Control system, control method, and program

Abstract

According to the present invention, the efficiency of acquiring measurement data using an aircraft can be improved. [Solution] A control system for controlling the operation of an aircraft equipped with a measurement sensor for measuring a target area, comprising: a state determination unit that determines the state of preparations for the measurement data acquisition operation to acquire measurement data of the target area using the aircraft; and a corresponding operation determination unit that, when the state determination unit determines that the preparations for the measurement data acquisition operation are incomplete, causes the aircraft to perform a predetermined first operation, prohibits the aircraft from performing a predetermined second operation, or displays predetermined information on a display unit.

Description

Technical Field

[0001] The present invention relates to a control system, a control method, and a program.

Background Art

[0002] Patent Document 1 discloses that, for the purpose of providing a highly safe drone, when the states of components such as the battery, motor, and sensors of the drone, the external environment, and the power supply capacity of the controller are normal, the takeoff of the drone is permitted.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, there has been an ongoing study on using unmanned aerial vehicles (UAVs) or manned aerial vehicles equipped with cameras and other measurement sensors for investigating the on-site situation during emergencies such as disasters or collecting wide-area spatial information during normal times.

[0005] In this way, in flights aimed at grasping the on-site situation during emergencies such as disasters, it is strongly required to more quickly perform the work of grasping the on-site situation. On the other hand, in flights aimed at collecting wide-area spatial information during normal times, although rapidity is not strongly required, it is required to more efficiently perform the work of collecting wide-area spatial information from the perspective of economy.

[0006] ​While Patent Document 1 discloses a system for granting takeoff permission on the condition that the drone's components, external environment, and controls are in a properly functioning state, with the aim of improving safety, it does not discuss a system that can improve the speed and efficiency of measurement work using an aircraft, as described above.

[0007] Furthermore, Patent Document 1 assumes flights using multi-rotor aircraft that perform relatively short flights of several tens of minutes, so the time required to return to base during flight and resume work is relatively short. On the other hand, for example, when using fixed-wing aircraft that perform long-distance flights of several hours or more and a range of several hundred kilometers or more to collect information over a wide area of ​​the ground, the time required to return to base during flight and resume measurement work becomes very long. Therefore, the problem of reduced work efficiency due to work interruption becomes significant.

[0008] This invention has been made in consideration of at least one of the above-mentioned problems, and aims to provide a control system that can improve the efficiency of acquiring measurement data using an aircraft. [Means for solving the problem]

[0009] To achieve the above objective, a control system for controlling the operation of an aircraft equipped with a measurement sensor for measuring a target area includes: a state determination unit that determines at least one of the following: a state relating to the preparation for a measurement data acquisition operation to acquire measurement data of the target area using the aircraft, a state relating to the system functions used for the measurement data acquisition operation, or an area state relating to the target area or the flight area of ​​the aircraft; and a corresponding operation determination unit that, when the state determination unit determines at least one of the following: the preparation for the measurement data acquisition operation is incomplete, the current state of the system functions or the predicted future state of the system functions does not meet a predetermined functional level required for the measurement data acquisition operation, or the current area state or the predicted future state of the area does not meet a predetermined condition required for the measurement data acquisition operation, causes the aircraft to perform a predetermined first operation, prohibits the aircraft from performing a predetermined second operation, or displays predetermined information on a display unit. [Effects of the Invention]

[0010] According to the present invention, the efficiency of acquiring measurement data using an aircraft can be improved. [Brief explanation of the drawing]

[0011] [Figure 1] This is an overall configuration diagram of control system 1 according to one embodiment of the present invention. [Figure 2] This is a functional block diagram showing the main functions of the target aircraft 1000. [Figure 3] This is a functional block diagram showing the main functions of the Remote Site System 2000. [Figure 4] This is a functional block diagram showing the functions of the flight management system 2300. [Figure 5] This is a state transition diagram showing the workflow for acquiring measurement data. [Figure 6] This is a functional block diagram showing the functions of the aircraft operation system 2200. [Figure 7] It is a diagram showing an example of the content of the prior information acquired by the prior information acquisition unit 2210. [Figure 8] It is a flowchart diagram showing the operation processing flow of the aircraft operation operating system 2200. [Figure 9] It is a sequence diagram showing the operation processing of the control system 1. [Figure 10] It is a flowchart diagram showing the determination processing flow of the system state by the system state determination unit 2220. [Figure 11] It is a flowchart diagram showing the determination processing flow of the area state by the area state determination unit 2230. [Figure 12] It is a conceptual diagram explaining the determination processing content of the area state by the area state determination unit 2230. [Figure 13] It is a flowchart diagram showing the necessity determination processing flow of the safety-related response operation by the safety-related operation necessity determination unit 2241. [Figure 14] It is a flowchart diagram showing the necessity determination processing flow of the work efficiency-related response operation by the work efficiency-related operation necessity determination unit 2242. [Figure 15] It is a diagram showing an example of the determination result of the safety-related response operation etc. by the safety-related operation content determination unit 2252. [Figure 16] It is a diagram showing an example of the determination result of the work efficiency-related response operation etc. by the work efficiency-related operation content determination unit 2253. [Figure 17] It is a diagram showing an example of the display example of the determination result of the response operation etc. by the work efficiency-related operation content determination unit 2253. [Figure 18] It is a diagram showing another example of the display example of the determination result of the response operation etc. by the work efficiency-related operation content determination unit 2253. [Figure 19] It is a flowchart diagram showing the release determination processing flow of the prohibited operation by the response operation necessity determination unit 2240. [Figure 20] It is a configuration diagram showing the hardware configuration of the aircraft operation operating system 2200 etc.

Embodiments for Carrying Out the Invention

[0012] The contents of the embodiments of the present invention will be listed and described. The present invention has the following configuration. [Item 1] A control system for controlling the operation of an aircraft equipped with a measurement sensor for measuring a target area, a state determination unit that determines at least one of a state related to the preparation for the measurement data acquisition operation of acquiring measurement data of the target area using the aircraft, a state related to the system function used in the measurement data acquisition operation, or an area state related to the target area or the flight area of the aircraft; a corresponding operation determination unit that causes the aircraft to execute a predetermined first operation, prohibits the aircraft from executing a predetermined second operation, or causes a display unit to display and output predetermined information when the state determination unit determines that at least one of the following conditions is met: the preparation for the measurement data acquisition operation is incomplete, the current state of the system function or the predicted state of the future system function does not meet the predetermined function level required for the measurement data acquisition operation, or the current area state or the predicted state of the future area state does not meet the predetermined conditions required for the measurement data acquisition operation; A control system comprising the above. [Item 2] The control system according to Item 1, where the information related to the preparation determined by the state determination unit includes at least one of a takeoff and landing site for taking off and landing at least one of the aircraft used in the measurement data acquisition operation, a reservation for using a flight airspace in which the aircraft is scheduled to fly, or a status of an application for flight permission for the flight airspace. [Item 3] The control system according to Item 1 or 2, where the information related to the preparation determined by the state determination unit includes at least one of a takeoff and landing site for taking off and landing at least one of the aircraft used in the measurement data acquisition operation, or a progress status of a work that has previously used a flight airspace in which the aircraft is scheduled to fly. [Item 4] A control system as described in any of items 1 to 3, A control system in which the information relating to the system function determined by the state determination unit includes at least one of the following: the recordable capacity of a data recording unit mounted on the aircraft and recording the measurement data; the recordable capacity of a measurement data management system that receives and records the measurement data from the aircraft via wireless communication; and the communication quality of the wireless communication when wirelessly transmitting the measurement data from the aircraft to the measurement data management system. [Item 5] A control system as described in any of items 1 to 4, A control system in which the information relating to the system function determined by the state determination unit includes at least one of the following: the remaining energy of a power supply mounted on the aircraft, the remaining fuel mounted on the aircraft, the remaining energy of a power supply that supplies power to a measurement data management system that receives and records the measurement data from the aircraft via wireless communication, the remaining energy of a power supply that supplies power to a remote base system that controls the flight of the aircraft, the remaining energy of a power supply that supplies power to an airspace monitoring system that monitors the flight airspace area of ​​the aircraft, and the remaining energy of a power supply that supplies power to an air traffic control system that controls the operation of the aircraft. [Item 6] A control system as described in any of items 1 to 5, The information regarding the system function determined by the state determination unit includes at least one of the following: the state of synchronous control between the measurement satellite that acquires measurement data and the aircraft; the state of synchronous control between the aircraft and another aircraft that acquires measurement data; and the state of synchronous control between the air traffic control system that controls the airspace in which the aircraft flies and the control system itself. [Item 7] A control system as described in any of items 1 to 6, A control system in which the area status determined by the status determination unit includes information regarding at least one of the following: weather in the target area or the flight area, the amount of sunlight, and obstacles that hinder the acquisition of the measurement data. [Item 8] A control system as described in any of items 1 to 7, The corresponding operation determination unit, during the preparation for the measurement data acquisition work or before the aircraft's takeoff, determines that the reservation for the takeoff / landing field where the aircraft will take off and land, or the flight airspace where the aircraft is scheduled to fly, has not been completed, or that the application for flight permission for the flight airspace has not been completed. A control system that displays information on the display unit indicating that the reservation or flight permit application is incomplete, prohibits the aircraft from taking off, or stops pre-takeoff preparation processing. [Item 9] A control system as described in any of items 1 to 8, The corresponding action determination unit is a control system that, during the preparation for the measurement data acquisition work or before the aircraft's takeoff, determines that the progress of work already using the takeoff / landing field where the aircraft will take off and land, or the flight airspace where the aircraft is scheduled to fly, is in an incomplete state, and then outputs information to the display unit indicating that the previous work is incomplete, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process. [Item 10] A control system as described in any of items 1 to 9, The corresponding operation determination unit is a control system that, during the preparation for the measurement data acquisition work or before the aircraft takes off, determines that the recordable capacity of the data recording unit is less than the expected amount of measurement data to be acquired by the measurement data acquisition work or a predetermined value, and outputs information indicating the recordable capacity shortage to the display unit, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process. [Item 11] A control system as described in any of items 1 to 10, The corresponding operation determination unit is a control system that, when it determines during the flight of the aircraft that the remaining recordable capacity of the data recording unit is less than the expected amount of measurement data to be acquired in the future through the measurement data acquisition work, or when the remaining recordable capacity of the data recording unit falls below a predetermined value, causes the aircraft to perform a return landing operation to the landing site, commands the aircraft to perform the return landing operation, or displays suggested information regarding the return landing operation on the display unit. [Item 12] A control system as described in any of items 1 to 11, The corresponding action determination unit determines that, during the preparation for the measurement data acquisition work or before the aircraft takes off, that at least one of the following is insufficient: communication speed, communication strength, or communication capacity, which are included in the communication quality of the wireless communication when wirelessly transmitting the measurement data from the aircraft to the measurement data management system. In this control system, the unit displays information regarding the insufficient communication quality on the display unit, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process. [Item 13] A control system as described in any of items 1 to 12, The corresponding action determination unit is a control system that, when it determines that at least one of the performance characteristics of the communication speed, communication strength, and communication capacity included in the communication quality of the wireless communication when wirelessly transmitting the measurement data from the aircraft to the measurement data management system during the flight of the aircraft, causes the aircraft to perform a return landing operation to the landing site, commands the aircraft to perform the return landing operation, or displays suggested information regarding the return landing operation on the display unit. [Item 14] A control system as described in any of items 1 to 13, The corresponding operation determination unit is a control system that, during the preparation for the measurement data acquisition work or before the aircraft takes off, determines that at least one of the following is less than the amount of energy or fuel required for the measurement data acquisition work or a predetermined value: the remaining energy of the power supply mounted on the aircraft, the remaining fuel mounted on the aircraft, or the remaining energy of the power supply that powers the measurement data management system. In such cases, the unit displays information regarding the insufficient remaining energy or fuel on the display unit, or prohibits the aircraft from taking off. [Item 15] A control system as described in any of items 1 to 14, The corresponding operation determination unit is a control system that, when it determines that at least one of the remaining energy of the power supply mounted on the aircraft, the remaining fuel mounted on the aircraft, or the remaining energy of the power supply that powers the measurement data management system is less than the amount of energy or fuel required for the measurement data acquisition work, or a predetermined value, causes the aircraft to perform a return landing operation to the landing site, or changes the landing site of the aircraft, or commands the return landing operation or the change of the landing site, or displays suggested information regarding the return landing operation or the change of the landing site on the display unit. [Item 16] A control system as described in any of items 1 to 15, The corresponding action determination unit is a control system that, when it detects a malfunction in the synchronization control with the measurement satellite or another aircraft, or a malfunction in the synchronization control with the air traffic control system, during the preparation for the measurement data acquisition work or before the aircraft takes off, displays information about the malfunction in the synchronization control on the display unit, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process. [Item 17] A control system as described in any of items 1 to 16, The corresponding action determination unit is a control system that, when it detects a malfunction in the synchronization control with the measurement satellite or the other aircraft, or a malfunction in the synchronization control with the air traffic control system, during the flight of the aircraft, causes the aircraft to readjust the synchronization control, enter standby flight, or interrupt the acquisition of measurement data, or commands the aircraft to readjust the synchronization control, enter standby flight, or interrupt the acquisition of measurement data. [Item 18] A control system as described in any of items 1 to 17, The corresponding action determination unit is a control system that, when it determines that the weather in the target area falls under predetermined unsuitable conditions, or when it determines that the amount of sunlight or its predicted value in the target area falls under unsuitable conditions, or when it determines that there are obstacles in the target area that would hinder the acquisition of measurement data, displays information regarding the determination result by the corresponding action determination unit on the display unit, prohibits the takeoff of the aircraft, or stops the pre-takeoff preparation process, during the preparation for the measurement data acquisition work or before the takeoff of the aircraft. [Item 19] A control system as described in any of items 1 to 18, The corresponding action determination unit is a control system that, when it determines that the weather in the target area is subject to predetermined unsuitable conditions during the flight of the aircraft, or when it determines that the amount of sunlight or its predicted value in the target area is subject to unsuitable conditions, or when it determines that there is an obstacle in the target area that hinders the acquisition of measurement data, causes the aircraft to perform a return landing operation to the landing site, a waiting flight, or interruption of measurement data acquisition, or commands the aircraft to perform the return landing operation, the waiting flight, or interruption of measurement data acquisition, or displays suggested information regarding the return landing operation, the waiting flight, or interruption of measurement data acquisition on the display unit. [Item 20] A control system as described in any of items 1 to 19, If the state determination unit detects at least one of the following: that the preliminary preparations for the measurement data acquisition work are incomplete; that the current state of the system function or the predicted future state of the system function does not meet the predetermined functional level required for the measurement data acquisition work; or that the current state of the area or the predicted future state of the area does not meet the predetermined conditions required for the measurement data acquisition work, The aforementioned corresponding operation determination unit is a control system that changes the flight mode from an autopilot mode to a manual pilot mode operated by an operator. [Item 21] A control system as described in any of items 1 to 20, If the state determination unit detects at least one of the following: that the preliminary preparations for the measurement data acquisition work are incomplete; that the current state of the system function or the predicted future state of the system function does not meet the predetermined functional level required for the measurement data acquisition work; or that the current state of the area or the predicted future state of the area does not meet the predetermined conditions required for the measurement data acquisition work, The aforementioned corresponding operation determination unit is a control system that outputs suggestion information to the display unit to change the aircraft's control mode from autopilot mode to manual control mode by an operator. [Item 22] A control system as described in any of items 1 to 21, If the status determination unit detects an abnormality, malfunction, insufficient energy, or insufficient fuel in at least one of the following during the preparation for the measurement data acquisition work or before the aircraft takes off: A control system comprising a safety interlock operation determination unit that prohibits the takeoff of the aircraft, commands the aircraft to prohibit takeoff, or causes the display unit to display detection information by the status determination unit or warning information related to takeoff. [Item 23] A control system as described in any of items 1 to 22, If the status determination unit detects an abnormality, malfunction, insufficient energy, or insufficient fuel in at least one of the aircraft, the remote base system that controls the flight of the aircraft, or the air traffic control system that controls the airspace in which the aircraft is flying, during the flight of the aircraft, A control system comprising a safety interlock operation determination unit that causes the aircraft to be prohibited from continuing its flight, to return to a landing site and land, or to perform an emergency landing, or commands the aircraft to be prohibited from continuing its flight, to return to a landing site and land, or to perform an emergency landing. [Item 24] A control system as described in any of items 1 to 23, A control system comprising a safety interlock operation determination unit that, when the state determination unit detects that an object including a person or another aircraft enters the aircraft's planned takeoff area or the aircraft's planned airspace area during the preparation for the measurement data acquisition work or before the aircraft's takeoff, prohibits the aircraft from taking off, commands the aircraft to prohibit takeoff, or displays detection information from the state determination unit or warning information regarding takeoff on the display unit. [Item 25] A control system as described in any of items 1 to 24, A control system comprising a safety interlock operation determination unit that, when the state determination unit detects that an object including a person or another aircraft enters the aircraft's planned landing area or the aircraft's flight airspace area while the aircraft is in flight, prohibits the aircraft from landing, changes the aircraft's landing location, or has the aircraft stand by, or commands the aircraft to prohibit landing, change the landing location, or stand by. [Item 26] A control method for controlling the operation of an aircraft equipped with a measurement sensor that measures a target area, Computers A state determination step that determines at least one of the following: the state relating to the preparation for the measurement data acquisition operation in which measurement data of the target area is acquired using the aircraft, the state relating to the system functions used in the measurement data acquisition operation, or the state of the area that affects the measurement data acquisition operation; If the state determination step determines that at least one of the following is true, the aircraft performs a predetermined first action, the aircraft is prohibited from performing a predetermined second action, or the display unit displays predetermined information, then the corresponding action determination step is to cause the aircraft to perform a predetermined first action, or to prohibit the aircraft from performing a predetermined second action, or to display predetermined information on the display unit. A control method for executing this. [Item 27] A program that causes a computer to control the movement of an aircraft equipped with a measurement sensor that measures a target area, On the computer, A state determination command that determines at least one of the following: the state relating to the preparation for the measurement data acquisition operation in which measurement data of the target area is acquired using the aircraft, the state relating to the system functions used in the measurement data acquisition operation, or the state of the area that affects the measurement data acquisition operation; If the status determination command determines that at least one of the following is true, that the preliminary preparations for the measurement data acquisition operation are incomplete, that the current state of the system function or the predicted future state of the system function does not meet the predetermined functional level required for the measurement data acquisition operation, or that the current state of the area or the predicted future state of the area does not meet the predetermined conditions for executing the measurement data acquisition operation, then a corresponding operation command is provided to cause the aircraft to perform a predetermined first operation, or to prohibit the aircraft from performing a predetermined second operation, or to display predetermined information on the display unit. A program that executes the command.

[0013] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions are omitted. Further, the embodiments shown below are merely examples, and other known elements or alternative means can be adopted according to the use, purpose, scale, etc.

[0014] <A. First Embodiment> [A-1. Configuration] (A-1-1. Overview) FIG. 1 is an overall configuration diagram of a control system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the flight control system 1 includes a target aircraft 1000, a remote base system 2000, other aircraft 3000, an airspace monitoring system 4000, a spatial information data utilization system 5000, an external system 6000, an air traffic control system 7000, and a measurement satellite 8000.

[0015] The target aircraft 1000 is an aircraft including an unmanned or manned aircraft. The target aircraft 1000 performs flight control by the flight unit by receiving control signals related to flight control and measurement control from the remote base system 2000 via a wireless communication line.

[0016] In addition, the target aircraft 1000 is equipped with optical cameras, infrared cameras, laser sensors including LiDAR, radar sensors such as SAR sensors, and other types of measurement sensors, and can acquire information on the measurement target area from above as measurement data using the measurement sensors. Further, the target aircraft 1000 wirelessly transmits the measurement data to the remote base system 2000 during flight. Note that the target aircraft 1000 is not limited to the acquisition of information on the measurement target area as described above, and may be an aircraft that performs tracking of suspicious ships at sea based on measurement data, measurement of weather data and environmental data in the flight airspace using other types of measurement sensors such as temperature sensors and humidity sensors, or other operations using the measurement sensors.

[0017] The remote base system 2000 receives flight status information from the target aircraft 1000 as a control signal, and transmits flight control signals generated according to the flight status information to the target aircraft 1000, thereby enabling remote control of the target aircraft 1000. Furthermore, the remote base system 2000 has the function of receiving measurement data acquired by the target aircraft 1000 and transmitting the received measurement data to the spatial information data utilization system 5000, which will be described later. Note that the remote base system 2000 is not limited to fixed structures, but can also be composed of movable vehicles or ships.

[0018] The measurement satellite 8000 includes satellites such as high-Earth orbit geostationary satellites and low-Earth orbit orbit satellites. The measurement satellite 8000 can acquire measurement data of a target area using measurement sensors (sensors including optical cameras, IR cameras, radar sensors such as SAR sensors, LiDAR, and other laser sensors). It also has the function of transmitting measurement data obtained by measuring a target area, including a predetermined Earth surface area or sea area, with the measurement sensors to the remote base system 2000. Furthermore, the measurement satellite 8000 has the function of performing measurement control and measurement data transmission control in response to control signals, including data acquisition commands, transmitted from the remote base system 2000. In addition, the measurement satellite 8000 is not intended to be a satellite solely for measurement purposes, but may also be an artificial satellite that can be used for other purposes such as communication relay.

[0019] The airspace monitoring system 4000 is a system that monitors the airspace in which the target aircraft 1000, which is controlled by the remote base system 2000, is flying, in real time. The airspace monitoring system 4000 has the function of constantly detecting the target aircraft 1000 and other aircraft 3000 flying in the airspace using aircraft detection devices such as radar, laser, or sonar. It also has the function of communicating with the air traffic control system 7000, which will be described later, and acquiring information on the target aircraft 1000 and other aircraft 3000 in the airspace, including control information (position, speed, control type (autopilot / manual), etc.), operational information (flight plan, flight mission, landing position, etc.), and aircraft type information (whether it is an unmanned aircraft or a manned aircraft, etc.). It also has the function of integrating the acquired or detected information and transmitting it to the remote base system 2000 via wired or wireless communication.

[0020] The Air Traffic Control System 7000, commonly known as ATM (Air Traffic Management) or UTM (UAS Traffic Management), is a system that aims to ensure the safe and efficient operation of aircraft within its controlled airspace by acquiring information on aircraft within the airspace, weather information, and other data, and sharing this information with each aircraft via radio communication, thereby preventing accidents involving aircraft in the controlled airspace.

[0021] The spatial information data utilization system 5000 is connected to the remote base system 2000 by wired or wireless communication and receives measurement data acquired by the target aircraft 1000 via the remote base system 2000. The spatial information data utilization system 5000 processes the received measurement data, and in the event of a disaster, it processes the data into a format that makes it easy for users such as disaster response headquarters and on-site workers to understand the state of the measurement target area (disaster site), and provides the processed data to terminal devices used by disaster response headquarters and on-site workers. As processed data, for example, if the measurement data is an image measured by an optical camera, infrared camera, or SAR sensor, the spatial information data utilization system 5000 generates a wide-area image by stitching together multiple images, or a wide-area orthophoto image by orthorectifying and stitching together multiple images, or a map image by integrating the wide-area image or wide-area orthophoto image with geographic information. Furthermore, if the measurement data is point cloud data acquired by a laser sensor, the point cloud data is processed to generate three-dimensional spatial data represented by a Digital Surface Model (DSM) or Digital Elevation Model (DEM), or a map image that integrates the three-dimensional spatial data with geographic information.

[0022] Furthermore, if the spatial information data utilization system 5000 can acquire measurement data from both the measurement satellite 8000 and the target aircraft 1000, it can, for example, first display the processed measurement data from the measurement satellite 8000 to the user terminal, and then later display the processed measurement data from the target aircraft 1000. Also, if measurement data is acquired from both the measurement satellite 8000 and the target aircraft 1000, the system may display information indicating whether the displayed processed data was generated by processing the measurement data acquired from the measurement satellite 8000 or the target aircraft 1000. In addition, if the spatial information data utilization system 5000 acquires multiple types of measurement data, it can display processed data obtained by processing multiple types of measurement data to the user terminal.

[0023] Furthermore, the spatial information data utilization system 5000 can send a notification to the user's terminal indicating the completion of update data acquisition when update data is acquired through the measurement data acquisition process. It can also send the user's terminal an estimated time for update data acquisition, when the update data is expected to be acquired through the measurement data acquisition process.

[0024] The external system 6000 is a system that can provide status information regarding the measurement target area from which measurement data is acquired by the target aircraft 1000. For example, the external system 6000 can detect conditions such as a large number of large vehicles entering the measurement target area or a large flock of birds flying in, and provide this status information regarding the measurement target area to the aircraft operation system 2200.

[0025] Furthermore, the wired or wireless communication between each component of the control system 1 shown in Figure 1 and the cooperating systems (target aircraft 1000, remote base system 2000, other aircraft 3000, airspace monitoring system 4000, spatial information data utilization system 5000, external system 6000, air traffic control system 7000, measurement satellite 8000) may be interconnected via a communication network such as an internet line or a communication method such as LTE. The wireless communication between each component may be conducted using a dedicated wireless communication network or existing wireless infrastructure. Additionally, the control communication for sending and receiving the aforementioned control signals (e.g., Command and Control link) and the measurement data communication for sending and receiving measurement data (e.g., Payload link) may each be assigned a separate communication line and communicate via a separate wireless communication link.

[0026] (A-1-2. Overview of Target Aircraft 1000) Next, the target aircraft 1000 will be described. Figure 2 is a functional block diagram showing the main functions of the target aircraft 1000. In this specification, "aircraft" refers to all aircraft and other types of aircraft that have flight capabilities, regardless of the means of power (electricity, prime mover, etc.), control method (wireless or wired, fully autonomous or partially manual, etc.), and whether they are manned or unmanned. Aircraft may also be referred to as Unmanned Aerial Vehicle (UAV), aircraft, multicopter, RPAS (Remote Piloted Aircraft Systems), or UAS (Unmanned Aircraft Systems). Aircraft may be fixed-wing aircraft, rotary-wing aircraft, or vertical take-off and landing aircraft (VTOL) equipped with both fixed and rotary wings. Aircraft also includes all types of aircraft other than aircraft, such as seaplanes and balloons.

[0027] The target aircraft 1000 can be composed of any of the above-described aircraft types and can transmit measurement data acquired by measurement sensors to the remote base system 2000 via wireless communication, or transport a recording medium on which the measurement data is recorded. The target aircraft 1000 comprises a flight unit 1100, a measurement unit 1200, a data processing unit 1300, a data recording unit 1400, and a communication unit 1500. In this embodiment, it is desirable that the aircraft type be a fixed-wing type or a vertical take-off and landing type capable of flying relatively long distances.

[0028] (A-1-2-1. Flight Unit 1100) The flight unit 1100 is a functional unit that flies the target aircraft 1000 and includes a self-position measurement unit 1110, an attitude measurement unit 1120, a flight control unit 1130, and an other aircraft detection unit 1140.

[0029] The self-position measurement unit 1110 measures the aircraft's position (absolute position). The self-position measurement unit 1110 is not particularly limited, but for example, it measures its current position using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), etc. As a method for measuring the self-position, for example, RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System) can also be used. The position information includes at least two-dimensional coordinate information in a planar view (e.g., latitude, longitude), and preferably three-dimensional coordinate information including altitude information. Note that the self-position measurement unit 1110 may measure information such as velocity and acceleration, not just the aircraft's position.

[0030] The attitude measurement unit 1120 measures the attitude (orientation) of the aircraft. The self-position measurement unit 1110 measures the current orientation of the aircraft using, for example, a geomagnetic sensor, a GNSS compass, etc. The attitude information includes at least the attitude angle (azimuth) in a plan view around the Z axis, and preferably includes attitude information around the three axes of the X, Y, and Z axes. The attitude measurement unit 1120 may measure information such as angular velocity and angular acceleration, not just the attitude of the aircraft.

[0031] The flight control unit 1130 is a mechanism and function unit that causes the target aircraft 1000 to fly, and generates thrust in the aircraft to lift the target aircraft 1000 and move it in a desired direction. The flight control unit 1130 has a processing unit also called a flight controller. The processing unit may have one or more processors such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP). The processing unit has access to memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.

[0032] The processing unit includes a control module configured to control the state of the aircraft 1000. For example, the control module adjusts the spatial arrangement, attitude angle, angular velocity, angular acceleration, angular jerk velocity, and / or acceleration of the aircraft 1000, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). In other words, the flight control unit 1130 causes the aircraft 1000 to perform various actions such as lift-off, forward movement, turning, and landing, and controls the attitude angle and flight movements of the aircraft 1000 from takeoff through flight to landing.

[0033] The flight control unit 1130 can control the flight of the target aircraft 1000 based on flight control signals received from the remote base system 2000. In addition to flight control signals, the flight control unit 1130 can control the flight of the target aircraft 1000 by controlling the thrust generator based on various information such as the measurement target area, flight permission / prohibition area, corresponding flight geofence information, map information including 2D or 3D map data, the current position information of the target aircraft 1000, attitude information (heading information), speed information, and acceleration information, as well as any combination thereof.

[0034] The other aircraft detection unit 1140 is a functional unit that detects other aircraft 3000 flying in the airspace surrounding the aircraft. The other aircraft detection unit 1140 detects other aircraft 3000 around the aircraft using object-detection sensors such as radar and laser (LiDAR).

[0035] (A-1-2-2. Measurement unit 1200) The measurement unit 1200 is a functional unit that acquires information about the land, sea, or airspace area to be measured using the measurement sensor 1210. The measurement unit 1200 comprises the measurement sensor 1210, the remote control camera 1220, the sensor attitude control unit 1230, and the measurement control unit 1240.

[0036] The measurement sensor 1210 consists of, for example, an optical camera for acquiring optical images, an infrared camera for acquiring infrared images, a laser sensor such as LiDAR for acquiring point cloud data, and a radar sensor such as a SAR sensor. The measurement sensor 1210 acquires optical images, infrared images, and point cloud data of the ground surface of the area to be measured from above the area to be measured as measurement data.

[0037] The remote control camera 1220 is a functional unit that captures video data (also called remote control video data) of the area surrounding the target aircraft 1000. The remote control camera 1220 can be composed of an optical camera or an infrared camera capable of acquiring surrounding video data. The remote control video data acquired by the remote control camera 1220 is transmitted in real time to the remote base system 2000 and displayed and output from the pilot interface unit 2260 used by the sender / receiver who remotely controls the target aircraft 1000 or determines flight control commands for the target aircraft 1000.

[0038] The sensor attitude control unit 1230 controls the attitude angles of at least one of the three axes of the measurement sensor 1210 and the remote-controlled camera 1220 relative to the aircraft of the target aircraft 1000 by operating attitude changing devices such as gimbals that support the measurement sensor 1210 and the remote-controlled camera 1220. The sensor attitude control unit 1230 may control either or both the pitch angle with respect to the horizontal attitude of the aircraft and the yaw angle with respect to a predetermined reference direction. The sensor attitude control unit 1230 adjusts the sensor attitude changing devices to control the orientation of the measurement sensor 1210 and the remote-controlled camera 1220 so that the measurement target area can be photographed from a pre-set flight path.

[0039] The measurement control unit 1240 controls the measurement parameters of the measurement sensor 1210, such as the timing of data acquisition and zoom amount, in accordance with the measurement control signal received from the remote base system 2000. The measurement control unit 1240 controls the measurement sensor 1210 so that images are taken according to pre-set measurement conditions such as data acquisition timing and zoom amount. For example, if the measurement sensor 1210 is an optical camera or an infrared camera, the image acquisition timing, shutter speed, resolution, etc., may also be controlled.

[0040] (A-1-2-3. Data Processing Unit 1300) The data processing unit 1300 processes the measurement data acquired by the measurement sensor 1210, and in the event of a disaster, it has a data processing function that transforms the data into data that makes it easier for users such as disaster response headquarters and on-site workers to understand the state of the measurement target area (disaster site). As processed data, for example, if the measurement data is an image measured by an optical camera or infrared camera, the data processing unit 1300 generates a wide-area image by stitching together multiple images, or a wide-area orthorectified image by orthorectifying and stitching together multiple images, or a map image by integrating the wide-area image or wide-area orthorectified image with geographic information. If the measurement data is point cloud data acquired by a laser sensor, the data processing unit 1300 processes the point cloud data to generate three-dimensional spatial data represented by a Digital Surface Model (DSM) or Digital Elevation Model (DEM), or a map image by integrating the three-dimensional spatial data with geographic information. Note that the above data processing can be performed by the data processing unit 1300 within the target aircraft 1000, but it can also be performed by the spatial information data utilization system 5000.

[0041] (A-1-2-4. Data recording unit 1400) The data recording unit 1400 is a functional unit that records various types of information, including status information related to flight control, such as the aircraft's position measured by the self-position measurement unit 1110 and the aircraft's attitude measured by the attitude measurement unit 1120, other aircraft detection information detected by the other aircraft detection unit 1140, status information of the measurement control of the measurement sensor 1210 and the remote control camera 1220 controlled by the measurement control unit 1240, measurement data measured by the measurement sensor 1210, remote control video data acquired by the remote control camera 1220, and processed data processed by the data processing unit 1300.

[0042] (A-1-2-5. Communications Department 1500) The communication unit 1500 includes a wireless communication module capable of wireless communication. Furthermore, the communication unit 1500 comprises a remote base communication unit 1510 for wireless communication with the remote base system 2000, and an air traffic control communication unit 1520 for wireless communication with the air traffic control system 7000. Each of these communication units can have the function of performing wireless communication using communication lines utilizing various frequency bands and communication standards, such as satellite communication, Wi-Fi, LTE (Long Term Evolution), and direct wireless communication.

[0043] The remote base communication unit 1510 transmits various information to the remote base system 2000, including status information related to flight control such as the self-position measured by the self-position measurement unit 1110 and the aircraft attitude measured by the attitude measurement unit 1120, other aircraft detection information detected by the other aircraft detection unit 1140, status information of measurement control of the measurement sensor 1210 and remote control camera 1220 controlled by the measurement control unit 1240, measurement data measured by the measurement sensor 1210, and remote control video data acquired by the remote control camera 1220. Furthermore, it receives flight control signals to the flight control unit 1130 and measurement control signals to the measurement control unit 1240 from the remote base system 2000. The remote base communication unit 1510 also transmits measurement data (optical images, infrared images, point cloud data, etc. of the ground surface of the measurement target area) measured by the measurement unit 1200 of the unmanned aircraft to the remote base system 2000.

[0044] The air traffic control communication unit 1520 transmits to the air traffic control system 7000, for example, status information related to flight control, such as the aircraft's position measured by the self-position measurement unit 1110 and the aircraft's attitude measured by the attitude measurement unit 1120, as well as information on other aircraft detected by the other aircraft detection unit 1140. It also obtains information on other aircraft 3000 within the controlled airspace, as well as weather information and other information from the air traffic control system 7000.

[0045] (A-1-3. Overview of the Remote Site System 2000) Next, the main functions of the remote base system 2000 and its communication connection relationships with other systems will be explained. Figure 3 is a functional block diagram showing the main functions of the remote base system 2000. As shown in Figure 3, the remote base system 2000 includes a communication management system 2100, an aircraft operation operation system 2200, an operation management system 2300, and an acquired data management system 2400.

[0046] The communication management system 2100 has a communication function that transmits and receives various information between the target aircraft 1000, which is the target of control, and the remote base system 2000, including flight control signals related to the flight control of the target aircraft, measurement control signals related to the measurement control of measurement sensors mounted on the target aircraft 1000, remote control video data captured by a camera mounted on the target aircraft 1000, and measurement data acquired by the measurement sensors. The communication management system 2100 also has a communication function that receives operational information of each aircraft within the monitored airspace from the airspace monitoring system 4000. Furthermore, the communication management system 2100 has a communication function that transmits information such as measurement data acquired from the target aircraft 1000 to the spatial information data utilization system 5000.

[0047] The aircraft operation system 2200 is a system that controls the target aircraft 1000 by generating a flight mission for the target aircraft 1000 to be remotely controlled, acquiring the real-time flight status (including position and speed) of the target aircraft 1000, and transmitting control target values ​​to the target aircraft 1000 as flight control signals. The flight mission is, for example, a movement plan that includes the movement path and movement speed of the target aircraft 1000.

[0048] The flight management system 2300 is a system that makes decisions and gives instructions for the operation of the target aircraft 1000. For example, the flight management system 2300 plans various operations for the target aircraft 1000, including the acquisition of measurement data by the measurement sensor 1210 and flight operations, transmits the plan to the aircraft operation operation system 2200, and causes the aircraft operation operation system 2200 to generate flight missions, etc., according to the plan. Furthermore, when managing the operation of multiple target aircraft 1000, the flight management system 2300 can also plan the operations of multiple target aircraft 1000 and transmit the information of these plans to the aircraft operation operation system 2200 that controls each aircraft.

[0049] The acquired data management system 2400 is a system that records and manages measurement data transmitted from the target aircraft 1000. Specifically, for large amounts of measurement data received via the communication management system 2100, it determines whether the measurement data contains defective data, records the measurement data, and determines whether to transmit the measurement data to the spatial information data utilization system 5000. In this embodiment, the acquired data management system 2400 is shown as being located within the same remote base system 2000 as the aircraft operation system 2200, but the present invention is not limited to this, and the acquired data management system 2400 may be implemented in a server device or the like located in a different location from the aircraft operation system 2200.

[0050] (A-1-4. Overview of the Flight Management System 2300) Figure 4 is a functional block diagram showing the functions of the flight management system 2300. The flight management system 2300 comprises an information acquisition unit 2310, a flight plan generation unit 2320, and a user interface unit 2330.

[0051] (A-1-4-1. Information acquisition unit 2310) The information acquisition unit 2310 is a functional unit that acquires information from users, the airspace monitoring system 4000, etc., and includes a measurement request condition acquisition unit 2311 and an airspace information acquisition unit 2312.

[0052] The measurement request condition acquisition unit 2311 is a functional unit that acquires request information for acquiring measurement data from the user via the user interface unit 2330, which will be described later. For example, the measurement request condition acquisition unit 2311 can acquire request information regarding the location and range of the target area to be measured, including the ground area and the sea area; request information regarding the measurement time, such as the date and time and period for acquiring the measurement data; and request information regarding the data type of the measurement data.

[0053] The airspace information acquisition unit 2312 is a functional unit that acquires information about the airspace, including operational information of other aircraft in the airspace where the target aircraft 1000 is scheduled to fly, information on the entry and exit of other aircraft into the airspace, obstacle information, and no-entry zones, from the airspace monitoring system 4000 and the air traffic control system 7000. The air traffic control system 7000 can be composed of a system such as ADS-B that provides air traffic control information.

[0054] (A-1-4-2. Flight Plan Generation Unit 2320) The flight plan generation unit 2320 is a functional unit that generates a flight plan for the target aircraft based on the measurement request conditions and airspace information acquired by the information acquisition unit 2310. For example, the flight plan generation unit 2320 generates a flight plan that satisfies each of the measurement request conditions included in the measurement request conditions, such as the location and range of the target area, measurement time, and data type of the measurement data, and furthermore, allows for flight that avoids other aircraft, obstacles, and no-entry areas included in the airspace information. The generated flight plan information is transmitted to the aircraft operation system 2200.

[0055] (A-1-4-3. User Interface Section 2330) The user interface unit 2330 is a functional unit that outputs display information to the user of the flight management system 2300 and receives input information from the user. The user interface unit 2330 includes a flight plan proposal output unit 2331 and a user input reception unit 2332.

[0056] The Flight Plan Proposal Output Unit 2331 is a functional unit that displays and outputs proposed flight plan information generated by the Flight Plan Generation Unit 2320. The User Input Reception Unit 2332 is a functional unit that receives input information from the user, such as approval, rejection, or modification requests, regarding the proposed flight plan information displayed and output by the Flight Plan Proposal Output Unit 2331. The Flight Plan Generation Unit 2320 described above can finalize the flight plan based on the input information from the user.

[0057] (A-1-5. Overview of measurement data acquisition process) Next, we will explain the overview of the measurement data acquisition work performed using the target aircraft 1000. Figure 5 is a state transition diagram showing the flow of the measurement data acquisition work. As shown in Figure 5, when the measurement data acquisition work begins, preliminary preparation work is carried out first. Preliminary preparation includes various tasks that must be performed in advance at the work site on the day of measurement data acquisition, before the target aircraft 1000 is flown and the measurement data acquisition work is carried out. For example, preliminary preparation includes reserving the use of a takeoff and landing site for at least one of the takeoffs and landings of the target aircraft used for the measurement data acquisition work, reserving the use of the airspace in which the aircraft is scheduled to fly, applying for flight permission to fly in the airspace (administrative procedure), or confirming the completion of work that has already used the takeoff and landing site or the airspace in which the target aircraft 1000 is scheduled to fly.

[0058] Next, once the preliminary preparations are complete, the work state transitions to pre-takeoff preparations. During pre-takeoff preparations, it is confirmed that there are no abnormalities or malfunctions in the target aircraft 1000, the remote base system 2000, or the air traffic control system, and that there is no shortage of power energy or fuel. Once pre-takeoff preparations are complete, the takeoff procedure is performed.

[0059] Next, once takeoff is complete, the target aircraft 1000 transitions to a movement status, moving to an airspace area where measurement is possible within the target area. Once it reaches this area, it transitions to a measurement flight status, where measurement data is acquired. After the measurement flight is complete, it returns to a movement status, moving to the landing point. It is also possible to transition to a standby flight status midway through the measurement flight or movement status.

[0060] When the target aircraft 1000 moves to the airspace above the landing site, it transitions to a landing preparation status, obtains landing clearance from the air traffic control system, checks for obstacles at the landing site, and, if it determines that landing is possible, transitions to the landing procedure.

[0061] Once the landing of the target aircraft 1000 is complete, the system transitions to a post-processing status, where the aircraft 1000 undergoes malfunction checks, energy replenishment, data reading from the data recording unit, replacement of consumable parts, and other procedures, and the measurement data acquisition process is completed.

[0062] (A-1-6. Overview of Aircraft Operation System 2200) Next, the aircraft operation system 2200 of the remote base system 2000 will be described. Figure 6 is a functional block diagram showing the functions of the aircraft operation system 2200. The aircraft operation system 2200 includes a pre-information acquisition unit 2210, a system state determination unit 2220, an area state determination unit 2230, a corresponding operation necessity determination unit 2240, a corresponding operation determination unit 2250, a pilot interface unit 2160, and a control command execution unit 2170.

[0063] (A-1-6-1. Advance information acquisition unit 2210) The pre-flight information acquisition unit 2210 is a functional unit that acquires pre-flight information used for flight and measurement data acquisition work by the target aircraft 1000. The pre-flight information acquisition unit 2210 comprises a flight plan information acquisition unit 2211, a priority determination information acquisition unit 2212, and a other flight information acquisition unit 2213.

[0064] The flight plan information acquisition unit 2211 is a functional unit that acquires flight plan information generated by the flight plan generation unit 2320 of the flight management system 2300. The priority determination information acquisition unit 2212 is a functional unit that acquires information regarding the determination conditions for prioritizing one of the target aircraft 1000 and other aircraft 3000 flying in the same airspace. The other flight information acquisition unit 2213 is a functional unit that acquires information regarding other aircraft 3000 flying in the same airspace as the target aircraft 1000.

[0065] Figure 7 shows an example of the content of the pre-flight information acquired by the pre-flight information acquisition unit 2210. As shown in Figure 7, the pre-flight information includes flight plan information acquired by the flight plan information acquisition unit 2211, priority determination conditions acquired by the priority determination information acquisition unit 2212, and other aircraft operation information acquired by the other aircraft operation information acquisition unit 2213.

[0066] The flight plan information includes the flight plans for 1000 target aircraft, and includes the planned takeoff point, planned takeoff time, planned landing point, planned landing time, planned airspace area, planned flight date and time, and measurement target area. The priority determination criteria are information indicating the criteria for determining which aircraft should be given priority, and may include, for example, priority by aircraft type (manned / unmanned), priority by aircraft specifications (aircraft size or weight), priority by purpose (disaster relief, firefighting, emergency medical services, news reporting, spatial data acquisition, scheduled flights, etc.), priority by situation (disaster emergency response in progress, nearing fuel depletion, special instructions from headquarters, disaster response / peacetime response, etc.), and priority by flight status (order of desired arrival time, order of airspace entry).

[0067] Furthermore, the information on other aircraft operations may include various information about the other aircraft 3000, such as the type of aircraft, flight purpose, flight plan information, flight status information (position, speed, direction of movement, etc.), energy level, fuel level, and administrator information (pilot contact information, etc.).

[0068] (A-1-6-2. System status determination unit 2220) The system state determination unit 2220 is a functional unit that determines the state of preparations for the measurement data acquisition work, the control system of the target aircraft 1000, and related systems. The system state determination unit 2220 comprises a preparation state determination unit 2221 and a system function state determination unit 2222.

[0069] The pre-preparation status determination unit 2221 is a functional unit that determines the status of pre-preparation for the measurement data acquisition work, in which measurement data of a target area is acquired using the target aircraft 1000. As shown in Figure 5, pre-preparation includes things like reserving the use of airspace and other areas, and administrative procedures that should be carried out in advance before the target aircraft 1000 is flown at the work site on the day of measurement data acquisition to perform the measurement data acquisition work.

[0070] For example, the pre-preparation status determination unit 2221 can determine the status of pre-preparation as the take-off and landing field where the aircraft used for the measurement data acquisition work will take off and land, or the status of the flight reservation for the airspace in which the aircraft is scheduled to fly, or the status of the flight permission application for the airspace.

[0071] Furthermore, the take-off and landing sites and airspace used by the target aircraft 1000 may already be in use by other aircraft or for other work purposes. In such cases, the pre-preparation state determination unit 2221 can determine the progress status of work already using the take-off and landing site where the aircraft to be used for measurement data acquisition will take off and land, or the airspace where the aircraft is scheduled to fly. Here, the progress status of work already using the area can be determined by the system state determination unit 2220 by receiving a completion signal for the previous work or a signal to clear the flag indicating that the take-off and landing site or airspace is in use.

[0072] The system function status determination unit 2222 is a functional unit that determines the status of system functions used in the measurement data acquisition process. Here, the system function status determination unit 2222 can determine the status of the functions of each of the systems used in the measurement data acquisition process: the target aircraft 1000, the remote base system 2000, the airspace monitoring system 4000, and the air traffic control system 7000.

[0073] For example, the system function status determination unit 2222 can determine the status of the data recording unit 1400 mounted on the target aircraft 1000 to record measurement data, the data acquisition management system 2400 that receives and records measurement data from the target aircraft 1000 via wireless communication, and the communication quality of the wireless communication (including communication speed, communication strength, and communication capacity) when wirelessly transmitting measurement data from the target aircraft 1000 to the data acquisition management system 2400.

[0074] As another example, the system function status determination unit 2222 can determine the remaining energy level of the power supply installed in the target aircraft 1000, the remaining fuel level of the power supply that powers the acquired data management system 2400, the remaining energy level of the power supply that powers the remote base system 2000, the remaining energy level of the power supply that powers the airspace monitoring system 4000, and the remaining energy level of the power supply that powers the air traffic control system 7000.

[0075] Furthermore, in order to ensure the safety of the target aircraft's flight, it is desirable to have a function to detect system abnormalities (temporary, reversible abnormalities such as temperature anomalies) or failures (irreversible failures that will not return to a normal state even if left unattended). For this reason, the system function status determination unit 2222 can determine abnormalities or failures in at least one of the target aircraft 1000, the remote base system 2000, or the air traffic control system 7000.

[0076] Furthermore, the remote base system 2000 may acquire measurement data not only from the target aircraft 1000, but also by synchronizing the target aircraft 1000 with the measurement satellite 8000, or by synchronizing the target aircraft 1000 with other aircraft 3000. In addition, the control of the target aircraft 1000 by the air traffic control system 7000 and the remote base system 2000 may be synchronized. Moreover, synchronized control may be performed between subsystems other than those described above. In such cases, the system function state determination unit 2222 may have the function of determining the state of synchronized control between the measurement satellite 8000 that acquires measurement data and the target aircraft 1000, the state of synchronized control between the other aircraft 3000 that acquires measurement data and the target aircraft 1000, and the state of synchronized control between the air traffic control system 7000 that controls the airspace of the target aircraft 1000 and the remote base system 2000.

[0077] The system state determination processes performed by the system state determination unit 2220 described above may be performed automatically by the system state determination unit 2220, but are not limited to this method. Alternatively, the system state may be determined by receiving input from the user for each determination item via the input reception unit 2262, which will be described later.

[0078] (A-1-6-3. Area status determination unit 2230) The area state determination unit 2230 is a functional unit that determines the area state related to the target area for acquiring measurement data, the flight area of ​​the target aircraft 1000, and the takeoff and landing area of ​​the target aircraft 1000. The system state determination unit 2220 includes an airspace area state determination unit 2231, a takeoff and landing area state determination unit 2232, and a measurement area state determination unit 2233.

[0079] The airspace area status determination unit 2231 has the function of acquiring information regarding the weather, sunlight intensity, and objects that interfere with the acquisition of measurement data in the flight area of ​​the target aircraft 1000. In addition, the airspace area status determination unit 2231 can detect when other aircraft or other objects enter the airspace area planned for the flight of the target aircraft 1000, or the flight airspace area.

[0080] The takeoff and landing area status determination unit 2232 can detect the entry of a person or other object into the target aircraft 1000's planned takeoff area, takeoff area, planned landing area, or landing area.

[0081] The measurement area state determination unit 2233 has the function of acquiring information on the weather, amount of sunlight, and obstacles that may hinder the acquisition of measurement data in the measurement target area, including the ground area and the sea area from which measurement data is acquired. The measurement area state determination unit 2233 can determine the presence of any obstacles that may hinder the acquisition of measurement data when the measurement target area is measured from the target aircraft 1000, such as the presence of large vehicles or heavy machinery in the ground area which is the measurement target area, the presence of smoke, fog, clouds, or flocks of birds near the ground, or the presence of large ships in the sea area.

[0082] The area status determination process performed by the area status determination unit 2230 described above may be performed automatically by the area status determination unit 2230, but is not limited to this method. Alternatively, the area status may be determined by receiving input for each determination item from the user via the input reception unit 2262, which will be described later.

[0083] (A-1-6-4. Unit 2240 for determining whether or not to perform the corresponding operation) The corresponding action necessity determination unit 2240 is a functional unit that determines, according to the determination results determined by the system state determination unit 2220 and the area state determination unit 2230, whether to have the target aircraft 1000 perform a predetermined corresponding action (also called the first action), prohibit the target aircraft 1000 from performing a predetermined prohibited action (also called the second action), or output predetermined information to a display unit such as the display output unit 2161 described later. The corresponding action necessity determination unit 2240 includes a safety action necessity determination unit 2241, a work efficiency action necessity determination unit 2242, a safety action cancellation determination unit 2243, and a work efficiency action cancellation determination unit 2244.

[0084] The safety operation necessity determination unit 2241 is a functional unit that determines whether a predetermined operation is necessary to ensure safety or whether a prohibited operation is necessary to ensure safety during the measurement data acquisition work using the target aircraft 1000. For example, if the safety operation necessity determination unit 2241 detects an abnormality, malfunction, insufficient energy level, or insufficient fuel level in at least one of the target aircraft 1000, the remote base system 2000, or the air traffic control system 7000, or if it detects an abnormality in the coordinated control between subsystems (such as the target aircraft 1000, the remote base system 2000, the airspace monitoring system 4000, the air traffic control system 7000, other aircraft 3000, and the measurement satellite 8000), it can determine whether a predetermined operation is necessary to ensure safety or whether a prohibited operation is necessary to prohibit.

[0085] As another example, the safety action necessity determination unit 2241 can determine whether a predetermined action is necessary to ensure safety, or whether a prohibited action is prohibited, if an object, including a person or another aircraft, enters at least one of the target aircraft 1000's planned takeoff area, takeoff area, planned flight airspace area, or flight airspace area. Here, patterns of obstacles entering each area include cases where a person or another aircraft 3000 (an external aircraft, an aircraft acting in coordination) enters the takeoff / landing area or the aircraft's flight path, or where a person or another aircraft enters an area where a remote base system 2000 or an airspace monitoring system 4000 is deployed.

[0086] The Operation Efficiency Operation Requirement Determination Unit 2242 is a functional unit that determines whether a predetermined operation is required to be performed or whether a prohibited operation is required to be prohibited in order to perform measurement data acquisition work using the target aircraft 1000 more efficiently. For example, if the Operation Efficiency Operation Requirement Determination Unit 2242 determines that the pre-preparation for the measurement data acquisition work determined by the pre-preparation state determination unit 2221 is incomplete, if the current state of the control system 1 or the predicted state of the future state of the control system 1 determined by the system function state determination unit 2222 does not meet the predetermined functional level required for the measurement data acquisition work, or if the current area state or the predicted state of the future area state determined by the area state determination unit 2230 does not meet the predetermined conditions required for the measurement data acquisition work, the Operation Efficiency Operation Requirement Determination Unit 2242 determines whether to have the target aircraft 1000 perform a predetermined operation (first operation), prohibit the target aircraft 1000 from performing a predetermined prohibited operation (second operation), or output predetermined information to the display unit.

[0087] The safety operation release decision unit 2243 is a functional unit that determines whether to release the prohibition of predetermined operations or prohibited operations that the safety operation necessity decision unit 2241 has determined to be necessary to ensure safety, based on predetermined release conditions that indicate that safety has been ensured.

[0088] The work efficiency operation release determination unit 2244 is a functional unit that determines whether to release the prohibition of predetermined operations or prohibited operations that have been determined to be necessary to improve work efficiency by the work efficiency operation necessity determination unit 2242, based on predetermined release conditions that indicate that work efficiency has been ensured.

[0089] (A-1-6-5. Corresponding operation determination unit 2250) The corresponding action determination unit 2250 is a functional unit that determines the content of predetermined actions or prohibited actions when the corresponding action necessity determination unit 2240 determines that it is necessary to perform predetermined actions to ensure safety, prohibit prohibited actions, or perform predetermined actions or prohibit prohibited actions to improve work efficiency. The corresponding action determination unit 2250 comprises a work status determination unit 2251, a safety action content determination unit 2252, and a work efficiency action content determination unit 2253.

[0090] The work status determination unit 2251 is a functional unit that determines the status of the measurement data acquisition work. For example, the work status determination unit 2251 can determine which work status corresponds to the current work status in the state transition diagram of the measurement data acquisition work shown in Figure 5.

[0091] The safety operation content determination unit 2252 is a functional unit that determines the content of predetermined operations and prohibited operations to ensure safety, based on the system and area status information determined by the system status determination unit 2220 and the area status determination unit 2230, and the work status information determined by the work status determination unit 2251.

[0092] The safety operation content determination unit 2252 can, for example, if the work status is in the pre-preparation stage for measurement data acquisition or before the target aircraft 1000 takes off, and it detects an abnormality, malfunction, insufficient energy level, or insufficient fuel level in at least one of the target aircraft 1000, the remote base system 2000, or the air traffic control system 7000, it can prohibit the takeoff of the target aircraft 1000, issue a command to prohibit the takeoff of the target aircraft 1000, or display warning information regarding takeoff, including detection information from the system status determination unit 2220 or the area status determination unit 2230, or a suggestion to prohibit takeoff, on a display unit such as the display output unit 2161.

[0093] As another example, the safety operation content determination unit 2252 may, for instance, output a command to the target aircraft 1000 to prohibit continued flight, return to the landing site, or make an emergency landing, if the work status is the status of the target aircraft 1000 in flight and it detects an abnormality, malfunction, insufficient energy level, or insufficient fuel level in at least one of the target aircraft 1000, the remote base system 2000, or the air traffic control system 7000, or to prohibit the target aircraft 1000 from continuing flight, return to the landing site, or make an emergency landing.

[0094] As another example, the safety operation content determination unit 2252 may, for instance, if the work status is in the pre-preparation stage for measurement data acquisition or before the target aircraft 1000 takes off, and it detects that an object, including a person or another aircraft, has entered the target aircraft 1000's planned takeoff area or the planned airspace area for the target aircraft 1000, it may prohibit the target aircraft 1000 from taking off, issue a command to prohibit the target aircraft 1000 from taking off, or display warning information related to takeoff, such as detection information from the area status determination unit 2230 or a suggestion to prohibit takeoff, on a display unit such as the display output unit 2161.

[0095] As yet another example, the safety operation content determination unit 2252 may, for example, if the work status is that the target aircraft 1000 is in flight, and it detects that an object including a person or another aircraft has entered the target aircraft 1000's planned takeoff area or the planned airspace area of ​​the target aircraft 1000, it may prohibit the target aircraft 1000 from landing, change the target aircraft 1000's landing site, or have the target aircraft 1000 fly on standby, or it may command the target aircraft 1000 to prohibit landing, change the landing site, or fly on standby.

[0096] Next, the work efficiency operation content determination unit 2253 is a functional unit that determines the content of predetermined and prohibited operations to ensure work efficiency based on the system and area status information determined by the system status determination unit 2220 and the area status determination unit 2230, and the work status information determined by the work status determination unit 2251. First, the determination of predetermined and prohibited operations when the work status determined by the work status determination unit 2251 is in the pre-preparation stage for measurement data acquisition or before the takeoff of the target aircraft 1000, that is, when it is the pre-preparation or pre-takeoff preparation stage in Figure 5, will be explained below.

[0097] The operation content determination unit 2253 for work efficiency can, for example, determine that the work status is in the pre-preparation stage for measurement data acquisition or before the target aircraft 1000 takes off, and that the reservation for use of the take-off / landing field where the target aircraft 1000 will take off or land, or the flight airspace area where the target aircraft 1000 plans to fly, is not yet complete (including cases where it has been reserved by another aircraft), or that the application for flight permission for the flight airspace area is not yet complete. In such cases, it can output information indicating that the reservation or flight permission application is not yet complete to a display unit such as the display output unit 2161, prohibit the take-off of the target aircraft 1000, or stop processing in the pre-preparation work status.

[0098] As another example, the work efficiency operation content determination unit 2253 may, for instance, determine that the work status is in the preparatory stage for measurement data acquisition or before the target aircraft 1000 takes off, and that the progress status of a work that is already using the take-off / landing field where the target aircraft 1000 will take off or land, or the flight airspace where the target aircraft 1000 is scheduled to fly, is in an incomplete state, then output information to a display unit such as the display output unit 2161 indicating that the previous work is incomplete, prohibit the take-off of the target aircraft 1000, or stop processing in the preparatory stage before take-off work status.

[0099] As another example, the work efficiency operation content determination unit 2253 can, for instance, determine that the work status is in the pre-preparation stage for measurement data acquisition or before the target aircraft 1000 takes off, and that the recordable capacity of the data recording unit 1400 of the target aircraft 1000 is less than the expected amount of measurement data to be acquired by the measurement data acquisition stage or a predetermined value set in advance (also known as a recordable capacity shortage state). In such cases, it can output information indicating the recordable capacity shortage state to a display unit such as the display output unit 2161, prohibit the target aircraft 1000 from taking off, or stop processing in the pre-preparation work status.

[0100] As yet another example, the work efficiency operation content determination unit 2253 can, for example, determine that the work status is in the pre-preparation stage for measurement data acquisition or before the target aircraft 1000 takes off, and that at least one of the performance characteristics of the communication speed, communication strength, or communication capacity included in the communication quality of wireless communication when wirelessly transmitting measurement data from the target aircraft 1000 to the acquisition data management system 2400 is insufficient (does not meet predetermined conditions), then output information regarding the insufficient communication quality performance to a display unit such as the display output unit 2161, prohibit the target aircraft 1000 from taking off, or stop processing in the pre-preparation work status.

[0101] As yet another example, the work efficiency operation content determination unit 2253 may, for example, determine that the work status is in the pre-preparation stage for measurement data acquisition work or before the target aircraft 1000 takes off, and that at least one of the following is less than the amount of energy or fuel required for measurement data acquisition work or a predetermined value: the remaining energy of a power source such as a battery installed on the target aircraft 1000, the remaining fuel installed on the target aircraft 1000, or the remaining energy of a power source supplying power to the acquisition data management system 2400. In such cases, the unit may output information regarding insufficient energy or fuel to a display unit such as the display output unit 2161, or at least one of the following actions: prohibiting the target aircraft 1000 from taking off.

[0102] As yet another example, the operation content determination unit 2253 for work efficiency may, for example, if the work status is in the pre-preparation stage for measurement data acquisition or before the takeoff of the target aircraft 1000, and it detects a malfunction in synchronization control with the measurement satellite 8000 or another aircraft 3000, or a malfunction in synchronization control with the air traffic control system 7000, it may output information regarding the malfunction in synchronization control to a display unit such as the display output unit 2161, prohibit the takeoff of the target aircraft 1000, or stop processing in the pre-preparation work status.

[0103] As yet another example, the operation content determination unit 2253 for work efficiency may, for example, if the work status is in the pre-preparation stage for acquiring measurement data or before the target aircraft 1000 takes off, and it determines that the weather in the target area falls under predetermined unsuitable conditions, or that the amount of sunlight in the target area or its predicted value falls under unsuitable conditions, or that there are obstacles in the target area that hinder the acquisition of measurement data, it may output information regarding the determination result by the corresponding operation determination unit to a display unit such as the display output unit 2161, prohibit the takeoff of the target aircraft 1000, or stop processing in the pre-preparation work status.

[0104] Next, the determination of the content of the prescribed actions and prohibited actions when the work status determined by the work status determination unit 2251 is the status of being in flight, that is, when it is moving, measurement flight, standby flight, or preparation for landing as shown in Figure 5, will be explained below.

[0105] The operation content determination unit 2253 for work efficiency can, for example, when the work status is in flight, that is, moving, measuring flight, waiting flight, or preparing for landing, and it determines that the remaining recordable capacity of the data recording unit 1400 of the target aircraft 1000 is less than the expected amount of measurement data to be acquired in the future through measurement data acquisition work, or when the remaining recordable capacity of the data recording unit 1400 falls below a predetermined value, cause the target aircraft 1000 to perform a return landing operation to the landing site, or instruct the target aircraft 1000 to perform a return landing operation, or display suggested information regarding the return landing operation on a display unit such as the display output unit 2161.

[0106] As another example, the operation content determination unit for work efficiency 2253 can, for example, when the work status is in flight, i.e., moving, measurement flight, standby flight, or preparing for landing, determine that at least one of the performance aspects of the communication quality of wireless communication, including communication speed, communication strength, and communication capacity, when wirelessly transmitting measurement data from the target aircraft 1000 to the acquired data management system 2400 is insufficient, instruct the target aircraft 1000 to perform a return landing operation, or command the target aircraft 1000 to perform a return landing operation, or display suggested information regarding the return landing operation on a display unit such as the display output unit 2161.

[0107] As yet another example, the work efficiency operation content determination unit 2253 may, for example, when the work status is in flight, i.e., moving, measurement flight, standby flight, or preparing for landing, determine that at least one of the remaining energy of the power supply installed on the target aircraft 1000, the remaining fuel installed on the target aircraft 1000, or the remaining energy of the power supply that powers the data acquisition management system 2400 is less than the amount of energy or fuel required for the measurement data acquisition work, or a predetermined value, instruct the target aircraft 1000 to perform a return landing operation to the landing site, or to change the landing site of the target aircraft 1000, or to command a return landing operation or a change of landing site, or to display suggested information regarding a return landing operation or a change of landing site on a display unit such as the display output unit 2161.

[0108] As another example, the operation content determination unit 2253 for work efficiency may, for example, when the work status is in flight, i.e., moving, measurement flight, waiting flight, or preparing for landing, detect a malfunction in synchronization control with the measurement satellite 8000 or other aircraft 3000, or a malfunction in synchronization control with the air traffic control system 7000, instruct the target aircraft 1000 to readjust the synchronization control, wait in the air, or interrupt the acquisition of measurement data. When the target aircraft 1000 is to readjust the synchronization control, for example, the target aircraft 1000 is flown at a position and time suitable for synchronization control to perform synchronization adjustment for measurement data acquisition. Alternatively, the target aircraft 1000 may perform synchronization adjustment by flying in a constant speed straight line (or hovering in the case of a multicopter) which makes synchronization adjustment easier.

[0109] As another example, the operation content determination unit 2253 for work efficiency may, for example, when the work status is in flight, i.e., moving, measuring flight, waiting flight, or preparing to land, determine that the weather in the target area falls under predetermined unsuitable conditions, or that the amount of sunlight or its predicted value in the target area falls under unsuitable conditions, or determine that there are obstacles in the target area that hinder the acquisition of measurement data, instruct the target aircraft 1000 to perform a return landing operation to the landing site, a waiting flight in the air, or interrupt the acquisition of measurement data, or instruct the target aircraft 1000 to perform a return landing operation, a waiting flight in the air, or interrupt the acquisition of measurement data, or display suggested information regarding a return landing operation, a waiting flight in the air, or interruption of the acquisition of measurement data on a display unit such as the display output unit 2161.

[0110] Furthermore, regardless of the work status of the measurement data acquisition work, if the work efficiency operation content determination unit 2253 determines that the pre-preparation for the measurement data acquisition work determined by the pre-preparation state determination unit 2221 is incomplete, that the current function state of the control system 1 determined by the system function state determination unit 2222 or the predicted future function state of the control system 1 does not meet the predetermined functional level required for the measurement data acquisition work, or that the current area state or the predicted future area state determined by the area state determination unit 2230 does not meet the predetermined conditions required for the measurement data acquisition work, then instead of prohibiting the execution of various predetermined operations or prohibited operations as described above, or in addition to these, it is also possible to output suggestion information to a display unit such as the display output unit 2161 to change the control mode of the target aircraft 1000 from automatic control mode to manual control mode by an operator.

[0111] (A-1-6-6. Pilot Interface Unit 2260) The pilot interface unit 2260 has an interface function between the pilot who remotely controls the target aircraft 1000 and the remote base system 2000. The pilot interface unit 2260 includes a display output unit 2261 and an input reception unit 2262.

[0112] The display output unit 2261 consists of a display device that outputs various information to the pilot operating the target aircraft 1000. For example, it can display suggested information determined by the corresponding operation determination unit 2250 described above. It can also display the status determination results from the system status determination unit 2220 and the area status determination unit 2230.

[0113] Furthermore, the display output unit 2261 also has the function of displaying control status information received from the target aircraft 1000, flight mission information generated by the flight mission generation unit 2273 (described later), and input information received by the input reception unit 2262 (described later).

[0114] The input receiving unit 2262 is a functional unit that receives control commands entered by the pilot for the target aircraft 1000. The input receiving unit 2262 can receive control commands from the pilot via hardware such as a touch panel, control levers, and input buttons.

[0115] The input receiving unit 2262 can receive commands such as the direction of movement, attitude, and speed of the target aircraft 1000, and can also input modifications to the flight mission displayed as a control command. In addition, the input receiving unit 2262 can receive user input such as approval, rejection, and modification of various proposed information determined by the corresponding operation determination unit 2250 displayed on the display output unit 2261.

[0116] (A-1-6-7. Control command execution unit 2270) The control command execution unit 2270 has the function of determining corresponding and prohibited actions to be performed by the target aircraft 1000, outputting action commands, and the function of generating a flight mission and outputting flight control commands according to the flight mission. The control command execution unit 2270 comprises a corresponding action determination unit 2271, a corresponding command execution unit 2272, a flight mission generation unit 2273, and a flight control command execution unit 2274.

[0117] The corresponding action determination unit 2271 determines the content of predetermined actions or prohibited actions to ensure safety, or predetermined actions or prohibited actions to improve work efficiency, in response to user input such as approval, rejection, or modification of various proposal information received from the user via the aforementioned input reception unit 2262.

[0118] The response command execution unit 2272 is a functional unit that outputs an operation command determined by the response operation determination unit 2250 or an operation command confirmed by the response operation confirmation unit 2271, and executes the operation command.

[0119] The flight mission generation unit 2273 generates a flight mission, including planned information on the target aircraft 1000's movement path and speed, based on the flight plan of the target aircraft 1000 obtained from the flight management system 2300. Furthermore, if the flight mission generation unit 2273 receives a change in the flight plan input from the pilot via the input reception unit 2262, it can generate a flight mission based on that information.

[0120] The flight control command execution unit 2274 generates control target values ​​based on the generated flight mission and control state information acquired from the target aircraft 1000 (including flight position, attitude information, direction of movement, and speed of movement measured by the target aircraft 1000). The flight control command execution unit 2274 transmits the flight control signal, including the generated control target value, to the target aircraft 1000, which is the target of the control, via the communication management system 2100, and causes it to perform an action in accordance with the flight control signal.

[0121] (A-1-7. Operational processing of control system 1) Next, we will explain the processing flow of higher-level operations such as control system 1. Figure 8 is a flowchart showing the operation processing flow of the aircraft operation system 2200.

[0122] First, the pre-information acquisition unit 2210 acquires pre-information (step 101).

[0123] Next, the system state determination unit 2220 determines the state of its own system and related systems (step 102). The detailed processing of this step will be described later.

[0124] Next, the area status determination unit 2230 determines the status of the area related to the measurement data acquisition work (step 103). The detailed processing of this step will be described later.

[0125] Next, the response action necessity determination unit 2240 determines whether or not safety-related response actions are necessary (step 104). The detailed processing of this step will be described later.

[0126] Next, the corresponding action necessity determination unit 2240 determines whether or not corresponding actions for work efficiency are necessary (step 105). The detailed processing of this step will be described later.

[0127] Next, the corresponding operation determination unit 2250 determines the operation details, such as various corresponding operations (step 106). The detailed processing of this step will be described later.

[0128] Next, the control command execution unit 2270 executes the various corresponding operations determined, and outputs the content determined or decided in each of the above steps to the display output unit 2261 of the operator interface unit 2260 (step 107).

[0129] Next, the corresponding action necessity determination unit 2240 decides to release the prohibition of prohibited actions, etc., determined by the corresponding action determination unit 2250 (step 108).

[0130] (A-1-8. Operation sequence of control system 1) Next, we will explain the time-series information exchange within the control system 1. Figure 9 is an operation sequence diagram showing the operation process of the aircraft control system 1.

[0131] First, the flight management system 2300 obtains request information from the user regarding the acquisition of measurement data, and generates a flight plan based on that request information. Next, the aircraft operation system 2200 obtains the flight plan from the flight management system 2300.

[0132] Next, the aircraft operation system 2200 obtains information regarding the aircraft status from the target aircraft 1000, and obtains system status information of the airspace monitoring system and airspace area status information from the airspace monitoring system 4000.

[0133] Next, the aircraft operation system 2200 makes decisions regarding appropriate actions or prohibited actions based on the acquired information, and transmits action commands for appropriate actions, etc., based on the decided appropriate actions, etc., to the target aircraft 1000. It also notifies the user of the decision results regarding appropriate actions, etc., via the pilot interface unit 2260.

[0134] Next, the aircraft operation system 2200 again obtains information regarding the aircraft status from the target aircraft 1000, and obtains system status information of the airspace monitoring system and airspace area status information from the airspace monitoring system 4000.

[0135] Next, the aircraft operation system 2200 decides whether to lift the operation ban based on the acquired information. If it decides to lift the operation ban, it transmits an operation ban lifting command to the target aircraft 1000 and also notifies the user of the decision to lift the operation ban via the pilot interface unit 2260.

[0136] (A-1-9. System status determination process) Figure 10 is a flowchart showing the system state determination process flow by the system state determination unit 2220. In particular, Figure 10 shows the detailed processing of processing step 102 shown in Figure 8.

[0137] First, the pre-preparation state determination unit 2221 determines the state of pre-preparation for the measurement data acquisition operation, which involves acquiring measurement data of the target area using the target aircraft 1000 (step 201). In this step, for example, the work state in the pre-preparation shown in the state transition diagram of Figure 5 is determined.

[0138] In this step, the pre-preparation status determination unit 2221 determines, for example, the status of the flight reservation for the takeoff and landing site where the aircraft used for the measurement data acquisition work will take off and land, or the status of the flight permission application for the airspace in which the aircraft is scheduled to fly. Furthermore, in this step, the pre-preparation status determination unit 2221 can also determine the progress status of work that is already using the takeoff and landing site where the aircraft used for the measurement data acquisition work will take off and land, or the airspace in which the aircraft is scheduled to fly.

[0139] Next, the system function status determination unit 2222 determines the status of the system functions used for the measurement data acquisition operation (step 202). In this step, for example, the status of the functions of each system used for the measurement data acquisition operation, such as the target aircraft 1000, the remote base system 2000, the airspace monitoring system 4000, and the air traffic control system 7000, can be determined.

[0140] In this step, the system function status determination unit 2222 can determine the status of the following: the recordable capacity of the data recording unit 1400 mounted on the target aircraft 1000 to record measurement data; the recordable capacity of the acquired data management system 2400 that receives and records measurement data from the target aircraft 1000 via wireless communication; and the communication quality of the wireless communication (including communication speed, communication strength, and communication capacity) when wirelessly transmitting measurement data from the target aircraft 1000 to the acquired data management system 2400.

[0141] Furthermore, in this step, the system function status determination unit 2222 can determine the status of the remaining energy of the power supply installed in the target aircraft 1000 or the remaining fuel installed in the target aircraft 1000, the remaining energy of the power supply that supplies power to the acquired data management system 2400, the remaining energy of the power supply that supplies power to the remote base system 2000, the remaining energy of the power supply that supplies power to the airspace monitoring system 4000, the remaining energy of the power supply that supplies power to the air traffic control system 7000, and so on.

[0142] Furthermore, in this step, the system function status determination unit 2222 can determine an abnormality or malfunction in at least one of the target aircraft 1000, the remote base system 2000, or the air traffic control system 7000.

[0143] Furthermore, in this step, the system function state determination unit 2222 may also have the function of determining the synchronous control state between the measurement satellite 8000 that acquires measurement data and the target aircraft 1000, the synchronous control state between the other aircraft 3000 that acquires measurement data and the target aircraft 1000, and the synchronous control state between the air traffic control system 7000 that controls the airspace of the target aircraft 1000 and the remote base system 2000.

[0144] (A-1-10. Area status determination process) The area state determination process by the area state determination unit 2230 will be explained below with reference to Figures 11 and 12.

[0145] (A-1-10-1. Area Status Determination Processing Flow) Figure 11 is a flowchart showing the area state determination process flow by the area state determination unit 2230. In particular, Figure 11 shows the detailed processing of processing step 103 shown in Figure 8.

[0146] First, the airspace area status determination unit 2231 acquires information regarding the weather, sunlight intensity, and obstacles that may hinder the acquisition of measurement data in the target aircraft 1000's flight area or planned flight area (step 301). In this step, it is also possible to detect and determine if another aircraft or other obstacles have entered the target aircraft 1000's flight area or planned flight airspace area.

[0147] Next, the takeoff and landing area status determination unit 2232 detects the entry of a person or other object into the target aircraft 1000's planned takeoff area, takeoff area, planned landing area, or landing area (step 302).

[0148] Next, the measurement area status determination unit 2233 acquires information regarding the weather, sunlight intensity, and objects that may obstruct the acquisition of measurement data in the measurement target area, including the ground area and sea area from which measurement data is to be acquired (step 303).

[0149] (A-1-10-2. An example of area status determination process) Figure 12 is a conceptual diagram illustrating the area state determination process performed by the area state determination unit 2230. As shown in Figure 12, the area state determination unit 2230 determines the state of the measurement target area, which includes the takeoff and landing area used for at least one of the takeoff or landing of the target aircraft 1000, the airspace area in which the target aircraft 1000 is flying or is scheduled to fly, and the ground area and sea area that are the target of measurements by the target aircraft 1000, as areas related to the measurement data acquisition work.

[0150] For example, regarding the takeoff and landing area, the takeoff and landing area status determination unit 2232 can determine whether or not obstacles such as people have entered the takeoff and landing area.

[0151] Furthermore, regarding the flight airspace area, the airspace area state determination unit 2231 can detect and determine other flying objects such as other aircraft 3000 and flocks of birds that have entered the flight airspace area. In addition, it can determine the weather, sunlight intensity, and obstacles that hinder the acquisition of measurement data in the flight airspace area. Here, the airspace area state determination unit 2231 can determine the weather information, such as rainfall, snowfall, strong winds, clouds, and fog. Objects that hinder the acquisition of measurement data include flocks of birds.

[0152] Furthermore, regarding the measurement target area, the measurement area state determination unit 2233 can acquire information on the weather, sunlight intensity, and objects that may obstruct the acquisition of measurement data in the measurement target area. Here, the airspace area state determination unit 2231 can determine, for example, that objects that may obstruct the acquisition of measurement data include a large vehicle entering the ground area which is the measurement target area, a large ship entering the sea area, or a large flock of birds flying in.

[0153] (A-1-11. Determination process for determining whether safety-related actions are required) Figure 13 is a flowchart showing the processing flow for determining whether or not to perform a corresponding safety action by the safety action determination unit 2241. In particular, Figure 13 shows the detailed processing of processing step 104 shown in Figure 8.

[0154] First, the safety operation necessity determination unit 2241 determines the next processing step to proceed to based on the result of determining whether or not there is an abnormality or failure in the system (step 401). In this step, for example, the next processing step is determined based on whether or not there is an abnormality or failure in at least one of the target aircraft 1000, the remote base system 2000, or the air traffic control system 7000. If it is determined in this step that there is an abnormality or failure in the system, the process proceeds to step 405. On the other hand, if it is determined that there is no abnormality or failure in the system, the process proceeds to step 402.

[0155] Next, if it is determined in step 401 that there are no abnormalities or malfunctions in the system, the next processing step to proceed to is determined depending on whether or not an energy shortage or similar condition has been determined for the amount of energy required to complete the measurement data acquisition work (step 402). In this step, for example, the next processing step to proceed to is determined depending on whether or not there is an energy shortage or fuel shortage in at least one of the target aircraft 1000, the remote base system 2000, or the air traffic control system 7000. In this step, if it is determined that there is an energy shortage or similar condition, the process proceeds to step 405. On the other hand, if it is determined that there is no energy shortage or similar condition, the process proceeds to step 403.

[0156] Next, if an energy shortage or similar condition is determined in step 402, the next processing step to transition to is determined depending on whether or not there is an abnormality in the coordinated control between the systems (step 403). In this step, for example, the next processing step to transition to is determined depending on whether or not there is an abnormality in the coordinated control between the remote base system 2000, the airspace monitoring system 4000, and the air traffic control system 7000. In this step, if it is determined that there is an abnormality in the coordinated control between the systems, the process transitions to step 405. On the other hand, if it is determined that there is no abnormality in the coordinated control between the systems, the process transitions to step 404.

[0157] Next, if it is determined in step 403 that there is no abnormality in the coordinated control between the systems, the next processing step to proceed to is determined depending on whether or not the entry of an object such as a person into a predetermined area has been detected (step 404). In this step, for example, the next processing step to proceed to is determined depending on whether or not an object including a person or another aircraft has entered at least one of the planned takeoff area, the takeoff area, the planned flight airspace area, or the flight airspace area. In this step, if the entry of an object such as a person into a predetermined area is detected, the process proceeds to step 405. On the other hand, if the entry of an object such as a person into a predetermined area is not detected, the process proceeds to step 406.

[0158] Next, if it is determined in step 401 that there is an abnormality or malfunction in the system, or in step 402 that there is an energy shortage or the like, or in step 403 that there is an abnormality in the coordinated control between systems, or in step 404 that an object such as a person is detected entering a predetermined area, it is decided to perform a predetermined safety response action (step 405).

[0159] Next, if no entry of a person or other object into the designated area is detected in step 404, it is determined that it is unnecessary to perform a predetermined safety response action (step 406).

[0160] (A-1-12. Determination process for determining whether or not to perform corresponding actions for work efficiency) Figure 14 is a flowchart showing the process flow for determining the necessity of corresponding operations for work efficiency by the work efficiency operation necessity determination unit 2242. In particular, Figure 14 shows the detailed processing of processing step 105 shown in Figure 8.

[0161] First, the operation necessity determination unit 2242 for work efficiency determines the next processing step to proceed to, depending on whether the reservation or administrative procedure necessary for completing the measurement data acquisition work has been completed (step 501). In this step, for example, the next processing step to proceed to is determined depending on whether the reservation for use of a landing or takeoff field or airspace, or the application for flight permission to the administrative agency for the airspace, which is carried out as a preliminary preparation, has been completed. If it is determined in this step that the reservation or flight permission application has not been completed, the process proceeds to step 505. On the other hand, if it is determined that the reservation and flight permission application have been completed, the process proceeds to step 502.

[0162] Next, if it is determined in step 501 that the reservation and flight permission application have been completed, the next processing step to proceed to is determined depending on whether the preliminary work of using the planned area has been completed (step 502). In this step, for example, the next processing step to proceed to is determined depending on whether the progress of the preliminary work of using the take-off and landing field where the target aircraft 1000 will take off and land, or the flight airspace where the target aircraft 1000 is scheduled to fly, is in an incomplete state. In this step, if it is determined that the preliminary work is incomplete, the process proceeds to step 505. On the other hand, if it is determined that the preliminary work is completed, the process proceeds to step 503.

[0163] Next, if it is determined in step 502 that the preceding work has been completed, the next processing step to be transitioned to is determined depending on whether each function of the system is in a state where it can perform the necessary performance to complete the measurement data acquisition work (step 503). In this step, for example, the next processing step to be transitioned to is determined depending on whether it is determined that the recordable capacity of the data recording unit 1400 of the target aircraft 1000 is insufficient, or whether it is determined that the communication quality performance of the wireless communication when wirelessly transmitting measurement data from the target aircraft 1000 to the acquisition data management system 2400 is insufficient, or whether it is determined that the remaining energy of power sources such as batteries mounted on the target aircraft 1000 or other subsystems, or the remaining fuel, is insufficient, or whether a malfunction in the synchronization control with the measurement satellite 8000 or other aircraft 3000 has been detected. In this step, if it is determined that the system is not in a state where it can perform the necessary performance to complete the measurement data acquisition work, the process is transitioned to step 505. On the other hand, if it is determined that the system is in a state where it can perform the necessary functions to complete the measurement data acquisition process, the process will proceed to step 504.

[0164] Next, if it is determined in step 503 that the system is in a state where it can perform the necessary functions to complete the measurement data acquisition work, the next processing step to be transitioned to is determined depending on whether the condition of the target area from which the measurement data is to be acquired is suitable for measurement (step 504). In this step, for example, the next processing step to be transitioned to is determined depending on whether the weather in the target area falls under predetermined unsuitable conditions, whether the amount of sunlight in the target area or its predicted value falls under unsuitable conditions, or whether it is determined that there are objects in the target area that would hinder the acquisition of measurement data. In this step, if it is determined that the condition of the target area is unsuitable for measurement, the process is transitioned to step 505. On the other hand, if it is determined that the condition of the target area is suitable for measurement, the process is transitioned to step 506.

[0165] Next, if it is determined in step 501 that the reservation or flight permission application has not been completed, or in step 502 that the preceding work is not completed, or in step 503 that the system is not in a state where it can perform the necessary functions to complete the measurement data acquisition work, or in step 504 that the condition of the target area is not suitable for measurement, then it is decided to execute a corresponding action for work efficiency or to prohibit a predetermined action for work efficiency (step 505).

[0166] Next, if it is determined in step 504 that the condition of the target area is suitable for measurement, it is determined that no corresponding action for work efficiency is required, or that it is not necessary to prohibit any predetermined actions for work efficiency (step 506).

[0167] (A-1-13. Results of decisions regarding safety measures, etc.) Figure 15 shows an example of the determination results of safety actions by the safety action content determination unit 2252. In particular, Figure 15 shows the work status of the measurement data acquisition work determined by the work status determination unit 2251, and the determination content of safety actions determined according to the status determination results by the system status determination unit 2220 and the area status determination unit 2230.

[0168] In the example shown in Figure 15, if the work status is "preparation" or "pre-takeoff preparation," and the status determination results by the system status determination unit 2220 and the area status determination unit 2230 determine that the processing step should be transitioned to step 405 in any of steps 401 to 404 in Figure 13, then at least one of the following will be performed: prohibition of takeoff operation, or a warning notification will be sent to the terminals of those involved in the measurement data acquisition work, such as the display output unit 2261.

[0169] Furthermore, if the operational status is in flight and the intrusion of a person or object into the landing area is detected during the process in step 404 of Figure 13, it is decided to either prohibit landing (i.e., to wait while flying overhead) or change the landing location.

[0170] Furthermore, if the operational status is one of the flight statuses, and an energy shortage is detected in any of the subsystems during the process in step 402 of Figure 13, it is decided to make the target aircraft 1000 make an emergency return to the landing site (i.e., prohibit the continuation of the measurement flight to acquire measurement data).

[0171] Furthermore, if the operational status is one of the statuses in flight, and an abnormality or failure in any subsystem is detected during the processing of step 401 in Figure 13, it is decided to prohibit the target aircraft 1000 from continuing its flight and to make an emergency landing near its current position without returning to the landing site, or to make a water landing in a nearby sea area from its current position.

[0172] Furthermore, if the work status is in flight and an abnormality in coordination with other systems is detected during the process of step 401 in Figure 13, it is decided to switch the flight mode of the target aircraft 1000 from automatic flight mode to manual flight mode, or to display information suggesting such a switch on the display output unit 2261 or the like.

[0173] (A-1-14. Results of determining appropriate actions for work efficiency) Figure 16 shows an example of the determination results of corresponding operations for work efficiency by the work efficiency operation content determination unit 2253. In particular, Figure 16 shows the work status of the measurement data acquisition work determined by the work status determination unit 2251, and the determination content of corresponding operations for work efficiency determined according to the status determination results by the system status determination unit 2220 and the area status determination unit 2230.

[0174] In the example shown in Figure 16, if the work status is either pre-preparation or pre-takeoff preparation, and the status determination results by the system status determination unit 2220 and the area status determination unit 2230 determine that the processing step should be transitioned to step 505 in any of steps 501 to 504 in Figure 14, then it is decided to display information on the display output unit 2261 indicating at least one of the following determination results: reservation is incomplete (including when another aircraft has made a reservation), flight permission application is incomplete, preliminary work is incomplete, insufficient recording capacity of the data recording unit, insufficient communication quality performance, insufficient energy, malfunction in synchronization control between subsystems, or inappropriate area status; to prohibit the takeoff of the target aircraft 1000; or to stop the pre-takeoff preparation processing.

[0175] Furthermore, if the operational status is in flight, and in step 503 of Figure 14, insufficient recording capacity of the data recording unit, insufficient communication quality performance, or insufficient energy is detected, or in step 504, inappropriate conditions in the measurement target area are detected, it is decided to have the target aircraft 1000 return to the landing site (i.e., to prohibit the continuation of the measurement flight to acquire measurement data).

[0176] Furthermore, if the operational status is one of the flight statuses, and an energy shortage is detected during the process in step 503 of Figure 14, it may be decided to change the landing site of the target aircraft 1000 to a location closer to its current position.

[0177] Furthermore, if the work status is in flight, and a malfunction in the synchronization control between subsystems is detected in step 503 of Figure 14, or if the state of the measurement target area is detected as inappropriate in step 504, it is decided to perform at least one of the following: a waiting flight while flying overhead, or to stop acquiring measurement data.

[0178] Furthermore, if the work status is in flight and a malfunction in the synchronization control between subsystems is detected during step 503 of Figure 14, it may be decided to readjust the synchronization control. During the synchronization control readjustment period, measurement may be suspended.

[0179] Furthermore, if the work status is one of the statuses during flight, and the status determination results from the system status determination unit 2220 and the area status determination unit 2230 determine that the processing step should be transitioned to step 505 in any of steps 501 to 504 in Figure 14, then it is decided to switch the flight mode of the target aircraft 1000 from automatic flight mode to manual flight mode, or to display and output information suggesting such a switch to the display output unit 2261, etc.

[0180] (A-1-15. Example of display of the result of determining the corresponding operation for work efficiency) The following describes an example of how the operation determination results for corresponding actions, etc., by the operation content determination unit 2253 for work efficiency are displayed, using Figures 17 and 18.

[0181] (A-1-15-1. Example of display of the result of determining the corresponding operation for work efficiency) Figure 17 shows an example of the display of the results of the operation content determination unit 2253 for work efficiency. The example shown in Figure 17 is an example of the display information displayed in the display output unit 2261 when the work status is pre-preparation (i.e., the state before takeoff) and the flight permission application has not been completed.

[0182] As shown in Figure 17, the display screen shows three items that should be checked during the pre-flight preparation: "Reservation of takeoff and landing points," "Reservation of planned flight airspace," and "Application for flight permission." It indicates that the application for flight permission is not yet complete. The status determination result also shows that the application for flight permission is not complete. Furthermore, the prohibited actions determined by the corresponding action determination unit 2250 are displayed: takeoff is prohibited and pre-takeoff preparation work processing is prohibited.

[0183] In this way, if any of the multiple preparation items required for acquiring measurement data are not completed during the pre-takeoff preparation work, the system can make the user aware of the incomplete preparation items and the prohibited actions determined by the system. The pre-preparation status determination unit 2221 can automatically determine whether the pre-preparation items are complete or not, but it is also possible for the user to input completion / incomplete check information on the display screen, and for the pre-preparation status determination unit 2221 to determine the pre-preparation status based on that input information.

[0184] (A-1-15-2. Example of display of the result of determining the appropriate operation for work efficiency, etc.) Figure 18 shows another example of the display of the results of the operation content determination unit 2253 for work efficiency. The example shown in Figure 18 is an example of the display information displayed on the display output unit 2261 when the work status is measurement flight (i.e., in flight) and a flock of birds is detected in a location near the ground area which is the measurement target area that would interfere with the measurement.

[0185] As shown in Figure 18, the display screen shows that an obstacle exists in the measurement area as a status determination result. Additionally, an image of the measurement data may be displayed so that the user can identify the obstacle. By displaying the image of the measurement data, the user can recognize that the obstacle is a flock of birds.

[0186] Furthermore, the display screen shows that the acquisition of measurement data is prohibited as a prohibited action determined by the corresponding action determination unit 2250. It also shows that the target aircraft 1000 should be in a waiting position in the air as a corresponding action determined by the corresponding action determination unit 2250. Additionally, buttons to approve and reject the corresponding action are displayed near the location of the airborne waiting flight indication. The user can approve or reject the proposed corresponding action by operating either the approve or reject button on the display screen.

[0187] (A-1-16. Processing to determine whether to release prohibited actions, etc.) Figure 19 is a flowchart showing the processing flow for the decision to release a prohibited operation by the corresponding operation necessity determination unit 2240. In particular, Figure 19 shows the details of the process in step 108 shown in Figure 8.

[0188] First, the safety action necessity determination unit 2241 determines whether or not a safety action is necessary, and determines the next processing step to proceed to based on whether or not the conditions for executing a safety action are met (step 601). In this step, if it is determined that the conditions for executing a safety action are met, the process proceeds to step 603. On the other hand, if it is determined that the conditions for executing a safety action are not met, the process proceeds to step 602.

[0189] Next, if it is determined in step 601 that the conditions for executing the safety response action are not met, the work efficiency response action necessity determination unit 2242 determines the next processing step to proceed to, depending on whether or not the conditions for executing the work efficiency response action are met. In this step, if it is determined that the conditions for executing the work efficiency response action are met, the process proceeds to step 603. On the other hand, if it is determined that the conditions for executing the work efficiency response action are not met, the process proceeds to step 604.

[0190] Next, if it is determined in step 601 that the conditions for executing a safety response action are met, or if it is determined in step 602 that the conditions for executing a work efficiency response action are met, the operation prohibition state is maintained, including prohibiting takeoff, stopping pre-preparation processing, and prohibiting continued measurement. After that, the process is returned to step 601.

[0191] Next, if it is determined in step 602 that the execution conditions for the corresponding operation for work efficiency are not met, the operation prohibition state is released, including prohibiting takeoff, stopping the processing of pre-preparation, and prohibiting the continuation of measurement.

[0192] As shown in Figure 18, even if a predetermined operation is prohibited, the prohibition can be lifted if the situation changes over time and the need to prohibit the operation disappears.

[0193] (A-1-17. Hardware Configuration) Figure 19 is a configuration diagram showing the hardware configuration of the aircraft operation operation system 2200, etc. Here, the remote base system 2000 (communication management system 2100, aircraft operation operation system 2200, operation management system 2300, data acquisition management system 2400), airspace monitoring system 4000, or spatial information data utilization system 5000 that constitute the control system 1 in the present invention are information processing devices such as server devices and PCs. As shown in the figure, the remote base system 2000 (communication management system 2100, aircraft operation operation system 2200, operation management system 2300, data acquisition management system 2400), airspace monitoring system 4000, or spatial information data utilization system 5000 has an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects each of these devices.

[0194] The input device 100 is a device for users of each subsystem that constitutes the control system 1 to input information and instructions. Specifically, the input device 100 is, for example, a touch panel, keyboard, mouse, or voice input device such as a microphone.

[0195] The output device 200 is a device that outputs information from the remote base system 2000 (communication management system 2100, aircraft operation operation system 2200, flight management system 2300, acquired data management system 2400), the airspace monitoring system 4000, or the information display unit in the spatial information data utilization system 5000. Specifically, the output device 200 is a display device (including eyewear, AR, VR display devices, etc.), a printer, or a speaker.

[0196] The processing unit 300 is, for example, a device that performs arithmetic processing. Specifically, the processing unit 300 is, for example, a CPU, microprocessor, GPU (Graphics Processing Unit), FPGA (Field Programmable Gate Array), or other semiconductor device capable of performing calculations.

[0197] The main memory 400 is a memory device such as RAM, which temporarily stores various information read from the system, and ROM, which stores programs executed by the processing unit 300, application programs, and various other information. The auxiliary memory 500 is a non-volatile memory device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory, which can store digital information.

[0198] The communication device 600 is a device that performs wireless or wired information communication with an external device.

[0199] In the embodiments described above, an example was given in which the remote base system 2000 and the airspace monitoring system 4000 are implemented in different devices. However, all or part of the functions of the airspace monitoring system 4000 can be implemented in the remote base system 2000.

[0200] [A-2. Effects of this embodiment] According to this embodiment, the efficiency of acquiring measurement data using an aircraft can be improved. In particular, in measurement flights targeting wide areas where the time required to temporarily return to base during flight and resume measurement work is very long, and the problem of reduced work efficiency due to work interruption is relatively large, the efficiency of acquiring measurement data can be improved.

[0201] It should be noted that the present invention is not limited to the embodiments described above, and various configurations can be adopted based on the contents of this specification. Furthermore, the flowcharts used in the embodiments described above do not necessarily have to be executed in the order shown. Some processing steps may be executed in parallel. Additional processing steps may be adopted, and some processing steps may be omitted. [Explanation of Symbols]

[0202] 1…Operational system (system) 100...Input device 200...Output device 300... Processing unit 400... Main memory 500... Auxiliary storage device 600... Communication device 700...bus 1000...Target aircraft 1100...Flight unit 1110...Self-positioning unit 1120...Attitude measurement unit 1130...Flight control unit 1140...Other aircraft detection unit 1200... Measuring unit 1210... Measurement sensor 1220...Camera for remote control 1230...Sensor attitude control unit 1240...Measurement and Control Unit 1300...Data processing unit 1400...Data recording unit 1500... Communications Department 1510... Remote Base Communications Department 1520...Air Traffic Control Communications Department 2000... Remote site system 2100... Communication Management System 2200...Aircraft Operation System 2210...Pre-information acquisition unit 2211...Flight plan information acquisition unit 2212...Priority determination information acquisition unit 2213...Other flight information acquisition unit 2220...System state determination unit 2221...Pre-preparation state determination unit 2222... System function status determination unit 2230... Area status determination unit 2231... Airspace area status determination unit 2232... Takeoff / landing area status determination unit 2233... Measurement area status determination unit 2240...Unit for determining whether or not to perform the corresponding action 2241...Unit for determining whether or not to perform the safety action 2242... Operation necessity determination unit for work efficiency 2243... Operation cancellation determination unit for safety 2244... Operation release determination unit for work efficiency 2250...Corresponding operation determination unit 2251...Work status determination unit 2252...Safety operation content determination unit 2253...Work efficiency operation content determination unit 2260...Pilot interface unit 2261...Display output unit 2262... Input reception section 2270...Control command execution unit 2271...Corresponding operation confirmation unit 2272...Response Command Execution Unit 2273...Flight Mission Generation Unit 2274... Flight control command execution unit 2300... Flight Management System 2310... Information acquisition unit 2311... Measurement request condition acquisition unit 2312...Airspace Information Acquisition Unit 2320...Flight Plan Generation Unit 2330...User Interface Unit 2331...Flight Plan Proposal Output Unit 2332...User Input Reception Department 2400...Data Acquisition Management System 3000...Other flying objects 4000...Airspace monitoring system 5000... Spatial Information Data Utilization System 6000…External systems 7000... Air traffic control system 8000... Measuring satellite

Claims

1. A control system for controlling the movement of an aircraft equipped with a measurement sensor that measures a target area, A state determination unit that determines at least one of the following: the state relating to the preparation for the measurement data acquisition operation in which measurement data of the target area is acquired using the aircraft; the state relating to the system functions used in the measurement data acquisition operation; or the area state relating to the target area or the flight area of ​​the aircraft; If the state determination unit determines that the preliminary preparations for the measurement data acquisition work are incomplete, that the current state of the system function or the predicted future state of the system function does not meet the predetermined functional level required for the measurement data acquisition work, or that the current state of the area or the predicted future state of the area does not meet the predetermined conditions required for the measurement data acquisition work, then the corresponding action determination unit causes the aircraft to perform a predetermined first action, prohibits the aircraft from performing a predetermined second action, or displays predetermined information on the display unit. A control system equipped with this system.

2. A control system according to claim 1, The control system includes, in the state determination unit's determination of the information regarding the prior preparations, the status of the takeoff and landing field where the aircraft will take off and land, the reservation for use of the airspace where the aircraft is scheduled to fly, or the status of the application for flight permission for the airspace, which will be used for the measurement data acquisition work.

3. A control system according to claim 1, The control system includes, in which the information regarding the prior preparations determined by the state determination unit includes the progress status of work that has already utilized the takeoff and landing field where at least one of the aircraft used for the measurement data acquisition work will take off and land, or the flight airspace in which the aircraft is scheduled to fly.

4. A control system according to claim 1, A control system in which the information relating to the system function determined by the state determination unit includes at least one of the following: the recordable capacity of a data recording unit mounted on the aircraft and recording the measurement data; the recordable capacity of a measurement data management system that receives and records the measurement data from the aircraft via wireless communication; and the communication quality of the wireless communication when wirelessly transmitting the measurement data from the aircraft to the measurement data management system.

5. A control system according to claim 1, A control system in which the information relating to the system function determined by the state determination unit includes at least one of the following: the remaining energy of a power supply mounted on the aircraft, the remaining fuel mounted on the aircraft, the remaining energy of a power supply that supplies power to a measurement data management system that receives and records the measurement data from the aircraft via wireless communication, the remaining energy of a power supply that supplies power to a remote base system that controls the flight of the aircraft, the remaining energy of a power supply that supplies power to an airspace monitoring system that monitors the flight airspace area of ​​the aircraft, and the remaining energy of a power supply that supplies power to an air traffic control system that controls the operation of the aircraft.

6. A control system according to claim 1, The information relating to the system function determined by the state determination unit includes at least one of the following: the state of synchronous control between the measurement satellite that acquires measurement data and the aircraft; the state of synchronous control between the aircraft and another aircraft that acquires measurement data; and the state of synchronous control between the air traffic control system that controls the airspace in which the aircraft flies and the control system itself.

7. A control system according to claim 1, A control system in which the area status determined by the status determination unit includes information regarding at least one of the following: weather in the target area or the flight area, the amount of sunlight, and obstacles that hinder the acquisition of the measurement data.

8. A control system according to claim 2, The corresponding operation determination unit, during the preparation for the measurement data acquisition work or before the aircraft's takeoff, determines that the reservation for the takeoff / landing field where the aircraft will take off and land, or the flight airspace where the aircraft is scheduled to fly, is not yet complete, or that the application for flight permission for the flight airspace is not yet complete. A control system that displays information on the display unit indicating that the reservation or flight permit application is incomplete, prohibits the aircraft from taking off, or stops pre-takeoff preparation processing.

9. A control system according to claim 3, The corresponding action determination unit is a control system that, during the preparation for the measurement data acquisition work or before the aircraft's takeoff, determines that the progress of work already using the takeoff / landing field where the aircraft will take off and land, or the flight airspace where the aircraft is scheduled to fly, is in an incomplete state, and then outputs information to the display unit indicating that the previous work is incomplete, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process.

10. A control system according to claim 4, The corresponding operation determination unit is a control system that, during the preparation for the measurement data acquisition work or before the aircraft takes off, determines that the recordable capacity of the data recording unit is less than the expected amount of measurement data to be acquired by the measurement data acquisition work or a predetermined value, and outputs information indicating the recordable capacity shortage to the display unit, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process.

11. A control system according to claim 4, The corresponding operation determination unit is a control system that, when it determines during the flight of the aircraft that the remaining recordable capacity of the data recording unit is less than the expected amount of measurement data to be acquired in the future through the measurement data acquisition work, or when the remaining recordable capacity of the data recording unit falls below a predetermined value, causes the aircraft to perform a return landing operation to the landing site, commands the aircraft to perform the return landing operation, or displays suggested information regarding the return landing operation on the display unit.

12. A control system according to claim 4, The corresponding action determination unit determines that, during the preparation for the measurement data acquisition work or before the aircraft takes off, that at least one of the following is insufficient: communication speed, communication strength, or communication capacity, which are included in the communication quality of the wireless communication when wirelessly transmitting the measurement data from the aircraft to the measurement data management system. In this control system, the unit displays information regarding the insufficient communication quality on the display unit, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process.

13. A control system according to claim 4, The corresponding action determination unit is a control system that, when it determines that at least one of the performance characteristics of the communication speed, communication strength, and communication capacity included in the communication quality of the wireless communication when wirelessly transmitting the measurement data from the aircraft to the measurement data management system during the flight of the aircraft, causes the aircraft to perform a return landing operation to the landing site, commands the aircraft to perform the return landing operation, or displays suggested information regarding the return landing operation on the display unit.

14. A control system according to claim 5, The corresponding operation determination unit is a control system that, during the preparation for the measurement data acquisition work or before the aircraft takes off, determines that at least one of the following is less than the amount of energy or fuel required for the measurement data acquisition work or a predetermined value: the remaining energy of the power supply mounted on the aircraft, the remaining fuel mounted on the aircraft, or the remaining energy of the power supply that powers the measurement data management system. In such cases, the unit displays information regarding the insufficient remaining energy or fuel on the display unit, or prohibits the aircraft from taking off.

15. A control system according to claim 5, The corresponding operation determination unit is a control system that, when it determines that at least one of the remaining energy of the power supply mounted on the aircraft, the remaining fuel mounted on the aircraft, or the remaining energy of the power supply that powers the measurement data management system is less than the amount of energy or fuel required for the measurement data acquisition work, or a predetermined value, causes the aircraft to perform a return landing operation to the landing site, or changes the landing site of the aircraft, or commands the return landing operation or the change of the landing site, or displays suggested information regarding the return landing operation or the change of the landing site on the display unit.

16. A control system according to claim 6, The corresponding action determination unit is a control system that, when it detects a malfunction in the synchronization control with the measurement satellite or another aircraft, or a malfunction in the synchronization control with the air traffic control system, during the preparation for the measurement data acquisition work or before the aircraft takes off, displays information about the malfunction in the synchronization control on the display unit, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process.

17. A control system according to claim 6, The corresponding action determination unit is a control system that, when it detects a malfunction in the synchronization control with the measurement satellite or the other aircraft, or a malfunction in the synchronization control with the air traffic control system, during the flight of the aircraft, causes the aircraft to readjust the synchronization control, enter standby flight, or interrupt the acquisition of measurement data, or commands the aircraft to readjust the synchronization control, enter standby flight, or interrupt the acquisition of measurement data.

18. A control system according to claim 7, The corresponding action determination unit is a control system that, during the preparation for acquiring the measurement data or before the aircraft takes off, determines that the weather in the target area falls under predetermined unsuitable conditions, determines that the amount of sunlight in the target area or the predicted value of the amount of sunlight falls under unsuitable conditions, or determines that there are obstacles in the target area that hinder the acquisition of the measurement data, displays information regarding the determination result by the corresponding action determination unit on the display unit, prohibits the aircraft from taking off, or stops the pre-takeoff preparation process.

19. A control system according to claim 7, The corresponding action determination unit is a control system that, when it determines that the weather in the target area is subject to predetermined unsuitable conditions during the flight of the aircraft, or when it determines that the amount of sunlight or its predicted value in the target area is subject to unsuitable conditions, or when it determines that there is an obstacle in the target area that hinders the acquisition of the measurement data, causes the aircraft to perform a return landing operation to the landing site, a waiting flight, or interruption of measurement data acquisition, or commands the aircraft to perform the return landing operation, the waiting flight, or interruption of measurement data acquisition, or displays suggested information regarding the return landing operation, the waiting flight, or interruption of measurement data acquisition on the display unit.

20. A control system according to claim 1, If the state determination unit detects at least one of the following: that the preliminary preparations for the measurement data acquisition work are incomplete; that the current state of the system function or the predicted future state of the system function does not meet the predetermined functional level required for the measurement data acquisition work; or that the current state of the area or the predicted future state of the area does not meet the predetermined conditions required for the measurement data acquisition work, The aforementioned corresponding operation determination unit is a control system that changes the flight mode from an autopilot mode to a manual pilot mode operated by an operator.

21. A control system according to claim 1, If the state determination unit detects at least one of the following: that the preliminary preparations for the measurement data acquisition work are incomplete; that the current state of the system function or the predicted future state of the system function does not meet the predetermined functional level required for the measurement data acquisition work; or that the current state of the area or the predicted future state of the area does not meet the predetermined conditions required for the measurement data acquisition work, The aforementioned corresponding action determination unit is a control system that outputs suggestion information to the display unit to change the aircraft's control mode from autopilot mode to manual control mode by an operator.

22. A control system according to claim 1, If the status determination unit detects an abnormality, malfunction, insufficient energy, or insufficient fuel in at least one of the following during the preparation for the measurement data acquisition work or before the aircraft takes off: A control system comprising a safety interlock operation determination unit that prohibits the takeoff of the aircraft, commands the aircraft to prohibit takeoff, or causes the display unit to display detection information by the status determination unit or warning information related to takeoff.

23. A control system according to claim 1, If the status determination unit detects an abnormality, malfunction, insufficient energy, or insufficient fuel in at least one of the aircraft, the remote base system that controls the aircraft's flight, or the air traffic control system that controls the airspace in which the aircraft is flying, during the aircraft's flight, A control system comprising a safety interlock operation determination unit that causes the aircraft to be prohibited from continuing its flight, to return to a landing site and land, or to perform an emergency landing, or commands the aircraft to be prohibited from continuing its flight, to return to a landing site and land, or to perform an emergency landing.

24. A control system according to claim 1, A control system comprising a safety interlock operation determination unit that, when the state determination unit detects that an object including a person or another aircraft enters the aircraft's planned takeoff area or the aircraft's planned airspace area during the preparation for the measurement data acquisition work or before the aircraft's takeoff, prohibits the aircraft from taking off, commands the aircraft to prohibit takeoff, or displays detection information from the state determination unit or warning information regarding takeoff on the display unit.

25. A control system according to claim 1, A control system comprising a safety interlock operation determination unit that, when the state determination unit detects that an object including a person or another aircraft enters the aircraft's planned landing area or the aircraft's flight airspace area while the aircraft is in flight, prohibits the aircraft from landing, changes the aircraft's landing location, or has the aircraft stand by, or commands the aircraft to prohibit landing, change the landing location, or stand by.

26. A control method for controlling the operation of an aircraft equipped with a measurement sensor that measures a target area, Computers A state determination step that determines at least one of the following: the state relating to the preparation for the measurement data acquisition operation in which measurement data of the target area is acquired using the aircraft, the state relating to the system functions used in the measurement data acquisition operation, or the state of the area that affects the measurement data acquisition operation; If the state determination step determines that at least one of the following is true, the aircraft performs a predetermined first action, the aircraft is prohibited from performing a predetermined second action, or the display unit displays predetermined information, then the corresponding action determination step is to cause the aircraft to perform a predetermined first action, or to prohibit the aircraft from performing a predetermined second action, or to display predetermined information on the display unit. A control method for executing this.

27. A program that causes a computer to control the movement of an aircraft equipped with a measurement sensor that measures a target area, On the computer, A state determination command that determines at least one of the following: the state relating to the preparation for the measurement data acquisition operation in which measurement data of the target area is acquired using the aircraft, the state relating to the system functions used in the measurement data acquisition operation, or the state of the area that affects the measurement data acquisition operation; If the status determination command determines that at least one of the following is true, that the preliminary preparations for the measurement data acquisition operation are incomplete, that the current state of the system function or the predicted future state of the system function does not meet the predetermined functional level required for the measurement data acquisition operation, or that the current state of the area or the predicted future state of the area does not meet the predetermined conditions for executing the measurement data acquisition operation, then a corresponding operation command is provided to cause the aircraft to perform a predetermined first operation, or to prohibit the aircraft from performing a predetermined second operation, or to display predetermined information on the display unit. A program that executes the command.

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