Flying body guidance system, flying body, flying body management device, and flying body guidance method

Abstract

To highly accurately guide an unmanned aircraft.SOLUTION: A flying body guidance system includes: a flying body detection section for calculating a ground measurement position speed (refer to position and speed 613) being a position or speed of a flying body based on at least any one of outputs of a camera and a radar installed on the ground; a position calculation section for calculating a flying body measurement position speed (refer to position and speed 615) being a position or speed of the flying body based on an output value of an inertia measurement device 381 mounted on the flying body; and an inertia measurement device correction section for calculating at least one of a bias and a drift (refer to bias and drift 631 of the inertia measurement device 381) of the inertia measurement device 381 based on the ground measurement position speed and the flying body measurement position speed.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an aircraft guidance system, an aircraft, an aircraft management device, and an aircraft guidance method for guiding a drone.

Background Art

[0002] With the spread of drones and the lifting of the ban on visual - out automatic flight due to the implementation of the revised Aviation Law, the spread of goods delivery using drones, including in urban areas, is expected. For safe and legally compliant use of drones, it is necessary to accurately guide the drones. As a drone guidance system, there is an autonomous movement control system described in Patent Document 1.

[0003] This autonomous movement control system includes a traveling device and a wireless - communicable drone. When the drone moves, it performs autonomous movement control. The traveling device includes an imaging means for imaging the drone, a determining means for determining the position information or azimuth information of the drone from the drone imaged by the imaging means, and a transmitting means for transmitting the position information or azimuth information of the drone to the drone as a control signal. The drone includes a receiving means for receiving the control signal from the traveling device and a movement control means for performing autonomous movement control of the drone based on the received control signal.

Prior - Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to the autonomous movement control system described in Patent Document 1, a drone can perform autonomous movement control based on the received control signal. However, in rainy weather or when there are many clouds, since the drone blends into the background, it is difficult to accurately determine the position information and orientation information of the drone from the camera image in the traveling device, and accurate autonomous movement control may become difficult. The present invention has been made in view of such a background, and an object thereof is to provide a flight body guidance system, a flight body, a flight body management device, and a flight body guidance method that enable highly accurate guidance of a drone.

Means for Solving the Problems

[0006] In order to solve the above-described problems, a flight body guidance system device according to the present invention includes a flight body detection unit that calculates a ground measurement position velocity, which is the position or velocity of a flight body, based on an output of at least one of a camera and a radar installed on the ground, a position calculation unit that calculates a flight body measurement position velocity, which is the position or velocity of the flight body, based on an output value of an inertial measurement device mounted on the flight body, and an inertial measurement device correction unit that calculates at least one of a bias and a drift of the inertial measurement device based on the ground measurement position velocity and the flight body measurement position velocity.

Effects of the Invention

[0007] According to the present invention, it is possible to provide a flight body guidance system, a flight body, a flight body management device, and a flight body guidance method that enable highly accurate guidance of a drone. Problems, configurations, and effects other than those described above will be clarified by the description of the following embodiments.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0009] ≪Outline of Flying Object Guidance System≫ The flying object guidance system in the form (embodiment) for carrying out the present invention will be described below. The flying object guidance system includes a flying object and a flying object management device that guides and controls the flying object to manage the flight. The flying object management device detects the position and speed of the flying object using a radar or a camera and transmits them to the flying object.

[0010] The flying object calculates its own position and speed based on the output values (acceleration and angular velocity) of the mounted inertial measurement device, the position by satellite positioning, and the position and speed received from the flying object management device. Further, the flying object calculates the bias and drift of the inertial measurement device based on the position and speed calculated from the output values of the inertial measurement device and the position and speed received from the flying object management device, and uses them for correction. Note that by using the inertial measurement device, the flying object can grasp its own position not only in mountainous areas but also in places where satellites cannot be seen due to high-rise buildings, bridges, etc. Also, the change in position per unit time is the speed.

[0011] Furthermore, the aircraft calculates the parameters of the aerodynamic model so that the speed received from the aircraft management device matches the speed calculated from the acceleration calculated using the aerodynamic model based on the rotation speed of the propeller. The aircraft calculates the wind speed around it based on its own speed and the speed calculated using the aerodynamic model based on the rotation speed of the propeller. The aircraft controls its flight along the flight path using this wind speed. According to such a flight guidance system, highly accurate guidance of the aircraft becomes possible.

[0012] <<Overall Configuration of Aircraft Guidance System>> FIG. 1 is a diagram showing the overall configuration of an aircraft guidance system 10 according to the present embodiment. The aircraft guidance system 10 includes an aircraft management device 200 and an aircraft 300. The aircraft guidance system 10 may also include a radar 510, a camera 520, a weather sensor 530, etc., connected to the aircraft management device 200. The aircraft 300 and the aircraft management device 200 can communicate wirelessly via a communication antenna 540. The radar 510, the camera 520, 521, and the weather sensor 530 are not necessarily installed at the airport 580 and its surroundings. For example, it may be a camera 521 installed in a building or a streetlight, which is part of the smart infrastructure and captures the aircraft 300. The installation positions and orientations of the radar 510, the cameras 520, 521 are specified, and it is assumed that the position of the captured aircraft 300 can be calculated.

[0013] <<Configuration of Aircraft Management Device>> FIG. 2 is a functional block diagram of the aircraft management device 200 according to the present embodiment. The aircraft management device 200 is a computer and includes a control unit 210, a storage unit 220, and an input / output unit 280. User interface devices such as a display, a keyboard, and a mouse are connected to the input / output unit 280. The input / output unit 280 also includes a communication device and can transmit and receive data with the radar 510, the cameras 520, 521, the weather sensor 530, and the aircraft 300.

[0014] <<Aircraft Management Device: Storage Unit>> The storage unit 220 is configured to include storage devices such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an SSD (Solid State Drive). The storage unit 220 stores an aircraft information database 230, a flight information database 240, an environmental information database 250, and a program 228.

[0015] The aircraft information database 230 stores information related to each aircraft 300, such as identification information, manufacturer, model, and specifications. The specification items include size, weight, maximum flight speed, maximum altitude, maximum wind pressure resistance, maximum flight time, maximum payload weight, and the like.

[0016] The flight information database 240 stores information related to each flight of the aircraft 300, such as the identification information of the aircraft 300, the departure location, the destination, the cargo, its weight, the scheduled departure date and time, the scheduled arrival date and time, and the scheduled flight route. The flight information database 240 also stores the flight record, such as the departure date and time, the arrival date and time, and the flight route. The flight record may include weather information, including the wind speed on the flight route.

[0017] The environmental information database 250 stores the weather information of the area where the aircraft 300 flies. The program 228 includes descriptions of the processing of each functional unit provided in the control unit 210 described later. Note that databases such as the aircraft information database 230 and the flight information database 240 may exist on a cloud server even if the aircraft management device 200 does not include them.

[0018] ≪Aircraft Management Device: Control Unit≫ The control unit 210 is configured to include a CPU (Central Processing Unit) and includes an environmental information acquisition unit 211, an aircraft detection unit 212, a flight route calculation unit 213, and an aircraft control unit 214.

[0019] ≪Aircraft Management Device: Environmental Information Acquisition Unit≫ The environmental information acquisition unit 211 acquires the weather information of the area where the aircraft 300 flies and stores it in the environmental information database 250. The information source of the weather information is not limited to the weather sensor 530, and may also be a business operator that provides weather information. Further, the environmental information acquisition unit 211 may acquire, including the future weather forecast of the flight schedule, from the weather information provider.

[0020] <<Aircraft management device: Aircraft detection unit>> The aircraft detection unit 212 repeatedly detects the aircraft 300 included in the images acquired by the radar 510, cameras 520 and 521, and stores its position and speed in the flight information database 240 together with the time. Specifically, the aircraft detection unit 212 calculates the speed (direction and speed of movement) based on the time-series data of the position where the aircraft 300 is detected.

[0021] In the flight information database 240, the position and speed of the aircraft 300 notified by itself are stored. For the aircraft 300 detected from the images of the radar 510, cameras 520 and 521, if its position is close to the position notified by the aircraft 300 (if the difference is equal to or less than a predetermined value), the identification information of the detected aircraft 300 is set as the identification information of the notified aircraft 300.

[0022] As described above, the aircraft guidance system 10 (aircraft management device 200) includes an aircraft detection unit 212 that calculates the ground measurement position speed (see the position and speed 613 described later), which is the position or speed of the aircraft 300, based on the output of at least one of the cameras 520 and 521 and the radar 510 installed on the ground.

[0023] <<Aircraft management device: Flight route calculation unit>> The flight route calculation unit 213 calculates a planned flight route for future flights in the flight information database 240 and stores it in the flight information database 240. At this time, the flight route calculation unit 213 may calculate a route that avoids flight prohibited areas and areas (airspaces) where congestion of the flying object 300 is expected. Also, when it is expected that the wind speed on the route is high and the flight time will be long, the flight route calculation unit 213 may change the scheduled departure time and calculate the route.

[0024] <<Flying Object Management Device: Flying Object Control Unit>> The flying object control unit 214 receives the position and speed of the flying object 300 notified by the flying object 300 at a predetermined cycle and stores them in the flight information database 240. Also, the flying object control unit 214 repeatedly notifies the flying object 300 of the position and speed of the flying object 300 detected by the flying object detection unit 212. Further, the flying object control unit 214 acquires meteorological information including the wind speed at the position of the flying object 300 from the environmental information database 250 and notifies the flying object 300 at a predetermined cycle.

[0025] <<Configuration of Flying Object>> FIG. 3 is a functional block diagram of the flying object 300 according to the present embodiment. The flying object 300 is a flyable computer and includes a control unit 310, a storage unit 320, and a sensor antenna 380. The flying object 300 includes a propeller as a thrust device, a motor that drives the propeller, a power source, etc., but they are not shown in FIG. 3. The sensor antenna 380 includes an inertial measurement device 381 and a GNSS antenna 382 (Global Navigation Satellite System antenna). The sensor antenna 380 includes a communication antenna, a magnetic azimuth sensor, a barometric pressure sensor, etc., but they are not shown in FIG. 3.

[0026] <<Flying Object: Storage Unit>> The storage unit 320 is configured to include storage devices such as ROM, RAM, and flash memory. The storage unit 320 stores aircraft information 330, flight route information 340, and a program 328. The program 328 includes descriptions of the processing of each functional unit provided in the control unit 310 described later.

[0027] The aircraft information 330 stores the identification information, manufacturer, model, specifications, etc. of the aircraft 300 itself. In addition, the aircraft information 330 stores the parameters of the aerodynamic model of the aircraft 300 described later.

[0028] The flight route information 340 stores the departure location, destination, cargo, its weight, scheduled departure date and time, scheduled arrival date and time, planned flight route, etc. The flight route information 340 also stores the departure date and time, arrival date and time, flight route, etc. as flight records. The flight records may include meteorological information such as wind speed on the flight route.

[0029] ≪Aircraft: Control Unit≫ The control unit 310 is configured to include a CPU and is provided with a position calculation unit 311, an inertial measurement device correction unit 312, a model parameter calculation unit 313, an environmental value calculation unit 314, a flight control unit 315, and a communication unit 316. Each of these functional units repeatedly executes the processing described below.

[0030] FIG. 4 is a diagram for explaining the processing content of the control unit 310 of the aircraft 300 according to the present embodiment. Hereinafter, the position calculation unit 311, the inertial measurement device correction unit 312, and the model parameter calculation unit 313 will be described with reference to FIG. 4.

[0031] ≪Aircraft: Position Calculation Unit≫ The position calculation unit 311 calculates the position and velocity of the aircraft 300. The position calculation unit 311 calculates the velocity (including azimuth) based on the acceleration and angular velocity 611 of the aircraft 300 (acceleration and angular velocity by inertial navigation method) output by the inertial measurement device 381, and further calculates the position of the aircraft 300 based on the velocity to obtain the position and velocity 615 (position and velocity by inertial navigation method). Note that the acceleration and angular velocity 611 are not the output values (measurement values) of the inertial measurement device 381 itself, but the acceleration and angular velocity obtained by subtracting the bias (see the bias and drift 631 of the inertial measurement device 381) described later.

[0032] The position calculation unit 311 calculates the position 612 of the aircraft 300 (position by satellite navigation method) based on the output of the GNSS antenna 382. If the aircraft 300 is detected in the images of the radar 510, cameras 520, 521, the aircraft management device 200 transmits the position and velocity 613 of the aircraft 300 (position and velocity from the aircraft management device 200) to the aircraft 300. The position calculation unit 311 acquires this position and velocity 613 via the communication unit 316 described later. In addition to this, the position calculation unit 311 calculates the velocity 614 of the aircraft 300 (velocity by aerodynamic model) using an aerodynamic model based on the rotational speed of the propeller of the aircraft 300 controlled by the flight control unit 315 described later.

[0033] The position calculation unit 311 calculates the position and velocity 621 of the aircraft 300 based on these acceleration and angular velocity 611 (acceleration and angular velocity by inertial navigation method), position 612 (position by satellite navigation method), position and velocity 613 (position and velocity from the aircraft management device 200), velocity 614 (velocity by aerodynamic model), and position and velocity 615 (position and velocity by inertial navigation method). This will be described below.

[0034] For example, when the position and velocity 613 cannot be received from the aircraft management device 200, the position calculation unit 311 calculates the position and velocity 621 using a Kalman filter based on the acceleration and angular velocity 611 and the position 612. When the position and velocity 613 can be received, the position calculation unit 311 calculates the position and velocity 621 using a Kalman filter based on, for example, the acceleration and angular velocity 611 and the position and velocity 613. The value of the Kalman gain may be changed according to whether the position 612 or the position and velocity 613 is referred to as the observed value.

[0035] In addition to this, the position calculation unit 311 may calculate the position by combining the position 612 and the position and velocity 613, and calculate the position and velocity 621 using a Kalman filter based on this and the acceleration and angular velocity 611. Also, the position calculation unit 311 may calculate the position and velocity 621 based on the acceleration and angular velocity 611, the position 612, the position and velocity 613, the velocity 614, and the position and velocity 615 using a method different from the Kalman filter.

[0036] As described above, the aircraft guidance system 10 (aircraft 300) includes a position calculation unit 311 that calculates the aircraft measurement position and velocity (refer to position and velocity 615), which is the position or velocity of the aircraft, based on the output value of the inertial measurement device 381 mounted on the aircraft 300 (refer to acceleration and angular velocity 611). The position calculation unit 311 calculates the aircraft measurement position and velocity (refer to position and velocity 621) using a predetermined method based on at least one of the ground measurement position and velocity and the satellite positioning position (refer to position 612), which is the position of the aircraft using satellite positioning, and the output value of the inertial measurement device 381. The predetermined method is a Kalman filter.

[0037] ≪Aircraft: Inertial Measurement Device Correction Unit≫ The inertial measurement device correction unit 312 calculates the bias and drift 631 of the inertial measurement device 381 based on the position 612 and the position and velocity 613. The bias of the inertial measurement device 381 is the error of the output (measurement value) of the inertial measurement device 381, and the drift is the time change or standard deviation of the bias.

[0038] For example, when the position and velocity 613 can be received from the aircraft management device 200, the inertial measurement device correction unit 312 calculates the acceleration and angular velocity from the changes in the repeatedly acquired position and velocity 613. Next, the inertial measurement device correction unit 312 uses the calculated acceleration and angular velocity as true values and changes the bias so that the sum of the bias of the inertial measurement device 381 and the output value of the inertial measurement device 381 and the difference from the true value approach 0. Regarding the method of change, the change value may be changed so that it is less than or equal to a predetermined value and the difference approaches 0, or it may be changed so that the difference becomes less than or equal to a predetermined ratio, or other methods may be used.

[0039] The inertial measurement device correction unit 312 may calculate the acceleration and angular velocity such that the difference between the velocity calculated based on the acceleration and angular velocity 611 (see position and velocity 615) and the velocity of the position and velocity 613 becomes small. Further, the inertial measurement device correction unit 312 may calculate the acceleration and angular velocity such that the difference between the position calculated based on the acceleration and angular velocity 611 and the position of the position and velocity 613 becomes small. The inertial measurement device correction unit 312 may use the position 612 instead of the position of the position and velocity 613.

[0040] As described above, the aircraft guidance system 10 (aircraft 300) includes an inertial measurement device correction unit 312 that calculates at least one of the bias and drift (see bias and drift 631 of the inertial measurement device 381) of the inertial measurement device 381 based on the ground measurement position velocity (see position and velocity 613) and the aircraft measurement position velocity (see position and velocity 615). The inertial measurement device correction unit 312 calculates the bias or drift of the inertial measurement device 381 based on the satellite positioning position (see position 612), which is the position of the aircraft using satellite positioning instead of the ground measurement position velocity, and the aircraft measurement position velocity.

[0041] The bias is an error in the output value of the inertial measurement device 381. The drift is a time change or standard deviation in the error (bias) of the output value of the inertial measurement device 381.

[0042] ≪Aircraft: Model Parameter Calculation Unit≫ The model parameter calculation unit 313 calculates the parameters of the aerodynamic model of the flying object 300 stored in the flying object information 330. The aerodynamic model is, for example, a model represented by the following equations (1) to (4).

[0043] x α =(T / m)(sin(θ)cos(ψ)+ cos(θ)sin(φ)sin(ψ)) (1) y α =(T / m)(sin(θ)cos(ψ)+ cos(θ)cos(φ)sin(ψ)) (2) z α =(T / m)(cos(θ)cos(φ)- g) (3) T =C T ·ρ·A·N (4)

[0044] Here, the meanings of the symbols are as follows. x α : Acceleration in the x-axis direction y α : Acceleration in the y-axis direction z α : Acceleration in the z-axis direction φ: Roll angle θ: Pitch angle ψ: Yaw angle m: Mass of the flying object 300 C T : Thrust coefficient g: Gravity ρ: Air density (mass density) A: Area of the propeller (blade) N: Rotation speed of the propeller (RPM)

[0045] Note that the aerodynamic model is not limited to the forms of equations (1) to (4), and may be a model combining aerodynamic coefficients and a propeller propulsion model. Also, it may be a model adapted to the number of propellers of the flying object 300.

[0046] The model parameter calculation unit 313 calculates the strut coefficient (C T ), which is a parameter 632 of the aerodynamic model, such that the speed of the position and velocity 613 matches the speed 614 calculated from the acceleration calculated using the aerodynamic model based on the rotational speed of the propeller controlled by the flight control unit 315. The model parameter calculation unit 313 may calculate the aerodynamic coefficient and the parameters of the propeller propulsion model such that the speed of the position and velocity 613 matches the speed 614.

[0047] Also, the model parameter calculation unit 313 calculates the strut coefficient (C T ), the aerodynamic coefficient, and the parameters of the propeller propulsion model such that the difference between the speed of the position and velocity 621 calculated by the position calculation unit 311 and the speed 614 calculated from the acceleration calculated using the aerodynamic model based on the rotational speed of the propeller controlled by the flight control unit 315 becomes small (matches).

[0048] For example, when the position and velocity 613 can be received, the model parameter calculation unit 313 calculates the acceleration of the repeatedly acquired position and velocity 613. Next, the model parameter calculation unit 313 uses the calculated acceleration as the true value and changes the parameters so that the difference between the acceleration calculated using the aerodynamic model based on the rotational speed of the propeller and the true value approaches 0. Regarding the method of change, it may be changed so that the change value is below a predetermined value and the difference approaches 0, or it may be changed so that the difference is below a predetermined ratio, or other methods may also be used.

[0049] The speeds of the position and velocity 613 and the speed of the position and velocity 621 are speeds affected by the wind. The model parameter calculation unit 313 may calculate the parameters of the aerodynamic model at a timing when the flying object 300 passes near the weather sensor 530 and the difference between the wind speed measured by the weather sensor 530 and the wind speed around the flying object 300 can be regarded as small (equal to or less than a predetermined value). At this time, the model parameter calculation unit 313 regards the speed obtained by subtracting the wind speed measured by the weather sensor 530 from the speeds of the position and velocity 613 and 621 as the speeds of the position and velocity 613 and 621, and calculates the parameters 632 of the aerodynamic model. Further, the model parameter calculation unit 313 may calculate the parameters of the aerodynamic model at a timing when there is no wind (the wind speed is equal to or less than a predetermined value).

[0050] As described above, the flying object guidance system 10 (flying object 300) includes a model parameter calculation unit 313 that calculates the parameters 632 of the aerodynamic model of the flying object 300 based on the wind speed measured by the anemometer (see the weather sensor 530), the rotational speed of the propeller, and the ground measurement position speed.

[0051] ≪Flying Object: Environmental Value Calculation Unit≫ The environmental value calculation unit 314 calculates the wind speed around the flying object 300, which is one of the environmental values. FIG. 5 is a diagram for explaining the processing contents of the control unit 310 of the flying object 300 according to the present embodiment. Hereinafter, the environmental value calculation unit 314 and the flight control unit 315 will be described with reference to FIG. 5.

[0052] The environmental value calculation unit 314 calculates the wind speed 661 around the flying object 300 based on the speed 651 of the flying object 300 calculated from the output of the inertial measurement device 381, the speed 652 transmitted from the flying object management device 200, and the speed 653 (theoretical value speed) calculated using the aerodynamic model based on the rotational speed of the propeller of the flying object 300 controlled by the flight control unit 315. For example, when the speed 652 is not received, the environmental value calculation unit 314 sets the difference between the speeds 651 and 653 as the wind speed 661. When the speed 652 is received, the environmental value calculation unit 314 sets the difference between the speeds 652 and 653 as the wind speed 661. Further, the environmental value calculation unit 314 may set the difference between the position and velocity 621 (see FIG. 4) and the speed 653 as the wind speed 661.

[0053] As described above, the thrust device that generates the thrust of the flying object 300 has a propeller. The flying object guidance system 10 (flying object 300) includes an environmental value calculation unit 314 that calculates the wind speed 661 around the flying object 300 based on the aerodynamic model of the flying object 300 and the theoretical value speed (refer to speed 653) calculated based on the rotational speed of the propeller that generates the thrust of the flying object 300 and the ground measurement position speed (refer to speed 652).

[0054] ≪Flying Object: Flight Control Unit≫ The flight control unit 315 controls the rotational speed of the propeller of the flying object to control the flight speed (including the azimuth) of the flying object 300. Based on the current position of the flying object 300 and the wind speed 661, the flight control unit 315 calculates a flight speed at which the flying object 300 flies along the flight path stored in the flight path information 340 (refer to FIG. 3), and controls the rotational speed of the propeller. Note that the flight control unit 315 controls the rotational speed of the propeller with reference to the aerodynamic model.

[0055] As described above, the flying object guidance system 10 (flying object 300) includes a flight control unit 315 that controls the rotational speed of the propeller so that the flying object 300 flies along the planned flight path based on the wind speed 661.

[0056] ≪Flying Object: Communication Unit≫ The communication unit 316 receives the position and speed 613 transmitted by the flying object management device 200 and outputs it to the position calculation unit 311. In addition, the communication unit 316 periodically transmits the position and speed 621 of the flying object 300 calculated by the position calculation unit 311 to the flying object management device 200. Further, the communication unit 316 periodically transmits the wind speed 661 around the flying object 300 calculated by the environmental value calculation unit 314 to the flying object management device 200.

[0057] As described above, the flying object 300 includes a communication unit 316 that receives the ground measurement position speed, which is the position or speed of itself (flying object 300) calculated based on at least one of the outputs of the cameras 520 and 521 and the radar 510 installed on the ground.

[0058] <<Features of Aircraft Guidance System>> The aircraft guidance system 10 calculates the position and velocity 621 of the aircraft 300 based on the output values of the inertial measurement device 381 (see acceleration and angular velocity 611) provided on the aircraft 300, the output values of the GNSS antenna 382 (see position 612), and the position and velocity 613 calculated based on the images of the radar 510 and cameras 520, 521.

[0059] Also, the aircraft guidance system 10 calculates the bias and drift 631 of the inertial measurement device 381 based on the position and velocity calculated from the acceleration and angular velocity 611 and the position and velocity 613. The aircraft guidance system 10 calculates the parameters 632 of the aerodynamic model so that the velocity 614 calculated from the acceleration calculated using the aerodynamic model based on the velocity of the position and velocity 613 and the rotational speed of the propeller matches.

[0060] The aircraft guidance system 10 calculates the wind speed 661 around the aircraft 300 based on the velocity 651 of the aircraft 300 and the velocity 653 calculated using the aerodynamic model based on the rotational speed of the propeller. The aircraft guidance system 10 may calculate the wind speed 661 based on the velocity 652 and the velocity 653. By using the bias and drift 631 of the inertial measurement device 381, the parameters 632 of the aerodynamic model, and the wind speed 661 calculated in this way, the aircraft guidance system 10 can perform more accurate guidance of the aircraft 300 (flight control of the aircraft 300).

[0061] <<Variant: Calculation of Aircraft Position and Velocity>> The accuracy of the position and velocity 613 of the aircraft 300 calculated based on the images of the radar 510 and cameras 520, 521 decreases as the distance between the aircraft 300 and the radar 510 and cameras 520, 521 increases. Also, weather conditions such as rain, clouds, and fog affect the accuracy of the position and velocity 613. When the position calculation unit 311 calculates the position and velocity 621 using a Kalman filter, the Kalman gain may be adjusted with reference to this accuracy.

[0062] In other words, the aircraft control unit 214 transmits the position and velocity 613 to the aircraft 300, including the accuracy (reliability) of the position and velocity of the aircraft 300 calculated by the aircraft detection unit 212. When the accuracy (reliability) is high, the position calculation unit 311 may adjust the Kalman gain so as to assign a larger weight to the position and velocity 613. When calculating the bias drift 631 of the inertial measurement device 381 and the parameter 632 of the aerodynamic model, the inertial measurement device correction unit 312 and the model parameter calculation unit 313 may adjust the parameter values used in the calculation according to the accuracy (reliability).

[0063] ≪Modification Example: Bias Drift Calculation in Aircraft Management Device≫ In the above-described embodiment, the inertial measurement device correction unit 312, the model parameter calculation unit 313, and the environmental value calculation unit 314 are provided in the aircraft 300. Alternatively, the values necessary for calculating the bias drift 631 of the position and velocity 621 and the inertial measurement device 381 and the parameter 632 of the aerodynamic model may be transmitted from the aircraft 300 to the aircraft management device 200, and the aircraft management device 200 may calculate them. In such an embodiment, the aircraft management device 200 includes a position calculation unit 311 and an inertial measurement device correction unit 312, and the aircraft control unit 214 receives the output value (measurement value) of the inertial measurement device 381 transmitted by the aircraft 300.

[0064] As described above, the aircraft management device 200 includes an aircraft control unit 214 that receives the output value of the inertial measurement device 381 mounted on the aircraft 300. The aircraft management device 200 also includes a position calculation unit 311 that calculates the aircraft measurement position and velocity, which is the position or velocity of the aircraft 300, based on the received output value of the inertial measurement device 381. Furthermore, the aircraft management device 200 includes an inertial measurement device correction unit 312 that calculates at least one of the bias and drift of the inertial measurement device 381 based on the ground measurement position and velocity and the aircraft measurement position and velocity.

[0065] ≪Other Modification Examples≫ As described above, some embodiments of the present invention have been explained. However, these embodiments are merely examples and do not limit the technical scope of the present invention. For example, in the above-described embodiments, an example of a thrust device that uses the rotation of a propeller by a motor as thrust has been shown. However, the thrust device may not be by a motor but may be by an internal combustion engine (engine). Further, it is not limited to the thrust by the rotation of the propeller, and a jet engine may be used as the thrust device.

[0066] The present invention can take various other embodiments, and furthermore, various changes such as omission and substitution can be made without departing from the gist of the present invention. These embodiments and their modifications are included in the scope and gist of the invention described in this specification and the like, and are also included in the invention described in the claims and its equivalent scope.

[0067] ≪Hardware Configuration≫ The aircraft management device 200 and the aircraft 300 according to the above-described embodiments are realized by a computer 900 having a configuration as shown in FIG. 6, for example. FIG. 6 is a hardware configuration diagram showing an example of a computer 900 that realizes the functions of the aircraft management device 200 and the aircraft 300 according to the above-described embodiments. The computer 900 includes a CPU 901, a ROM 902, a RAM 903, an SSD 904, an input / output interface 905 (described as input / output I / F (Interface) in FIG. 6), a communication interface 906 (described as communication I / F in FIG. 6), and a media interface 907 (described as media I / F in FIG. 6). The computer 900 may include an HDD (Hard Disc Drive) instead of the SSD 904, or may further include an HDD in addition to the SSD 904. Also, the computer 900 may include a flash memory instead of the SSD 904.

[0068] The CPU 901 operates based on the programs stored in the ROM 902 or the SSD 904, and performs control by the control units 210 and 310 (see FIGS. 2 and 3). The ROM 902 stores a boot program executed by the CPU 901 when the computer 900 is started up, programs related to the hardware of the computer 900, and the like. The CPU 901 controls an input device 910 such as a mouse or a keyboard, and an output device 911 such as a display or a printer via the input / output interface 905. The CPU 901 acquires data from the input device 910 via the input / output interface 905, and outputs the generated data to the output device 911.

[0069] The SSD 904 stores programs executed by the CPU 901 and data used by the programs. The communication interface 906 receives data from another device (not shown), such as the aircraft 300 or the aircraft management device 200, via a communication network and outputs it to the CPU 901, and transmits the data generated by the CPU 901 to another device via the communication network. The media interface 907 reads a program or data stored in the recording medium 912, and outputs it to the CPU 901 via the RAM 903. The CPU 901 loads the program from the recording medium 912 onto the RAM 903 via the media interface 907, and executes the loaded program. The recording medium 912 is an optical recording medium such as a DVD (Digital Versatile Disk), a magneto-optical recording medium such as an MO (Magneto Optical disk), a magnetic recording medium, a conductor memory tape medium, a semiconductor memory, an SD card memory, or the like.

[0070] For example, when the computer 900 functions as the aircraft management device 200 and the aircraft 300 according to the above-described embodiment, the CPU 901 of the computer 900 executes the programs 228 and 328 (see FIGS. 2 and 3) loaded on the RAM 903 to realize the functions of the aircraft management device 200 and the aircraft 300. The CPU 901 reads and executes the program from the recording medium 912. In addition, the CPU 901 may read the program from another device via the communication network, or may install the programs 228 and 328 from the recording medium 912 to the SSD 904 and execute them.

Explanation of Signs

[0071] 10 Aircraft guidance system 200 Aircraft management device 211 Environment information acquisition unit 212 Aircraft detection unit 213 Flight path calculation unit 214 Aircraft control unit 230 Aircraft information database 240 Flight information database 250 Environment information database 300 Aircraft 311 Position calculation unit 312 Inertial measurement device correction unit 313 Model parameter calculation unit 314 Environment value calculation unit 315 Flight control unit 316 Communication unit 330 Aircraft information 340 Flight path information 381 Inertial measurement device 510 Radar 520, 521 Camera 530 Weather sensor (anemometer)

Claims

1. A flying object detection unit that calculates a ground measurement position velocity, which is the position or velocity of a flying object, based on the output of at least one of a camera and a radar installed on the ground; A position calculation unit that calculates a flying object measurement position velocity, which is the position or velocity of the flying object, based on the output value of an inertial measurement unit mounted on the flying object; An inertial measurement unit correction unit that calculates at least one of the bias and drift of the inertial measurement unit based on the ground measurement position velocity and the flying object measurement position velocity. A flying object guidance system.

2. The inertial measurement unit correction unit calculates the bias or drift of the inertial measurement unit based on the satellite positioning position, which is the position of the flying object using satellite positioning instead of the ground measurement position velocity, and the flying object measurement position velocity. The flying object guidance system according to Claim 1.

3. The position calculation unit calculates the flying object measurement position velocity using a predetermined method based on at least one of the ground measurement position velocity and the satellite positioning position, which is the position of the flying object using satellite positioning, and the output value of the inertial measurement unit. The flying object guidance system according to Claim 1.

4. The predetermined method is a Kalman filter The flying object guidance system according to Claim 3.

5. The thrust device that generates the thrust of the flying object has a propeller, and includes an environmental value calculation unit that calculates the wind speed around the flying object based on the theoretical value speed calculated based on the aerodynamic model of the flying object and the rotational speed of the propeller that generates the thrust of the flying object, and the ground measurement position velocity. The flying object guidance system according to Claim 1.

6. and includes a flight control unit that controls the rotational speed of the propeller so that the flying object flies along the planned flight path based on the wind speed. The flying object guidance system according to Claim 5.

7. It includes a model parameter calculation unit that calculates the parameters of the aerodynamic model of the flying object based on the wind speed measured by an anemometer, the rotational speed of the propeller, and the ground measurement position velocity. The flying object guidance system according to Claim 5.

8. The bias is the error of the output value of the inertial measurement unit. The flying object guidance system according to Claim 1.

9. The drift is the time change or standard deviation in the error of the output value of the inertial measurement unit. The flying object guidance system according to Claim 1.

10. A communication unit that receives a ground measurement position velocity, which is its own position or velocity calculated based on the output of at least one of a camera and a radar installed on the ground, A position calculation unit that calculates an aircraft measurement position velocity, which is its own position or velocity, based on the output value of an installed inertial measurement unit, An inertial measurement unit correction unit that calculates at least one of the bias and drift of the inertial measurement unit based on the ground measurement position velocity and the aircraft measurement position velocity, An aircraft.

11. An aircraft detection unit that calculates a ground measurement position velocity, which is the position or velocity of an aircraft, based on the output of at least one of a camera and a radar installed on the ground, An aircraft control unit that receives the output value of an inertial measurement unit mounted on the aircraft, A position calculation unit that calculates an aircraft measurement position velocity, which is the position or velocity of the aircraft, based on the received output value of the inertial measurement unit, An inertial measurement unit correction unit that calculates at least one of the bias and drift of the inertial measurement unit based on the ground measurement position velocity and the aircraft measurement position velocity, An aircraft management device.

12. An aircraft guidance system, A step of calculating a ground measurement position velocity, which is the position or velocity of an aircraft, based on the output of at least one of a camera and a radar installed on the ground, A step of calculating an aircraft measurement position velocity, which is the position or velocity of the aircraft, based on the output value of an inertial measurement unit mounted on the aircraft, A step of calculating at least one of the bias and drift of the inertial measurement unit based on the ground measurement position velocity and the aircraft measurement position velocity, An aircraft guidance method.

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