JPH11345400A - Landing guide system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a landing guide system reduced in the number of equipments on the ground without impairing safety, and low in cost. SOLUTION: Ground devices 1 and 2 are provided on the center axis of a runway RWY, GPS receivers are respectively provided in devices 1 and 2 and the measurement positions are transmitted by different frequencies f1 and f2. Besides, the GPS receiver is also provided in an aircraft 4 and its positional information is obtained. The aircraft 4 is guided to the circumference of the runway RWY based on the three kinds of positional information. Then, radar wave is transmitted to corner reflectors A1 and A2 which are provided at the both ends of the center axis of the runway RWY and the landing of the aircraft 4 is guided based on a differential signal which is obtained by the reflection wave.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a landing guidance system used for safely landing a flying object such as an aircraft on a runway as a landing point.

[0002]

2. Description of the Related Art Conventionally, various facilities are provided at airports in various places in order to support landing of aircraft such as passenger aircraft. These facilities include, for example, ASR (Airport
Surveillance Radar: Airport Surveillance Radar, ILS (Inst
rument Landing System: Instrument landing guidance system), V
OR (Very high frequency Omnidirectional Radio Ra
nge: Ultra high frequency omnidirectional radio beacon), PAR (Precision)
Approach Radar (precise measurement approach radar), etc., all of which are large-scale and complex systems with an emphasis on ground facilities.

[0003] By the way, it is considered that commuter aviation connecting local cities, municipalities, and the like will be developed by small aircraft and helicopters in the future. As a result, local governments are beginning to build small airports on which to build.

However, the current airport facilities are very large as described above, and the operation costs are enormous. Therefore, such facilities cannot be provided at a small airport. So, without compromising safety,
There is a need to develop a low cost landing guidance system that reduces the need for ground equipment.

[0005]

As described above, the conventional landing guidance system requires a large amount of ground equipment, so that hardware and personnel costs are enormous. For this reason, it is a factor that hinders the realization of future commuter aviation, and there is a demand for the development of a low-cost landing guidance system.

[0006] The present invention has been made in view of the above circumstances,
It is an object of the present invention to provide a low-cost landing guidance system that does not impair safety and has reduced parts that rely on ground equipment.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a method for guiding a flying object, such as an aircraft, on a central axis of a runway, which is a landing point, for example, by using a GPS.
(Global Positioning System) and other positioning systems that use positioning satellites. And a first ground device installed on the center axis of the runway, and an onboard device mounted on the flying object, wherein the first ground device includes the position measurement system. A first ground position measuring means for measuring an installation position of the own device by using the first position measuring means, and a radio wave of a first wavelength in a landing approach area around the runway. A first transmitting means for transmitting the signal via the second ground device, and a second ground position measuring means for measuring the installation position of the own device by the position measuring system in the second ground device; The measured position information is stored in a landing approach area around the runway in a second area different from the first wavelength.
Second transmission means for transmitting via a radio wave having a wavelength of
An aircraft position measuring means for measuring the current position of the aircraft by the position measurement system, and the first and second ground devices when the vehicle enters the landing approach area. Receiving means for receiving measurement position information of each ground device, measurement position information of the first and second ground devices obtained by the reception means, and measurement position information of the flying object by the flying object position measurement means And calculating means for calculating the positional relationship between the first and second ground devices and the flying object in a common three-dimensional coordinate system.

By taking such measures, the positioning data of the first and second ground devices by the position measurement system are transmitted to the flying object at different frequencies from each other (without interference). In the flying object, the position measurement data is received by the receiving means, and the position of the own aircraft is measured by the position measurement system. Based on the position measurement data, the calculation means calculates the positions of the first and second ground devices and the flying object in a common three-dimensional coordinate system. At this time, the first and second ground devices are installed on the central axis of the runway. This allows the flying object to be guided on the center axis of the runway by feeding back the calculated data to, for example, an existing autopilot device.

With this configuration, it is sufficient to install, for example, two GPS receivers and two radio transmitters on the ground side. As a result, ground equipment can be greatly simplified.

The present invention also provides a landing guidance system for guiding a flying object on a center axis of a runway as a landing point,
First and second corner reflectors installed on a central axis of the runway, and an onboard device mounted on the flying object, the onboard device being rotatable in horizontal and vertical directions. An antenna unit mounted on a simple gimbal mechanism, transmitting a radar wave via the antenna unit and receiving reflected waves from the first and second corner reflectors. A tracking radar, such as a monopulse radar, for tracking the first corner reflector using the first corner reflector, and horizontal and vertical tilt angle information of the gimbal mechanism obtained at the time of tracking processing by the tracking radar. Calculated as horizontal and vertical approach angle information related to guidance, and based on this calculation result and information on the direction of arrival of reflected waves from the second corner reflector, the flight And to and an entry angle calculating means for calculating the angle of approach the horizontal and vertical directions with respect to the runway center axis.

By taking such measures, the corner radar in front of the runway is tracked by the tracking radar, for example, as the first corner reflector. Since this tracking radar is mounted on a gimbal mechanism that is rotatable in the horizontal and vertical directions, tilt angle information of the gimbal mechanism in the horizontal and vertical directions can be obtained with the movement of the flying object.
Based on these information, horizontal and vertical angle information relating to the guidance of the flying object, that is, horizontal and vertical angle information with respect to the first corner reflector, is calculated by the calculation means. Also, at the time of tracking the first corner reflector, a reflected wave from the second corner reflector also arrives, and the horizontal and vertical approach angles with respect to the runway center axis are calculated from an error signal based on this reflected wave.

With this configuration, it is only necessary to install two corner reflectors on the ground side. This makes it possible to further simplify the ground equipment. Further, since landing guidance can be performed without relying on the position measurement system, a good effect can be obtained particularly in precision guidance in the final stage of landing approach.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing a configuration of a landing guidance system according to an embodiment of the present invention. In the present embodiment, a GPS (Global Positioning System) is used as a positioning system using positioning satellites.

In FIG. 1, RWY is a runway, and corner reflectors A1 and A2 are installed at both ends of a central axis. The corner reflectors A1 and A2 reflect radio waves arriving from an arbitrary direction with respect to the arriving direction. Here, those having an RCS (radar scattering cross section) sufficiently larger than the ground clutter are used. I do.

Also, along the central axis of the runway RWY,
Ground devices 1 and 2 are installed. G as a positioning satellite
The GPS signal transmitted from the PS satellite 3 is received by each of the ground devices 1 and 2. Each of the ground devices 1 and 2 measures the installation position of its own device based on the received GPS signal, and transmits this data to the runway RW via a VHF band wireless line, for example.
Send to the area around Y. To avoid interference,
Here, it is assumed that the ground device 1 transmits position information at different transmission frequencies of f1 and the ground device 2 at f2. Each transmitted radio wave has a non-directional beam in the horizontal direction and a beam of about 10 ° in the vertical direction.

On the other hand, reference numeral 4 denotes an aircraft which receives a GPS signal from a GPS satellite 3 to determine its own instantaneous position, and receives position data transmitted from the ground units 1 and 2 to obtain these information. Landing approach to runway RWY based on Although FIG. 1 shows only one GPS satellite, a plurality of GPS satellites are normally used.

FIG. 2 shows the configuration of the ground devices 1 and 2 in the landing guidance system. The ground equipment 1 is shown in FIG.
And a transmitter 13 having a transmitting antenna 14, and transmitting position information of the own device measured by the position measuring device 12 via the transmitter 13. It is transmitted to the area around the runway RWY. Similarly, as shown in FIG. 2B, the ground device 21 calculates the position of its own device from the GPS signal received via the GPS antenna 21 by the position measuring device 22 and transmits this position information by the transmitter 23 to the transmitting antenna. 24. Here, as described above, the transmission frequencies f1 and f2 of the transmitters 13 and 23 are different, and for example, frequencies such as f1 = 1000 MHz and f2 = 1030 MHz are used.

FIG. 3 is a diagram showing a configuration of an onboard device mounted on the aircraft 4. The on-board device includes a position analysis device 5,
A tracking radar device 6 and a general display 7 are provided. Among these, the position analysis device 5 includes a position measurement unit 52 having a GPS antenna 51, a receiver 54 having a reception antenna 53, a computer 55, and an interface unit (I /
F) 56.

The position measuring unit 52 receives a GPS signal coming from the GPS satellite 3 via the GPS antenna 51 and performs an analysis process on the GPS signal, thereby obtaining the coordinates of the aircraft 4 every moment. Is measured. The receiver 54 receives the position information transmitted from the ground devices 1 and 2 at the frequencies f1 and f2 via the reception antenna 53.

The computer 55 determines the positional relationship between the runway RWY and the aircraft 4 based on the position measurement data of the aircraft 4 from the position measurement unit 52 and the position measurement data of the ground devices 1 and 2 from the receiver 54. The calculated value is output as an initial flight steering signal to an external, for example, an autopilot device (not shown) via the interface unit 56, and is output to the general display 7 to display the position of the aircraft 4 with respect to the guidance route. Let it.

The tracking radar device 6 includes a tracking radar section 62 having a monopulse antenna 61, a gimbal mechanism section 63 on which the monopulse antenna 61 is mounted, a gimbal servo signal processing section 64, an airframe steering signal processing section 65, and an interface. (I / F) 66, 67.

The monopulse antenna 61 is a two-dimensional monopulse antenna such as a parabolic type or a four-plane split planar array, forms an amplitude comparison monopulse as a pre-comparator, and transmits Σ, ΔAZ, and ΔEL received RF signals to the tracking radar unit 62. Output. The tracking radar unit 62
Radar waves are transmitted to the corner reflectors A1 and A2 in FIG. 1 and their reflected signals are received. Here, the wavelength of the radar wave may be, for example, an X band, a Ku band, a Ka band, or the like in consideration of the transmission power, the antenna size, and the like.

The tracking radar unit 62 has a corner reflector (A in FIG. 1) in front of the approaching direction of the aircraft 4.
Distance gate (not shown) for extracting the reflected signal from 1)
And performs a monopulse angle measurement process on the reflected signal from the corner reflector A1 to obtain an error signal ΔAZ,
ΔEL is input to the gimbal servo signal processing unit 64.

The tracking radar unit 62 further includes a corner reflector (A in FIG. 1) at the rear end of the runway in the radar reflected signal.
Only the reflection signal from 2) is gated, and the Σ and ΔAZ signals are input to the body steering signal processing unit 65. Here, an error signal of a reflected signal from the corner reflector A2 at the rear end of the runway is derived.

FIG. 4 shows the structure of the gimbal mechanism 63. The gimbal mechanism 63 includes a movable first housing 6.
3a and a second housing 63b on the fixed side. As shown in FIG. 4A, the first housing 63a is rotatable in the azimuth direction indicated by arrows EL1 to EL2 in the figure by a rotating portion 63c. Also, the first housing 6
3a, as shown in FIG. 4 (b), the monopulse antenna 61 is moved by the rotating part 63d by arrows AZ1-AZ2 in the figure.
Are supported so as to be rotatable in the height direction indicated by.
For this reason, the monopulse antenna 61 is connected to each rotating part 11.
At c and 11d, it is possible to move in the azimuth direction indicated by the arrow EL1-EL2 in the figure or the elevation direction indicated by the arrow AZ1-AZ2 in the figure.

The place where the monopulse antenna 61 is mounted is called a platform. In the present embodiment, a rate sensor is mounted on this platform. FIG. 5 shows a diagram for explaining the operation control by the rate sensor. FIG. 6 is an angle relation diagram used to explain the above operation.

In this example, as shown in FIG. 5, by applying a negative feedback to the gimbal torque input, the platform is completely separated from the movement of the airframe and is spatially stabilized. Here, when the tracking radar unit 62 captures the target corner reflector A1, the visual line angle signal λ obtained at that time is input to the adder 71. The adder 71 calculates the aircraft attitude angle signal θm from the input line-of-sight angle signal λ.
Subtract The output of the adder 71 is subtracted by the adder 72 by the gimbal angle signal θG. Then, an error angle signal ε is obtained from the angle relationship diagram of FIG. 6, and the error angle signal ε is input to the tracking radar unit 62.

The output of the tracking radar unit 62 is supplied to an adder 7
3, an angular velocity component δθs for driving the gimbal mechanism 63 to the gimbal torque generator 74.
Is converted to This angular velocity component δθs is converted into a gimbal angular velocity component δθG by being subtracted in advance from an attitude angular velocity component δθm given from the aircraft 4 by an adder 75, and then converted into a gimbal angle signal θG by an integrator 76. The signal is input to the adder 72. Also, the angular velocity component δ
θs is converted into an angle signal θs by being input to the rate sensor 77 and thereafter fed back to the adder 73. The attitude angular velocity component δθm is calculated by the integrator 78.
Is converted into an aircraft attitude angle signal θm and input to the adder 71.

Therefore, for example, the above configuration can be changed in the horizontal direction (A
Z), the gimbal angle signal θG
By steering the aircraft 4 so that is zero, the center direction of the antenna coincides with the aircraft axis. On the other hand, if the gimbal angle signal θG is steered to the landing descent angle (for example, 3 °) of the aircraft 4 if it is used in the vertical direction (EL), it is possible to land at a fixed descent angle.

FIGS. 7 and 8 conceptually show the flow of signals related to the horizontal control of the aircraft in the above configuration. FIG.
Shows the case where the guidance control is performed manually, and the gimbal angle signal θG from the gimbal torque generator 74 is subtracted by the adder 81 from the reflection signal from the corner reflector A2 as the input signal, The output is processed in the processing unit 82 together with the reflected signal from A2 after the monopulse processing from the tracking radar. The output is fed back to the gimbal torque generator 74,
It is also provided to the processing unit 83, where the corner reflector A1
A1 is processed together with the error signal based on the reflected signal from
A monopulse angle measurement error signal is output. Then, the A1 monopulse angle measurement error signal and the gimbal angle signal θG are subtracted from the steering instruction signal in the adder 84, and the output is supplied to the steering control device 85 to drive the rudder 86.

By such a series of controls, the aircraft 4
On the extension of the center axis of the runway RWY. In FIG. 8, the A1 monopulse angle measurement error signal from the processing unit 83 and the gimbal angle signal θG from the gimbal torque generator 74 are directly input to the steering control device 85, that is, the guidance control in the autopilot operation. Is shown.

According to the above control, the guidance control in the horizontal direction (AZ) is as shown in FIG. That is, FIG.
In (a), the tracking radar 62 is a corner reflector A
I am tracking 2. However, an error signal Δθ1 is generated for the corner reflector A1, as shown in FIG. Therefore, by performing horizontal steering so that the error signal Δθ1 becomes zero, the base axis of the aircraft 4 is moved to the runway R
It is possible to guide so as to coincide with the central axis of WY. This means that, as shown in FIG.
While flying over distance R, A1
This means that the body is rotated so that the line connecting A2 and the axis of the aircraft 4 match.

FIG. 11 shows an example of display on the general display 7 in the above control process. In FIG. 11, reference numerals 9 and 10 denote horizontal and vertical reference lines, respectively, which are drawn crosswise at the center of the screen of the general display 7. Alternatively, it may be written in advance on the screen.

Here, since the tracking radar 62 is tracking the corner reflector A2, a symbol indicating the corner reflector A2 is displayed at the intersection of the reference line at the center of the screen. Further, a symbol indicating the corner reflector A1 is displayed at a position corresponding to the corner reflector A1 subjected to angle measurement processing based on the A1 monopulse angle measurement error signal. Further, a symbol indicating the runway RWY is displayed with the line connecting A1 and A2 as an axis.

Now, based on the gimbal angles in the horizontal direction and the vertical direction, and the reflected wave from the corner reflector A1, the deviation of the approach angle from the regular approach course Δ
AZ and ΔEL are determined. When these values are obtained, the horizontal cursor 11 and the vertical cursor 12 are drawn on the general display 7 at positions corresponding to the magnitudes of ΔEL and ΔAZ, respectively.

On the basis of this display image, the vertical cursor 10 coincides with the vertical reference line 8 at a position where the horizontal cursor 9 shows a predetermined descent angle (for example, 3 degrees) with respect to the horizontal reference line 7. In addition, the pilot controls the aircraft 4
And the axis of the runway RWY coincide with each other, and it is possible to perform a descent along a regular descent angle. The state of the guidance in the horizontal direction at this time is shown in FIG.

As described above, in the present embodiment, the runway RWY
The ground devices 1 and 2 are provided on the central axis of the GPS device, and GPS receivers are provided in the ground devices 1 and 2 respectively, and these measurement positions are transmitted at different frequencies f1 and f2. Further, a GPS receiver is also provided on the aircraft 4 to obtain position information of the aircraft 4. Based on these three pieces of position information, the aircraft 4 is guided to the vicinity of the runway RWY. Then, when entering the final course, radar waves are transmitted to the corner reflectors A1 and A2 provided at both ends of the center axis of the runway RWY,
Based on the error signal obtained by this reflected wave, the aircraft 4
Landing guidance is performed.

Thus, on the ground side, G at both ends of the runway
Only by providing the PS receiving device, the transmitting device of the positioning information, and the corner reflector, the initial guidance of the aircraft and the final precise guidance can be performed. Therefore, it is possible to perform highly safe aircraft guidance with simple equipment. For this reason, it is possible to safely land even in a case where visibility is poor due to fog or rain or at night, so that it is not necessary to provide facilities such as guide lights on the runway. This also
Capital investment can be reduced. In addition, since the landing guidance can be autonomously performed by the aircraft, there is no need to arrange a ground operator. This also makes it possible to reduce capital investment.

The present invention is not limited to the above embodiment. For example, in the above embodiment, depending on the approach angle of the aircraft 4, a symbol indicating the corner reflector A1 (the other side of the runway RWY) is displayed on the general indicator 7.
May not be displayed, which is not preferable. In such a case, the cross point of the reference lines 9 and 10 may be offset from the center of the screen, and a symbol indicating the corner reflector A2 may be displayed at the offset point. By doing so, the space on the screen can be spared, and both the symbols A1 and A2 can be displayed.

In the above embodiment, only the error information is displayed. However, in an aircraft equipped with an autopilot, the error information may be fed back to the autopilot. In this way, a more advanced automatic landing system could be constructed. In addition, various modifications can be made without departing from the spirit of the present invention.

[0041]

As described in detail above, the present invention measures the position of each of the first and second ground equipment and the flying object by the position measurement system and notifies the flying object of the measurement position of the ground equipment. I do. Then, based on these three measurement position information, the initial landing guidance of the flying object is performed. Further, the first and second corner reflectors are installed on the center axis of the runway, and when the vehicle approaches the periphery of the runway, radar tracking is performed on these corner reflectors, so that the final guidance of the vehicle can be obtained. I'm trying to do it. That is, for example, a GPS receiver, a transmitter for transmitting the measured position data, and a corner reflector need only be installed on the ground side, so that the ground equipment does not need to be large. In addition, since it becomes possible to perform precise guidance by radar tracking on the flying object side, there is no loss of safety. From these facts, it is possible to provide a low-cost landing guidance system with a reduced number of parts relying on ground equipment without impairing safety.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a landing guidance system according to an embodiment of the present invention.

FIG. 2 shows a ground device 1 in the landing guidance system of FIG.
FIG.

FIG. 3 is a diagram showing a configuration of an onboard device mounted on the aircraft 4.

FIG. 4 is a diagram showing a configuration of a gimbal mechanism 63.

FIG. 5 is a diagram for explaining operation control by a rate sensor.

FIG. 6 is an angle relation diagram used for describing operation control by a rate sensor.

FIG. 7 is a diagram conceptually illustrating a flow of signals related to horizontal control of the aircraft 4.

FIG. 8 is a diagram conceptually illustrating another example of a signal flow relating to horizontal control of the aircraft 4.

FIG. 9 is a view for explaining guidance control in the horizontal direction (AZ).

FIG. 10 is a diagram for explaining tracking with respect to the corner reflectors A1 and A2.

FIG. 11 is a view showing a display example on the general display device 7;

FIG. 12 is a diagram showing how the aircraft 4 is guided in the horizontal direction.

[Explanation of symbols]

 RWY: Runway A1, A2: Corner reflector 1, 2: Ground device 11, 21, GPS antenna 12, 22, Position measuring device 13, 23: Transmitter 14, 24 ... Transmitting antenna 3: GPS satellite 4. Aircraft 5. Position analysis device 51 GPS antenna 52 Position measurement unit 53 Receiving antenna 54 Receiver 55 Computer 56 Interface unit (I / F) 6 Tracking radar device 61 Monopulse antenna 62 Tracking radar unit 63 Gimbal mechanism Section 63a: First casing 63b on the movable side 63b Second casing 63c, 63d on the fixed side Rotating section 64 Gimbal servo signal processing section 65 ... Aircraft steering signal processing section 66, 67 ... Interface section (I / F) 7 General display 71, 72, 73, 75 Adder 74 Gimbal torque generator 76, 78 Integrator 77 Tosensa 81 and 84 ... adder, 83 ... processing unit 85 ... steering control apparatus 86 ... steering

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI G01S 13/68 G01S 13/68

Claims (9)

[Claims] 1. A landing guidance system for guiding a flying object on a center axis of a runway, which is a landing point, using a position measurement system using a positioning satellite, wherein the landing guide system is installed on a center axis of the runway. First and second ground devices to be mounted, and an onboard device mounted on the flying object, wherein the first ground device measures the installation position of its own device by the position measurement system. Ground position measuring means; and first transmitting means for transmitting measurement position information measured by the first position measuring means to a landing approach area around the runway via a radio wave of a first wavelength. The second ground device includes: a second ground position measurement unit that measures an installation position of the own device by the position measurement system; and a measurement position information measured by the second position measurement unit, around the runway. Within the landing approach area, Second sending via radio waves of a second wavelength different from the serial first wavelength
A transmitting means, wherein the onboard device comprises: a flying object position measuring means for measuring a current position of the flying object by the position measuring system; and when the vehicle enters the landing approach area, the first and second aircraft Receiving means for receiving the measured position information of each ground device transmitted from the ground device, measuring position information of the first and second ground devices obtained by the receiving means, and the flying object position measuring means Based on the measured position information of the flying object according to
And a position calculating means for calculating a positional relationship between the ground apparatus and the flying object in a common three-dimensional coordinate system. 2. A landing guidance system for guiding a flying object on a central axis of a runway as a landing point, comprising: first and second corner reflectors installed on a central axis of the runway; An on-board device mounted on a flying object, the on-board device has an antenna unit mounted on a gimbal mechanism that is rotatable in the horizontal and vertical directions, and a radar wave is transmitted through the antenna unit. And a reflected radar from the first and second corner reflectors, and a tracking radar for tracking the first corner reflector using the reflected waves; and a tracking by the tracking radar. Horizontal and vertical tilt angle information of the gimbal mechanism obtained at the time of processing is calculated as horizontal and vertical approach angle information related to the guidance of the flying object, and the calculation result and the second corner are calculated. Landing guidance calculating means for calculating horizontal and vertical approach angles of the flying object with respect to the runway center axis based on information on the direction of arrival of the reflected wave from the reflector. system. 3. A landing guidance system for guiding a flying object on a center axis of a runway, which is a landing point, using a position measurement system using a positioning satellite, the landing guide system being installed on a center axis of the runway. First and second ground devices to be installed, first and second corner reflectors installed on a central axis of the runway, and an onboard device mounted on the flying object. A first ground position measuring means for measuring an installation position of the own device by the position measuring system; and a landing approach area around the runway using measurement position information measured by the first position measuring means. A first transmitting means for transmitting the radio wave through a first wavelength, a second ground position measuring means for measuring an installation position of the own device by the position measuring system, This second position measuring means Transmitting the measurement position information measured by the second radio wave into a landing approach area around the runway via a radio wave of a second wavelength different from the first wavelength.
A transmitting means, wherein the onboard device comprises: a flying object position measuring means for measuring a current position of the flying object by the position measuring system; and when the vehicle enters the landing approach area, the first and second aircraft Receiving means for receiving the measured position information of each ground device transmitted from the ground device, measuring position information of the first and second ground devices obtained by the receiving means, and the flying object position measuring means Based on the measured position information of the flying object according to
Position calculating means for calculating the positional relationship between the ground apparatus and the flying object in a common three-dimensional coordinate system, and an antenna unit mounted on a gimbal mechanism that is rotatable in horizontal and vertical directions. A tracking radar that transmits a radar wave via an antenna unit and receives reflected waves from the first and second corner reflectors, and that uses the reflected waves to track the first corner reflector; And calculating horizontal and vertical tilt angle information of the gimbal mechanism obtained in the tracking processing by the tracking radar as horizontal and vertical approach angle information related to the guidance of the flying object, and the calculation result; Based on information on the direction of arrival of the reflected wave from the second corner reflector, calculating an approach angle of the flying object in the horizontal and vertical directions with respect to the runway center axis. Landing guidance system characterized in that it comprises a time calculation means. 4. The tracking radar is a monopulse radar that radiates radar pulses with different beams and outputs a difference signal and a sum signal based on reflected pulses of the respective beams, and the approach angle calculation unit includes the monopulse radar. Calculating the horizontal and vertical tilt angle information of the gimbal mechanism obtained in the tracking process by horizontal and vertical approach angle information related to the guidance of the flying object, and calculates the calculation result and the second corner And an approach angle calculating means for calculating an approach angle of the aircraft in the horizontal and vertical directions with respect to the runway center axis based on a value of the difference signal based on a reflected wave from a reflector. The landing guidance system according to claim 2 or 3. 5. The on-board device further comprises a display, and display control means for displaying, on the display, the horizontal and vertical approach angles of the flying object with respect to the runway center axis. The landing guidance system according to any one of claims 1 to 4, wherein: 6. The display control means includes: a horizontal and vertical reference line crossing at a predetermined position on the display; a predetermined reference approach angle with respect to the horizontal reference line; A horizontal cursor displayed at a position corresponding to the amount of the angular deviation with respect to the approach angle of the direction, and the angular deviation with respect to the central axis of the runway and the horizontal approach angle with respect to the vertical reference line. 6. The landing guidance system according to claim 5, wherein a vertical cursor displayed at a position corresponding to the amount of the vertical cursor is displayed. 7. The display control device according to claim 6, wherein the display control means further displays, on the display, a symbol indicating the first and second corner reflectors and a symbol indicating the runway. The landing guidance system as described. 8. The display control device according to claim 7, wherein the display control means superimposes and displays a symbol indicating the first corner reflector and a point at which the horizontal and vertical reference lines cross. Landing guidance system. 9. The display control means according to claim 1, wherein a point at which the horizontal and vertical reference lines cross is offset in accordance with a display position of a symbol indicating the first and second corner reflectors. Item 10. The landing guidance system according to Item 8.