Communication control device, communication control method, information device, communication method, and computer program

Abstract

To effectively determine a travel path for of a communication device which is movable within a target space.SOLUTION: A communication control device according to the present disclosure is a communication control device which controls a plurality of communication devices movable within a target space, and comprises: a receiving unit that receives request information regarding movement of the communication devices within the target space; and a control unit that determines a travel path of the communication device in the target space on a grid base based on data representing a plurality of grids obtained by dividing the target space and the request information.SELECTED DRAWING: Figure 17

Description

[Technical field]

[0001] The present disclosure relates to a communication control device, a communication control method, an information device, a communication method, and a computer program. [Background technology]

[0002] In recent years, the Federal Communications Commission (FCC) in the United States has allocated the 5030-5091MHz frequency band as a primary allocation for control and non-payload communication (CNPC) for unmanned aircraft systems (UAS). In response to the frequency allocation for UAS CNPC, the Aerospace Industries Association (AIA) has submitted a petition (Non-Patent Document 1) to the FCC regarding the establishment of a law regulating the use of the 5030-5091MHz band.

[0003] The petition advocates the need for dynamic spectrum access (DSA), stating that frequency allocation for CNPC should be dynamically implemented to maximize frequency utilization efficiency. In January 2023, the FCC issued a NPRM (Non-Patent Document 2) in response to the AIA petition, presenting a draft of a legal framework for the use of the 5030-5091 MHz band. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 230671 [Non-patent literature]

[0005] [Non-Patent Document 1] AIA Petition, “Petition of AIA for Rulemaking to Adopt Service Rules for Unmanned Aircraft Systems Command and Control in the 5030-5091 MHz Band,” RM-11798, Feb. 8, 2018. [Non-Patent Document 2] FCC NPRM, WT 22-323, FCC 22-101. Summary of the Invention [Problem to be solved by the invention]

[0006] In UAS communications, it is assumed that each UA communicates while moving in three-dimensional space over time, and interference power is considered to vary depending on four-dimensional parameters: latitude, longitude, altitude, and time. Furthermore, in UAS communications, it is assumed that each UA may change its flight route in real time due to bad weather or a malfunction of the UAS device. To realize UAS communications in such an environment, it is necessary to efficiently determine the flight route of each UA.

[0007] Therefore, the present disclosure provides a communication control device, a communication control method, an information device, a communication method, and a computer program that efficiently determine a movement path of a communication device that can move within a target space. [Means for solving the problem]

[0008] The communication control device of the present disclosure is a communication control device that controls multiple communication devices that can move within a target space, and includes a receiving unit that receives request information regarding the movement of the communication devices within the target space, and a control unit that determines a grid-based movement path of the communication devices in the target space based on data representing multiple grids that divide the target space and the request information. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a system model according to the present disclosure. [Diagram 2] FIG. 1 is a diagram showing a configuration of a frequency management system according to the present disclosure. [Diagram 3] FIG. 1 is a diagram showing a configuration of a traffic management system according to the present disclosure. [Figure 4] A diagram showing an example of the flow of advance application of a flight plan and the flow of flight route adjustment processing during flight operation as a flow up to the start of flight operations related to the present disclosure. [Diagram 5] FIG. 13 is a diagram showing an example of an operation performed when a frequency management system receives a request to obtain an operation plan. [Figure 6] A figure showing an example of linking an operation plan acquisition request ID with an airborne communication device user identifier and recording it in the recording unit 110. [Figure 7] FIG. 6 is a diagram showing an example of the operation following FIG. 5. [Figure 8] A figure showing an example of the operation of a frequency management system when some or all of the flight plan acquisition request information is not stored correctly. [Figure 9] FIG. 13 is a diagram showing an example of a frequency management system transmitting missing information to an airborne communication device user. [Figure 10] FIG. 13 is a diagram showing an example of updating registered information in a frequency management system. [Figure 11] FIG. 11 is a diagram showing an example of processing of the first pattern. [Figure 12] FIG. 11 is a diagram showing an example of processing of the second pattern. [Figure 13] FIG. 13 is a diagram showing an example of updating and recording parameters without readjusting radio parameters and flight routes. [Figure 14] FIG. 11 is a diagram showing an example of an operation for canceling registration information in a frequency management system. [Figure 15] FIG. 13 is a diagram showing an example of processing performed by a frequency management system when the number of available flight routes increases due to the exclusion of a communication device from its flight plan. [Figure 16] FIG. 13 is a diagram showing the flow of an in-flight air route adjustment process of a communication device. [Figure 17] FIG. 13 is a diagram showing an example of exclusively allocating air routes and frequency channels to communication devices. [Figure 18] FIG. 13 is a diagram showing an example of the shortest flight distance when the flight speed of the communication device is 30 km / h. [Figure 19] FIG. 13 is a diagram showing an example of the shortest flight distance when the flight speed of the communication device is 60 km / h. [Figure 20] FIG. 13 is a diagram showing an example of exclusively allocating air routes and frequency channels to two communication devices. [Figure 21] 1A and 1B are diagrams for explaining a method of designing a separation distance to avoid radio wave interference between communication devices. [Figure 22] FIG. 13 shows an example of a spectrum mask for frequency channel f1. [Figure 23] FIG. 13 shows an example of a spectrum mask for frequency channel f2. [Figure 24] An illustration of distance calculation. [Diagram 25] FIG. 13 is a diagram showing an example of allocating a plurality of grids as air routes to a communication device. [Figure 26] FIG. 13 is a diagram showing an example in which a plurality of grids and frequency channels are assigned to a plurality of communication devices, respectively. [Figure 27] FIG. 2 shows the route of the flight plan approved for each of a plurality of communication devices, and illustrates a situation in which the same frequency channel f0 is assigned to both communication devices. [Figure 28] FIG. 27 shows an example of adding routes to a flight plan submitted by another communication device to FIG. 27. [Figure 29] FIG. 11 is a diagram showing some of the times at which the determination according to the above formula is performed for each communication device using black circles. [Diagram 30] FIG. 13 is an explanatory diagram of a decision to allow an air route change during flight. [Diagram 31] FIG. 13 is a diagram for explaining a method of determining an air route change using a separation distance. [Diagram 32] FIG. 13 is a diagram showing a situation in which a communication device fails at a location, causing a forced change to the route shown by the dotted line. [Diagram 33] FIG. 13 is a diagram showing an example in which an air route of a communication device is changed. [Diagram 34] A diagram showing an example of a flight plan to be used sent from multiple frequency management systems. [Diagram 35]FIG. 1 is a block diagram showing a schematic configuration of an information device according to the present disclosure. [Diagram 36] 1 is a block diagram of a schematic configuration of a communication device user as an information device according to the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. In one or more embodiments shown in the present disclosure, the elements included in each embodiment can be combined with each other, and the combined result also forms part of the embodiment shown in the present disclosure.

[0011] <1 System model> FIG. 1 shows a system model according to the present disclosure. Four types of entities are shown: a frequency management system 100 (100A, 100B,...), a traffic management system 200, an airborne communication device 300 which is an aircraft, and an airborne communication device user 400. Airborne communication devices 1-1, 1-2, 2-1, 2-2,...,N are shown as the airborne communication device 300. Airborne communication device users A, B,... are shown as the airborne communication device users 400. The frequency management system 100 is connected to the traffic management system 200 wirelessly or by wire. The communication control device according to the present disclosure corresponds to the traffic management system 200, the frequency management system 100, or a combination of the frequency management system 100 and the traffic management system 200.

[0012] FIG. 1 shows three types of models. In the first model, an architecture is assumed in which an airborne communication device user A transmits and receives information to and from a corresponding frequency management system 100, and the user controls the airborne communication devices 1-1 and 1-2 under his / her jurisdiction. In this case, the same device is used to transmit and receive information to and from the frequency management system 100 and control the airborne communication devices 1-1 and 1-2. In the second model, an airborne communication device user B uses a certain device to transmit and receive information to and from the corresponding frequency management system 100. After that, the user B uses another device to control the airborne communication devices 2-1 and 2-2. In the third model, it is assumed that the airborne communication device N transmits and receives information directly to and from the traffic management system 200, and flies autonomously. In this way, the airborne communication device can also transmit and receive information to and from the traffic management system 200 without going through the airborne communication device user.

[0013] In this disclosure, one airborne communication device user corresponds to each frequency management system, but multiple airborne communication device users may correspond to one frequency management system.

[0014] In this disclosure, the communication device and the communication device user are assumed to be flying communication devices and flying communication device users, but the application examples of the present invention are not limited to this. Specifically, the flying communication device and the flying communication device user may be read as mobile communication devices and mobile communication device users, respectively. The flying communication device and the flying communication device user may be read as mobile communication devices and mobile communication device users, respectively. The mobile communication device may be capable of moving in three-dimensional directions, or may be capable of moving only in two-dimensional directions. Here, the mobile communication device may be a flying communication device such as a UAS, a communication device that moves underground or underwater, or a communication device whose installation location is expected to move.

[0015] In addition, the term "operation" in this specification and drawings may be read as the terms "operation" and "movement." For example, an operation plan may be read as a movement plan.

[0016] Although three types of models are shown in the example of FIG. 1, two of these may be implemented in combination, or only one of them may be implemented. Also, a model other than the above three types of models may be used. For example, the traffic management system 200 may be implemented as one entity, or may be implemented separately as multiple entities. A set of the frequency management system 100 and the traffic management system 200 may be implemented as one entity.

[0017] In addition, although this disclosure assumes frequency allocation for CNPC, frequency allocation for payload communication is also possible. The airborne communication device may be configured as a base station to transmit and receive signals and messages to and from one or more terminal devices (not shown).

[0018] In this case, the signal or message may include, for example, the following information: ·PRACH transmission resource of target cell ·PRACH transmission preamble sequence of target cell · Target cell ID ·Target cell's uplink / downlink carrier frequency Target cell bandwidth - Unique terminal ID after handover (C-RNTI) Radio Resource Configuration after Handover · Conditions for updating the handover information set Trigger information for performing handover -Target cell timing advance information ·SSB index of target cell Information about transmission weights Information about 2-STEP early access The information regarding the trigger for performing handover to the target cell may include, for example, the following information: ·RSRP information of target cell candidates ·RSRQ information of target cell candidates ·RSSI information of target cell candidates ·Timer information regarding handover of target cell candidates Information on the start time of handover execution for target cell candidates Information on the operation after the timer for handover execution of the target cell candidate expires · Behavior when receiving a synchronization signal from a cell other than the target cell candidate The information regarding the detachment from the source cell may include, for example, the following information: Source cell RSRP information Source cell's RSRQ information Source cell RSSI information Information about the timer that performs the detachment from the source cell Information about the time to detach from the source cell Information about the execution of the detachment from the source cell -RSRP threshold information for non-terrestrial communication cells -RSRQ threshold information for non-terrestrial communication cells -RSSI threshold information for non-terrestrial communication cells Information about the timer that performs the movement from inside the non-terrestrial communication cell to outside the non-terrestrial communication cell Information regarding the time of moving from within a non-terrestrial communication cell to outside the non-terrestrial communication cell Information regarding the execution of a transfer from within a non-terrestrial communication cell to outside the non-terrestrial communication cell

[0019] An airborne communication device is a device that performs wireless communication while flying. A typical example is a UAS. An airborne communication device flies based on radio parameters (e.g., frequency channel, maximum allowable transmission power) and an operation plan approved by the frequency management system 100. Hereinafter, for the sake of simplicity, unless otherwise specified, the term "communication device" refers to an airborne communication device, and the term "communication device user" refers to an airborne communication device user. In addition, hereinafter, an operation plan generated by the frequency management system 100 is referred to as an "adjusted operation plan."

[0020] A communication device user is generally a business operator or a user who operates a communication device that has been authenticated. The user may be a controller or a control device that simply operates the communication device, in addition to the business operator or user. The communication device user may, for example, play the following roles: Transmit the operation plan of the communication device to the frequency management system 100 before starting the operation. Note that multiple operation plans may be applied for at the same time. Based on the radio parameters and adjusted flight plan approved by the frequency management system 100, the radio parameters and flight route are set for its own communication equipment, and the aircraft operates. If permission is not granted for a flight plan that has already been submitted, the flight plan information may be changed and a new flight application may be submitted.

[0021] 2 shows a configuration of a frequency management system 100 according to the present disclosure. The frequency management system 100 is an entity that allocates radio parameters (frequency channels, etc.) to communication devices 300 and adjusts flight plans.

[0022] First communication unit 131 is a functional block that receives information from communication device user 400 and transmits information to communication device user 400. Details of this functional block will be described later.

[0023] The second communication unit 132 is a functional block that receives information from the traffic management system 200 and transmits information to the traffic management system 200. The details of this functional block will be described later.

[0024] The third communication unit 133 is a functional block that receives and transmits information from entities other than those mentioned above (for example, the Federal Aviation Administration (FAA)). When transmitting and receiving information to and from the FAA, this functional block transmits and receives no-fly area information stipulated by the FAA.

[0025] The control unit 120 is a functional block that adjusts the radio parameters and flight plans of the communication device 300 using the information recorded or stored in the recording unit 110. The details of this functional block will be described later.

[0026] The recording unit 110 is a functional block that records or stores information obtained in advance for processing by the control unit 120, information obtained from the communication device user 400, information obtained from the traffic control system 200, information obtained from other entities such as the FAA, and information generated by the control unit 120.

[0027] A communication control device according to the present disclosure may include all or some of the above-mentioned components 110, 120, and 131 to 133 included in the frequency management system 100 in Fig. 2. In this case, the functions of the components may be realized by causing a computer to execute a program.

[0028] 3 shows the configuration of the traffic management system 200 according to the present disclosure. The traffic management system 200 is an entity that manages the adjusted traffic plans generated by multiple frequency management systems 100. The traffic management system 200 has a function of performing approval processing of the adjusted traffic plans transmitted from multiple frequency management systems 100. When only one frequency management system 100 exists, the traffic management system 200 may be omitted.

[0029] The recording unit 210 is a functional block that records or stores various information from the frequency management system 100 .

[0030] The control unit 220 is a functional block that performs approval processing of the adjusted flight plans received from each frequency management system 100, using the information recorded or stored in the recording unit 210. Details of this functional block will be described later.

[0031] The communication unit 230 is a functional block that receives information from the frequency management system 100 and transmits information to the frequency management system 100 .

[0032] The communication control device according to the present disclosure may include all or a part of the above-mentioned components 210, 220, and 230 included in the traffic management system 200 in Fig. 3. In this case, the functions of each component may be realized by causing a computer to execute a program.

[0033] <2. Flow of advance application of flight plan and air route adjustment during flight> 4 shows an example of a flow of a pre-application of a flight plan and an air route adjustment process during flight as a flow up to the start of flight operation according to the present disclosure. Each communication device user 400 operates the communication device 300 based on the procedure shown in FIG. First, the procedure for transmitting an operation plan acquisition request and transmitting an adjusted operation plan will be described, followed by an explanation of updating and canceling registered information in the frequency management system 100. Finally, the flow of air route adjustment processing during operation will be described.

[0034] (2.1 Flight plan acquisition request and adjusted flight plan transmission process) First, when one or more communication devices 300 are to be operated for the first time, the communication device user 400 who operates the communication device 300 transmits an operation plan acquisition request for the communication device 300 to the frequency management system 100 before starting operation (S11). Here, it is desirable that the operation plan acquisition request contains at least the following parameter information (hereinafter, operation approval required information) for each communication device 300. The operation approval required information for the communication device 300 corresponds to request information regarding the movement of the communication device 300. Flight plan acquisition request ID Flight plan request application date and time (UNIX time, UTC time, etc.) Airborne Communication Device User Identifier Airborne Communication Device Identifier -Device serial number -Device authentication number (an identifier that indicates device authentication such as FCC ID) Desired flight schedule information -Route information ---Complete route information (latitude, longitude, altitude, etc. of each point along the route) ---Departure and arrival point information (latitude, longitude, altitude, etc.) ---Desired license area information (latitude, longitude, altitude, etc.) ---Desired passing point information (latitude, longitude, altitude, etc.) - Designated operating time information ---Flight start time (UNIX time, UTC time, etc.) ---End time of flight (UNIX time, UTC time, etc.) -Operation time requirement information ---Minimum flight start time (UNIX time, UTC time, etc.) ---Minimum flight end time (UNIX time, UTC time, etc.) -Desired radio parameters ---Frequency channel (center frequency + channel bandwidth, combination of lower and upper frequency limits, predefined channel identifier, etc.) ---Transmission power (EIRP (Equivalent Isotropic Radiation Power) etc.) -Flying communication device function information -Flight speed (normal speed, maximum speed, minimum speed, etc.) -Operating frequency range -Maximum transmission power (EIRP etc.) -Antenna information (antenna gain, antenna type, etc.) -Noise power -Interference protection standard information (SIR, SINR, INR, etc.) -Flight fluctuation (average, maximum, minimum, standard deviation, etc.)

[0035] Regarding the flight plan acquisition request identification ID, the communication device user 400 assigns a unique value to each flight plan acquisition request.

[0036] The flight schedule acquisition request application date and time represents the date and time when the communication device user 400 applied for the flight schedule. In this disclosure, as described in Chapter 3, in order to adjust the radio parameters and flight schedules of each communication device based on the first-come, first-served principle, the frequency management system 100 refers to the flight schedule acquisition request application date and time during the processing. In addition, if many communication device users 400 apply for flight schedules in a short period of time, access may be concentrated on the flight schedule system 200 and the frequency management system 100, which may cause some kind of network trouble. Due to this event, for example, during the period when the server of the flight schedule management system is not functioning, the frequency management system 100 may not be able to normally receive the flight schedule acquisition request. As a result, the frequency channel allocation process and the approval process of the flight schedule cannot be performed in the order of the earliest flight schedule acquisition request application date and time, and as a result, unfairness occurs in the approval process order. Therefore, for example, the frequency management system 100 may set a certain period for receiving flight schedule acquisition requests and process the received flight schedule acquisition request application date and time in the order of the earliest date and time. It may also be configured to process the flight schedule acquisition requests in the order of the earliest date and time of reception.

[0037] The airborne communication device user identifier and the airborne communication device identifier are identifiers (communication device user identifier, communication device identifier) ​​for uniquely identifying each communication device user and each communication device, respectively, and a unique value is assigned to each communication device user and each communication device. Examples of airborne communication device identifiers include a device serial number and a device authentication number (an identifier indicating device authentication such as FCC ID).

[0038] The desired flight plan information is a flight plan desired by the communication device, and is important information for obtaining flight approval. The desired flight plan information includes at least one of route information, designated flight time information, flight time requirement information, and desired radio parameters.

[0039] The route information is flight route information desired by the communication device. In addition to the departure and arrival point information, the flight route at each time may be specified by latitude, longitude, and altitude to form complete route information. In this case, there are at least two types of route information: complete route information and departure and arrival point information, and the communication device user 400 needs to include at least one of these pieces of information in the desired flight plan information. Both pieces of information may be specified. The complete route information indicates the latitude, longitude, altitude, etc. of each point on the flight route of the communication device 300, and means that the flight route is completely specified. On the other hand, the departure and arrival point information indicates only the departure point and arrival point information (e.g., latitude, longitude, altitude, etc.) of the communication device. The route information may also include desired license area information, which indicates that the communication device 300 can exclusively use a frequency or frequency channel at any point within the area indicated by the desired license area information. The communication device user may include the information in the flight approval required information if necessary. In addition, the route information may include desired passing point information, and the desired passing point information indicates information on points that the communication device 300 wishes to fly through on the route between the departure and arrival points. The frequency management system 100 may utilize the information when adjusting the flight route. In other words, while the above-mentioned departure and arrival point information includes information indicating the desired starting point and ending point of the flight, the desired additional point information may include information on points or areas that are desired to be included in the flight route other than the desired starting point and ending point of the flight.

[0040] The designated flight time information indicates the time when the communication device operates, and includes at least two items: a flight start time and a flight end time. The flight start time indicates the time when the communication device starts operating, and the flight end time indicates the time when the communication device ends operating.

[0041] The flight operation time requirement information is requirement information regarding the flight time of the communication device, and is composed of at least a minimum flight start time and a minimum flight end time. The minimum flight start time means that the communication device must start flight operation at the latest from that time. On the other hand, the minimum flight end time means that the communication device must end flight operation by that time at the latest. The communication device user 400 must specify either the designated flight time information or the flight operation time requirement information. Note that both pieces of information may be specified.

[0042] The airborne communication device function information is various information related to the communication device, and the frequency management system uses this information as necessary to adjust radio parameters and flight plans.

[0043] The deviation width during flight represents information on the degree to which the communication device deviates (due to wind, weather, etc.) from the flight path during flight. For example, the deviation width includes the distance of deviation in at least one of the directions perpendicular to the movement direction (left-right direction) and the directions perpendicular to the horizontal plane (up-down direction) in the horizontal plane of the movement direction of the communication device. Alternatively, the deviation width may include the distance of deviation in a direction parallel to the movement direction (front-back direction) in the horizontal plane of the movement direction of the communication device. The deviation width information is, for example, a statistical value such as an average value, a maximum value, a minimum value, a standard deviation, etc. Alternatively, the deviation width information may be a probability distribution showing the probability of each deviation distance for each direction. The deviation width information is utilized for air route adjustment, which will be described later.

[0044] FIG. 5 shows an example of an operation performed when the frequency management system 100 receives a flight plan acquisition request. First, when a flight plan acquisition request is received from a communication device user 400 by the first communication unit 131 ((1) in the figure), the frequency management system 100 acquires flight approval required information from the flight plan acquisition request. Next, the frequency management system 100 extracts the airborne communication device user identifier and the airborne communication device identifier from the flight approval required information, and checks whether these identifiers are recorded in the recording unit 110 ((2) in the figure).

[0045] If each identifier is not recorded in the recording unit 110, it means that an operation plan acquisition request is being transmitted for the first time for the communication device user 400 and the communication device 300 corresponding to each identifier. In this case, the frequency management system 100 records the operation plan acquisition request ID in the recording unit 110 in association with the airborne communication device user identifier, as shown in FIG.

[0046] FIG. 6 shows an example in which an operation plan acquisition request ID is associated with an airborne communication device user identifier and recorded in the recording unit 110. By referring to this ID, the frequency management system 100 can identify the operation plan acquisition request. Note that even when multiple operation plan acquisition requests are submitted at the same time from a communication device user 400, the frequency management system 100 associates the airborne communication device user identifier with a different operation plan acquisition request ID and records it in the recording unit 110. By referring to this ID, the frequency management system can identify each operation plan acquisition request.

[0047] Fig. 7 shows an example of the operation following Fig. 5. If the flight operation approval necessary information is stored correctly (e.g., in the correct format) in the transmitted flight operation plan acquisition request, the frequency management system 100 registers the flight operation approval necessary information in the recording unit 110 ((3) in the figure). The frequency management system 100 requests the flight operation management system 200 to transmit an existing adjusted flight operation plan by another frequency management system 100 ((4) in the figure, S12 in Fig. 4), and the flight operation management system 200 transmits the existing adjusted flight operation plan to the frequency management system 100 ((5) in the figure, S13 in Fig. 4). It is assumed that the existing adjusted flight operation plan includes at least the following information. Flight plan acquisition request ID Flight plan request application date and time (UNIX time, UTC time, etc.) Airborne Communication Device User Identifier Airborne Communication Device Identifier -Device serial number -Device authentication number (an identifier that indicates device authentication such as FCC ID) Flight plan information - Flight route information (latitude, longitude, altitude, etc.) - Designated operating time information ---Flight start time (UNIX time, UTC time, etc.) ---End time of flight (UNIX time, UTC time, etc.) -Operation time requirement information ---Minimum flight start time (UNIX time, UTC time, etc.) ---Minimum flight end time (UNIX time, UTC time, etc.) -Radio parameters ---Frequency channel (center frequency + channel bandwidth, combination of lower and upper frequency limits, predefined channel identifier, etc.) ---Transmission power (EIRP etc.) -Flying communication device function information -Flight speed (normal speed, maximum speed, minimum speed, etc.) -Operating frequency range -Maximum transmission power (EIRP etc.) -Antenna information (antenna gain, antenna type, etc.) -Noise power -Interference protection standard information (SIR, SINR, INR, etc.) -Flight fluctuation (average, maximum, minimum, standard deviation, etc.)

[0048] The flight route information may be complete route information that specifies the flight route at each time by latitude, longitude, and altitude.

[0049] Based on the acquired other existing adjusted flight plans, the frequency management system 100 determines the radio parameters of the communication device 300 and adjusts the flight plan (adjusts radio parameters and assigns flight routes) in the control unit 120, taking into consideration power interference calculation, collision avoidance, and the like (details will be described later) ((6) in the figure, S14 in FIG. 4). The frequency management system 100 transmits the adjusted flight plan (adjusted flight plan proposal) of the communication device 300 to the communication device user 400 via the second communication unit 132 (S15). The communication device user 400 determines a flight plan to be used based on the adjusted flight plan proposal (S16), and transmits the determined flight plan to be used to the frequency management system 100 (S16). For example, the communication device user 400 determines the adjusted flight plan proposal as the flight plan to be used as is. The frequency management system 100 transmits the flight plan to be used to the traffic management system 200 ((7) in the figure, S18).

[0050] The coordinated flight plan to be used shall contain at least the following information: Flight plan acquisition request ID Flight plan request application date and time (UNIX time, UTC time, etc.) Airborne Communication Device User Identifier Airborne Communication Device Identifier -Device serial number -Device authentication number (an identifier that indicates device authentication such as FCC ID) Flight plan information - Flight route information (latitude, longitude, altitude, etc.) - Designated operating time information ---Flight start time (UNIX time, UTC time, etc.) ---End time of flight (UNIX time, UTC time, etc.) -Operation time requirement information ---Minimum flight start time (UNIX time, UTC time, etc.) ---Minimum flight end time (UNIX time, UTC time, etc.) - Radio parameters used ---Frequency channel (center frequency + channel bandwidth, combination of lower and upper frequency limits, predefined channel identifier, etc.) ---Transmission power (EIRP etc.) -Flying communication device function information -Flight speed (normal speed, maximum speed, minimum speed, etc.) -Operating frequency range -Maximum transmission power (EIRP etc.) -Antenna information (antenna gain, antenna type, etc.) -Noise power -Interference protection standard information (SIR, SINR, INR, etc.) -Flight fluctuation (average, maximum, minimum, standard deviation, etc.)

[0051] The traffic management system 200 receives the flight plan to be used at the communication unit 230, and registers or stores the flight plan to be used in the recording unit 210 as an existing adjusted flight plan.

[0052] On the other hand, when some or all of the flight schedule acquisition request information is not stored correctly (for example, in the correct format), as shown in Fig. 8, the frequency management system 100 does not register the flight schedule approval required information in the recording unit 110, and transmits the flight schedule acquisition request failure status code, the flight schedule user identifier, the flight schedule communication device identifier, the missing information, and the flight schedule acquisition request failure status code to the communication device user 400 via the first communication unit 131. Fig. 8 shows an example of the operation of the frequency management system 100 when some or all of the flight schedule acquisition request information is not stored correctly. The missing information indicates the information that is not stored correctly among the above flight schedule approval required information and the normal format of the information.

[0053] 9 shows an example in which the frequency management system 100 transmits missing information to the communication device user 400. When time information is included in the route information received from the communication device user 400, the frequency management system 100 transmits the normal format of the route information to the communication device user 400 as missing information.

[0054] In addition, the status code of the failure of the flight plan acquisition request is assigned a unique value according to the error content of the various information. For example, if the desired flight route information itself is not included, 404 or the like may be returned as the status code. After receiving the status code of the failure of the flight plan acquisition request, the communication device user may correct the flight plan information or the information required for flight approval and resubmit the request.

[0055] (2.2 Updating and Deleting Registration Information in the Frequency Management System 100) Next, updating of registered information in the frequency management system 100 will be described. Fig. 10 shows an example of updating of registered information in the frequency management system 100. When a communication device user 400 wishes to request an update of a parameter registered in the frequency management system 100, the communication device user 400 makes an application for updating the information to the frequency management system 100 ((1) in the figure). The frequency management system 100 changes the parameter and records the updated parameter in the recording unit 110 ((2) in the figure).

[0056] At this time, if the changed parameters are related to the operation permission of the communication device, the frequency management system 100 needs to adjust the radio parameters and perform operation route allocation processing again after updating the parameters. If the update is not acceptable after the reprocessing, the above parameter change may be canceled and the update application may be rejected.

[0057] Here, assuming that the communication device user 400 applies for updating of the registration information before and during flight, in this disclosure, the frequency management system 100 performs processing in one of the two patterns shown below, for example.

[0058] FIG. 11 shows an example of the first pattern of processing. For a communication device user who has applied for updating the registered information, the right to use the frequency channel of the communication device user is temporarily cancelled, and the communication device user is notified to make a flight plan acquisition request again ((3) in the figure). After that, the communication device user corrects the flight approval necessary information, and transmits a flight plan acquisition request including the information to the frequency management system 100 ((4) in the figure). The frequency management system 100 receives the flight approval necessary information included in the retransmitted flight plan acquisition request at the first communication unit 131, and adjusts the radio parameters and assigns the flight route again using the flight approval necessary information ((5) in the figure). At this time, the communication device user 400 may land the communication device 300 on the ground during flight. Note that even if the communication device is difficult to operate due to external factors such as the approach of an emergency vehicle or bad weather, the communication device user 400 may land the communication device 300 on the ground and retransmit the flight plan acquisition request to the traffic management system. Alternatively, the communication device user 400 may notify the frequency management system 100 of failure information of the communication device 300, and the frequency management system 100 may change the flight route of the communication device 300 flying in the vicinity using the method described in Chapter 3.

[0059] Fig. 12 shows an example of the second pattern of processing. For a communication device user 400 who has applied to update the registration information, the wireless parameters are adjusted again and a flight route is assigned without canceling the right to use the frequency channel of the communication device user. This processing is a method of adjusting the wireless parameters and flight routes of communication devices flying in the vicinity in real time without stopping the operation of the communication device.

[0060] The above-mentioned first pattern of processing (FIG. 11) is a safer processing because it temporarily stops the operation of the communication device 300. Therefore, when the communication device 300 is in a pre-flight or in-flight state, it is preferable for the frequency management system 100 to perform the processing of FIG. 11. On the other hand, the second pattern of processing (FIG. 12) does not stop the operation of the communication device 300, and assigns a flight route based on the readjustment of the radio parameters. If such processing is performed on the communication device 300 in flight, there is a risk of interference with the preceding communication device 300 in flight. Therefore, the second pattern of processing (FIG. 12) may be applied only to the communication device 300 in pre-flight.

[0061] In addition, the parameters related to the flight permission of the communication device include at least the desired flight plan information in the flight plan acquisition request and the flight type communication device function information. Therefore, when at least one of the parameters of this information is changed, the frequency management system 100 adjusts the radio parameters again based on the above processing and assigns the flight route.

[0062] In addition, when parameters other than the desired flight plan information and the flight-type communication device function information are related to the flight permission, the frequency management system 100 naturally adjusts the radio parameters and flight route again after updating the parameters. On the other hand, when the communication device user applies to update parameters other than the desired flight plan information and the flight-type communication device function information and the parameters are not related to the flight permission, the frequency management system 100 does not readjust the radio parameters and flight route, but only performs the update process of the parameters.

[0063] FIG. 13 shows an example of updating and recording parameters without readjusting the radio parameters and flight route.

[0064] Next, the cancellation of registration information in the frequency management system 100 will be described.

[0065] Fig. 14 shows an example of the operation of canceling the registration information in the frequency management system 100. A communication device user has already sent a flight plan acquisition request and is flying according to a flight plan approved by the frequency management system 100 or the traffic management system 200. In this situation, if the communication device user wants to cancel the flight for some reason (e.g., a no-fly recommendation from the FAA), as shown in Fig. 14, the communication device user 400 (user A in the example shown in the figure) applies for canceling the registration information of the communication device 300 to the frequency management system 100 ((1) in the figure).

[0066] After the cancellation request is received by the first communication unit 131, the control unit 120 of the frequency management system 100 excludes the operation plan of the communication device 300 that has requested cancellation of the registration information from the adjusted operation plan managed by the system 100, and updates the proposed operation plan managed by the system (2 in the figure).

[0067] Here, by excluding the flight plan of the communication device 300, the number of available flight routes increases.

[0068] Fig. 15 shows an example of processing performed by the frequency management system 100 when the number of available flight routes increases due to the removal of the flight plan of the communication device 300. The frequency management system 100 extracts information on the communication device user (user B in the example shown in the figure) with the earliest flight plan acquisition request date and time among the communication device users who operate communication devices that have been determined to be inoperable and have not yet been approved for operation ((3) in the figure). After that, taking into account the flight approval necessary information of the communication device user 400, the control unit 120 adjusts the radio parameters again and assigns the flight route ((4) in the figure). After that, this processing is repeated until there are no more available flight routes. After that, the frequency management system 100 transmits the flight route reallocation result to the communication device user 400 ((5) in the figure).

[0069] (2.3 Flow of Air Route Adjustment Processing During Flight) FIG. 16 shows the flow of the communication device 300's in-flight air route adjustment process. When the air route (movement path) of the communication device 300 in flight is to be changed in real time, the communication device user 400 transmits an air route change request to the frequency management system 100 (S21). The air route change request corresponds to a request to change the movement path of the communication device 300. In this case, the reroute request must include at least one of the following pieces of information: Flight plan acquisition request ID Flight plan request application date and time (UNIX time, UTC time, etc.) Airborne Communication Device User Identifier Airborne Communication Device Identifier -Device serial number -Device authentication number (an identifier that indicates device authentication such as FCC ID) Flight plan information -Air route change request information (latitude, longitude, altitude, etc.) - Designated operating time information ---Flight start time (UNIX time, UTC time, etc.) ---End time of flight (UNIX time, UTC time, etc.) - Radio parameters used ---Frequency channel (center frequency + channel bandwidth, combination of lower and upper frequency limits, predefined channel identifier, etc.) ---Transmission power (EIRP etc.) -Flying communication device function information -Flight speed (normal speed, maximum speed, minimum speed, etc.) -Operating frequency range -Maximum transmission power (EIRP etc.) -Antenna information (antenna gain, antenna type, etc.) -Noise power -Interference protection standard information (SIR, SINR, INR, etc.) -Flight fluctuation (average, maximum, minimum, standard deviation, etc.)

[0070] The frequency management system 100 records the received air route change request in the recording unit 110, and uses the air route change request to determine whether or not to permit the air route change of the communication device 300 in the control unit 120 (S22). After that, an approval result indicating whether or not the air route change is permitted is transmitted to the communication device user 400 (S23), and the user determines whether or not to permit the air route change of the communication device 300 based on the received approval result. The method of determining whether or not to permit the air route change will be described in Section 3.2.2.

[0071] Here, when changing the air route in real time, the communication device user 400 needs to grasp the flight position of the communication device 300 and the surrounding air route information in real time. Therefore, the communication device user 400 grasps the flight position of its own communication device 300 using, for example, GNSS, GPS, or other position information estimation methods. In addition, for example, the traffic control system 200 manages the air route information, and the communication device user 400 acquires the air route information before starting the flight. Alternatively, the communication device user 400 may acquire the air route information from another entity that manages the air route information.

[0072] When multiple communication device users 400 transmit air route change requests, the frequency management system 100 performs the air route change permission decision in principle in the order of the earliest flight plan acquisition request date and time. When a communication device 300 breaks down and the drive system or the like becomes uncontrollable, the flight routes of other communication devices 300 in flight must be changed to avoid collision and radio wave interference with the uncontrollable communication device 300, regardless of the flight plan acquisition request date and time (details will be described later).

[0073] <3 Processing in the control section of the frequency management system> Next, a description will be given of the processing in the control unit 120 of the frequency management system 100. The frequency management system 100 adjusts the radio parameters (such as frequency channel and maximum allowable transmission power) of the communication device 300 and assigns flight routes based on the first-come, first-served principle.

[0074] (3.1 Basic form of this disclosure) In this section, a method of allocating air routes and frequency channels to a communication device (airborne communication device) is described. As a premise, data (grid data) representing multiple grids obtained by dividing a three-dimensional space as a target space in which the communication device moves is prepared, and air routes are allocated using the grid data. The grid data defines a space consisting of multiple grids obtained by dividing the target space. An air route (movement route) for the communication device is determined by determining multiple grids that can be passed from a grid related to a departure point to a grid related to a destination point. First, assuming that the communication device moves along the edges (lines) of the grid, a method of allocating air routes as a set of edges using the edges (lines) of the grid so as to avoid physical collisions and radio wave interference between the communication devices is described. Next, assuming that the communication device can freely move in the space within the assigned grid, a method of allocating air routes as a set of grids so as to avoid physical collisions and radio wave interference between the communication devices is described. After that, a method of allocating air routes based on accumulated interference power is described in detail, and finally, a method of determining whether or not to permit an air route change when a need or request arises for a communication device to change an air route during flight is described.

[0075] (3.1.1 Exclusive Allocation of Air Routes and Frequency Channels (Straight Line Basis)) The frequency management system 100 exclusively assigns direct airspace and frequency channels to communication devices.

[0076] FIG. 17 shows an example of exclusively allocating an air route and a frequency channel f0 to the communication device 300A. Here, when allocating an air route and a frequency channel, a three-dimensional space that is a target space is divided into a rectangular parallelepiped grid with one side x [m] (for example, 10 [m] or 20 [m]), and an air route along the lines of the grid is allocated to the communication device 300A. More specifically, an air route along the sides (lines) of the grid is allocated from the first side (line) of the grid related to the departure point to the second side (line) of the grid related to the arrival point. The size of the grid may be larger than the size of the communication device. As an example, the length of the sides of the length, width, and height of the rectangular parallelepiped are all longer than the width, length, and height of the communication device 300. That is, in this case, the grid has a size that can completely contain the communication device 300 regardless of the orientation of the communication device 300. In this embodiment, it is assumed that the size of the grid is larger than the size of the communication device, but this is not limited to this. For example, at least one of the lengths of the sides of the rectangular parallelepiped, namely, the length, width, and height, may be shorter than any one of the width, length, and height of the communication device 300 .

[0077] The communication device 300A is assumed to be able to exclusively use the frequency channel f0 on the assigned air route. In the example of FIG. 17, A From destination point E A Air route to A is linear, but it does not have to be linear as long as it follows the lines of the grid, and the direction may change along the way (see Figs. 18 and 19 described later). When using this method, the attitude control accuracy of the communication device meets a certain standard, and the shaking of the aircraft due to wind, air currents, etc. is small. Also, while the grid is represented as a cube in Fig. 17, it may be defined as a rectangular parallelepiped or a sphere. Furthermore, the grid shape may be designed taking into account the spherical surface of the earth. In this disclosure, the target space is a three-dimensional space, but the present invention can also be implemented in the case of a two-dimensional space.

[0078] The frequency management system 100 may set in advance the shortest distance that a communication device should fly in a straight line (hereinafter, shortest flight distance) according to the flight speed of the communication device. FIG. 18 shows an example of the shortest flight distance when the flight speed of the communication device is 30 km per hour. FIG. 19 shows an example of the shortest flight distance when the flight speed of the communication device is 60 km / h. When the flight speed is slow, the flight distance per unit time is short, so the minimum flight distance may be set to be short. Therefore, for example, when flying at 30 km / h, the communication device may be set to need to fly a straight line of at least 10 m. On the other hand, when flying at 60 km / h, the communication device may be set to need to fly a straight line of at least 20 m.

[0079] In the examples of Figures 17 to 19, the departure point and the arrival start point are along the grid lines, but if the departure point and the arrival start point are not along the grid lines, the air route from the departure point to the first grid line and the air route from the last grid line to the arrival point may be planned without using the grid lines. In this case, the first grid line may be the grid line closest to the departure point, may be selected from the grid sides including the departure point, or may be determined by other methods. Similarly, the last grid line may be the grid line closest to the arrival point, may be selected from the grid lines including the arrival point, or may be determined by other methods.

[0080] (3.1.2 Airway Separation Design Method) Next, a case where multiple communication devices apply for operation will be described. In this case, the frequency management system 100 must assign air routes and frequency channels to each communication device, taking into account physical collisions and radio wave interference between the communication devices.

[0081] First, a method for avoiding physical collisions will be described. In order to avoid physical collisions, the frequency management system 100 determines a distance d f Design the air route for the communication device with the separation distance d [m]. f [m] corresponds to the first separation distance to avoid physical collision.

number

[0082] FIG. 20 shows an example of exclusively allocating air routes and frequency channels to communication devices 300A and 300B. Assume that communication devices 300A and 300B have applied to use frequency channels f0 and f2, respectively. Here, for example, assume that the deviation width of each communication device during flight is a maximum of 4 [m]. In this case, since Δ1+Δ2=8, for example, by allocating an air route to each communication device with a separation distance of 10 [m], physical collision between the communication devices can be avoided even when the two communication devices are closest to each other. In FIG. 20, communication device 300A is assigned a departure point S A From destination point E A Air route to A is assigned to the communication device 300B, and the starting point S B From destination point E B Air route to B will be assigned, and air R A and Air R B is set to be 10 [m] apart. Naturally, if the shaking width of the communication device is larger, the separation distance is set to a larger value such as 20 [m]. Note that the separation distance may be designed not only as a constant multiple such as 10 [m] or 20 [m] (a multiple of 10 in this example), but also as a non-constant multiple such as 11 [m] or 11.1 [m]. Also, the total shaking width Δ1+Δ2 may be designed and the separation distance may be determined taking into account the flight speed and wind speed of the communication device.

[0083] Next, a method for avoiding radio interference between communication devices will be described. The frequency management system 100, for example, uses a specified value of a spectrum mask to design a separation distance so that adjacent leakage power is equal to or less than a permissible value γ [dBm].

[0084] Fig. 21 is a diagram for explaining a method for designing a separation distance to avoid radio wave interference between communication devices. As shown in Fig. 21, it is assumed that communication devices 300A and 300B have requested to use frequency channels f1 and f2, respectively. Here, it is assumed that frequency channels f1 and f2 are adjacent to each other. FIG. 22 shows an example of a spectrum mask for frequency channel f1. FIG. 23 shows an example of a spectrum mask for frequency channel f2.

[0085] At this time, the frequency management system 100 calculates a three-dimensional distance that satisfies the following formula [Mathematical Expression 2] at the position of each communication device at time t. The upper formula represents the amount of interference that communication device 300A causes to communication device 300B, and the lower formula represents the amount of interference that communication device 300B causes to communication device 300A.

number

[0086] JPEG2025069734000004.jpg39170

[0087] Furthermore, G1(f) and G2(f) are the power spectral densities in channels f1 and f2, respectively, and are calculated from the following equations, where f [Hz] represents frequency.

number

[0088] FIG. 24 is an image diagram of the distance calculation. In the figure, the black circle (starting point S A ,S B , arrival point E A ,E Band multiple points between these departure and arrival points) represent the positions of communication devices 300A, 300B at each time. In this example, it is assumed that each communication device departs at the same time and at the same speed. The frequency management system 100 calculates a three-dimensional distance that satisfies the above formula [Math. 3] at each time. At this time, the deviation width of communication devices 300A, 300B may be taken into consideration, and the three-dimensional distance may be calculated so as to satisfy the above formula [Math. 3] even when each is closest to the other communication device at each time.

[0089] The separation distance for avoiding radio interference is calculated by this method. For example, a value that is a multiple of the length of one side of the grid and is greater than the calculated three-dimensional distance is set as the separation distance for avoiding radio interference. The separation distance for avoiding radio interference corresponds to the second separation distance for avoiding radio interference. For example, as shown in FIG. 21, the separation distance for avoiding radio interference is set to 20 [m]. However, if the communication devices 300A and 300B deviate from the normal air route during flight, there is a risk of adjacent channel interference occurring. Therefore, in addition to the separation distance for avoiding radio interference, the separation distance for avoiding physical collision described above is taken into consideration to calculate the final separation distance. The final separation distance corresponds to the third separation distance for avoiding both physical collision and radio interference. As an example, by adding the above-mentioned separation distance for avoiding physical collision to the separation distance for avoiding radio wave interference as shown in the following formula [Equation 4-1], the final separation distance d final Calculate [m].

number

[0090] As another example, as shown in the following formula [4-2], the larger of the separation distance for avoiding physical collision and the separation distance for avoiding radio wave interference is set as the final separation distance d final [m] may be selected.

number

[0091] It may be possible to determine in advance which method, [Equation 4-1] or [Equation 4-2], is to be used, or the method may be switched depending on the aforementioned blur width value or the three-dimensional distance value calculated to satisfy the above [Equation 3]. For example, if the value obtained by adding the value (e.g., maximum value) of the deviation width of each communication device to the three-dimensional distance calculated to satisfy the above [Equation 3] is smaller than either the separation distance for avoiding physical collision or the separation distance for avoiding radio wave interference, the method of [Equation 4-2] may be used, and if not, the method of [Equation 4-1] may be used. As a specific example, the three-dimensional distance calculated to satisfy the above [Equation 3] is 17 [m], but since the grid interval is every 10 [m], the separation distance for avoiding radio wave interference is rounded up or a margin is taken, and it is set to 20 [m]. Also, the maximum value of the deviation width of each communication device is 1 [m], and since the grid interval is every 10 [m], the separation distance for avoiding physical collision is rounded up or a margin is taken, and it is set to 10 [m]. In this case, 17 + 1 + 1 = 19 [m], and 19 [m] is smaller than the separation distance for avoiding radio wave interference. Therefore, using the method of [Equation 4-2], 20 [m] is set as the separation distance d final On the other hand, if the maximum deviation width of each communication device is 2 [m], then 17 + 2 + 2 = 21 [m], and 21 [m] is greater than both the separation distance for avoiding physical collisions and the separation distance for avoiding radio wave interference. Therefore, using the method of [Equation 4-1], 20 + 10 = 30 [m] is set as the separation distance d final In addition, when the value of the deviation width of each communication device is extremely small (for example, when it is less than a threshold value), or when the adjacent channel interference of each communication device can be ignored (when it is less than a threshold value), the method of [Equation 4-2] above may be used.

[0092] When calculating the adjacent leakage power, the Doppler shift may be taken into consideration. Also, a specified value other than the spectrum mask may be used to calculate the separation distance for avoiding radio interference.

[0093] In addition, in this section, the separation distance design considering adjacent channel interference has been described, but the separation distance may be designed considering same channel interference. In this case, the separation distance is set so that the interference power in the same channel is equal to or less than the allowable value. In the example of Figs. 21 to 24, there is one communication device that is an interference target for each of the communication devices 300A and 300B (the communication device that is an interference target for the communication device 300A is the communication device 300B, and the communication device that is an interference target for the communication device 300B is the communication device 300A), but if there are two or more, the separation distance may be set so that the cumulative interference power from the two or more interference targets is equal to or less than the allowable value (details will be described later).

[0094] With this method, the frequency management system 100 can grasp whether or not a physical collision occurs and whether or not radio wave interference occurs (more precisely, whether or not the amount of interference power is within the allowable value) based only on the distance between the air routes of each communication device, and does not need to perform real-time interference calculations. This makes it possible to shorten the processing time required for determining whether or not to permit an air route change during flight, which will be described later, and to adjust the air routes of each communication device in real time or at high speed.

[0095] (3.1.3 Exclusive Allocation of Air Routes and Frequency Channels (Geofencing Based)) In actual UAS communication, there is a possibility that a communication device with unstable attitude control may exist, and in such a case, the allocation of a linear air route described in the previous section may cause physical collisions or radio interference. Therefore, in this section, a geofencing-based air route allocation method is described. In this method, the frequency management system 100 allocates a space consisting of multiple grids as an air route to a communication device.

[0096] FIG. 25 shows an example of allocating multiple grids as air routes to communication devices. In this example, the communication device 300C is allocated the three grids on the right side as air routes. The communication device 300C is free to use frequency channel f3 within these grids to travel from the starting point S C From destination point E C Move to.

[0097] Fig. 26 shows an example in which multiple grids and frequency channels are assigned to multiple communication devices. When air routes are assigned to communication device 300A and communication device 300B as shown in Fig. 26, it is necessary to set a separation distance that takes into account the avoidance of physical collisions and radio wave interference, as described in the previous section.

[0098] Specifically, when designing the separation distance, the point where the three-dimensional distance between the communication devices is the smallest is extracted using the following formula [Mathematical formula 5]. At this time, information on the shaking width of both communication devices may also be taken into consideration.

number

[0099] In this section, we extracted the point where the three-dimensional distance between communication devices is the smallest, but the separation distance may also be designed taking into account radio wave propagation characteristics such as shadowing, diffraction loss, clutter loss, and multipath fading, or weather conditions at each point (wind speed, rate of wind gust occurrence, etc.).

[0100] (3.2 Variations of this Disclosure) (3.2.1 Air route design based on cumulative interference power) Next, an air route allocation method based on cumulative interference power will be described. In this method, the frequency management system 100 allocates air routes so that the cumulative interference power of each communication device is equal to or less than a permissible value at each time. Now, assume that the flight plans of two communication devices 300A and 300B have been approved and the same frequency channel has been allocated to them.

[0101] 27 shows the routes of flight plans approved for each of the communication devices 300A and 300B, and shows a situation in which the same frequency channel f0 is assigned to both communication devices. In this situation, it is assumed that a new flight plan is submitted by the communication device 300C.

[0102] FIG. 28 shows an example in which routes of a flight plan submitted by the communication device 300C are added to FIG.

[0103] The frequency management system 100 determines whether the following formula [Mathematical formula 6] is satisfied at the position of each communication device at each time.

number

[0104] In Fig. 29, the time when the determination is made by the above formula for each communication device is indicated by a black circle. In the example of Fig. 29, the determination is made at the time at the vertex position of the grid, but it may be made at another position.

[0105] If all of the above formulas [6] are satisfied at each time, the frequency management system 100 approves the flight plan of the communication device 300C. On the other hand, if at least one of the above formulas [6] is not satisfied, the frequency management system 100 does not approve the flight plan of the communication device 300C. In this case, it is necessary to change the flight time, flight route, flight speed, and frequency channel used of the communication device 300C and determine again whether all of the above formulas [6] are satisfied at each time. After that, the frequency management system 100 presents the changed parameters as a flight plan candidate to the communication device user 400 that manages the communication device 300C (see S15 in FIG. 4). If the communication device user 400 can fly with the received flight plan candidate, it transmits it to the frequency management system 100 as a flight plan to be used (see S17 in FIG. 4) and flies the communication device 300 based on the plan.

[0106] (3.2.2 In-flight route change permission decision) Next, the determination of permission to change air route during flight will be described. When changing the air route of the communication device, the following patterns are mainly considered. (1) The communication device is not malfunctioning and is in operable condition, and the flight route is changed at the request of the communication device or the user of the communication device. (2) In the event that a communication device malfunctions and becomes uncontrollable, the aircraft may need to change the route of other communication devices to avoid collisions and radio interference.

[0107] First, the process for the above pattern (1) will be described. Fig. 30 is an explanatory diagram of a decision to allow an air route change during flight. As shown in Fig. 30, it is assumed that flight plans for three communication devices 300A, 300B, and 300C have been approved. Frequency channels f0, f1, and f2 are assigned to the communication devices 300A to 300C, respectively. Here, it is assumed that the communication device 300A requests an air route change as shown by the dotted line 510 during flight.

[0108] One method for determining whether to change route is for the frequency management system 100 to use separation distances to determine whether to change route. FIG. 31 is a diagram for explaining a method of determining whether to change the air route using the separation distance. For example, assume that the frequency channel f0 and the frequency channel f1 are adjacent channels. In this case, if the separation distance for avoiding radio interference is 20 [m] and the separation distance for avoiding physical collision is 10 [m], a separation distance of 30 [m] must be provided as a space between the communication device 300A and the communication device 300B (assuming the case where the method of [Equation 4-1] described above is used). However, as shown in FIG. 31, the separation distance after the air route change of the communication device 300A is 10 [m] in the section 520, which does not satisfy the required separation distance of 30 [m]. Therefore, in this case, the frequency management system 100 does not permit the air route change of the communication device 300A.

[0109] Next, we will explain the process for the above pattern (2). Since it is difficult to control the broken communication device, other communication devices flying nearby need to change the air route. The situation in this case is shown in Figure 32.

[0110] FIG. 32 shows a situation in which communication device 300A breaks down at point 530, becomes uncontrollable, and is forced to change course to the route indicated by dotted line 540. In detail, frequency management system 100 detects that the movement of communication device 300A has become uncontrollable (e.g., the movement direction cannot be changed). This is detected by communication with communication device 300A. For example, information indicating that the movement has become uncontrollable is received from communication device 300A. When it is detected that the movement of communication device 300A has become uncontrollable, frequency management system 100 estimates the route that communication device 300A will take after it becomes uncontrollable. Here, it is determined that communication device 300A will continue to travel straight ahead at its current speed in the current direction of travel. Then, it determines that point E', which is a point that can be reached only by traveling straight ahead, will be reached. A to the destination point. Although the communication device 300A cannot control the movement, the communication device 300A may be able to stop the communication device 300A. However, the communication device 300A may change the destination point even if the communication device 300A cannot stop the communication device 300A.

[0111] Here, it is assumed that frequency channel f0 and frequency channel f1 are adjacent to each other. In this case, if the separation distance for avoiding radio interference is 10 [m] and the separation distance for avoiding physical collision is 10 [m], a separation distance of 20 [m] must be provided as a space between communication device 300A and communication device 300B (assuming the case where the method of [Equation 4-1] described above is used). In this case, the separation distance is 10 [m] at least in section 550, so the required separation distance of 20 [m] is not met. In this case, communication device 300B changes the air route.

[0112] 33 shows an example in which the air route of the communication device 300B is changed. The air route is changed as shown by the arrowed line 560 in FIG. 33, and the arrival point is changed to point E' BAlternatively, the flight speed of the communication device 300B may be reduced in a portion of the air route of the communication device 300B, or another frequency channel (for example, a frequency channel with zero or a certain level of interference with frequency channel f0) may be temporarily assigned to the communication device 300B. Note that when determining whether to permit a change of air route during flight, the frequency management system 100 grasps the flight position of each communication device in real time.

[0113] <4. Processing in the control section of the traffic management system> Finally, the processing contents in the control unit 220 of the traffic management system 200 will be explained. The traffic management system 200 checks the traffic plans to be used sent from the multiple frequency management systems 100 and judges whether or not there will be a collision between the communication devices. An example of the processing of the traffic management system 200 is shown with reference to FIG. 34. Each frequency management system 100 creates a traffic plan to avoid collisions and radio interference, but due to reasons such as lack of synchronization between the frequency management systems 100, collisions or radio interference may occur when the traffic plans created by each frequency management system 100 are executed.

[0114] FIG. 34 shows an example of a flight plan to be used that has been sent from a plurality of frequency management systems 100 (referred to as frequency management systems 100A, 100B, and 100C, respectively).

[0115] Two flight routes 610 and 620 under the jurisdiction of the frequency management system 100A, a flight route 630 under the jurisdiction of the frequency management system 100B, and a flight route 640 under the jurisdiction of the frequency management system 100C are shown. Here, it is assumed that there is a possibility that the communication device 300C and the communication device 300D may physically collide with each other at least at the point 700 for the flight route 630 under the jurisdiction of the frequency management system 100B and the flight route 640 under the jurisdiction of the frequency management system 100C. In this case, the traffic management system 200 may refer to the flight plan acquisition request application date and time of each communication device user B and C, and cancel the flight permission of the one with the later date and time. At this time, the traffic management system 200 provides the flight route information under the jurisdiction of the other frequency management systems 100A and 100B to the frequency management system 100C as an adjusted flight plan. The frequency management system 100C may adjust the flight plan of the communication device 300D again using the received adjusted flight plan, and transmit information on the adjusted flight plan to the flight management system 200.

[0116] In the present disclosure, the traffic management system 200 aggregates the operation plans of a plurality of frequency management systems 100 (frequency management systems 100A to 100C in the example of FIG. 34), but the frequency management system 100 may transmit its own operation plan to other frequency management systems 100. In this case, each frequency management system 100 may utilize the operation plans transmitted from the other frequency management systems 100 to determine the radio parameters and operation plans of the communication devices under its respective jurisdiction.

[0117] FIG. 35 is a block diagram of a schematic configuration of a communication device 300 as an information device according to the present disclosure. The function of a communication device user 400 may be further included in the communication device 300. The communication device 300 is a communication device capable of flying (moving) in a target space. The communication device 300 includes a transmitting unit 310, a receiving unit 320, a control unit 330, and one or more antennas 340. In this configuration, the communication device 300 performs wireless communication, but may alternatively be configured to perform wired communication. The functions of each component of the communication device 300 may be realized by causing a computer to execute a program.

[0118] The antenna 340 emits radio waves into the target space. The transmitter 310 transmits request information regarding flight (movement) including the departure point of the communication device 300 in the target space and the arrival point and arrival time of the communication device 300 directly to a communication control device that generates an operation plan (movement plan) including an operation route (movement route) of the communication device 300, or via a communication device user 400. The request information corresponds to a flight plan acquisition request transmitted in step S11 of FIG. 4. The request information may include the departure time and arrival time, as well as various other information described in the description of the embodiment above. The communication control device to which the request information is transmitted includes at least one of the frequency management system 100 and the operation plan / interference power management system 200.

[0119] The receiving unit 320 receives information about an operation plan (movement plan) generated by the communication control device in response to request information from the communication control device directly or via the communication device user 400. Here, the target space is divided into a plurality of grids, and the operation route in the operation plan is a route specified based on the grids. The size of each grid may be larger than the size of the communication device 300.

[0120] The control unit 330 controls the entire communication device 300 and controls the operation of the communication device 300 until the start of flight in the above-mentioned embodiment. The control unit 330 also controls the flight of the communication device 300 based on an operation plan. The operation plan generated by the communication control device ensures that the cumulative interference power that the communication device 300 receives from other communication devices 300 is equal to or less than a tolerable value. The cumulative interference power that the communication device 300 etc. gives to other communication devices 300 is also equal to or less than a tolerable value. Furthermore, the operation plan ensures that the communication device 300 is operated so as not to physically collide with other communication devices 300. When the communication device user 400 exists between the communication device 300 and the frequency management system 100, the communication device user 400 may have a function similar to the transmission unit 310 that transmits request information and a function similar to the reception unit 320 that receives the operation plan, among the components of the communication device 300.

[0121] 36 is a block diagram of a schematic configuration of a communication device user 400 as an information device according to the present disclosure. The communication device user 400 includes a transmitter 410, a receiver 420, a controller 430, and one or more antennas 440. The functions of each component of the communication device user 400 may be realized by causing a computer to execute a program. In this configuration, the communication device user 400 performs wireless communication, but may alternatively perform wired communication.

[0122] The antenna 440 emits radio waves. The transmitter 410 transmits request information regarding flight (movement) including the departure point of the communication device 300 in the target space and the arrival point and arrival time of the communication device 300 to a communication control device that generates an operation plan (movement plan) including an operation route (movement route) of the communication device 300. The request information corresponds to the operation plan acquisition request transmitted in step S11 of FIG. 4. The request information may include the departure time and arrival time, as well as various other information described in the description of the embodiment above. The communication control device to which the request information is transmitted includes at least one of the frequency management system 100 and the operation plan / interference power management system 200.

[0123] The receiving unit 420 receives information about an operation plan (movement plan) generated by the communication control device in response to the request information from the communication control device. Here, the target space is divided into a plurality of grids, and the operation route in the operation plan is a route specified based on the grids. The size of each grid may be larger than the size of the communication device 400.

[0124] The control unit 440 controls the entire communication device user 400. For example, the control unit 440 controls the operation of the communication device user 400 so that the operation of the communication device user 400 described in the description of the above embodiment is performed. The control unit 440 may control the flight of the communication device 300 based on a flight plan.

[0125] In the above embodiment, an example has been described in which all of the communication devices 300 are mobile communication devices, but at least one of them may be a non-mobile communication device. Furthermore, the communication device 300 may transmit information indicating whether or not the device itself is mobile to the frequency management system 100 in advance. The frequency management system 100 may change the calculation method based on the information indicating whether or not the device is mobile.

[0126] The effects of the present disclosure are as follows. In the conventional DSA technology, an environment in which a protected system (primary system) is fixedly installed is assumed, the cumulative interference power given to the primary system by a secondary system (e.g., a base station) and other secondary systems is calculated, and the radio parameters of the secondary system are determined based on the calculation results. On the other hand, in the present disclosure, air routes and frequencies are exclusively assigned to communication devices that can move in each three-dimensional space, and the possibility of at least one of physical collision and radio interference occurring is determined based on the separation distance discretized by a grid. This eliminates the need for complex calculations when creating the flight route or flight plan for each communication device, and allows for a significant reduction in calculation time. As a result, it becomes easier to realize real-time adjustment of air routes.

[0127] The above-described embodiment shows an example for realizing the present disclosure, and the present disclosure can be implemented in various other forms. For example, various modifications, substitutions, omissions, or combinations thereof are possible without departing from the gist of the present disclosure. Such modifications, substitutions, omissions, etc. are also included in the scope of the present disclosure, as well as in the scope of the invention and its equivalents described in the claims.

[0128] Furthermore, the effects of the present disclosure described in this specification are merely examples, and other effects may be available.

[0129] This embodiment may also have the following configuration. [Item 1] A communication control device that controls a plurality of communication devices that can move within a target space, a receiving unit that receives request information regarding movement of the communication device within the target space; a control unit that determines a movement path of the communication device in the target space on a grid basis based on data representing a plurality of grids obtained by dividing the target space and the request information; A communication control device comprising: [Item 2] The size of the grid is greater than the size of the communication device. Item 1. A communication control device according to item 1. [Item 3] the request information includes information regarding a departure point and a destination point of the communication device; The control unit determines a travel route of the communication device by determining a plurality of grids that can be passed through from a grid related to the starting point to a grid related to the arrival point. 3. The communication control device according to item 1 or 2. [Item 4] the grid has a plurality of edges; The control unit determines, as a travel route of the communication device, a route that follows the edges of the plurality of grids from a first edge of the grid associated with the departure point to a second edge of the grid associated with the arrival point. Item 3. A communication control device according to item 3. [Item 5] The movement path of the communication device is the space of the entire plurality of grids. 5. The communication control device according to item 3 or 4. [Item 6] The control unit determines a first separation distance necessary to prevent a collision with one or more other communication devices when the communication device deviates from the movement path based on information on a deviation width of the communication device deviating from the movement path, and determines a path that is at least the first separation distance away from the one or more other communication devices as the movement path of the communication device. 6. A communication control device according to any one of items 3 to 5. [Item 7] The control unit determines a second separation distance from the one or more other communication devices, based on information on a deviation width of the communication device from the movement route, at which a cumulative interference power received from the one or more other communication devices while the communication device is moving becomes equal to or less than a tolerance value, and a cumulative interference power given to each of the one or more other communication devices becomes equal to or less than a tolerance value, and determines a route that is equal to or more than the second separation distance from the one or more other communication devices as the movement route of the communication device. 7. A communication control device according to any one of items 3 to 6. [Item 8] the control unit determines, based on information on a deviation width of the communication device from the movement path, a second separation distance from the one or more other communication devices at which a cumulative interference power received by the communication device from the one or more other communication devices while the communication device is moving is equal to or less than a tolerance value and a cumulative interference power given to each of the one or more other communication devices is equal to or less than a tolerance value; determining a third separation distance based on the first separation distance and the second separation distance, and determining a route that is at least the third separation distance away from the one or more other communication devices as a movement route of the communication device; 8. A communication control device according to any one of items 3 to 7. [Item 9] The third separation distance is the sum of the first separation distance and the second separation distance. Item 9. The communication control device according to item 8. [Item 10] The third separation distance is the greater of the first separation distance and the second separation distance. 10. The communication control device according to item 8 or 9. [Item 11] The information on the deviation width includes a distance that deviates in at least one of a direction perpendicular to the moving direction of the communication device within a horizontal plane in the moving direction of the communication device and a direction perpendicular to the horizontal plane. 11. A communication control device according to any one of items 8 to 10. [Item 12] When the control unit detects that the movement of the other communication device has become uncontrollable, the control unit estimates a route along which the other communication device that has become uncontrollable will move, calculates a distance between the estimated route and the movement route of the communication device, and when the calculated distance is less than the third separation distance, calculates a route whose distance from the estimated route is equal to or greater than the third separation distance, and changes the movement route of the communication device to the calculated route. 12. The communication control device according to any one of items 8 to 11. [Item 13] the object space is a three-dimensional space; The grid is a rectangular parallelepiped. 13. A communication control device according to any one of items 1 to 12. [Item 14] The communication device is an air vehicle. 14. A communication control device according to any one of items 1 to 13. [Item 15] A communication control method for controlling a plurality of communication devices movable within a target space, comprising: receiving request information regarding movement of the communication device within the target space; determining a movement path of the communication device in the target space on a grid basis based on the request information and data representing a plurality of grids into which the target space is divided; Communications control method. [Item 16] A computer program for controlling a plurality of communication devices movable within a target space, comprising: receiving request information regarding movement of the communication device within the target space; determining a movement path of the communication device in the target space on a grid basis based on data representing a plurality of grids obtained by dividing the target space and the request information; A computer program for causing a computer to execute the above. [Item 17] a transmission unit that transmits request information regarding movement, including a starting point of the communication device in a target space and an arrival point of the communication device, to a communication control device that generates a movement plan including a movement route of the communication device; a receiving unit that receives information regarding the movement plan generated by the communication control device in response to the request information; Equipped with The object space is divided into a plurality of grids; An information device, wherein the movement route in the movement plan is a route specified based on the grid. [Item 18] A user of the communication device that is interposed between the communication device and the communication control device. Item 18. An information device according to item 17. [Item 19] Transmitting request information regarding movement, including a starting point of the communication device in a target space and a destination point of the communication device, to a communication control device that generates a movement plan including a movement route of the communication device; receiving information regarding the movement plan generated by the communication control device in response to the request information; The object space is divided into a plurality of grids; The travel route in the travel plan is a route specified on a grid basis. Communication methods. [Item 20] transmitting travel request information including a starting point of the communication device in a target space and a destination point of the communication device to a communication control device that generates a travel plan including a travel route of the communication device; receiving information regarding the movement plan generated by the communication control device in response to the request information; Run the following on your computer: The object space is divided into a plurality of grids; The travel route in the travel plan is a route specified on a grid basis. Computer program. [Explanation of symbols]

[0130] 100 Frequency Management System 110 Recording section 120 Control section 131 First Communication Department 132 Second Communication Department 133 Third Communications Department 200 Interference Power Management System 210 Recording Department 220 Control section 230 Communications Department 300 Flying communication equipment (communication equipment, mobile equipment) 310 Transmitter 320 Receiving unit 330 Control Unit 340 Antenna 400 Airborne communication device user (communication device, communication device user)

Claims

1. A communication control device that controls a plurality of communication devices that can move within a target space, a receiving unit that receives request information regarding movement of the communication device within the target space; a control unit that determines a movement path of the communication device in the target space on a grid basis based on data representing a plurality of grids obtained by dividing the target space and the request information; A communication control device comprising:

2. The size of the grid is greater than the size of the communication device. The communication control device according to claim 1 .

3. the request information includes information regarding a departure point and a destination point of the communication device; The control unit determines a travel route of the communication device by determining a plurality of grids that can be passed through from a grid related to the starting point to a grid related to the arrival point. The communication control device according to claim 1 .

4. the grid has a plurality of edges; The control unit determines, as a travel route of the communication device, a route that follows the edges of the plurality of grids from a first edge of the grid associated with the departure point to a second edge of the grid associated with the arrival point. The communication control device according to claim 3.

5. The movement path of the communication device is the space of the entire plurality of grids. The communication control device according to claim 3.

6. The control unit determines a first separation distance necessary to prevent a collision with one or more other communication devices when the communication device deviates from the movement path based on information on a deviation width of the communication device deviating from the movement path, and determines a path that is at least the first separation distance away from the one or more other communication devices as the movement path of the communication device. The communication control device according to claim 3.

7. The control unit determines a second separation distance from the one or more other communication devices, at which a cumulative interference power received from the one or more other communication devices while the communication device is moving becomes equal to or less than a tolerance value and a cumulative interference power given to each of the one or more other communication devices becomes equal to or less than a tolerance value, based on information on a deviation width by which the communication device deviates from the movement route, and determines a route that is equal to or more than the second separation distance from the one or more other communication devices as the movement route of the communication device. The communication control device according to claim 3.

8. the control unit determines, based on information on a deviation width of the communication device from the movement path, a second separation distance from the one or more other communication devices at which a cumulative interference power received by the communication device from the one or more other communication devices while the communication device is moving is equal to or less than a tolerance value and a cumulative interference power given to each of the one or more other communication devices is equal to or less than a tolerance value; determining a third distance based on the first distance and the second distance, and determining a route that is at least the third distance away from the one or more other communication devices as a movement route for the communication device; The communication control device according to claim 3.

9. The third separation distance is the sum of the first separation distance and the second separation distance. The communication control device according to claim 8.

10. The third separation distance is the greater of the first separation distance and the second separation distance. The communication control device according to claim 8.

11. The information on the deviation width includes a distance that deviates in at least one of a direction perpendicular to the moving direction of the communication device within a horizontal plane in the moving direction of the communication device and a direction perpendicular to the horizontal plane. The communication control device according to claim 8.

12. When the control unit detects that the movement of the other communication device has become uncontrollable, the control unit estimates a route along which the other communication device that has become uncontrollable will move, calculates a distance between the estimated route and the movement route of the communication device, and when the calculated distance is less than the third separation distance, calculates a route whose distance from the estimated route is equal to or greater than the third separation distance, and changes the movement route of the communication device to the calculated route. The communication control device according to claim 8.

13. the object space is a three-dimensional space; The grid is a rectangular parallelepiped. The communication control device according to claim 1 .

14. The communication device is an air vehicle. The communication control device according to claim 1 .

15. A communication control method for controlling a plurality of communication devices movable within a target space, comprising: receiving request information regarding movement of the communication device within the target space; determining a movement path of the communication device in the target space on a grid basis based on the request information and data representing a plurality of grids into which the target space is divided; Communications control method.

16. A computer program for controlling a plurality of communication devices movable within a target space, comprising: receiving request information regarding movement of the communication device within the target space; determining a movement path of the communication device in the target space on a grid basis based on data representing a plurality of grids obtained by dividing the target space and the request information; A computer program for causing a computer to execute the above.

17. a transmission unit that transmits request information regarding movement, including a starting point of the communication device in a target space and an arrival point of the communication device, to a communication control device that generates a movement plan including a movement route of the communication device; a receiving unit that receives information regarding the movement plan generated by the communication control device in response to the request information; Equipped with The object space is divided into a plurality of grids; An information device, wherein the movement route in the movement plan is a route specified based on the grid.

18. A user of the communication device that is interposed between the communication device and the communication control device.

20. The information device of claim 17.

19. Transmitting request information regarding movement, including a starting point of the communication device in a target space and a destination point of the communication device, to a communication control device that generates a movement plan including a movement route of the communication device; receiving information regarding the movement plan generated by the communication control device in response to the request information; The object space is divided into a plurality of grids; The travel route in the travel plan is a route specified on a grid basis. Communication methods.

20. transmitting travel request information including a starting point of the communication device in a target space and a destination point of the communication device to a communication control device that generates a travel plan including a travel route of the communication device; receiving information regarding the movement plan generated by the communication control device in response to the request information; on the computer, The object space is divided into a plurality of grids; The travel route in the travel plan is a route specified on a grid basis. Computer program.

Images