Flight moving object, flight position estimation method, computer program, and flight position estimation system

Abstract

The invention provides a flying moving object, a flying position estimation method, a computer program, and a flying position estimation system capable of estimating the flying position of the flying moving object with higher precision. The flying moving object is provided with a receiver and a control device. The receiver receives terrestrial broadcast signals transmitted from a broadcast station. The control device executes a process of estimating a flight position of the flying moving body on the basis of the received terrestrial broadcast signal.

Description

Technical Field

[0001] The present disclosure relates to a flying mobile object, a flying position estimating method, a computer program, and a flying position estimating system. Background Art

[0002] In recent years, the effective use of drones has been rapidly developing, and at the same time, methods for estimating the flight position of drones using GNSS (global navigation satellite system) have been developed. For example, Patent Document 1 discloses a method for obtaining the position of a drone using GPS (global positioning system).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-194954 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, GNSS is sometimes unavailable due to solar flares, etc., and there is still room for improvement in estimating the flight position of drones with high accuracy.

[0008] Therefore, an object of the present disclosure is to provide a flying mobile object, a flight position estimation method, a computer program, and a flight position estimation system, which are capable of estimating the flight position of the flying mobile object with higher accuracy.

[0009] Solutions for solving problems

[0010] A flying mobile object of the present disclosure includes a receiver and a control device, wherein the receiver receives a terrestrial broadcast signal transmitted from a broadcast station, and the control device executes a process of estimating a flight position of the flying mobile object based on the received terrestrial broadcast signal.

[0011] These general and specific aspects may also be implemented by methods, computer programs and systems, and combinations thereof.

[0012] Effects of the Invention

[0013] According to the flying mobile object, the flight position estimating method, the computer program, and the flight position estimating system disclosed herein, the flight position of the flying mobile object can be estimated with higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a block diagram showing the structure of the flight position estimation system of the present disclosure.

[0015] Figure 2 This is a schematic three-dimensional diagram of a flying mobile object.

[0016] Figure 3 This is a schematic diagram of a broadcasting station and a flying mobile object that receives the terrestrial broadcasting signal sent by the broadcasting station.

[0017] Figure 4 Another schematic diagram of a broadcasting station and a flying mobile object that receives the terrestrial broadcast signal sent by the broadcasting station.

[0018] Figure 5 This is a flowchart for explaining a method for estimating the flight position of a flying mobile object. DETAILED DESCRIPTION

[0019] The flying mobile body, the flight position estimation method, the computer program, and the flight position estimation system of the present embodiment estimate the flight position of the flying mobile body based on the terrestrial broadcast signal received by the flying mobile body. The flying mobile body has a receiver and a control device. The receiver receives the terrestrial broadcast signal sent from the broadcasting station. The control device performs a process of estimating the flight position of the flying mobile body based on the received terrestrial broadcast signal.

[0020] 〈Flight Position Estimation System〉

[0021] like Figure 1 As shown, the flight position estimation system 1 of the present disclosure includes a flying mobile body 5 and a broadcasting station 2. It may also include a plurality of broadcasting stations 2. The flight position estimation system 1 may further include a control terminal 3 and an information providing device 4.

[0022] The flying mobile body 5 receives the terrestrial broadcast signal SG transmitted from the broadcasting station 2. The flying mobile body 5 can transmit and receive data with the control terminal 3 and the information providing device 4, respectively. In addition, data can also be transmitted and received between the control terminal 3 and the information providing device 4. The connection between the flying mobile body 5, the control terminal 3, and the information providing device 4 can be wired, wireless, or both wired and wireless.

[0023] 〈Broadcast Station〉

[0024] The broadcasting station 2 is, for example, a broadcasting station that performs terrestrial digital television broadcasting. The broadcasting station 2 transmits, for example, a radio wave signal in a frequency band of 470 MHz or more and 710 MHz or less. In other words, the radio wave signal is a carrier wave, and may be a carrier wave that has been digitally modulated.

[0025] The radio wave signal includes, for example, the call sign of the station, etc., which identifies the station. The information that identifies the station can also be said to be information that identifies the station. The radio wave signal can further include information that identifies the location of the station. The information that identifies the location of the station is, for example, the latitude, longitude, address, etc. of the station. In addition, the radio wave signal can also include information related to the radio wave sent by the station, such as information that identifies the output strength of the radio wave sent by the station, information that identifies the frequency band of the radio wave sent by the station, etc. This information is also called the so-called signal loaded on the carrier.

[0026] In addition, hereinafter, the radio wave signal transmitted by the broadcasting station 2 is also referred to as a terrestrial broadcast signal SG.

[0027] 〈Control Terminal〉

[0028] The control terminal 3 is, for example, a remote controller having an operating lever, which performs operations of ascending and descending, moving forward, backward, left, and right, and turning left and right of the flying mobile body 5. The control terminal 3 has a transmitter, and when a control signal is generated according to the operation of the operator, the control terminal 3 transmits the control signal to the flying mobile body 5, for example, using wireless communication. The control terminal 3 may further have a receiver, for example, to receive information related to flight from the flying mobile body 5 using wireless communication. In addition, the control terminal 3 may also be connected to a display that can display necessary information.

[0029] 〈Information providing device〉

[0030] The information providing device 4 is connected to the control terminal 3 via the communication network N, and provides various information to assist the flight of the flying mobile body 5. Preferably, the communication network N uses a certain frequency band, for example. The information providing device 4 is a so-called SDSP (Supplementary Data Service Provider), and specifically provides geomagnetic information, weather information, map information, etc. In addition, when an emergency occurs, such as a disaster, the information providing device 4 can also provide information on the occurrence of the emergency.

[0031] The frequency of wireless communication used in the communication network N is, for example, a frequency usually used exclusively for drones and robots, and is a frequency of portable radio land mobile radios. Specifically, the frequency of wireless communication used in the communication network N may be a 169 MHz band. Alternatively, it may be a 2.4 GHz band, specifically, 2.4835 GHz or higher and 2.494 GHz or lower, more specifically, 2.4 GHz. Alternatively, it may be a 5.7 GHz band.

[0032] In addition, the frequency of wireless communication used in the communication network N may be a frequency generally used for the operation of drones, and may be a frequency of a wireless station that does not require a license or registration when used. Specifically, the frequency of wireless communication used in the communication network N may be 68 MHz or more and 74.8 MHz or less, more specifically 73 MHz. In addition, it may be a 920 MHz band or a 2.4 GHz band.

[0033] Furthermore, the frequency of wireless communication used in the communication network N may be the frequency of a portable radio, specifically, the 1.2 GHz frequency band.

[0034] Furthermore, the frequency of wireless communication used in the communication network N may be a frequency generally used for TV broadcasting including data broadcasting and regional broadcasting, and more specifically, may be 470 MHz or more and 710 MHz or less, and more specifically, 527 MHz.

[0035] Furthermore, the frequency of wireless communication used in the communication network N may be a frequency generally used in a wireless LAN, specifically, 2400 MHz or more and 2497 MHz or less, more specifically, 2400 MHz.

[0036] Furthermore, the frequency of wireless communication used in the communication network N may be a frequency of radio waves permitted for use under the Radio Waves Act.

[0037] 〈Flying Mobile Object〉

[0038] like Figure 1 and Figure 2 As shown, the flying mobile object 5 includes a main body 40, a flying unit 50, a receiver 20, and a control device 30. The flying mobile object 5 may further include a sensor 10 and / or a battery.

[0039] Figure 2 The flying mobile body 5 shown shows the posture during stable flight (for example, horizontal flight). Figures 2 to 4 The hollow arrow shown indicates the traveling direction of the flying mobile body 5. Hereinafter, the traveling direction of the flying mobile body 5 is sometimes referred to as "front" or "front", the direction opposite to the traveling direction is sometimes referred to as "rear" or "rear", the right side when facing the traveling direction is sometimes referred to as "right side" or "right", and the left side when facing the traveling direction is sometimes referred to as "left side" or "left".

[0040] The flying mobile body 5 is, for example, an unmanned aerial vehicle, a rotorcraft, or the like. The flying mobile body 5 can, for example, carry items. The flying mobile body 5 can be flown in a manned mode with people on board, or it can be flown in an unmanned mode. The flying mobile body 5 can be connected to an external power source and fly while being powered, or it can fly by being powered by a battery carried by the machine. The flying mobile body 5 can also be connected to an external device such as a control terminal 3 or an information providing device 4 via a connecting line, and transmit and receive signals related to movement such as flight via the connecting line. In addition, the flying mobile body 5 can also transmit and receive signals related to movement such as flight to an external device via radio waves.

[0041] "main body"

[0042] The main body 40 has, for example, a control device 30, a sensor 10, a battery, and a wiring board built therein. When the flying mobile body 5 is carrying an object, the object can be carried on the main body 40. In addition, when the flying mobile body 5 is flying with people, the main body 40 can carry people.

[0043] Flight Unit

[0044] The flying mobile body 5 can fly by a flying unit 50. The flying unit 50 includes, for example, a rotary wing such as a propeller and a rotation drive such as a motor. The flying unit 50 can be connected to the main body 40. A plurality of flying units 50 can be provided.

[0045] Receiver

[0046] The receiver 20 includes, for example, an antenna for terrestrial digital television broadcasting. The receiver 20 receives the terrestrial broadcast signal SG transmitted by the broadcasting station 2 through the antenna. The antenna is, for example, disposed on the upper surface of the main body 40. The upper surface of the main body 40 refers to the upper surface of the flying mobile body 5 when it is in stable flight. In addition, the antenna may also be built into the main body 40. In addition, the antenna may also be a directional antenna.

[0047] The receiver 20 may include one or more antennas. When the receiver 20 includes two antennas, the two antennas are, for example, arranged at left-right symmetrical positions or front-back symmetrical positions in the flying mobile body 5. When the receiver 20 includes three or more antennas, the plurality of antennas, for example, use one antenna as a central antenna and arrange the other antennas as peripheral antennas surrounding the central antenna. The peripheral antennas are separated from the central antenna by equal distances and arranged at equal intervals. That is, the peripheral antennas are arranged at equal intervals on a circle centered on the central antenna.

[0048] exist Figure 2In the example shown, the flying mobile body 5 has one central antenna 22 and four surrounding antennas. The four surrounding antennas are a first surrounding antenna 23A arranged at the right front, a second surrounding antenna 23B arranged at the right rear, a third surrounding antenna 23C arranged at the left front, and a fourth surrounding antenna 23D arranged at the left rear with respect to the central antenna 22. The first surrounding antenna 23A to the fourth surrounding antenna 23D are respectively located at positions equidistant from the central antenna 22. The distance between the first surrounding antenna 23A and the second surrounding antenna 23B, the distance between the second surrounding antenna 23B and the third surrounding antenna 23C, the distance between the third surrounding antenna 23C and the fourth surrounding antenna 23D, and the distance between the fourth surrounding antenna 23D and the first surrounding antenna 23A are equal.

[0049] The number of surrounding antennas is not limited to four. As described later, the flying mobile body 5 estimates the positional relationship between the flying mobile body 5 and the broadcasting station 2 based on the terrestrial broadcasting signal SG received by the surrounding antennas. Therefore, when the number of surrounding antennas is large, the flight position of the flying mobile body 5 can be estimated with higher accuracy. In addition, as described later, when estimating the direction of the broadcasting station 2 when viewed from the flying mobile body 5 based on the terrestrial broadcasting signal SG received by the surrounding antennas, the number of surrounding antennas is preferably an integer multiple of 4.

[0050] The receiver 20 can transmit the terrestrial broadcast signal SG received by the antenna to the control device 30. In the case where the receiver 20 includes a plurality of antennas, the receiver 20 can transmit the terrestrial broadcast signal SG received by each antenna to the control device 30 independently.

[0051] When the receiver 20 includes a plurality of antennas, each antenna may be powered independently. The control related to the power supply to each antenna may be performed by the control device 30, for example.

[0052] In addition, the receiver 20 may include a control unit. The control unit of the receiver 20 may also control the power supply to each antenna.

[0053] "sensor"

[0054] The sensor 10 includes at least one of an image sensor and a laser sensor for acquiring surrounding environment information related to the surrounding environment. The image sensor and the laser sensor are sensors that can acquire the surrounding scenery of the flying mobile body 5 as image information, for example. The image sensor is, for example, a monocular camera (wide-angle camera, fisheye camera, panoramic camera), a compound eye camera (stereo camera, multi-camera), an RGB-D camera (depth camera, ToF camera), etc. The laser sensor is, for example, a range sensor, a Lidar sensor (laser radar sensor), etc.

[0055] The sensor 10 may include an acceleration sensor, an angular velocity sensor, an altitude sensor, or other sensor for observing the movement of the flying mobile body 5. In addition, the sensor 10 may include an air pressure sensor, a wind speed sensor, or other sensor for observing the weather conditions around the flying mobile body 5. Furthermore, the sensor 10 may also include a GPS.

[0056] Control Device

[0057] like Figure 1 As shown, the control device 30 includes a communication device 31 , a computing device 32 and a storage device 33 .

[0058] The communication device 31 is a communication unit that can perform data communication with other components in the control device 30 such as the receiver 20 and the sensor 10 and external devices such as the control terminal 3 and the information providing device 4. For example, the communication device 31 receives a control signal generated by the control terminal 3. In addition, for example, the communication device 31 receives a terrestrial broadcast signal SG received by the receiver 20, various measurement data measured by the sensor 10, and the like.

[0059] Data communication is based on wired and / or wireless data communication and can be performed according to a known communication standard. For example, wired data communication is performed by using a communication controller of a semiconductor integrated circuit that operates according to the Ethernet (registered trademark) standard and / or the USB (registered trademark) standard as the communication device 31. In addition, wireless data communication is performed by using a communication controller of a semiconductor integrated circuit that operates according to the IEEE802.11 standard related to LAN (Local Area Network) and / or the fourth / fifth generation mobile communication system related to mobile communication, which is called 4G / 5G, as the communication device 31.

[0060] The storage device 33 is a recording medium for recording various information. The storage device 33 is implemented, for example, by RAM (Random Access Memory), ROM (Read Only Memory), flash memory, SSD (Solid State Drive), hard disk drive, other storage devices, or a suitable combination thereof. The storage device 33 stores a position estimation program P as a computer program executed by the computing device 32 and various data used in the execution of the estimation of the flight position. For example, the storage device 33 stores map information, flight path information, information related to the broadcasting station 2, aircraft body information, etc. The information related to the broadcasting station 2 refers to the location of each broadcasting station 2, the call sign of each broadcasting station 2, the frequency band and output strength of the terrestrial broadcasting signal SG sent by each broadcasting station 2, the delay time and other time-related information, etc.

[0061] The computing device 32 is a controller responsible for overall control of the flying mobile body 5. For example, the computing device 32 reads out and executes a position estimation program P stored in the storage device 33 to implement various processes for estimating the flight position of the flying mobile body 5. Among the various processes, the flight position of the flying mobile body 5 can be estimated with high accuracy by effectively utilizing the terrestrial broadcast signal SG of the broadcasting station 2, and the flying mobile body 5 can be made to fly based on the estimated flight position. Hereinafter, the flight of the flying mobile body 5 based on the terrestrial broadcast signal SG is sometimes referred to as the "first mode".

[0062] The computing device 32 can also estimate the flight position of the flying mobile body 5 by effectively using the surrounding environment information related to the surrounding environment acquired by the sensor 10, and can make the flying mobile body 5 fly based on the surrounding environment information. Hereinafter, the flight of the flying mobile body 5 based on the surrounding environment information is sometimes referred to as the "second mode".

[0063] Furthermore, the computing device 32 can determine the mode in which the flying mobile body 5 is to be flown from the first mode and the second mode based on flight information including the altitude of the flying mobile body 5 and / or the place where the flying mobile body 5 is flying. The place where the flying mobile body 5 is flying is, for example, indoors or outdoors.

[0064] The computing device 32 may also realize the specified function through the cooperation of hardware and software. In addition, the computing circuit 32 may also be a hardware circuit designed specifically for realizing the specified function. For example, the computing device 32 may be realized by various processors such as a CPU (central processing unit), an MPU (microprocessor), a GPU (graphics processing unit), an FPGA (field programmable gate array), a DSP (digital signal processor), and an ASIC (application-specific integrated circuit).

[0065] Hereinafter, a description will be given of a process executed by the calculation device 32 to estimate the flight position of the flying mobile object 5. Each process described below can be executed by reading out the position estimation program P stored in the storage device 33.

[0066] The computing device 32 executes:

[0067] (1) A process of estimating the flight position of a flying mobile object based on a received terrestrial broadcast signal (hereinafter also referred to as a "flight position estimation process").

[0068] In addition, the computing device 32 may also execute:

[0069] (2) a process of acquiring surrounding environment information through a sensor (hereinafter also referred to as “surrounding environment information acquisition process”); and

[0070] (3) A process of determining a mode for flying the flying mobile body from a first mode for flying the flying mobile body based on a terrestrial broadcast signal and a second mode for flying the flying mobile body based on surrounding environment information (hereinafter also referred to as a "mode determination process").

[0071] (1) Flight position estimation process

[0072] (Flight position estimation)

[0073] In the flight position estimation process, the flight position of the flying mobile object 5 is estimated based on, for example, the RSSI strength (Received Signal Strength Indicator) of the terrestrial broadcast signal SG received by the receiver 20 .

[0074] Here, the RSSI intensity generally decreases in proportion to the square of the distance from the broadcasting station 2 as it moves away from the broadcasting station 2. In addition, as described above, the broadcasting station 2 transmits a terrestrial broadcast signal SG including information specifying the output intensity of the radio waves transmitted by the station and information specifying the location of the station.

[0075] The calculation device 32 receives the terrestrial broadcast signal SG to obtain the output strength of the radio waves transmitted by the broadcast station 2 and the RSSI strength of the terrestrial broadcast signal SG received by the flying mobile object 5 , and estimates the distance to the broadcast station 2 based on these strengths.

[0076] In addition, the computing device 32 estimates the direction relative to the broadcasting station 2 based on, for example, the temporal change of the RSSI intensity. For example, when the RSSI intensity becomes weaker as time passes, it is estimated that the vehicle is moving away from the broadcasting station 2, and when the RSSI intensity becomes stronger as time passes, it is estimated that the vehicle is approaching the broadcasting station 2. Furthermore, the direction of the broadcasting station 2 when viewed from the flying mobile body 5 is estimated based on the amount of decrease or increase in the RSSI intensity as time passes.

[0077] As described above, the computing device 32 estimates the distance and direction of the flying mobile object 5 from the broadcasting station 2 based on the RSSI strength of the terrestrial broadcast signal SG. The computing device 32 can estimate the flight position of the flying mobile object 5 based on the estimated distance and direction and the information for determining the position of the broadcasting station 2 included in the terrestrial broadcast signal SG.

[0078] When the receiver 20 has multiple surrounding antennas, the distance to the broadcasting station 2 can be estimated by, for example, the average RSSI strength of the terrestrial broadcast signal SG received by each surrounding antenna, the position of the broadcasting station 2, and the main strength of the radio waves sent by the broadcasting station 2.

[0079] Furthermore, when the receiver 20 has a plurality of directivity surrounding antennas, the direction of the broadcasting station 2 when viewed from the flying mobile body 5 can be estimated by comparing the RSSI strengths of the terrestrial broadcasting signals SG received by the respective surrounding antennas. For example, the operation device 32 estimates that the surrounding antenna that receives the terrestrial broadcasting signal SG with a stronger RSSI strength than the other surrounding antennas among the plurality of surrounding antennas is close to the broadcasting station 2. That is, the operation device 32 estimates that the broadcasting station 2 exists in the direction of the surrounding antenna that receives the terrestrial broadcasting signal SG with a stronger RSSI strength than the other surrounding antennas when viewed from the center antenna 22.

[0080] Reference Figure 3 A specific example will be described. Figure 3 This is a schematic diagram of a broadcasting station and a flying mobile body that receives a terrestrial broadcast signal SG sent by the broadcasting station. Figure 3 In FIG. 1 , for each surrounding antenna, a curve graph is used to represent the RSSI strength of the received terrestrial broadcast signal SG. The horizontal axis of the curve graph represents the frequency, and the vertical axis represents the RSSI strength. It should be noted that Figure 3 The antenna configuration of the flying mobile body shown is similar to Figure 2 The antenna configurations of the flying mobile bodies shown are the same.

[0081] like Figure 3 As shown, when the RSSI strength of the terrestrial broadcast signal SG received by the first surrounding antenna 23A is stronger than the RSSI strength of the terrestrial broadcast signal SG received by the second surrounding antenna 23B to the fourth surrounding antenna 23D respectively, the computing device 32 infers that the broadcasting station 2 is located in front of the right side of the flying mobile body 5.

[0082] The flight position estimated by the calculation device 32 may indicate a single point, or may have a range of about 30 m×30 m, preferably about 10 m×10 m in the horizontal direction.

[0083] As described above, the flying mobile object 5 can estimate the flying position of itself by receiving the terrestrial broadcast signal SG transmitted from one broadcasting station 2 .

[0084] When the flying mobile body 5 receives the terrestrial broadcast signal SG transmitted from two or more broadcasting stations 2, the computing device 32 performs, for example, flight position estimation based on the above-mentioned RSSI strength for the terrestrial broadcast signal SG of each broadcasting station 2, and estimates the flight position of the flying mobile body 5 based on each flight position. Specifically, the flight position based on the terrestrial broadcast signal SG of each broadcasting station 2 is estimated to have a certain range, and the range where the ranges of the respective flight positions overlap is estimated as the flight position of the flying mobile body 5.

[0085] Thereby, the flight position of the flying mobile object 5 can be estimated with higher accuracy.

[0086] Furthermore, the calculation device 32 may estimate the direction of the broadcast station 2 when viewed from the flying mobile object 5 based on the phase difference of the terrestrial broadcast signal SG received by each surrounding antenna 23 .

[0087] Generally, the phase of the terrestrial broadcast signal SG received by each surrounding antenna 23 may differ depending on the direction of the broadcast station 2 when viewed from the flying mobile body 5. For example, when the broadcast station 2 is located on the right side (or left side) when viewed from the flying mobile body 5, the phase difference between the left and right surrounding antennas becomes larger than when the broadcast station 2 is located in front (or behind) when viewed from the flying mobile body 5. Similarly, when the broadcast station 2 is located on the front side (or behind) when viewed from the flying mobile body 5, the phase difference between the front and rear surrounding antennas becomes larger than when the broadcast station 2 is located on the right side (or left side) when viewed from the flying mobile body 5.

[0088] Reference Figure 4 A specific example will be described. Figure 4 1 is another schematic diagram of a broadcasting station and a flying mobile body that receives a terrestrial broadcast signal SG sent by the broadcasting station. Figure 4 In FIG. 1 , a curve graph is used to represent the RSSI strength of the terrestrial broadcast signal SG received by the first surrounding antenna and the third surrounding antenna respectively. The horizontal axis of the curve graph represents time, and the vertical axis represents RSSI strength. It should be noted that Figure 4 The antenna configuration of the flying mobile body shown is similar to Figure 2 The antenna configurations of the flying mobile bodies shown are the same.

[0089] like Figure 4 As shown, in the flying mobile body 5, when the phase difference between the phase of the signal received by the second surrounding antenna 23B and the phase of the signal received by the fourth surrounding antenna 23D is 0 degrees, the computing device 32 estimates that the broadcasting station 2 is located at a direction of 90 degrees or 270 degrees relative to the traveling direction of the flying mobile body 5. In other words, it is estimated that the broadcasting station 2 is located on the right side or the left side of the flying mobile body 5.

[0090] By using the estimation of the direction of the broadcast station 2 based on the phase difference and the estimation of the flight position based on the RSSI intensity described above simultaneously, the flight position of the flying mobile object 5 can be estimated with higher accuracy.

[0091] The computing device 32 causes the flying mobile body 5 to fly based on the flight position estimated as described above. For example, the computing device 32 causes the flying mobile body 5 to fly by causing the estimated flight position to follow the flight path stored in the storage device 33. In addition, the control terminal 3 may cause the flying mobile body 5 to fly based on the flight position estimated by the computing device 32.

[0092] The flying mobile body 5 having the above-mentioned structure can estimate the flying position of the flying mobile body 5 using the ground broadcast signal SG of the broadcasting station 2. Here, the ground broadcast signal SG of the broadcasting station 2 is not easily unusable due to the influence of solar flares like GNSS. In addition, the ground broadcast signal SG of the broadcasting station 2 can be received even in so-called bad weather such as snow and heavy rain, and can be received even in shelters such as buildings and indoors. In addition, the relay towers that relay the ground broadcast signal SG of the broadcasting station 2 are mostly set up in high places such as mountains, and the relay towers themselves have a height, so the ground broadcast signal SG can be transmitted over a wide range and has a so-called visible effect. Therefore, the flying mobile body 5 having the above-mentioned structure can estimate the flying position of the machine with high accuracy without relying on the flying altitude, flying location, weather, etc. In particular, even in places and conditions such as mountainous areas, seas, disaster-stricken areas, accident sites, and life-saving in bad weather, the flying mobile body having the above-mentioned structure can fly while estimating the flying position of the machine with high accuracy.

[0093] Furthermore, the flying mobile body 5 having the above-mentioned structure can estimate the flying position of the aircraft based on the distance and direction relative to the broadcasting station 2 fixed on the ground, and thus can estimate the direction (magnetic heading) of the aircraft's travel direction. Thus, even if there are no landmarks around for estimating the travel direction, such as at sea or in the mountains, the flying mobile body 5 having the above-mentioned structure can estimate the direction (magnetic heading) of the aircraft's travel direction.

[0094] Furthermore, since the flying mobile object 5 having the above-described configuration can estimate the flight position by the control device 30 provided therein, the flying mobile object 5 can estimate the flight position of the mobile object with high accuracy without depending on the communication distance or communication method with external devices.

[0095] (Filtering and demodulation)

[0096] Furthermore, the calculation device 32 may perform filtering processing and demodulation processing as pre-processing for flight position estimation.

[0097] The computing device 32 may further perform the following process, for example:

[0098] filtering the received terrestrial broadcast signal; and

[0099] The filtered signal is demodulated.

[0100] The computing device 32 estimates the flight position based on the demodulated signal.

[0101] In the process of filtering, the received terrestrial broadcast signal SG is filtered to remove unnecessary signals. Unwanted signals are, for example, various radio waves and noises including the terrestrial broadcast signal SG reflected by mountains and buildings. The filtering process can be, for example, a well-known filtering process such as Kalman filtering, low-pass filtering, FIR filtering (Finite Impulse Response filtering: finite unit impulse response filtering), Madgwick filtering, etc.

[0102] In the process of demodulation, the carrier is removed from the signal subjected to the filtering process, thereby extracting the signal loaded on the carrier. The demodulation process can adopt a well-known process such as orthogonal detection, for example.

[0103] The computing device 32 may also estimate the flight position based on the signal that has been filtered and demodulated. The flight position estimation based on the signal that has been filtered and demodulated can be performed based on the RSSI strength and / or phase difference of the demodulated signal as described above.

[0104] As described above, by performing the filtering process and the demodulation process, unnecessary signals can be removed from the received terrestrial broadcast signal SG, and the flight position of the flying mobile object 5 can be estimated with higher accuracy.

[0105] It should be noted that the filtering process and the demodulation process may also be executed by the control unit of the receiver 20 .

[0106] (Correction Processing)

[0107] Furthermore, the computing device 32 may also perform a correction process as pre-processing and / or post-processing of the flight position estimation.

[0108] The computing device 32 may also perform the following process, for example:

[0109] receiving flight correction information, the flight correction information including at least any one of information for determining acceleration and / or angular velocity of the flying mobile body, geomagnetic information, and information for determining altitude; and

[0110] The flight position based on the received terrestrial broadcast signal is corrected based on the flight correction information.

[0111] The information specifying the acceleration is, for example, a measurement value measured by an acceleration sensor provided in the flying mobile object 5 .

[0112] The information specifying the angular velocity is, for example, a measurement value measured by an angular velocity sensor provided in the flying mobile object 5 .

[0113] The information for specifying the altitude is, for example, a value measured by an altitude sensor provided in the flying mobile object 5. The information for specifying the altitude may also be a value of air pressure measured by an air pressure sensor provided in the flying mobile object 5. The calculation device 32 may calculate the altitude based on the value of the air pressure.

[0114] The computing device 32 can receive information to determine acceleration, angular velocity and / or altitude from various sensors via the communication device 31 .

[0115] The geomagnetic information is transmitted from the information providing device 4 to the computing device 32 via the communication device 31 , for example, and is received by the computing device 32 .

[0116] In the process of performing the correction processing, for example, the fluctuation of the electric wave of the terrestrial broadcast signal SG caused by the geomagnetism is corrected. In this case, the process of performing the correction processing can be implemented before the process of estimating the flight position.

[0117] Furthermore, during the correction process, the temporal change of the estimated flight position may be compared with the flight position estimated based on the acceleration and angular velocity of the flying mobile body 5, thereby confirming the rationality of the estimated flight position and appropriately correcting the estimated flight position. In this case, the correction process is performed after the flight position estimation process.

[0118] Furthermore, the computing device 32 may receive measurement values ​​obtained by sensors other than the acceleration sensor, the angular velocity sensor, the altitude sensor, and the air pressure sensor, and appropriately perform correction processing on the estimated flight position based on these measurement values.

[0119] By performing such a correction process, the flying position of the flying mobile object 5 can be estimated with higher accuracy.

[0120] The process of performing the correction processing, the process of performing the filtering processing, and the process of performing the demodulation may be performed in their entirety or only one of them may be performed.

[0121] (2) Process of acquiring surrounding environment information

[0122] In the process of acquiring the surrounding environment information, the computing device 32 acquires the surrounding environment information related to the surrounding environment through the image sensor and / or the laser sensor. The surrounding environment information refers to the information related to the scenery around the aircraft. Specifically, it includes the size, configuration, and distance from the aircraft of obstacles such as natural objects such as mountains and artificial structures such as buildings around the flying mobile body 5.

[0123] In the process of acquiring the surrounding environment information, for example, the flying mobile body 5 senses the surrounding environment with an image sensor and / or a laser sensor while flying, and creates a two-dimensional or three-dimensional environmental map. At the same time, the flying position of the flying mobile body 5 on the environmental map is estimated by sequentially estimating the movement amount of the flying mobile body 5.

[0124] The calculation device 32 causes the flying mobile body 5 to fly based on the flight position estimated as described above. For example, the calculation device 32 causes the flying mobile body 5 to fly while avoiding obstacles based on the created environment map.

[0125] The surrounding environment information acquisition process may be, for example, SLAM (Simultaneous Localization and Mapping) control.

[0126] Through the process of acquiring the surrounding environment information, the flying mobile body 5 can estimate the flying position of the aircraft even without map information in advance, unlike the estimation of the flight position using GNSS on the existing map. In addition, the flying mobile body 5 can estimate the flying position of the aircraft in places where there is no map, such as indoors or in places where disasters occur. Moreover, the flying mobile body 5 can suppress collisions with obstacles and fly more safely.

[0127] (3) Model determination process

[0128] In the mode determination process, the calculation device 32 determines whether to make the flying mobile object 5 fly in the first mode or the second mode based on the altitude of the flying mobile object 5 and / or the place where the flying mobile object 5 is flying.

[0129] (Determination of mode based on altitude)

[0130] The computing device 32 performs the following process, for example:

[0131] receiving flight information including information determining an altitude of a flying mobile object; and

[0132] Compare the height of the flying object with the threshold value.

[0133] When the altitude is above the threshold, the computing device 32 determines to make the flying mobile body fly in the first mode in the process of determining the mode.

[0134] When the altitude is less than the threshold, the operation device 32 determines to make the flying mobile object fly in the second mode in the process of determining the mode.

[0135] As described above, the flight information including the information for specifying the altitude of the flying mobile object may be a measurement value measured by an altitude sensor and / or an air pressure sensor included in the flying mobile object 5 .

[0136] The threshold value may be set based on the distance between the flying mobile body 5 and the surrounding obstacles. For example, the threshold value is set to the height at which the flying mobile body 5 flies at a distance of less than 30 m, preferably less than 35 m from the surrounding obstacles. The height may also be pre-set by the operator via the control terminal 3. In addition, the height may also be determined by the computing device 32 based on the surrounding environment information acquired by the image sensor and / or laser sensor of the flying mobile body 5.

[0137] In addition, the threshold value can be set based on, for example, the difference between the flight position estimated by the terrestrial broadcast signal SG and the flight position acquired by the GPS. For example, the threshold value is set to a height at which the difference between the flight position estimated by the terrestrial broadcast signal SG and the flight position acquired by the GPS exceeds 30 m, preferably exceeds 10 m. This height can also be determined by the computing device 32.

[0138] Here, generally, as the altitude increases, obstacles such as mountains and buildings become fewer, and as the altitude decreases, obstacles become more. Therefore, as described above, by comparing the altitude of the flying mobile body 5 with the threshold to determine the mode, the flying mobile body 5 can be made to fly more safely at low altitudes where there are many obstacles.

[0139] (Determination of the mode based on the flight location)

[0140] Alternatively, the computing device 32 may perform the following process: receiving flight information, the flight information including information for determining whether the flying mobile object is flying outdoors or indoors,

[0141] When receiving information that the flying mobile object is flying indoors, the arithmetic device 32 determines to make the flying mobile object fly in the second mode in the process of determining the mode.

[0142] Information for determining whether the flying mobile body 5 is flying outdoors or indoors can be sent from the information providing device 4 to the computing device 32 via the communication device 31. Alternatively, the information can be input to the control terminal 3 by an operator and sent from the control terminal 3 to the computing device 32 via the communication device 31.

[0143] As described above, the computing device 32 determines to make the flying mobile body 5 fly in the second mode when receiving information that the flying mobile body 5 is flying indoors, for example. Furthermore, when the computing device 32 receives information that the flying mobile body 5 is flying outdoors, for example, the computing device 32 may determine the mode by comparing the height of the flying mobile body 5 with the threshold as described above. Thus, the flight position of the flying mobile body 5 can be estimated with higher accuracy indoors and at low altitudes where there are many obstacles. As a result, the flying mobile body 5 can be made to fly more safely.

[0144] It should be noted that even when flying in the first mode, the flight position based on the surrounding environment information can be supplementally estimated. Furthermore, even when flying in the first mode, the flight position based on the terrestrial broadcast signal SG can be corrected by the flight position based on the surrounding environment information.

[0145] Likewise, even when flying in the second mode, the flight position may be supplementarily estimated based on the terrestrial broadcast signal SG, and the flight position based on the surrounding environment information may be corrected using the flight position based on the terrestrial broadcast signal SG.

[0146] <Flight position estimation method>

[0147] use Figure 5 The flowchart shown describes a flying position estimation method executed by the flying mobile body 5. The flying position estimation method is executed by, for example, reading a position estimation program P stored in the storage device 33. In the following description, details overlapping with those described above are simplified.

[0148] The communication device 31 receives the flight information ( S11 ).

[0149] The computing device 32 determines whether to fly in the first mode (S12). Whether to fly in the first mode can also be determined by comparing the altitude of the flying mobile body 5 with a threshold value, for example, it can also be determined by information determining the flight location sent from the control terminal 3. In addition, determining in step S12 that it is not to fly in the first mode ("NO") means determining to fly in the second mode.

[0150] When it is determined in step S12 that the aircraft is flying in the first mode (YES), the communication device 31 receives the terrestrial broadcast signal SG transmitted by the broadcast station 2 via the receiver 20 ( S13 ).

[0151] The calculation device 32 performs filtering processing on the terrestrial broadcast signal SG received in step S13 ( S14 ).

[0152] The calculation device 32 performs a demodulation process on the signal subjected to the filtering process in step S14 ( S15 ).

[0153] The calculation device 32 estimates the flight position of the flying moving object 5 based on the signal demodulated in step S15. That is, the calculation device 32 estimates the flight position of the flying moving object 5 based on the terrestrial broadcast signal SG (S16).

[0154] The communication device 31 receives the flight correction information via the receiver 20 ( S17 ).

[0155] The calculation device 32 performs correction processing on the flight position estimated in step S16 using the flight correction information received in step S17 ( S18 ).

[0156] The calculation device 32 causes the flying mobile object 5 to fly based on the flight position corrected in step S18. That is, the calculation device 32 causes the flying mobile object 5 to fly in the first mode (S19).

[0157] When it is determined in step S12 that the aircraft is not flying in the first mode (No), that is, flying in the second mode, the computing device 32 acquires surrounding environment information related to the surrounding environment through the sensor 10 ( S20 ).

[0158] The calculation device 32 estimates the flight position of the flying mobile object 5 based on the surrounding environment information acquired in step S20 ( S21 ).

[0159] The calculation device 32 causes the flying mobile object 5 to fly based on the flight position estimated in step S21. That is, the calculation device 32 causes the flying mobile object 5 to fly in the second mode (S22).

[0160] After step S19 and step S22, the computing device 32 determines whether to continue the flight (S23). If it is determined in step S23 that the flight is to be continued ("Yes"), the computing device 32 returns to step S11. If it is determined in step S23 that the flight is not to be continued ("No"), the computing device 32 ends the position estimation program P.

[0161] Thus, the flying mobile body 5 can estimate its own flight position through the control device 30 of the aircraft and fly based on the estimated flight position. That is, the control device 30 of the aircraft can perform the estimation of the flight position of the flying mobile body 5 and the aircraft and the flight control at the same time.

[0162] It should be noted that Figure 5 The order of each process shown is an example and is not limited to this. Therefore, multiple steps can be executed simultaneously. In addition, in the flying mobile body 5, Figure 5For example, the communication device 31 receives information sent from the information providing device 4 at any time. In addition, the calculation device 32 adds the new information received by the communication device 31 to update the data stored in the storage device 33.

[0163] 〈Variation Example〉

[0164] The frequency band example described in the above embodiment is explained using an example used in Japan. In contrast, the frequency band used may differ from country to country. Therefore, the frequency of the wireless signal used by the flight position estimation system 1 may also differ from country to country. For example, it is also conceivable that the flying mobile body 5 uses a frequency for operating drones and robots, a frequency for TV broadcasting, etc. in various countries.

[0165] The flying mobile object and the flight position estimation method described in all the claims of the present disclosure are implemented by the cooperation of hardware resources such as a processor and a memory and a program.

[0166] <Replenish>

[0167] In addition, the present disclosure can adopt the following configurations.

[0168] (1) The flying mobile object of the present disclosure may include a receiver and a control device,

[0169] The receiver receives a terrestrial broadcast signal transmitted from a broadcast station,

[0170] The control device executes a process of estimating a flight position of the flying mobile object based on the received terrestrial broadcast signal.

[0171] (2) The flying mobile object of (1) may further include a sensor, wherein the sensor includes an image sensor and / or a laser sensor for acquiring surrounding environment information related to the surrounding environment.

[0172] The control device performs the following process:

[0173] Acquiring the surrounding environment information through the sensor; and

[0174] A mode for flying the flying mobile object is determined from a first mode for flying the flying mobile object based on the terrestrial broadcast signal and a second mode for flying the flying mobile object based on the surrounding environment information.

[0175] (3) Alternatively, the control device of the flying mobile body of (2) may perform the following process:

[0176] receiving flight information including information determining an altitude of the flying mobile object; and

[0177] comparing the altitude of the flying mobile object with a threshold value,

[0178] When the altitude is equal to or higher than the threshold, the control device determines to make the flying mobile object fly in the first mode in the process of determining the mode.

[0179] When the altitude is less than the threshold, the control device determines to make the flying mobile object fly in the second mode in the process of determining the mode.

[0180] (4) In the flying mobile object of (3), the threshold value may be set based on the surrounding environment information.

[0181] (5) The flying mobile object of the present disclosure may include a receiver including a plurality of antennas and a control device,

[0182] The flying mobile body includes a sensor including an image sensor and / or a laser sensor for acquiring surrounding environment information related to the surrounding environment.

[0183] The receiver receives a terrestrial broadcast signal in a frequency band of 470 MHz or more and 710 MHz or less transmitted from a broadcast station.

[0184] The control device performs the following process:

[0185] estimating the flight position of the flying mobile object based on the strength of the terrestrial broadcast signal received by each of the antennas and the phase difference of the terrestrial broadcast signal received by each of the antennas;

[0186] Using SLAM control to obtain the surrounding environment information through the sensor;

[0187] receiving flight information including information determining an altitude of the flying mobile body;

[0188] comparing the altitude of the flying mobile object with a threshold; and

[0189] From a first mode in which the flying mobile body is flown based on the terrestrial broadcast signal and a second mode in which the flying mobile body is flown based on the surrounding environment information acquired by the sensor, when the altitude is above the threshold, it is determined that the flying mobile body is flown in the first mode, and when the altitude is below the threshold, it is determined that the flying mobile body is flown in the second mode, wherein:

[0190] Even when the flying mobile object is flown in the first mode, correction processing based on the surrounding environment information can be performed, and even when the flying mobile object is flown in the second mode, correction processing based on the terrestrial broadcast signal can be performed.

[0191] (6) It may be that, in the control device for the flying mobile object of (2) to (5),

[0192] performing a process of receiving flight information, the flight information including information for determining whether the flying mobile object is flying outdoors or indoors,

[0193] When receiving information that determines that the flying mobile object is flying indoors, the control device determines to cause the flying mobile object to fly in the second mode during the process of determining the mode.

[0194] (7) Alternatively, the control device of the flying mobile object of (1) to (6) may execute the following process:

[0195] receiving flight correction information including at least any one of information for determining the acceleration and / or angular velocity of the flying mobile body, geomagnetic information, and information for determining the altitude; and

[0196] A correction process is performed on a flight position based on the received terrestrial broadcast signal based on the flight correction information.

[0197] (8) Alternatively, the control device for the flying mobile object of (1) to (7) may include the following process:

[0198] performing filtering processing on the received terrestrial broadcast signal; and

[0199] Demodulating the signal after the filtering process,

[0200] The control device estimates the flight position based on the demodulated signal.

[0201] (9) Alternatively, the receiver of the flying mobile object of (1) to (8) may further include a plurality of antennas.

[0202] The control device estimates the flight position based on the strength of the terrestrial broadcast signal received by each of the antennas.

[0203] (10) The control device of the flying mobile object of (9) may further estimate the flying position based on a phase difference between the terrestrial broadcast signals received by each of the antennas.

[0204] (11) The flight position estimation method of the present disclosure may be performed by a flying mobile body having a receiver and a control device, wherein:

[0205] The receiver receives a terrestrial broadcast signal transmitted from a broadcast station,

[0206] The flight position estimating method includes a process executed in the control device to estimate the flight position of the flying mobile object based on the received terrestrial broadcast signal.

[0207] (12) The flight position estimation method of the present disclosure may be performed by a flying mobile body having a receiver including a plurality of antennas and a control device, wherein:

[0208] The flying mobile body includes a sensor including an image sensor and / or a laser sensor for acquiring surrounding environment information related to the surrounding environment.

[0209] The receiver receives a terrestrial broadcast signal in a frequency band of 470 MHz or more and 710 MHz or less transmitted from a broadcast station.

[0210] The flight position estimation method includes the following process executed in the control device:

[0211] estimating an estimated flight position of the flying mobile object based on the strength of the terrestrial broadcast signal received by each of the antennas and the phase difference of the terrestrial broadcast signal received by each of the antennas;

[0212] Using SLAM control to obtain the surrounding environment information through the sensor;

[0213] receiving flight information including information determining an altitude of the flying mobile body;

[0214] comparing the altitude of the flying mobile object with a threshold; and

[0215] From among a first mode in which the flying mobile body is flown based on the terrestrial broadcast signal and a second mode in which the flying mobile body is flown based on the surrounding environment information acquired by the sensor, when the altitude is above the threshold, determining to cause the flying mobile body to fly in the first mode, and when the altitude is below the threshold, determining to cause the flying mobile body to fly in the second mode,

[0216] In the flight position estimation method,

[0217] Even when the flying mobile object is flown in the first mode, correction processing based on the surrounding environment information can be performed, and even when the flying mobile object is flown in the second mode, correction processing based on the terrestrial broadcast signal can be performed.

[0218] (13) The computer program of the present disclosure causes a computer to execute the flight position estimation method described in (11) or (12).

[0219] (12) The flight position estimation system of the present disclosure includes a flying mobile body having a receiver and a control device, and a broadcasting station, wherein:

[0220] The receiver receives a terrestrial broadcast signal transmitted from the broadcast station,

[0221] The control device estimates a flight position of the flying mobile object based on the received terrestrial broadcast signal.

[0222] (14) The flight position estimation system disclosed in the present invention is a flight position estimation system for a flying mobile object, comprising a flying mobile object and a broadcasting station, wherein the flying mobile object comprises a receiver including a plurality of antennas and a control device, wherein:

[0223] The flying mobile body includes a sensor including an image sensor and / or a laser sensor for acquiring surrounding environment information related to the surrounding environment.

[0224] The receiver receives a terrestrial broadcast signal in a frequency band of 470 MHz or more and 710 MHz or less transmitted from the broadcast station.

[0225] The control device performs the following process:

[0226] estimating the flight position of the flying mobile object based on the strength of the terrestrial broadcast signal received by each of the antennas and the phase difference of the terrestrial broadcast signal received by each of the antennas;

[0227] Using SLAM control to obtain the surrounding environment information through the sensor;

[0228] receiving flight information including information determining an altitude of the flying mobile body;

[0229] comparing the altitude of the flying mobile object with a threshold; and

[0230] From among a first mode in which the flying mobile body is flown based on the terrestrial broadcast signal and a second mode in which the flying mobile body is flown based on the surrounding environment information acquired by the sensor, when the altitude is above the threshold, determining to cause the flying mobile body to fly in the first mode, and when the altitude is below the threshold, determining to cause the flying mobile body to fly in the second mode,

[0231] In the flight position estimation system,

[0232] Even when the flying mobile object is flown in the first mode, correction processing based on the surrounding environment information can be performed, and even when the flying mobile object is flown in the second mode, correction processing based on the terrestrial broadcast signal can be performed.

[0233] Industrial Applicability

[0234] The flying mobile object, the flight position estimation method, the computer program, and the flight position estimation system disclosed herein are useful, for example, for realizing safe movement of the flying mobile object.

[0235] Description of Reference Numerals

[0236] 1: Flight position estimation system;

[0237] 2: Radio station;

[0238] 3: Control terminal;

[0239] 4: Information providing device;

[0240] 5: flying mobile body;

[0241] 10: Sensor;

[0242] 20: Receiver;

[0243] 22: center antenna;

[0244] 23A: first surrounding antenna;

[0245] 23B: second surrounding antenna;

[0246] 23C: third surrounding antenna;

[0247] 23D: fourth surrounding antenna;

[0248] 30: control device;

[0249] 31: Communication device;

[0250] 32: computing device;

[0251] 33: storage device;

[0252] 40: Main body;

[0253] 50: flight unit;

[0254] N: communication network;

[0255] SG: Terrestrial broadcast signal.

Claims

1. A flying mobile body, comprising a receiver and a control device, wherein: The receiver receives a terrestrial broadcast signal transmitted from a broadcast station, The control device executes a process of estimating a flight position of the flying mobile object based on the received terrestrial broadcast signal.

2. The flying mobile object according to claim 1, wherein: The device further comprises a sensor, wherein the sensor comprises an image sensor and / or a laser sensor for acquiring surrounding environment information related to the surrounding environment. The control device performs the following process: Acquiring the surrounding environment information through the sensor; and A mode for flying the flying mobile object is determined from a first mode for flying the flying mobile object based on the terrestrial broadcast signal and a second mode for flying the flying mobile object based on the surrounding environment information.

3. The flying mobile object according to claim 2, wherein: The control device performs the following process: receiving flight information including information determining an altitude of the flying mobile object; and comparing the altitude of the flying mobile object with a threshold value, When the altitude is equal to or higher than the threshold, the control device determines to make the flying mobile object fly in the first mode during the process of determining the mode, When the altitude is less than the threshold value, the control device determines to make the flying mobile object fly in the second mode in the process of determining the mode.

4. The flying mobile object according to claim 3, wherein: The threshold is set based on the surrounding environment information.

5. The flying mobile object according to claim 2, wherein: For the control device, performing a process of receiving flight information, the flight information including information for determining whether the flying mobile object is flying outdoors or indoors, In a case where information that determines that the flying mobile object is flying indoors is received, it is determined that the flying mobile object is to be flown in the second mode in the process of determining the mode.

6. The flying mobile object according to claim 1, wherein: The control device performs the following process: receiving flight correction information, the flight correction information including at least any one of information for determining the acceleration and / or angular velocity of the flying mobile body, geomagnetic information, and information for determining the altitude; and A correction process is performed on a flight position based on the received terrestrial broadcast signal based on the flight correction information.

7. The flying mobile object according to claim 1, wherein: The control device includes the following process: Performing filtering processing on the received terrestrial broadcast signal; as well as Demodulating the signal after the filtering process, The control device estimates the flight position based on the demodulated signal.

8. The flying mobile object according to claim 1, wherein: The receiver also includes a plurality of antennas, The control device estimates the flight position based on the strength of the terrestrial broadcast signal received by each of the antennas.

9. The flying mobile object according to claim 8, wherein: The control device further estimates the flight position based on a phase difference between the terrestrial broadcast signals received by the respective antennas.

10. A method for estimating a flight position, the method being performed by a flying mobile body having a receiver and a control device, wherein: The receiver receives a terrestrial broadcast signal transmitted from a broadcast station, The flight position estimating method includes a process executed in the control device of estimating an estimated flight position of the flying mobile object based on the received terrestrial broadcast signal.

11. A computer program for executing the flight position estimation method according to claim 10.

12. A flight position estimation system comprising a flying mobile body and a broadcasting station, wherein the flying mobile body comprises a receiver and a control device, wherein: The receiver receives a terrestrial broadcast signal transmitted from the broadcast station, The control device estimates a flight position of the flying mobile object based on the received terrestrial broadcast signal.

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