WO2021005817A1

WO2021005817A1 - Guidance system, aircraft carrier, management device, program, and management method

Info

Publication number: WO2021005817A1
Application number: PCT/JP2020/003290
Authority: WO
Inventors: 広朝長内
Original assignee: Ｈａｐｓモバイル株式会社
Priority date: 2019-07-11
Filing date: 2020-01-30
Publication date: 2021-01-14
Also published as: JP7319117B2; JP2021015401A

Abstract

Provided is a guidance system including: a first radio wave transmitter which includes a first radio wave transmission unit that transmits a guiding radio wave guiding a flying body, and having directivity in a first azimuth, and a second radio wave transmission unit that transmits a guiding radio wave having directivity in a second azimuth opposite to the first azimuth; and a second radio wave transmitter which includes a third radio wave transmission unit that transmits a guiding radio wave of the flying body, which has directivity in a third azimuth that is approximately the same as the first azimuth, and a fourth radio wave transmission unit that transmits a guiding radio wave having directivity in a fourth azimuth opposite to the third azimuth.

Description

Guidance systems, aircraft carriers, management equipment, programs, and management methods

The present invention relates to a guidance system, an aircraft carrier, a management device, a program, and a management method.

ILS (Instrument Landing System) that guides an air vehicle to a runway has been known (see, for example, Patent Document 1).
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2012-182509

Problems to be solved

It is desirable to provide technology that efficiently supports the landing of an aircraft on the runway from multiple directions.

General disclosure

According to the first aspect of the present invention, a guidance system is provided. The guidance system has a first radio wave transmitting unit that transmits a guided radio wave for guiding an air vehicle and has directivity in the first direction, and a second direction opposite to the first direction. A first radio wave transmitter having a second radio wave transmitting unit that emits a directional guided radio wave may be provided. The guidance system is directed to a third radio wave transmitting unit that emits a guided radio wave of an air vehicle having directivity in a third direction that is substantially the same as the first direction, and a fourth direction that is substantially the same as the second direction. A second radio wave transmitter having a fourth radio wave transmitting unit that transmits a guided radio wave having a property may be provided.

The second radio wave transmitter may be arranged in the second direction with respect to the position of the first radio wave transmitter. The guided radio wave transmitted by the second radio wave transmitting unit may pass through the center of the runway of the flying object. The guided radio wave transmitted by the third radio wave transmitting unit may pass through the center of the runway.

The first radio wave transmitter and the second radio wave transmitter may be arranged on a circular runway, and the second radio wave transmitter may be in the second orientation with reference to the position of the first radio wave transmitter. The guided radio wave transmitted by the second radio wave transmitting unit may pass through the center of the circular runway, and the guided radio wave transmitted by the third radio wave transmitting unit may be of the circular runway. You may pass through the center. The first radio wave transmitter and the second radio wave transmitter may be arranged on the circumference of the circular runway.

The guidance system may include a movement control unit that moves the first radio wave transmitter and the second radio wave transmitter along the circumference of the circular runway. The guidance system may include a landing route determination unit that determines a straight landing route of the aircraft that passes through the center of the circular runway, and the movement control unit may include the first movement control unit based on the landing route. 1 The radio transmitter and the second radio transmitter may be moved. The landing route determination unit may determine the landing route in a straight line passing through the center of the circular runway along the landing direction of the aircraft. The movement control unit may move each of the first radio wave transmitter and the second radio wave transmitter to each of the intersections of the landing route and the circumference of the circular runway.

The guidance system has a fifth radio wave transmitting unit that emits a directional guided radio wave in the fifth direction, and a third that emits a directional guided radio wave in a sixth direction opposite to the fifth direction. A third radio wave transmitter having six radio wave transmitting units, a seventh radio wave transmitting unit that transmits guided radio waves of an air vehicle having directionality in a seventh direction substantially the same as the fifth direction, and the sixth radio wave transmitting unit. A fourth radio wave transmitter having an eighth radio wave transmitting unit that emits guided radio waves having directionality in an eighth direction that is substantially the same as the direction of, a landing route determining unit that determines the landing route of the above-mentioned aircraft, and Based on the landing route, the combination of the first radio wave transmitting unit and the third radio wave transmitting unit, the combination of the second radio wave transmitting unit and the fourth radio wave transmitting unit, the fifth radio wave transmitting unit and the seventh radio wave. Guidance to guide the flying object to two transmitting units, a selection unit that selects a combination of transmitting units or a combination of the sixth radio wave transmitting unit and the eighth radio wave transmitting unit, and a combination selected by the selection unit. It may be provided with a transmission control unit that transmits radio waves.

According to the second aspect of the present invention, an aircraft carrier including the circular runway that can be accommodated and deployed and the guidance system is provided.

According to the third aspect of the present invention, a management device is provided. The management device may include a landing route determination unit that determines the landing route of the aircraft. The management device is the opposite of the first radio wave transmitting unit, which is a guided radio wave for guiding the flying object and has a directivity in the first direction, based on the landing route. A first radio wave transmitter having a second radio wave transmitting unit that emits a guided radio wave having directionality in the second direction, and an air vehicle having directionality in a third direction that is substantially the same as the first direction. Guidance by a second radio wave transmitter having a third radio wave transmitting unit for transmitting the guided radio wave of the above and a fourth radio wave transmitting unit for transmitting the guided radio wave having directionality in a fourth direction substantially the same as the second direction. It may be provided with a transmission control unit that controls the transmission of radio waves.

According to the fourth aspect of the present invention, a program for causing the computer to function as the management device is provided.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

An example of the guidance system 100 is shown schematically. An example of the guidance system 100 is shown schematically. An example of the flying object 400 is shown schematically. An example of the functional configuration of the management device 300 is shown schematically. An example of the processing flow by the management device 300 is shown schematically. An example of the processing flow by the management device 300 is shown schematically. An example of the aircraft carrier 600 is shown schematically. An example of the aircraft carrier 600 is shown schematically. An example of the aircraft carrier 600 is shown schematically. An example of the hardware configuration of the computer 1200 that functions as the management device 300 is shown schematically.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions claimed. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 schematically shows an example of the guidance system 100. The guidance system 100 guides the landing of the aircraft on the runway. In FIG. 1, a circular runway 10 is illustrated as an example of a runway. The circular runway 10 is arranged, for example, at any suitable location on land. Further, FIG. 1 illustrates an air vehicle 400 that functions as a stratospheric platform as an example of the air vehicle.

The guidance system 100 includes a plurality of radio wave transmitters 200 and a management device 300. In the example shown in FIG. 1, eight radio wave transmitters 200 are arranged on the circumference of the circular runway 10. The number of radio wave transmitters 200 arranged is not limited to this. For example, the guidance system 100 may include a radio wave transmitter 200 of several tens of units. The radio wave transmitters 200 are preferably arranged at equal intervals on the circumference of the circular runway 10, but may be arranged at unequal intervals. The radio wave transmitter 200 may be arranged on the circular runway 10 inside the circumference.

The radio wave transmitter 200 is arranged in pairs of two. In the example shown in FIG. 1, the pair of two radio wave transmitters 200 are arranged at the intersections of the diameter and the circumference of the circular runway 10. For example, the radio wave transmitter 200 arranged at the point 31 and the radio wave transmitter 200 arranged at the point 35 are a pair. Further, the radio wave transmitter 200 arranged at the point 32 and the radio wave transmitter 200 arranged at the point 36 are a pair. Further, the radio wave transmitter 200 arranged at the point 33 and the radio wave transmitter 200 arranged at the point 37 are a pair. Further, the radio wave transmitter 200 arranged at the point 34 and the radio wave transmitter 200 arranged at the point 38 are a pair.

The radio wave transmitter 200 has a radio wave transmitting unit 210 that transmits a guided radio wave having directivity in the first direction and a radio wave transmitting unit that transmits a guided radio wave having directivity in a second direction opposite to the first direction. It has a part 220. In the example shown in FIG. 1, the radio wave transmitting unit 210 transmits an outwardly directional guided radio wave along the normal line of the circular runway 10, and the radio wave transmitting unit 220 is located at the center 20 of the circular runway 10. It emits guided radio waves with directivity in the direction.

One of the two paired radio wave transmitters 200, the radio wave transmitter 200, emits a guided radio wave having a directionality in the first direction, and a second radio wave transmitting unit 210 opposite to the first direction. It has a radio wave transmitting unit 220 that emits a directional guided radio wave in the first direction, and the other radio wave transmitter 200 transmits a directional guided radio wave in a third direction that is substantially the same as the first direction. The radio wave transmitting unit 210 may have a radio wave transmitting unit 210 that emits a guided radio wave having a directivity in a fourth direction that is substantially the same as the second direction.

The management device 300 manages a plurality of radio wave transmitters 200. The management device 300 is a flying object by the radio wave transmitting unit 210 of the first radio wave transmitter 200 and the radio wave transmitting unit 220 of the second radio wave transmitter 200 of the two paired radio wave transmitters 200. It may be managed to guide 400 landings. The management device 300 causes, for example, the radio wave transmitting unit 210 to transmit an outward guided radio wave having directivity in the first direction, and causes the radio wave transmitting unit 220 to transmit the radio wave transmitting unit 220 to a third direction substantially the same as the first direction. The landing of the flying object 400 is guided by transmitting a directional guided radio wave toward the center.

For example, the flying object 400 first receives an outward guided radio wave from the radio wave transmitting unit 210 and flies in the direction of the outward guided radio wave. When approaching the circular runway 10, the flying object 400 receives the center-directed guided radio wave by the radio wave transmitting unit 220, and flies to the path where the outward guided radio wave and the center-directed guided radio wave overlap. Then, after landing, the aircraft 400 slides in the direction of the guided radio wave toward the center.

Here, the direction substantially the same as the first direction includes the first direction and includes a deviation allowed in guiding the flying object 400. For example, when a deviation of 1 degree is allowed between the first direction and the third direction in guiding the flying object 400, the direction substantially the same as the first direction is ± with respect to the first direction. It is a one-degree orientation. The amount of deviation that can be tolerated can vary depending on the performance of the radio wave transmitter 200, the distance between the two paired radio wave transmitters 200, the size of the circular runway 10, and the like. Is set to.

In the example shown in FIG. 1, in the guidance system 100, for example, the flying object 400 landing from the east to the west is arranged at the point 35 and the outward guidance radio wave by the radio wave transmitting unit 210 arranged at the point 31. It is guided by the guided radio wave toward the center by the radio wave transmitting unit 220. By guiding the flying object 400 by the radio wave transmitting unit 210 and the radio wave transmitting unit 220 arranged at the two intersections of the diameter and the circumference, the flying object 400 can pass through the center of the circular runway 10. It is possible to make the best use of the runway length.

Further, in the guidance system 100, for example, the flying object 400 landing from the west to the east is subjected to an outward guidance radio wave by the radio wave transmitting unit 210 arranged at the point 35 and the radio wave transmitting unit 220 arranged at the point 31. Guided by radio waves toward the center. In this way, the two paired radio wave transmitters 200 can efficiently guide the landing of the flying object 400 from the two directions.

The guidance system 100 may guide the aircraft 400 landing from north to south or south to north by the radio wave transmitter 200 arranged at the point 33 and the radio wave transmitter 200 arranged at the point 37. .. Further, the guidance system 100 guides the aircraft 400 landing from northwest to southwest or southwest to northwest by the radio wave transmitter 200 arranged at the point 34 and the radio wave transmitter 200 arranged at the point 38. You can. Further, the guidance system 100 guides the aircraft 400 landing from northwest to southeast or from southeast to northwest by the radio wave transmitter 200 arranged at the point 32 and the radio wave transmitter 200 arranged at the point 36. You can. In this way, the guidance system 100 can guide the landing of the aircraft 400 from eight directions by using the eight radio wave transmitters 200 arranged on the circular runway 10. By arranging more radio transmitters 200, the guidance system 100 can guide the landing of the aircraft 400 from more directions.

The management device 300 may have a function of selecting two pairs of radio wave transmitters 200 corresponding to the landing direction of the aircraft 400 from the plurality of radio wave transmitters 200. The management device 300 determines the landing direction of the aircraft 400 based on the information detected by the sensor group 320, for example.

The sensor group 320 includes, for example, a camera that captures the sky. Further, the sensor group 320 includes, for example, a wind speed sensor that measures a wind direction and a wind speed on the circular runway 10. The management device 300 determines, for example, the direction toward the windward as the landing direction based on the wind direction and the wind speed output by the wind speed sensor. Then, the management device 300 selects two pairs of radio wave transmitters 200 corresponding to the landing direction, and the radio wave transmitting unit 210 of one of the two selected radio wave transmitters 200 and the radio wave transmitting unit of the other. The landing of the aircraft 400 is guided by transmitting a guided radio wave to the 220.

The frequency of the guided radio wave transmitted by the radio wave transmitting unit 210 and the guided radio wave transmitted by the radio wave transmitting unit 220 may be different. Further, the guided radio wave transmitted by the radio wave transmitting unit 210 may have a stronger radio wave intensity than the guided radio wave transmitted by the radio wave transmitting unit 220. The guided radio wave transmitted by the radio wave transmitting unit 210 and the guided radio wave transmitted by the radio wave transmitting unit 220 may be any type of guided radio wave capable of guiding the flying object 400. For example, the radio wave transmitting unit 210 and the radio wave transmitting unit 220 may transmit the same guided radio waves as the existing ILS. For example, the radio wave transmitting unit 210 transmits the same guided radio wave as the localizer, and the radio wave transmitting unit 220 emits the same guided radio wave as the glide path. However, the radio wave transmitting unit 210 and the radio wave transmitting unit 220 use frequencies different from those of the existing ILS.

FIG. 2 schematically shows an example of the guidance system 100. Here, the differences from FIG. 1 will be mainly described. The guidance system 100 shown in FIG. 2 includes two radio wave transmitters 200, and the two radio wave transmitters 200 can move along the circumference of the circular runway 10.

The radio wave transmitter 200 may be movable along the circumference of the circular runway 10 by any configuration. For example, the radio wave transmitter 200 is configured to be movable on rails arranged along the circumference of the circular runway 10. The radio wave transmitter 200 may be movable in any direction, not limited to the direction along the circumference. The movement of the radio wave transmitter 200 may be performed manually, or may be automatically performed by machine control or the like under the control of the management device 300.

The management device 300 may move the two radio wave transmitters 200 according to the landing direction of the flying object 400. For example, when the landing direction of the aircraft 400 is from northwest to southwest, the management device 300 moves the radio wave transmitter 200 located at the point 31 to the point 38, and the radio wave transmitter 200 located at the point 35. To point 34. In this way, by using the movable radio wave transmitter 200, it is possible to guide the landing of the flying object 400 from any direction.

Note that FIG. 2 illustrates a case where the guidance system 100 includes two radio wave transmitters 200, but the present invention is not limited to this, and the guidance system 100 may include three or more radio wave transmitters 200. In this case, the management device 300 determines a point at which the radio wave transmitter 200 is arranged according to the landing direction of the air vehicle 400, and moves two radio wave transmitters 200 having a smaller amount of movement with respect to the point to move the air vehicle. You may induce 400 landings.

FIG. 3 schematically shows an example of the flying object 400. The aircraft body 400 includes a main wing portion 410, a propeller 412, a pod 414, wheels 415, a solar cell panel 416, an elevator 418, a main body portion 420, an antenna 430, an antenna 432, and an antenna 434.

The electric power generated by the solar cell panel 416 is stored in a battery arranged in at least one of the main wing portion 410 and the main body portion 420. The power of the battery is supplied to the propeller 412, the elevator 418, the main body 420, the antenna 430, the antenna 432, and the antenna 434.

The main body 420 includes a flight control device and a wireless communication device. The flight control device controls the flight of the flying object 400. The flight control device controls the flight of the flying object 400, for example, by rotating the propeller 412 or changing the angle of the elevator 418.

The antenna 430 receives the induction radio wave transmitted by the radio wave transmitter 200. The flight control device controls the landing of the flying object 400 according to the guided radio wave received by the antenna 430.

The wireless communication device executes wireless communication using the antenna 432 and the antenna 434. The antenna 432 may be a feeder link antenna. The antenna 434 may be a service link antenna.

The wireless communication device establishes a feeder link with the gateway 42 by irradiating the gateway 42 on the ground with a beam using the antenna 432. Further, the wireless communication device forms a wireless communication area 436 on the ground by irradiating a beam toward the ground using the antenna 434, and provides the wireless communication service to the user terminal 50 in the wireless communication area 436. The aircraft 400 flies in the stratosphere and provides a wireless communication service to the user terminal 50 on the ground. The aircraft 400 may function as a stratospheric platform.

The user terminal 50 may be any communication terminal capable of communicating with the flying object 400. For example, the user terminal 50 is a mobile phone such as a smartphone. The user terminal 50 may be a tablet terminal, a PC (Personal Computer), or the like. The user terminal 50 may be a so-called IoT (Internet of Thing) device. The user terminal 50 may include anything corresponding to the so-called IoT (Internet of Everything).

The aircraft 400 provides a wireless communication service to the user terminal 50, for example, by relaying communication between the user terminal 50 and the terrestrial network 40. The network 40 may include a core network provided by the carrier. The core network may be compliant with any mobile communication system, for example, 3G (3rd Generation) communication system, LTE (Long Term Evolution) communication system, 4G (4th Generation) communication system, and 5G (5th Generation) communication system. Compliant with mobile communication systems after the communication system. The network 40 may include the Internet.

The aircraft 400 establishes a feeder link with gateways 42 located in various places on the ground, and communicates with the network 40 on the ground via the gateway 42, for example. Further, for example, the aircraft 400 communicates with the network 40 via the communication satellite 80. In this case, the flying object 400 has an antenna for communicating with the communication satellite 80.

The aircraft 400 transmits, for example, the data received from the user terminal 50 in the wireless communication area 436 to the network 40. Further, when the aircraft 400 receives data addressed to the user terminal 50 in the wireless communication area 436 via the network 40, for example, the aircraft 400 transmits the data to the user terminal 50.

The flight body 400 may be controlled by the flight management device 500 on the ground. The flight management system 500 may control the flight object 400 via the O & M (Operation and Maintenance) network 70. The O & M network 70 is different from the service network for providing the wireless communication service to the user terminal 50. The flight management device 500 may communicate with the flying object 400 via the O & M network 70, the satellite communication device 510 capable of wireless communication with the communication satellite 80, and the communication satellite 80. The flight management device 500 may have a function of wirelessly communicating with the communication satellite 80 and may communicate with the flying object 400 via the communication satellite 80. The O & M network 70 may be communicatively connected to the network 40. The O & M network 70 does not have to be communicatively connected to the network 40.

The management device 300 may communicate with the flight management device 500 via the O & M network 70. The management device 300 may guide the landing of the flight body 400 in cooperation with the flight management device 500. For example, the flight management device 500 notifies the management device 300 of the landing route for the circular runway 10 of the flight body 400, and the management device 300 of the pair of radio wave transmitters 200 to guide the flight body 400 according to the landing route. The guided radio wave is transmitted to one of the radio wave transmitting units 210 and the other radio wave transmitting unit 220.

FIG. 4 schematically shows an example of the functional configuration of the management device 300. The management device 300 includes a communication unit 302, a landing route determination unit 304, a selection unit 306, a transmission control unit 308, and a movement control unit 310. It is not always essential that the management device 300 includes all of these.

The communication unit 302 communicates with the sensor group 320. The communication unit 302 may receive the information output by the sensor group 320. Further, the communication unit 302 communicates with the flight management system 500 via the O & M network 70. The communication unit 302 may communicate with the aircraft 400 via the O & M network 70 and the communication satellite 80. Further, the communication unit 302 may communicate with the aircraft 400 via the network 40 and the gateway 42.

The landing route determination unit 304 determines the landing route of the aircraft 400. The landing route determination unit 304 determines the landing route of the aircraft 400 based on the information received from the sensor group 320 by the communication unit 302, for example. The landing route determination unit 304 determines, for example, the direction toward the wind up as the landing direction based on the wind direction and the wind speed output to the wind speed sensor, and is the direction along the landing direction and the circular runway 10. The route that passes through the center 20 is determined as the landing route. Since the horizontally long flying object 400 as shown in FIG. 3 is vulnerable to crosswinds, the landing of the flying object 400 can be stabilized by setting the direction toward the windward as the landing direction.

The landing route determination unit 304 may determine the route received by the communication unit 302 from the flight management device 500 as the landing route of the aircraft 400. The flight management device 500 determines a route for the flight body 400 to land on the circular runway 10 based on, for example, the flight status of the flight body 400 and the surrounding conditions of the circular runway 10, and transmits the route to the management device 300. Further, the flight management device 500 receives, for example, the guided radio wave from the radio wave transmitter 200 on the ground via the flying object 400, and determines the route for the flying object 400 to land on the circular runway 10 according to the reception condition. It may be transmitted to the management device 300.

The selection unit 306 selects the radio wave transmission unit 210 and the radio wave transmission unit 220 for guiding the aircraft 400 from the plurality of radio wave transmitters 200 based on the landing route determined by the landing route determination unit 304. The selection unit 306 may select one radio wave transmission unit 210 and the other radio wave transmission unit 220 of the pair of two radio wave transmitters 200 located on the landing route.

The transmission control unit 308 causes the radio wave transmission unit 210 and the radio wave transmission unit 220 selected by the selection unit 306 to transmit the guided radio wave. The transmission control unit 308 causes the radio wave transmission unit 210 to transmit an outward guidance radio wave, and causes the radio wave transmission unit 220 to transmit a center-direction guidance radio wave.

The movement control unit 310 moves each of the plurality of radio wave transmitters 200. The movement control unit 310 moves, for example, each of the plurality of radio wave transmitters 200 arranged on the circumference of the circular runway 10 along the circumference of the circular runway 10.

The movement control unit 310 may move the radio wave transmitter 200 based on the landing route determined by the landing route determination unit 304. The movement control unit 310 moves two pairs of radio wave transmitters 200 to each of two locations, for example, at the intersection of the landing route and the circumference of the circular runway 10. The transmission control unit 308 flies by causing one of the pair of two radio wave transmitters 200, the radio wave transmission unit 210, to transmit an outward guidance radio wave, and the other radio wave transmission unit 220 to transmit a center-direction guidance radio wave. You may induce the landing of body 400.

The flight object monitoring unit 312 monitors the status of the flight object 400 landing on the circular runway 10. The flight object monitoring unit 312 acquires an image of the flight object 400 captured by the camera in the sensor group 320 via the communication unit 302, and determines the status of the flight object 400 using the captured image. For example, the flight object monitoring unit 312 determines the distance between the circular runway 10 and the flight object 400. The sensor group 320 may include a distance sensor, and the flight object monitoring unit 312 may acquire the distance to the flight object 400 output by the distance sensor via the sensor group 320.

The transmission control unit 308 may control the transmission of guided radio waves by the radio wave transmission unit 210 and the radio wave transmission unit 220 according to the situation of the flying object 400. For example, the transmission control unit 308 causes the radio wave transmission unit 210 to transmit an outward guidance radio wave when the landing aircraft 400 approaches from the circular runway 10 to a predetermined first distance. Next, the transmission control unit 308 causes the radio wave transmission unit 220 to transmit a center-oriented guided radio wave when the aircraft body 400 approaches from the circular runway 10 to a predetermined second distance. Then, the transmission control unit 308 stops the transmission of the guided radio wave by the radio wave transmitting unit 210 and the radio wave transmitting unit 220 in response to the completion of the landing of the flying object 400 and the stopping of the flying object 400.

FIG. 5 schematically shows an example of the processing flow by the management device 300. Here, the flow of processing when guiding the landing of one aircraft 400 will be described.

In step 102 (the step may be abbreviated as S) 102, the landing route determination unit 304 determines the landing route of the aircraft 400. The landing route determination unit 304 may determine the route received from the flight management device 500 as the landing route, or may determine the landing route based on the information received from the sensor group 320 by the communication unit 302. In S104, the selection unit 306 selects a radio wave transmission unit 210 for transmitting an outward guidance radio wave and a radio wave transmission unit 220 for transmitting a center-direction guidance radio wave based on the landing route determined in S102.

In S106, the transmission control unit 308 causes the radio wave transmission unit 210 to start transmitting an outward guidance radio wave. In S108, the transmission control unit 308 determines whether or not the distance between the circular runway 10 and the flying object 400 is equal to or less than a predetermined threshold value. If it is determined that the value is equal to or lower than the threshold value, the process proceeds to S110.

In S110, the transmission control unit 308 causes the radio wave transmission unit 220 to start transmitting the center-directed guided radio wave. In S112, the transmission control unit 308 determines whether or not the landing of the aircraft 400 has been completed. If it is determined that the aircraft has landed, the process proceeds to S11. In S114, the transmission control unit 308 causes the radio wave transmission unit 210 and the radio wave transmission unit 220 to stop the transmission of the guided radio wave.

In this way, by selecting the radio wave transmitter 210 and the radio wave transmitter 220 corresponding to the landing route of the aircraft body 400 from the plurality of radio wave transmitters 200, the circular runway 10 of the aircraft body 400 can be reached from any direction. Can effectively guide the landing of.

When the radio wave transmitter 200 is movable, the movement control unit 310 may move the radio wave transmitter 210 and the radio wave transmitter 220 after selecting the radio wave transmitter 210 and the radio wave transmitter 220 in S104. ..

FIG. 6 schematically shows an example of the processing flow by the flying object 400. Here, the flow of processing when the flying object 400 lands according to the guidance by the guidance system 100 will be described.

In S202, the aircraft 400 receives the outward guidance radio wave transmitted by the radio wave transmitting unit 210. In S204, the flying object 400 flies in the outward guided radio wave direction.

In S206, the flying object 400 receives the center-oriented guided radio wave transmitted by the radio wave transmitting unit 220. In S208, the flying object 400 flies in the path where the outward guidance radio wave and the center guidance radio wave overlap.

In S210, the aircraft 400 lands on the circular runway 10. In S212, the flying object 400 slides in the direction of the radio wave toward the center. The landing of the aircraft 400 is completed when the aircraft 400 stops gliding.

In the above embodiment, the case where the circular runway 10 is arranged on land has been mainly described as an example, but the present invention is not limited to this, and the circular runway 10 may be arranged in a coastal area or deployed at sea. You may. For example, the circular runway 10 is arranged on a semi-fixed megafloat installed in the coastal area. The Mega Float may be towed and moved by tugboat as needed. The mega float may be moored at an anchor. The circular runway 10 may be realized by a method of combining block-shaped floats.

Also, for example, the circular runway 10 is housed in the aircraft carrier 600 and deployed at the time of use. The circular runway 10 may be, for example, foldable, folded and housed in the aircraft carrier 600, and deployed at the time of use. Further, the circular runway 10 may be, for example, a slide type, and is slidly housed in the aircraft carrier 600 and is slidably deployed at the time of use.

FIG. 7, FIG. 8 and FIG. 9 schematically show an example of the aircraft carrier 600. FIG. 7 is a top view of the aircraft carrier 600, FIG. 8 is a front view of the aircraft carrier 600, and FIG. 9 is a side view of the aircraft carrier 600.

The aircraft carrier 600 illustrated in FIGS. 7 to 9 includes a foldable circular runway 610 and a guidance system 100. The plurality of radio wave transmitters 200 of the guidance system 100 are arranged at each position on the circular runway 610 after the circular runway 610 is deployed.

When the circular runway 610 is deployed, the float 612 is also deployed. By arranging the float 612 on the sea surface 60, it is possible to prevent the runway surface of the circular runway 10 from bending. The aircraft carrier 600 can move freely back and forth and left and right by various thrusters, etc., and the aircraft carrier 600 has a dynamic fixed point holding ability (DPS) against wind and waves, and an active anti-sway device to suppress rocking. You may prepare. The circular runway 10 may be elliptical rather than circular, provided that the aircraft carrier 600 is mobile with thrusters and DPS and is capable of directing the runway upwind.

The aircraft carrier 600 may be equipped with an EV 620 and a RORO gate 630. The aircraft 400 landing on the circular runway 610 may be transported by the EV620 to the onboard hangar. Further, the aircraft body 400 may be carried in and out of the hangar on the ship via the RORO gate 630.

FIG. 10 schematically shows an example of the hardware configuration of the computer 1200 that functions as the management device 300. A program installed on the computer 1200 causes the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or causes the computer 1200 to perform an operation associated with the device according to the present embodiment or the one or more. A plurality of "parts" can be executed and / or a computer 1200 can be made to execute a process according to the present embodiment or a stage of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform a specific operation associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphic controller 1216, which are connected to each other by a host controller 1210. The computer 1200 also includes an input / output unit such as a communication interface 1222, a storage device 1224, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a legacy I / O unit such as a ROM 1230 and a keyboard, which are connected to the I / O controller 1220 via an I / O chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires the image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or itself so that the image data is displayed on the display device 1218.

The communication interface 1222 communicates with other electronic devices via the network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.

The ROM 1230 stores a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

The program is provided by a computer-readable storage medium such as an IC card. The program is read from a computer-readable storage medium, installed in a storage device 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information according to the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer area provided in the recording medium such as the RAM 1214, the storage device 1224, or the IC card, and sends the read transmission data to the network. The received data transmitted or received from the network is written in the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 allows the RAM 1214 to read all or necessary parts of a file or database stored in an external recording medium such as a storage device 1224 or an IC card, and performs various types of processing on the data on the RAM 1214. May be executed. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214, and is specified by the instruction sequence of the program. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. The attribute value of the attribute of is searched for the entry that matches the specified condition, the attribute value of the second attribute stored in the entry is read, and the first attribute satisfying the predetermined condition is selected. You may get the attribute value of the associated second attribute.

The program or software module described above may be stored on a computer 1200 or in a computer-readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, whereby the program can be transferred to the computer 1200 via the network. provide.

The blocks in the flowchart and the block diagram in this embodiment may represent the stage of the process in which the operation is executed or the "part" of the device having a role of executing the operation. Specific stages and "parts" are supplied with dedicated circuits, programmable circuits supplied with computer-readable instructions stored on computer-readable storage media, and / or with computer-readable instructions stored on computer-readable storage media. It may be implemented by the processor. Dedicated circuits may include digital and / or analog hardware circuits and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits include logical products, logical sums, exclusive logical sums, negative logical products, negative logical sums, and other logical operations, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like. , Flip-flops, registers, and reconfigurable hardware circuits, including memory elements.

The computer-readable storage medium may include any tangible device capable of storing instructions executed by the appropriate device, so that the computer-readable storage medium having the instructions stored therein is in a flow chart or block diagram. It will include a product that contains instructions that can be executed to create means for performing the specified operation. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), and erasable programmable read-only memory (EPROM or flash memory). , Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-ray® Disc, Memory Stick , Integrated circuit card, etc. may be included.

Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Includes either source code or object code written in any combination of one or more programming languages, including languages and traditional procedural programming languages such as the "C" programming language or similar programming languages. Good.

Computer-readable instructions are used to generate means for a general-purpose computer, a special-purpose computer, or the processor of another programmable data processing device, or a programmable circuit, to perform an operation specified in a flowchart or block diagram. General purpose computers, special purpose computers, or other programmable data processing locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to execute the computer readable instructions. It may be provided in the processor of the device or in a programmable circuit. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers and the like.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the claims that the form with such modifications or improvements may also be included in the technical scope of the invention.

The order of execution of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. is not.

10 circular runway, 20 center, 31, 32, 33, 34, 35, 36, 37, 38 points, 40 network, 42 gateway, 50 user terminal, 60 sea surface, 70 O & M network, 80 communication satellite, 100 guidance system, 200 radio transmitter, 210 radio transmitter, 220 radio transmitter, 300 management device, 302 communication unit, 304 landing route determination unit, 306 selection unit, 308 transmission control unit, 310 movement control unit, 312 air vehicle monitoring unit, 320 Sensor group, 400 flying object, 410 main wing part, 412 propeller, 414 pod, 415 wheel, 416 solar cell panel, 418 elevator, 420 main body part, 430 antenna, 432 antenna, 434 antenna, 436 wireless communication area, 500 flight management device , 510 satellite communication equipment, 600 air carrier, 610 circular runway, 612 float, 620 EV, 630 RORO gate, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 display device, 1220 input / output controller, 1222 communication interface, 1224 storage device, 1230 ROM, 1240 input / output chip

Claims

Directivity is applied to a first radio wave transmitting unit that is a guided radio wave for guiding an aircraft and has directivity in the first direction, and a second direction opposite to the first direction. A first radio wave transmitter having a second radio wave transmitting unit for transmitting guided radio waves, and
A third radio wave transmitting unit that emits a guided radio wave of an air vehicle having directivity in a third direction that is substantially the same as the first direction, and a fourth direction that is substantially the same as the second direction. A guidance system including a second radio wave transmitter having a fourth radio wave transmitting unit for transmitting a guided radio wave having the same.
The guidance system according to claim 1, wherein the second radio wave transmitter is arranged in the second direction with respect to the position of the first radio wave transmitter.
The guidance system according to claim 1 or 2, wherein the guidance radio wave transmitted by the second radio wave transmitting unit passes through the center of the runway of the flying object.
The guidance system according to claim 3, wherein the guidance radio wave transmitted by the third radio wave transmitting unit passes through the center of the runway.
The first radio wave transmitter and the second radio wave transmitter are arranged on a circular runway.
The second radio wave transmitter is arranged in the second direction with respect to the position of the first radio wave transmitter.
The guided radio wave transmitted by the second radio wave transmitting unit passes through the center of the circular runway and passes through the center of the circular runway.
The guidance system according to any one of claims 1 to 4, wherein the guidance radio wave transmitted by the third radio wave transmitting unit passes through the center of the circular runway.
The guidance system according to claim 5, wherein the first radio wave transmitter and the second radio wave transmitter are arranged on the circumference of the circular runway.
The guidance system according to claim 6, further comprising a movement control unit for moving the first radio wave transmitter and the second radio wave transmitter along the circumference of the circular runway.
A landing route determination unit for determining a straight landing route passing through the center of the circular runway of the air vehicle is provided.
The guidance system according to claim 7, wherein the movement control unit moves each of the first radio wave transmitter and the second radio wave transmitter based on the landing route.
The guidance system according to claim 8, wherein the landing route determining unit determines the landing route in a straight line passing through the center of the circular runway along the landing direction of the flying object.
The movement control unit moves each of the first radio wave transmitter and the second radio wave transmitter to each of the intersections of the landing route and the circumference of the circular runway, according to claim 8 or 9. Guidance system.
A fifth radio wave transmitting unit that emits a guided radio wave having directivity in the fifth direction, and a sixth radio wave transmitting unit that emits a guided radio wave having directivity in a sixth direction opposite to the fifth direction. 3rd radio wave transmitter with
The 7th radio wave transmitting unit that transmits the guided radio wave of the vehicle having directivity in the 7th direction that is substantially the same as the 5th direction, and the 8th direction that is substantially the same as the 6th direction are directed. A fourth radio wave transmitter having an eighth radio wave transmitting unit that transmits guided radio waves, and
The landing route determination unit that determines the landing route of the aircraft,
Based on the landing route, the combination of the first radio wave transmitting unit and the third radio wave transmitting unit, the combination of the second radio wave transmitting unit and the fourth radio wave transmitting unit, the fifth radio wave transmitting unit and the seventh radio wave. A selection unit that selects a combination of transmitters, or a combination of the sixth radio wave transmitter and the eighth radio wave transmitter, and
The guidance system according to claim 5 or 6, wherein the two transmission units of the combination selected by the selection unit are provided with a transmission control unit that transmits an induction radio wave for guiding the flying object.
The circular runway that can be accommodated and deployed,
An aircraft carrier comprising the guidance system according to any one of claims 5 to 11.
The landing route determination unit that determines the landing route of the aircraft,
Based on the landing route, a first radio wave transmitting unit that transmits a guided radio wave for guiding an air vehicle and having a directivity in a first direction, and a first radio wave transmitting unit opposite to the first direction. A first radio wave transmitter having a second radio wave transmitting unit that emits a guided radio wave having directionality in two directions, and an air vehicle having directionality in a third direction substantially identical to the first direction. The said by a second radio wave transmitter having a third radio wave transmitting unit for transmitting an induced radio wave and a fourth radio wave transmitting unit for transmitting an induced radio wave having a directivity in a fourth direction substantially the same as the second direction. A management device equipped with a transmission control unit that controls the transmission of induced radio waves.
A program for making a computer function as the management device according to claim 13.
The landing route determination stage, which determines the landing route of the aircraft, and
Based on the landing route, a first radio wave transmitting unit that transmits a guided radio wave for guiding an aircraft and having a directivity in a first direction, and a first radio wave transmitting unit opposite to the first direction. A first radio wave transmitter having a second radio wave transmitting unit that emits guided radio waves having directionality in two directions, and an air vehicle having directionality in a third direction substantially the same as the first direction. The said by a second radio wave transmitter having a third radio wave transmitting unit for transmitting an induced radio wave and a fourth radio wave transmitting unit for transmitting an induced radio wave having a directivity in a fourth direction substantially the same as the second direction. A management method that includes a transmission control stage that controls the transmission of guided radio waves.