 Base station processing part 120 Edge computing part 125 Optical communication part 126 Beam control part 130,230 Optical antenna device 141 Motor drive part 161 Environmental information acquisition part 162 Device status information acquisition part 163 Flight control database 164 Flight pattern selection unit 165 Flight control content determination unit 166 Drive control unit 167 Flight result information acquisition unit 168 Environmental information transmission unit 169 Device status information transmission unit 170 Flight control content reception unit 17 Flying result information transmitting section 851 environment information receiving unit 852 device status information receiving unit 853 flight control database 854 flight pattern selector 855 flight control content decision unit 856 flight control content transmission unit 857 flight result information receiving unit

Claims (25)

A wireless relay station that performs wireless communication with the terminal device,
An aerial levitation type communication relay device comprising: a levitation body that is controlled to be located in an air space of a predetermined altitude by autonomous control or control from the outside,
For each of a plurality of types of flight patterns, flight control contents for flying the communication relay device on the target flight route predicted to be the most energy-saving, and device status information indicating the environment information and the status of the communication relay device itself. A flight control database that stores relationship data indicating the relationship between
And a flight control means for controlling flight by referring to the flight control database for each flight pattern. The communication relay device according to claim 1,
The flight control database has a function of performing machine learning based on the flight control contents, the environment information and the device state information, and actual flight result information to update the relational data. Relay device. The communication relay device according to claim 2,
The machine learning corrects the relational data for each of the plurality of types of flight patterns so that the difference between at least one of the predicted value of the flight path, the flight time, and the power consumption and the actual measured value becomes small. A communication relay device, characterized in that The communication relay device according to claim 2 or 3,
Flight control is performed so that the machine learning is performed based on the flight result information acquired during or after the flight control of the communication relay device and the prediction result of the target flight route and power consumption, and the accuracy of energy-saving flight control is increased. A communication relay device characterized by updating a database. The communication relay device according to any one of claims 1 to 4,
The plurality of types of flight patterns include a flight pattern for takeoff, a flight pattern for climbing to a predetermined altitude range, a flight pattern for staying in an area over a stay target within a predetermined altitude range, and a descent from a predetermined altitude range. And a flight pattern for landing, the communication relay device. The communication relay device according to any one of claims 1 to 5,
The plurality of types of flight patterns include a flight pattern that moves laterally to a stay target sky area after moving to a predetermined altitude range, a flight pattern that maximizes a time period for maintaining a predetermined attitude, and a flight pattern between two stay target sky areas. A communication relay device comprising at least one of a moving flight pattern, a patrol flight pattern that patrols between a plurality of stay target sky areas, and a flight pattern that moves up and down in a stay target sky area according to a time zone. The communication relay device according to any one of claims 1 to 6,
The environmental information includes the wind speed and the wind direction of the airflow at each of a plurality of altitudes, the statistical value of past high-rise weather observation data, the latest high-rise weather observation data, and the measurement measured by the measurement device provided in the communication relay device. A communication relay device, characterized in that it is acquired from at least one of data. The communication relay device according to any one of claims 1 to 7,
Select a flight pattern to be used in the next flight from a plurality of flight patterns, and for the selected flight pattern, refer to the flight control database based on the latest acquisition data of the environment information and the device status information, and the target flight that is the most energy-saving A communication relay characterized by autonomously controlling the flight of the communication relay device by predicting a route and power consumption and determining flight control content for flying the communication relay device on the target flight route. apparatus. The communication relay device according to any one of claims 1 to 8,
The environmental information includes wind speed and direction of the air flow,
The communication relay device, wherein the flight control means controls to perform flight using an air flow. The communication relay device according to claim 9,
The communication relay device according to claim 1, wherein the environment information includes a wind speed and a wind direction of an air flow at each of a plurality of altitudes. The communication relay device according to claim 9 or 10,
The communication relay device according to claim 1, wherein the environment information includes atmospheric pressure and temperature at each of a plurality of altitudes. The communication relay device according to any one of claims 1 to 11,
The environmental information is obtained from at least one of statistical values of past high-rise weather observation data, latest high-rise weather observation data, and measurement data measured by a measuring device provided in the communication relay device itself. Communication relay device. The communication relay device according to any one of claims 1 to 12,
The communication relay device, wherein the device status information includes information on a current position of the communication relay device itself and a preset flight route. The communication relay device according to any one of claims 1 to 13,
The communication relay device, wherein the device status information includes at least one of airspeed, ground speed, and propulsion direction of the communication relay device itself. The communication relay device according to any one of claims 1 to 14,
Information on the flight control content of the communication relay device itself, which is determined based on the environment information or based on the environment information and the device state information, is received from an external device on the ground or in the sky that manages the communication relay device. Equipped with means,
The communication relay device, wherein the flight control means performs flight control based on the received flight control content. The communication relay device according to any one of claims 1 to 15,
The flight control content includes a target flight route from a starting point of the communication relay device itself to a target point,
The communication relay device, wherein the flight control means controls to fly along the target flight route. The communication relay device according to any one of claims 1 to 16,
The flight control content is determined based on a learning result obtained by a plurality of flight tests executed under a plurality of different conditions of the environment information and the device status information, the communication relay device. . The communication relay device according to any one of claims 1 to 17,
A communication relay device, which executes flight control based on flight control contents received from a remote control device. The communication relay device according to any one of claims 1 to 18,
A communication relay device comprising at least one of a battery and a solar power generation system, and flying with electric power. The communication relay device according to any one of claims 1 to 19,
A three-dimensional cell is formed in a predetermined cell formation target air space between the ground and the sea surface,
The communication relay apparatus, wherein the altitude of the cell formation target airspace is 10 [km] or less. The communication relay device according to any one of claims 1 to 20,
A communication relay device, which is located at an altitude of 100 [km] or less. A system comprising a plurality of communication relay devices according to any one of claims 1 to 21,
The system characterized in that the plurality of communication relay devices fly by forming a formation having a mutual positional relationship that reduces air resistance during flight. A wireless relay station that performs wireless communication with a terminal device, and a levitation body that is controlled to be located in an air space of a predetermined altitude by control from the outside, or a ground that manages an aerial levitation type communication relay device or A management device located in the sky,
For each of the plurality of types of flight patterns of the communication relay device, the flight control content for flying the communication relay device on the target flight route predicted to be the most energy-saving, the environmental information, and the state of the communication relay device itself. A flight control database that stores relational data indicating a relation with the device status information indicated,
Means for determining flight control contents of the communication relay device by referring to the flight control database for each flight pattern;
A means for transmitting the determined flight control contents to the communication relay device, the management device. The management device according to claim 23,
Select one flight pattern from multiple types of flight patterns used in the communication relay device,
Receiving the latest information of the environment information and the device status information from the communication relay device,
For the selected flight pattern, referring to the flight control database based on the environment information and the device state information received from the communication relay device, predict the target flight path and power consumption that is the most energy-saving,
Determine the flight control content for flying the communication relay device in the target flight path,
A management device, wherein the determined flight control content is transmitted to the communication relay device. The management device according to claim 23,
Select one flight pattern from multiple types of flight patterns used in the communication relay device,
Acquire the latest information of the environmental information,
Receiving the latest information of the device status information from the communication relay device,
For said selected flight pattern, before SL refers to the flight control database based on said equipment state information received from the environment information and the communication relay device, to predict the most energy saving become target flight path and the power consumption ,
Determine the flight control content for flying the communication relay device in the target flight path,
A management device, wherein the determined flight control content is transmitted to the communication relay device.

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