JPH08261698A - Controller for missile - Google Patents

Abstract

PURPOSE: To obtain a controller for a missile in which the rolling attitude angle of a missile is detected without using an inertial unit an which controls the rolling attitude angle. CONSTITUTION: The controller for a missile comprises first and second antennas 7, 8 having directionality at the rear of the missile and linear polarization wave straightly directed to each other, first and second amplifiers 9, 10 for amplifying the signals received by the antennas, a signal intensity comparator 11 for comparing the intensities of the signals, a rolling steering angle gain 12 for calculating the rolling steering angle of the missile from the comparison result, a steering unit 5 and steering wings 6. Thus, the rolling attitude angle of the missile is detected without using an inertial unit, and there is the effect of forming the controller for the missile which can simply, constantly controls the attitude angle of the missile body with low cost, light weight and high accuracy.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying vehicle control device.

[0002]

2. Description of the Related Art FIG. 9 shows an example of a conventional control device for controlling the roll attitude angle of a flying object. In the figure, 1 is the body of the flying vehicle, 2 is the roll attitude angle setting device that sets the roll attitude angle of the flying object, and 3 is the inertia that detects the attitude angular velocity of the flying object in inertial space and calculates the attitude angle. Device, 4
Is a roll rudder angle command calculator that calculates a roll rudder angle command by receiving a roll attitude angle command from the roll attitude angle setter 2 and a roll attitude angle from the inertial device 3, and 5 is a steering wheel that receives this roll rudder angle command. The steering device, 6 is a steering wing.

Next, the operation will be described. In the conventional flying body control device, in order to control the roll attitude angle of the aircraft body 1 of the flying object so as to keep it at a certain fixed position or to move arbitrarily, the roll attitude angle setter 2 issues a roll attitude angle command. Set and input to the roll steering angle command calculator 4. The roll rudder angle command calculator 4 calculates an appropriate roll rudder angle command from the roll attitude angle command and the roll attitude angle from the inertial device 3. The steering device 5 receives the roll steering angle command,
The steering wing 6 is steered to control the roll attitude angle of the airframe 1 of the flying body.

[0004]

Since the conventional flying body control device is constructed as described above, an expensive and heavy inertial device must be mounted in order to control the roll attitude angle, and the size is small. There was a problem that could not be applied to the flying object. In addition, since the inertial device needs to internally perform integral calculation and the like, there is a problem that the error in the calculation result of the roll attitude angle becomes large when flying for a long time.
The present invention has been made in order to solve such a problem, and two antennas having directivity and linear polarization characteristics orthogonal to each other are arranged behind a flying object. A linearly polarized signal is received at, and the roll attitude angle of the flying body is known by comparing the intensities of the received signals, and a flying body control device that can control the roll attitude angle of the flying body is obtained. The purpose is to

[0005]

A flying body control apparatus according to a first embodiment of the present invention includes two antennas arranged behind a flying body and having directivity and linear polarization characteristics orthogonal to each other. Then, the linearly polarized signals are received by these two antennas, the roll rudder angle of the flying vehicle is calculated by comparing the intensities between the received signals, and the roll attitude angle of the flying vehicle is controlled at one point. It was made possible.

A flying body control apparatus according to a second embodiment of the present invention has two antennas having directivity and linear polarization characteristics orthogonal to each other arranged behind the flying body. The linear attitude signal of the flying vehicle is calculated by comparing the strength of the received signals, and the roll attitude angle of the flying vehicle is set to an arbitrary position in the range of 90 degrees. It is something that can be controlled.

The flying object control apparatus according to the third embodiment of the present invention has two antennas arranged behind the flying object and having directivity and linear polarization characteristics orthogonal to each other. Comparing the intensities between the received signals by receiving the linearly polarized signal with, and detecting the signal strength minimum point for each of these signals and calculating the roll attitude angle of the flying object from the order in which the signal strength minimum point appears, The roll attitude angle of the airframe of the flying body can be controlled to an arbitrary position over a range of 360 degrees.

A flying body control apparatus according to a fourth embodiment of the present invention is an antenna having a linear polarization characteristic having directivity behind the flying body and the above-mentioned antenna having directivity behind the flying body. Either or both of the antennas with linear polarization characteristics having the polarization plane orthogonal to and are shared with the receiving antenna that receives commands sent from the ground.
We received linearly polarized signals from two antennas, calculated the roll rudder angle of the flying vehicle by comparing the strengths of the received signals, and made it possible to control the roll attitude angle of the flying vehicle to be constant. It is a thing.

A control device for a flying vehicle according to a fifth embodiment of the present invention is an antenna having a linear polarization characteristic having directivity behind the flying object and the above-mentioned antenna having directivity behind the flying object. Either or both of the antennas with linear polarization characteristics having the polarization plane orthogonal to and are shared with the receiving antenna that receives commands sent from the ground.
A linearly polarized signal is received by two antennas, and the roll attitude angle of the flying vehicle is calculated by comparing the intensities between the received signals. The position can be controlled.

A flying body control apparatus according to a sixth embodiment of the present invention is an antenna having a linear polarization characteristic having directivity behind the flying body and the above-mentioned antenna having directivity behind the flying body. Either or both of the antennas with linear polarization characteristics having the polarization plane orthogonal to and are shared with the receiving antenna that receives commands sent from the ground.
Two antennas receive linearly polarized signals and compare the intensities of the received signals, and the minimum signal strength point is detected for each of these signals and the roll attitude angle of the flying object is calculated from the order in which the minimum signal strength point appears. However, the roll attitude angle of the airframe of the flying body can be controlled to an arbitrary position over a range of 360 degrees.

[0011]

According to the first embodiment of the present invention, two antennas having directivity and linear polarization characteristics orthogonal to each other are arranged behind the flying object, and the two antennas generate linear polarization. Since the roll rudder angle of the flying object is calculated by receiving the signals and comparing the intensity between the received signals, the roll attitude angle of the airframe can be controlled to a constant level without using an inertial device. You can get the control device of the flying object.

According to the second embodiment of the present invention, two antennas having directivity and having linear polarization characteristics orthogonal to each other are arranged behind the flying object, and the two antennas generate linear polarization. Since the roll attitude angle of the flying object is calculated by receiving the signals and comparing the intensities of the received signals, it is simple and accurate without using an inertial device, etc. You can get a flying vehicle control device to control about any position.

According to the third embodiment of the present invention, two antennas having directivity and having linear polarization characteristics orthogonal to each other are arranged behind the flying object, and the two antennas generate linear polarization. The inertial device is used because the roll attitude angle of the flying object is calculated from the order in which the signal strength minimum point is detected and the signal strength minimum point is detected for each of these signals. It is possible to obtain a flying body control device that controls the roll attitude angle of the airframe to an arbitrary position within a range of 360 degrees, which is simple and accurate without using the above.

According to the fourth embodiment of the present invention, an antenna having a linear polarization characteristic having directivity behind the flying object and a polarization plane having directivity behind the flying object and orthogonal to the above-mentioned antenna are also provided. Both or one of the antennas with linear polarization characteristics with is shared with the receiving antenna that receives the command sent from the ground, the linear polarization signals are received by these two antennas, and the strength between these receiving signals Since the roll rudder angle of the flying vehicle is calculated by comparing, the inertial device is not used and the configuration is simpler and more accurate. A controller can be obtained.

According to the fifth embodiment of the present invention, an antenna having a linear polarization characteristic having directivity behind the flying object and a polarization plane orthogonal to the above antenna having directivity behind the flying object as well. Both or one of the antennas with linear polarization characteristics with is shared with the receiving antenna that receives the command sent from the ground, the linear polarization signals are received by these two antennas, and the strength between these receiving signals Since the roll attitude angle of the flying object is calculated by comparing with, the inertial device is not used and the configuration is simpler and more accurate. You can get the control device of the flying body to control.

According to the sixth embodiment of the present invention, an antenna having a linear polarization characteristic having directivity behind the flying body and a polarization plane having directivity behind the flying body and orthogonal to the aforementioned antenna are also provided. Both or one of the antennas with linear polarization characteristics with is shared with the receiving antenna that receives the command sent from the ground, and the two antennas receive the signals of linear polarization and measure the strength between them. By comparing and calculating the signal strength minimum point for each of these signals and calculating the roll attitude angle of the flying object from the order in which the signal strength minimum point appears, the configuration is simpler without using an inertial device etc. Accurate roll attitude angle of 3
It is possible to obtain a flying body control device that controls an arbitrary position in the range of 60 degrees.

[0017]

【Example】

Example 1. 1 is a diagram showing a first embodiment of the present invention,
In the figure, reference numeral 1 is a flying machine body, 5 is a steering device for steering in response to a roll rudder angle command, and 6 is a steering wing, which are equivalent to those of the prior art. 7 is a linearly polarized first antenna having directivity behind the flying object, 8 is a linear antenna having directivity behind the flying object and having a polarization plane orthogonal to the first antenna 7 described above. A second antenna having polarization characteristics, 9 is a first amplifier for amplifying a signal received by the first antenna 7, 10 is a second amplifier for amplifying a signal received by the second antenna 8, and 11 is A signal strength comparator for comparing the strengths of these signals, and 12 is a roll rudder gain for calculating a roll rudder angle command of the flying body in response to the comparison result.

Next, the operation will be described. When the projectile launches, the first antenna 7 and the second antenna 8
Receives a linearly polarized radio wave transmitted from a ground radar or the like and sends it to the first amplifier 9 and the second amplifier 10 in the subsequent stage. The first amplifier 9 and the second amplifier 10 amplify these signals and send them to the signal strength comparator 11 to compare the strength between these signals. The roll rudder angle gain 12 multiplies the comparison result by an appropriate value to obtain a roll rudder angle command, and the steering device 5
The steering device 5 receives the roll rudder angle command and steers the steering wings 6 to control the roll attitude angle of the airframe 1 of the flying body. FIG. 2 shows the output of the first amplifier 9 and the second amplifier 1 in correspondence with the roll attitude angle of the airframe 1 of the flying body.
Examples of the output of 0, the output of the signal strength comparator 11, and the output of the roll steering angle gain 12 are shown. In this embodiment, the signal intensities from the first amplifier 9 and the second amplifier 10 become equal to each other.
The roll posture angle is maintained at a point of 5 degrees.

Example 2. FIG. 3 is a view showing a second embodiment of the present invention, in which 1 is a flying machine body, 2 is a roll attitude angle setting device, 5 is a steering device, 6 is a steering wing, and these are those of the prior art. Is equivalent. Reference numeral 7 denotes a first antenna having a linear polarization characteristic, 8 denotes a second antenna having a linear polarization characteristic, and 9
Is a first amplifier, 10 is a second amplifier, 11 is a signal strength comparator, and 12 is a roll steering angle gain, which are equivalent to those of the first embodiment. A roll attitude angle calculator 13 receives the signal from the signal strength comparator 11 and linearly corrects the signal. In this embodiment, in order to control the roll posture angle to an arbitrary position, the roll posture angle setter 2 generates a roll posture angle command. Since the roll posture angle obtained in the first embodiment is non-linear as shown in FIG. 2, the roll posture angle calculator 13 controls the roll posture angle in a wide angle range.
Is corrected to obtain the difference between the roll attitude angle command and the roll attitude angle, and the difference is sent to the roll rudder angle gain 12. In this way, the roll attitude angle can be controlled in the range of 90 degrees from the point where the reception signal of the first antenna 7 becomes the minimum to the point where the reception signal of the second antenna 8 becomes the minimum. .

Example 3. FIG. 4 is a diagram showing a third embodiment of the present invention, in which 1 is a flying machine body, 2 is a roll attitude angle setting device, 5 is a steering device, 6 is a steering wing, and these are those of the prior art. Is equivalent. Reference numeral 7 denotes a first antenna having a linear polarization characteristic, 8 denotes a second antenna having a linear polarization characteristic, and 9
Is a first amplifier, 10 is a second amplifier, 11 is a signal strength comparator, and 12 is a roll rudder angle gain. 14 is a first signal strength determiner for detecting the signal minimum point of the first amplifier,
Reference numeral 15 is a second signal strength determiner for detecting the signal minimum point of the second amplifier, and 16 is the order in which the signal minimum points determined by the first signal strength determiner 14 and the second signal strength determiner 15 appear. A roll attitude angle quadrant determiner for determining where the current roll attitude angle is in a quadrant every 90 degrees obtained by dividing the roll attitude angle of 360 degrees into four, and 17 is a signal strength comparator 11 and a roll attitude angle quadrant determiner 16. Is a second roll attitude angle calculator that calculates the roll attitude angle over the entire 360 degrees from the signal of. In this embodiment, the quadrant of the roll posture angle is determined from the order in which the minimum signal points detected by the two newly added signal strength determiners appear. In Figure 5, the airframe 1
The output of the first amplifier 9 in accordance with the roll attitude angle of
The output of the second amplifier 10, the output of the signal strength comparator 11,
An example of the output of the first signal strength determiner 14, the output of the second signal strength determiner 15 and the output of the second roll attitude angle calculator 17 is shown. In the example of FIG. 5, the current roll posture angle is initially set to the second
If the signal from the first signal strength determiner 14 comes first, the second roll attitude angle calculator 17 determines that the roll attitude angle has moved to the first quadrant, and conversely first. When the signal from the second signal strength determiner 15 arrives, it is determined that the roll attitude angle has moved to the third quadrant, and from this information and the information from the signal strength comparator 11, the roll attitude angle is calculated for all 360 degrees. It is shown that. In this way, since the information on the posture angle can be obtained over the entire circumference of the roll posture angle, as shown in FIG.
It is possible to control the roll attitude angle over the entire circumference by constructing a feedback system as shown in FIG.

Example 4. 6 is a diagram showing a fourth embodiment of the present invention. In the figure, 1 is a flying machine body, 5 is a steering device, and 6 is a steering wing, which are equivalent to those of the prior art. Reference numeral 18 is a first command receiving antenna which has directivity behind the flying object and receives a command from the ground, and 19 is a polarized wave which has directivity behind the flying object and is orthogonal to the above-mentioned first command receiving antenna 18. A second command receiving antenna having a linear polarization characteristic having a wavefront, 9 is a first amplifier, 10 is a second amplifier, 11 is a signal strength comparator, and 12 is a roll steering angle gain. In the first embodiment, the linearly polarized radio wave transmitted from the ground radar or the like was received by the dedicated antenna, but the missile to which the command is transmitted from the ground already has the command receiving antenna for receiving the radio wave from the ground. Therefore, by using the above-mentioned dedicated antenna also as the command receiving antenna, it is possible to configure a flying body control device in which the roll attitude angle is maintained at a point of 45 degrees more easily than in the first embodiment.

Embodiment 5. FIG. 7 is a diagram showing a fifth embodiment of the present invention, in which 1 is a flying machine body, 2 is a roll attitude angle setting device, 5 is a steering device, 6 is a steering wing, and these are those of the prior art. Is equivalent. 18 is a first command receiving antenna, 19 is a second command receiving antenna, 9 is a first amplifier, 10 is a second amplifier, 11 is a signal strength comparator,
Reference numeral 12 denotes roll rudder angle gains, which are equivalent to those of the first embodiment. A roll attitude angle calculator 13 receives the signal from the signal strength comparator 11 and linearly corrects the signal. In the second embodiment, the linearly polarized radio wave transmitted from the ground radar or the like was received by the dedicated antenna, but in the missile in which the command is transmitted from the ground, the command receiving antenna that already receives the radio wave from the ground is used. By using the dedicated antenna described above and this command receiving antenna in common, the second command receiving antenna can be simpler than the second embodiment in that the received signal of the first command receiving antenna 18 is minimized. A flying body control device capable of controlling the roll attitude angle can be configured in a range of 90 degrees up to the point where the reception signal of 19 is minimized.

Example 6. FIG. 8 is a view showing a sixth embodiment of the present invention, in which 1 is a flying body, 2 is a roll attitude angle setting device, 5 is a steering device, and 6 is a steering wing, which are different from those of the prior art. Is equivalent. 18 is a first command receiving antenna, 19 is a second command receiving antenna, 9 is a first amplifier, 10 is a second amplifier, 11 is a signal strength comparator,
Reference numeral 12 is a roll rudder angle gain. Reference numeral 14 is a first signal strength determiner, 15 is a second signal strength determiner, 16 is a roll attitude angle quadrant determiner, and 17 is a second roll attitude angle calculator. In the third embodiment, the linearly polarized radio wave transmitted from the ground radar or the like was received by the dedicated antenna, but in the missile in which the command is transmitted from the ground, the command receiving antenna that already receives the radio wave from the ground is used. Since the dedicated antenna described above is shared with this command receiving antenna, the posture angle information can be obtained over the entire circumference of the roll posture angle more easily than in the third embodiment. Therefore, as shown in FIG. It is possible to control the roll attitude angle over the entire circumference by forming a simple feedback system.

[0024]

According to the first embodiment of the present invention, two antennas having directivity and linear polarization characteristics orthogonal to each other are arranged behind the flying object, and the two antennas are used for linear polarization. Since the roll steering angle of the flying body is calculated by receiving the signal of the wave and comparing the intensity between these signals, it is not necessary to use an inertial device etc., and the roll of the aircraft is simple, inexpensive, lightweight and accurate with good accuracy. There is an effect that a control device for a flying body that controls the attitude angle to one point can be configured.

According to the second embodiment of the present invention, two antennas having directivity and linear polarization characteristics orthogonal to each other are arranged behind the flying object, and the two antennas generate linear polarization. Since the roll attitude angle of the flying object is calculated by receiving the signals and comparing the strengths of the signals, it is not necessary to use an inertial device, etc., and the roll attitude angle of the airframe is simple, inexpensive, lightweight and accurate. There is an effect that it is possible to configure a control device for a flying object that controls the position of the vehicle at an arbitrary position in the range of 90 degrees.

According to the third embodiment of the present invention, two antennas having directivity and having linear polarization characteristics orthogonal to each other are arranged behind the flying object, and the two antennas generate linear polarization. The inertial device, etc. is used because it receives signals and compares the intensities between these signals and detects the minimum signal strength point for each of these signals and calculates the roll attitude angle of the flying object from the order in which the minimum signal strength point appears. There is an effect that it is not necessary to use, and a flying body control device for controlling the roll attitude angle of the machine body to an arbitrary position within a range of 360 degrees with good accuracy, low cost, light weight, and high accuracy can be configured.

According to the fourth embodiment of the present invention, two antennas having directivity behind the flying object and having linear polarization characteristics orthogonal to each other are shared with the antenna for receiving a command from the ground, Since the linear rudder command signals are received by these two antennas and the roll rudder angle of the flying object is calculated by comparing the intensities between these signals, it is not necessary to use an inertial device, etc. Even easier,
There is an effect that it is possible to configure a flying body control device that controls the roll attitude angle of the airframe at a low cost and is lightweight.

According to the fifth embodiment of the present invention, two antennas having directivity behind the flying body and having linear polarization characteristics orthogonal to each other are shared with the antenna for receiving a command from the ground, Since the linearly polarized command signal is received by these two antennas and the roll attitude angle of the flying object is calculated by comparing the intensities between these signals, it is not necessary to use an inertial device, etc. Further, there is an effect that it is possible to configure a flying body control device that controls the roll attitude angle of the machine body to an arbitrary position within a range of 90 degrees, which is simpler, cheaper, and lighter.

According to the sixth embodiment of the present invention, two antennas having directivity behind the flying object and having linear polarization characteristics orthogonal to each other are shared with the antenna for receiving a command from the ground, The two antennas receive the linearly polarized command signals and compare the intensities between these signals, and detect the signal strength minimum point for each of these signals and from the order in which the signal strength minimum points appear, the roll attitude angle of the flying object. Since it is calculated, it is not necessary to use an inertial device or the like, and it is simpler, cheaper, and lighter than the third embodiment, and is a flying body control device for controlling the roll attitude angle of the aircraft to an arbitrary position in the range of 360 degrees Is effective.

[Brief description of drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a signal strength comparator 1 corresponding to a roll attitude angle.
It is a figure which shows the example of an output such as 1.

FIG. 3 is a diagram showing a second embodiment of the present invention.

FIG. 4 is a diagram showing Embodiment 3 of the present invention.

FIG. 5 is a diagram showing an example of outputs of a second roll attitude angle calculator 17 or the like corresponding to a roll attitude angle.

FIG. 6 is a diagram showing Embodiment 4 of the present invention.

FIG. 7 is a diagram showing Embodiment 5 of the present invention.

FIG. 8 is a diagram showing Embodiment 6 of the present invention.

FIG. 9 is a view showing a conventional flying body control device.

[Explanation of symbols]

1 Flying body, 2 roll attitude angle setter, 3
Inertial device, 4 roll rudder angle command calculator, 5 steering device,
6 Steering wing, 7 1st antenna, 8 2nd antenna, 9 1st amplifier, 10 2nd amplifier, 11 Signal strength comparator, 12 Roll rudder angle gain, 13 Roll attitude angle calculator, 14 1st Signal strength determiner, 15 second signal strength determiner, 16 roll attitude angle quadrant determiner,
17 Second roll attitude angle calculator, 18 First command receiving antenna, 19 Second command receiving antenna.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location H01Q 1/28 H01Q 1/28

Claims (6)

[Claims] 1. A flying body control device, comprising: an antenna having a linear polarization characteristic having directivity behind a flying body;
Similarly, an antenna with linear polarization characteristics that has directivity behind the flying object and has a polarization plane orthogonal to the above antenna, an amplifier that amplifies the signal received by these antennas, and an antenna that receives the above two antennas. Means for comparing the intensities of the received signals, means for calculating the roll rudder angle command of the flying vehicle based on the result of the comparison, means for steering the steering wings and the steering wings for receiving the roll rudder angle command The steering wing is steered so as to keep the ratio of the intensity of the signals received by the two antennas constant, and the roll attitude angle of the aircraft can be kept constant. Characteristic flying body control device. 2. A flying body control device, wherein an antenna having a linear polarization characteristic having directivity behind the flying body,
Similarly, an antenna with linear polarization characteristics that has directivity behind the flying object and has a polarization plane orthogonal to the above antenna, an amplifier that amplifies the signal received by these antennas, and an antenna that receives the above two antennas. Means for comparing the intensities of the received signals, means for calculating the roll attitude angle of the flying vehicle based on the result of the comparison, means for setting an arbitrary roll attitude angle command, and these roll attitude angle and roll It comprises a means for calculating the roll rudder angle in response to the attitude angle command, a means for steering the steering wings in response to the roll rudder angle command, and the steering wings, and calculates the ratio of the signals received by the two antennas. A flying body control device characterized in that the rolling posture angle of the flying body is calculated, and the rolling posture angle of the flying body can be arbitrarily set within a range of 90 degrees. 3. A flying body control device, wherein an antenna having a linear polarization characteristic having directivity behind the flying body,
Similarly, an antenna with linear polarization characteristics that has directivity behind the flying object and has a polarization plane orthogonal to the above antenna, an amplifier that amplifies the signal received by these antennas, and an antenna that receives the above two antennas. Means for comparing the strengths of the received signals, means for calculating the roll attitude angle of the flying body based on the result of the comparison, and detection of the minimum point of the signal strength for each of the signals received by the two antennas. Means, a means for calculating the roll attitude angle from the order in which the signal strength minimum points of these two signals appear, a means for setting an arbitrary roll attitude angle command, and a means for receiving the roll attitude angle and the roll attitude angle command. It comprises a means for calculating the roll rudder angle, a means for steering the steering wing and a steering wing for receiving a roll rudder angle command, and measures the roll attitude angle of the flying body from the signals received by the two antennas described above. And, flying object control apparatus characterized by being configured so as to be arbitrarily set the roll attitude angle of the aircraft of the flying object. 4. In a flying object control device, an antenna having a linear polarization characteristic having directivity behind a flying object and a polarization plane having directivity behind the flying object and orthogonal to the aforementioned antenna. The flying antenna according to claim 1, characterized in that both or one of the antennas having the linear polarization characteristic with is shared with a receiving antenna for receiving a command transmitted from the outside of the flying object. Body control device. 5. In a flying object control device, an antenna having a linear polarization characteristic having directivity behind a flying object, and a polarization plane having directivity behind the flying object and orthogonal to the aforementioned antenna. The flying antenna according to claim 2, characterized in that both or one of the antennas having a linear polarization characteristic with is shared with a receiving antenna for receiving a command transmitted from the outside of the flying object. Body control device. 6. In a flying object control device, an antenna having a linear polarization characteristic having directivity behind a flying object, and a polarization plane having directivity behind the flying object and orthogonal to the aforementioned antenna. The flying antenna according to claim 3, characterized in that both or one of the antennas having linear polarization characteristics with is shared with a receiving antenna for receiving a command transmitted from the outside of the flying object. Body control device.