WO2018216532A1 - Dispositif de commande d'antenne et véhicule aérien - Google Patents

Dispositif de commande d'antenne et véhicule aérien Download PDF

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Publication number
WO2018216532A1
WO2018216532A1 PCT/JP2018/018620 JP2018018620W WO2018216532A1 WO 2018216532 A1 WO2018216532 A1 WO 2018216532A1 JP 2018018620 W JP2018018620 W JP 2018018620W WO 2018216532 A1 WO2018216532 A1 WO 2018216532A1
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WO
WIPO (PCT)
Prior art keywords
antenna
flying object
information
control device
antenna control
Prior art date
Application number
PCT/JP2018/018620
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English (en)
Japanese (ja)
Inventor
明彦 田近
Original Assignee
ソフトバンク株式会社
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Filing date
Publication date
Application filed by ソフトバンク株式会社 filed Critical ソフトバンク株式会社
Publication of WO2018216532A1 publication Critical patent/WO2018216532A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
    • H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
    • H01Q19/12—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces wherein the surfaces are concave
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
    • H01Q3/32—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by mechanical means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/10—Polarisation diversity; Directional diversity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems

Definitions

  • the present invention relates to an antenna control device and a flying object.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2002-211496
  • an antenna control device that controls an antenna of a flying object flying in the stratosphere.
  • the antenna control device may include an information acquisition unit that acquires position information indicating the position of the flying object, attitude information indicating the attitude of the flying object, and altitude information indicating the altitude of the flying object.
  • the antenna control device may include an antenna control unit that controls the antenna based on position information, posture information, and altitude information.
  • the attitude information may indicate the traveling direction of the flying object and the inclination of the flying object.
  • the antenna control device may further include an area information storage unit that stores area information indicating a range of a service area to be formed on the ground by a beam irradiated from the antenna, and the antenna control unit includes the position information, Based on the attitude information, the altitude information, and the area information, at least one of the beam direction and the beam width may be controlled.
  • the antenna may include a directional antenna element and a reflector, and the antenna control unit may change the width of the beam by changing a distance between the antenna element and the reflector. .
  • the antenna control unit may change the direction of the beam by changing the direction of the antenna element with respect to the reflector.
  • the antenna control unit determines that the antenna control unit can cover the service area by controlling the antenna
  • the cover determination unit determines that the antenna cannot be covered by the cover determination unit.
  • a cover requesting unit that requests to cover a part of the service area.
  • the information acquisition unit may acquire trajectory information indicating the trajectory of the flying object, and the antenna control unit may be configured based on the position information, the attitude information, the altitude information, and the trajectory information.
  • the antenna may be controlled.
  • the antenna may be a multi-beam antenna, and the antenna control unit may control each of a plurality of beams emitted from the multi-beam antenna.
  • the multi-beam antenna may include a plurality of antenna elements, each of the plurality of antenna elements may include at least two actuators, and the antenna control unit may include each actuator of the plurality of antenna elements. May be individually controlled.
  • an air vehicle that includes the antenna control device and functions as a stratospheric platform.
  • the flying object may further include a flight control device that controls the flight of the flying object.
  • An example of the flying body 100 is shown schematically.
  • An example of the service area 150 formed with the flying body 100 is shown schematically.
  • An example of the service area 150 formed with the flying body 100 is shown schematically.
  • An example of the service area formed by the flying body 100, the flying body 180, and the flying body 190 is shown schematically.
  • An example of functional composition of antenna control device 200 is shown roughly.
  • An example of the antenna element 122 is shown schematically.
  • An example of the antenna element 132 and the reflecting plate 134 is shown schematically.
  • An example of the antenna element 132 and the reflecting plate 134 is shown schematically.
  • An example of the antenna element 132 and the reflecting plate 134 is shown schematically.
  • An example of the antenna element 132 and the reflecting plate 134 is shown schematically.
  • An example of the hardware constitutions of the computer 1000 which functions as the antenna control apparatus 200 is shown schematically.
  • FIG. 1 schematically shows an example of an aircraft 100.
  • the flying object 100 according to the present embodiment flies in the stratosphere.
  • the air vehicle 100 may function as a stratosphere platform.
  • the flying object 100 includes a main body 102, a propeller 104, a solar battery panel 106, and an antenna 120.
  • the flying object 100 includes a battery (not shown) that stores electric power generated by the solar battery panel 106.
  • the flying object 100 includes a flight control device (not shown) that controls the flight of the flying object 100.
  • the flying object 100 also includes an antenna control device (not shown) that controls the antenna 120.
  • the flight control device controls the flight of the flying object 100 using the electric power generated by the solar panel 106.
  • the flight control device causes the flying object 100 to fly by rotating the propeller 104.
  • the flying object 100 flies within a range of several kilometers to several tens of kilometers, for example, under the control of the flight control device.
  • the flying object 100 flies in an arbitrary trajectory such as a circular trajectory, an elliptical trajectory, and an eight-shaped trajectory.
  • the flight control device may control the flight of the flying object 100 so as to eliminate the inclination when the flying object 100 is inclined due to the influence of wind or the like. Further, the flight control device may control the flight of the flying object 100 so that the solar battery panel 106 can receive sunlight efficiently.
  • the flight control device may control the flight of the flying object 100 in consideration of the wind direction. Further, the flight control device may control the flight of the flying object 100 so as to avoid clouds such as cumulonimbus clouds.
  • the flight control device flies so as to rise while the sun is rising and receiving sunlight so that the flight of the flying object 100 can continue appropriately while the sun is sinking and not receiving sunlight.
  • the flight of body 100 may be controlled.
  • the flight control device may control the flight of the flying object 100 in consideration of the plurality of conditions.
  • the antenna control device controls the antenna 120 to form a service area 150 on the ground.
  • the antenna 120 is, for example, a multi-beam antenna.
  • the antenna control apparatus may form the service area 150 on the ground by irradiating a plurality of beams from the antenna 120.
  • the antenna control device may store area information indicating the range of the service area 150 to be formed on the ground in advance.
  • the antenna control device may receive area information from a so-called ground station during flight.
  • the antenna control apparatus receives and stores area information determined according to the number of communication terminals existing in the service area 150 and the communication traffic volume of the communication terminals existing in the service area 150, and stores the area information.
  • the service area 150 is formed in the range indicated by.
  • the antenna control apparatus has the antenna 120 in order to form a certain service area 150 on the ground even when the position of the flying object 100, the attitude of the flying object 100, the altitude of the flying object 100, and the like change. To control.
  • FIG. 2 and 3 schematically show an example of the service area 150 formed by the flying object 100.
  • the antenna control device included in the flying object 100 maintains the size of the service area 150 by controlling the width of the beam formed by the antenna 120 according to the altitude of the flying object 100.
  • the antenna control device may control the antenna 120 so that the beam width is narrowed as the altitude of the flying object 100 is increased, and the antenna 120 is configured to increase the beam width as the altitude of the flying object 100 is decreased. You may control.
  • the antenna control device controls the service area by controlling at least one of the beam direction and the beam width according to the position, posture, altitude, and the like of the flying object 100. 150 is maintained. If the service area 150 cannot be maintained only by controlling the antenna 120 depending on the status of the aircraft 100, the antenna control device may operate to maintain the service area 150 in cooperation with other aircraft. Good.
  • FIG. 4 schematically shows an example of a service area formed by the flying object 100, the flying object 180, and the flying object 190.
  • the service area 150 is formed by the flying object 100.
  • the service area 182 is formed by the flying object 180.
  • the service area 192 is formed by the flying object 190.
  • An area 152 indicates a range of a service area that the aircraft 100 should form.
  • the antenna control device of the flying object 100 controls the antenna 120 to cover the area 152 based on the position, posture, altitude, and the like of the flying object 100, but the area 152 cannot be covered by controlling the antenna 120. If determined, the other aircraft is requested to cover a part of the area 152 that cannot be covered. For example, the antenna control device of the flying object 100 transmits request information requesting that a part of the area 152 be covered to the flying object 180 and the flying object 190.
  • the antenna control device of the flying object 100 transmits the request information to the flying object 180 and the flying object 190 via, for example, a ground station and a ground network. Further, when the antenna control device of the flying object 100 can directly wirelessly communicate with the flying object 180 and the flying object 190, the request information may be transmitted directly to the flying object 180 and the flying object 190.
  • the antenna control device of the flying object 180 may cover a part of the area 152 by deforming the service area 182 by controlling the antenna of the flying object 180 according to the received request information. Further, the flight control device of the flying object 180 may cover a part of the area 152 by changing at least one of the position, posture, and altitude of the flying object 180 according to the received request information. .
  • the antenna control device of the flying object 190 may cover a part of the area 152 by deforming the service area 192 by controlling the antenna of the flying object 190 according to the received request information. Further, the flight control device of the flying object 190 may cover a part of the area 152 by changing at least one of the position, posture, and altitude of the flying object 190 according to the received request information. .
  • the antenna control device of the flying object 100 controls the antenna 120 and transforms the service area 150 according to the request information. You can do it.
  • the antenna control device of the flying object 100 controls the antenna 120 to deform the service area 150 so that a part of the area that the flying object 180 should cover or a part of the area that the flying object 190 should cover. May be covered.
  • FIG. 5 schematically shows an example of the functional configuration of the antenna control device 200.
  • the antenna control device 200 includes a wireless communication unit 202, an area information storage unit 204, an information acquisition unit 210, an antenna control unit 220, a cover determination unit 230, and a cover request unit 232.
  • a wireless communication unit 202 includes a wireless communication unit 202, an area information storage unit 204, an information acquisition unit 210, an antenna control unit 220, a cover determination unit 230, and a cover request unit 232.
  • the wireless communication unit 202 performs wireless communication.
  • the wireless communication unit 202 may wirelessly communicate with an arbitrary communication device on the ground.
  • the wireless communication unit 202 performs wireless communication with a ground station, for example.
  • the area information storage unit 204 stores area information indicating the range of service areas to be formed on the ground.
  • the area information storage unit 204 stores, for example, area information that is input, received, or read before the flying object 100 flies.
  • the area information storage unit 204 may store the area information received by the wireless communication unit 202 while the flying object 100 is flying.
  • the information acquisition unit 210 acquires various types of information.
  • the information acquisition unit 210 includes a position information acquisition unit 211, a posture information acquisition unit 212, an altitude information acquisition unit 213, and a trajectory information acquisition unit 214.
  • the position information acquisition unit 211 acquires position information indicating the position of the flying object 100.
  • the position information acquisition unit 211 may acquire position information from the GPS sensor.
  • the position information acquisition unit 211 may acquire position information of the flying object 100 from the flight control device 110.
  • the attitude information acquisition unit 212 acquires attitude information indicating the attitude of the flying object 100.
  • the attitude information may include inclination information indicating the inclination of the flying object 100.
  • the inclination information indicates, for example, the inclination of the flying object 100 in the front-rear and left-right directions.
  • the posture information may include traveling direction information indicating the traveling direction of the flying object 100.
  • the attitude information acquisition unit 212 may acquire attitude information from the sensor.
  • the sensor that detects the posture may be a gyro sensor, an acceleration sensor, or the like.
  • the attitude information acquisition unit 212 may acquire attitude information of the flying object 100 from the flight control device 110.
  • the altitude information acquisition unit 213 acquires altitude information indicating the altitude of the flying object 100.
  • the altitude information acquisition unit 213 may acquire altitude information from the sensor.
  • the sensor for detecting the altitude may be an atmospheric pressure sensor, a GPS sensor, or the like.
  • the altitude information acquisition unit 213 may acquire altitude information of the flying object 100 from the flight control device 110.
  • the trajectory information acquisition unit 214 acquires trajectory information indicating the trajectory of the flying object 100.
  • the trajectory information acquisition unit 214 may acquire trajectory information from the flight control device 110. For example, when the flying object 100 flies along a circular trajectory, an elliptical trajectory, and an 8-shaped trajectory, the trajectory information indicates the entire circular trajectory, elliptical trajectory, 8-shaped trajectory, and the like.
  • the trajectory information may indicate a traveling direction based on the position of the flying object 100 along the trajectory of the flying object 100. For example, the trajectory information includes information such as how many meters in which direction, and how many meters in which direction thereafter.
  • the trajectory information indicates the predicted trajectory predicted when the flying object 100 is flying according to the predetermined trajectory and deviates from the predetermined trajectory due to an external factor.
  • the trajectory after deviating may be shown.
  • the trajectory information may indicate a future trajectory predicted based on the trajectory of the flying object 100 while the flying object 100 is swept by a strong wind.
  • the antenna control unit 220 controls the antenna 120.
  • the antenna control unit 220 may control the antenna 120 based on the position information acquired by the position information acquisition unit 211, the posture information acquired by the posture information acquisition unit 212, and the altitude information acquired by the altitude information acquisition unit 213. .
  • the antenna control unit 220 may control the antenna 120 based on position information, posture information, altitude information, and area information stored in the area information storage unit 204. For example, the antenna control unit 220 controls at least one of the direction and width of the beam formed by the antenna 120 based on position information, posture information, altitude information, and area information.
  • the antenna control unit 220 derives the positional relationship between the flying object 100 and the service area that the flying object 100 should form from the position information, altitude information, and area information. Further, the antenna control unit 220 determines the beam direction and beam width from the positional relationship and posture information, and controls the antenna 120 to realize the determined beam direction and beam width.
  • the antenna control unit 220 may further control the antenna 120 based on the trajectory information acquired by the trajectory information acquisition unit 214. For example, the antenna control unit 220 determines the position, posture, and altitude of the flying object 100 based on the traveling direction based on the position of the flying object 100 indicated by the trajectory information, the position information, the posture information, and the altitude information. A relative relationship with the service area 150 to be formed is predicted, and the antenna 120 is controlled based on the prediction.
  • the cover determination unit 230 determines whether or not the range indicated by the area information stored in the area information storage unit 204 can be covered by the antenna control unit 220 controlling the antenna 120. For example, the cover determination unit 230 stores in advance a formable range indicating a range in which a service area can be formed theoretically or experimentally by controlling the antenna 120 with the flying object 100 as a reference. It is determined whether or not the vehicle 100 can be covered by comparing the relative relationship between the position, posture, and altitude of the flying object 100 and the range indicated by the area information with the formable range.
  • the cover request unit 232 requests another aircraft to cover a part of the range indicated by the area information. For example, the cover requesting unit 232 transmits request information requesting to cover a part of the range indicated by the area information to another flying object. For example, the cover request unit 232 transmits the request information to another flying body via the radio communication unit 202 through the ground station and the ground network. Moreover, the cover request
  • the wireless communication unit 202 may receive request information transmitted by another aircraft.
  • the antenna control unit 220 may control the antenna 120 according to the request information.
  • FIG. 6 schematically shows an example of the antenna 120.
  • the antenna 120 illustrated in FIG. 6 may be an array antenna and may include a plurality of antenna elements 122.
  • the plurality of antenna elements 122 may be arbitrarily arranged, such as a column shape and a matrix shape, and may be an arbitrary number.
  • Each of the plurality of antenna elements 122 includes an actuator 124 and an actuator 126.
  • Each of the plurality of antenna elements 122 may have three or more actuators.
  • the antenna control unit 220 may arbitrarily adjust the inclination of each of the plurality of antenna elements 122 by individually controlling the actuator 124 and the actuator 126 of each of the plurality of antenna elements 122. .
  • FIG. 7 and 8 schematically show an example of the antenna 120.
  • FIG. The antenna 120 shown in the figure includes an antenna element 132 having directivity and a reflecting plate 134.
  • the antenna 120 may have a plurality of pairs of antenna elements 132 and reflectors 134.
  • the antenna control unit 220 may change the beam width by changing the distance between the antenna element 132 and the reflecting plate 134.
  • the antenna control unit 220 may change the distance between the antenna element 132 and the reflector 134 by moving the antenna element 132.
  • the antenna controller 220 may change the distance between the antenna element 132 and the reflector 134 by moving the reflector 134.
  • the antenna control unit 220 may change the distance between the antenna element 132 and the reflecting plate 134 by moving both the antenna element 132 and the reflecting plate 134.
  • FIG. 9 schematically shows an example of the antenna 120.
  • the antenna 120 shown in the figure includes an antenna element 132 having directivity and a reflecting plate 134.
  • the antenna 120 may have a plurality of pairs of antenna elements 132 and reflectors 134.
  • the antenna control unit 220 may change the direction of the beam by changing the direction of the antenna element 132 with respect to the reflector 134 as shown in the figure.
  • FIG. 10 schematically shows an example of a computer 1000 that functions as the antenna control apparatus 200.
  • the computer 1000 includes a CPU peripheral unit having a CPU 1010 and a RAM 1030 that are connected to each other by a host controller 1092, a ROM 1020 that is connected to the host controller 1092 by an input / output controller 1094, a communication I / F 1040, and a hard disk drive 1050. , And an input / output unit having an input / output chip 1080.
  • the CPU 1010 operates based on programs stored in the ROM 1020 and the RAM 1030 and controls each unit.
  • the communication I / F 1040 communicates with other devices via a network by wire or wireless.
  • the communication I / F 1040 functions as hardware that performs communication.
  • the hard disk drive 1050 stores programs and data used by the CPU 1010.
  • the ROM 1020 stores a boot program that is executed when the computer 1000 starts up, a program that depends on the hardware of the computer 1000, and the like.
  • the input / output chip 1080 connects various input / output devices to the input / output controller 1094 via, for example, a parallel port, a serial port, a keyboard port, a mouse port, and the like.
  • the program provided to the hard disk drive 1050 via the RAM 1030 is stored in a recording medium such as an IC card and provided by the user.
  • the program is read from the recording medium, installed in the hard disk drive 1050 via the RAM 1030, and executed by the CPU 1010.
  • the program installed in the computer 1000 and causing the computer 1000 to function as the antenna control apparatus 200 may work on the CPU 1010 or the like to cause the computer 1000 to function as each part of the antenna control apparatus 200.
  • Information processing described in these programs is read by the computer 1000, whereby the wireless communication unit 202 and the area information storage unit 204, which are specific means in which the software and the various hardware resources described above cooperate.
  • the specific antenna control apparatus 200 according to the intended purpose is constructed

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Astronomy & Astrophysics (AREA)
  • Automation & Control Theory (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Aerials With Secondary Devices (AREA)
  • Radio Relay Systems (AREA)

Abstract

Bien qu'un véhicule aérien qui comporte une antenne et vole dans la stratosphère afin de fournir une plate-forme stratosphérique est connu, il est souhaitable de fournir une technologie pour commander l'antenne de manière appropriée en fonction de l'état du véhicule aérien. Ainsi, l'invention concerne un dispositif de commande d'antenne pour commander une antenne d'un véhicule aérien qui vole dans la stratosphère, le dispositif de commande d'antenne comprenant : une unité d'acquisition d'informations qui acquiert des informations de position indiquant la position du véhicule aérien, des informations d'orientation indiquant l'orientation du véhicule aérien, et des informations de hauteur indiquant la hauteur du véhicule aérien ; et une unité de commande d'antenne qui commande l'antenne sur la base des informations de position, des informations d'orientation et des informations de hauteur.
PCT/JP2018/018620 2017-05-26 2018-05-14 Dispositif de commande d'antenne et véhicule aérien WO2018216532A1 (fr)

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JP2017-104406 2017-05-26
JP2017104406A JP6692770B2 (ja) 2017-05-26 2017-05-26 アンテナ制御装置及び飛行体

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WO2018216532A1 true WO2018216532A1 (fr) 2018-11-29

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Cited By (2)

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WO2020250479A1 (fr) * 2019-06-14 2020-12-17 Ｈａｐｓモバイル株式会社 Dispositif de commande d'antenne, programme, système, et procédé de commande
JP2021142820A (ja) * 2020-03-11 2021-09-24 Ｈａｐｓモバイル株式会社 通信制御装置、プログラム、飛行体、システム及び制御方法

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JP2003264866A (ja) * 2003-02-07 2003-09-19 Hitachi Ltd 移動体通信システム
US20060114149A1 (en) * 2004-11-30 2006-06-01 Byung-Su Kang Apparatus for controlling antenna in stratospheric platform and stratospheric platform system having the same

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Publication number Priority date Publication date Assignee Title
WO2020250479A1 (fr) * 2019-06-14 2020-12-17 Ｈａｐｓモバイル株式会社 Dispositif de commande d'antenne, programme, système, et procédé de commande
JP2020205505A (ja) * 2019-06-14 2020-12-24 Ｈａｐｓモバイル株式会社 アンテナ制御装置、プログラム、システム、及び制御方法
JP7249890B2 (ja) 2019-06-14 2023-03-31 Ｈａｐｓモバイル株式会社 アンテナ制御装置、プログラム、システム、及び制御方法
JP2021142820A (ja) * 2020-03-11 2021-09-24 Ｈａｐｓモバイル株式会社 通信制御装置、プログラム、飛行体、システム及び制御方法
JP7093377B2 (ja) 2020-03-11 2022-06-29 Ｈａｐｓモバイル株式会社 通信制御装置、プログラム、飛行体、システム及び制御方法

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