Operation system, operation method, operation program, and flying object

Abstract

To make it possible to further improve the safety of operation of a remotely steered flying object.SOLUTION: An operation system includes: a flying object detection device that searches a predetermined airspace area and detects a flying object flying in the airspace area; a linkage system that wirelessly communicates with the flying object; and a waiting area information acquisition unit that acquires information about a waiting area, which is an airspace where the flying object can fly and wait. The operation system causes the flying object to fly in the waiting area when a detection lost state occurs in which the flying object detection device does not detect the flying object flying within the airspace area or a communication lost state occurs in which wireless communication between the flying object flying within the airspace area and the linkage system is interrupted.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an operation system, an operation method, an operation program, and an aircraft. [Background technology]

[0002] Patent Document 1 discloses a search method for more reliably detecting a lost unmanned aerial vehicle in a technology for tracking an unmanned aerial vehicle with a surveying device. In particular, it discloses an estimation unit that estimates the direction of the unmanned aerial vehicle as seen from the surveying device at a specific time, and a method for controlling the search for the unmanned aerial vehicle by the surveying device based on the direction estimated by the estimation unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-100931 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there has been an increasing need to remotely fly unmanned aerial vehicles (UAVs) and other aerial vehicles in airspace beyond the pilot's line of sight for the purpose of on-site surveys in emergencies such as disasters, the collection of wide-area spatial information during normal times, and other logistics purposes. To safely remotely control such a vehicle, it is necessary to ensure control communications between the vehicle and the remote control base. Furthermore, to operate the vehicle more safely, it is necessary to detect the vehicle's position using sensors on the ground as well as sensors on the vehicle itself.

[0005] Patent Document 1 discloses a control method for searching for an aircraft using a ground-based surveying device based on information about the aircraft's orientation at a specific time when the aircraft's position is lost by the ground-based surveying device that detects the aircraft's position. However, if the aircraft's position cannot be re-detected immediately after it is lost, the re-detection of the aircraft becomes more difficult as time passes. Furthermore, Patent Document 1 does not consider a method for restoring wireless communication when communication between the aircraft and a remote control base or the like is interrupted.

[0006] The present invention has been made in consideration of at least one of the above-mentioned problems, and aims to provide an operation system that can further improve the safety of operating remotely controlled aircraft. [Means for solving the problem]

[0007] In order to achieve the above-mentioned objectives, the system includes an aircraft detection device that searches a specified airspace area and detects aircraft flying in the airspace area, a linkage system that communicates wirelessly with the aircraft, and a waiting area information acquisition unit that acquires information about waiting areas, which are airspaces where aircraft can wait.The system also includes an operation system that causes the aircraft to fly through the waiting area when a detection lost state occurs in which the aircraft detection device does not detect an aircraft flying within the airspace area, or a communication lost state in which wireless communication between the aircraft flying within the airspace area and the linkage system is interrupted. [Effects of the Invention]

[0008] According to the present invention, the safety of operation of remotely controlled aircraft can be further improved. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is an overall configuration diagram of an operation system according to one embodiment of the present invention. [Figure 2] FIG. 1 is a diagram illustrating communication loss and detection loss in an operation system. [Figure 3]FIG. 2 is a configuration diagram showing the main functions of the control base system 2000. [Figure 4a] FIG. 2 is a diagram illustrating an example of a means of communication with a target flying object. [Figure 4b] FIG. 10 is a diagram showing another example of a means of communication with a target flying object. [Figure 5a] FIG. 1 is a diagram illustrating an example of a communication means via a communication satellite. [Figure 5b] FIG. 10 is a diagram showing another example of communication means via a communication satellite. [Figure 6] FIG. 2 is a functional block diagram showing the main functions of the target aircraft. [Figure 7] FIG. 1 is a functional block diagram of an airspace monitoring system. [Figure 8] FIG. 1 is a functional block diagram of a communication infrastructure management system for a control base system. [Figure 9] FIG. 1 is a functional block diagram of a UTM. [Figure 10] FIG. 1 is a functional block diagram of an ATM. [Figure 11] FIG. 1 is a configuration diagram showing the hardware configuration of an airspace monitoring system, etc. [Figure 12] FIG. 2 is a flowchart showing the operation of the operation system. [Figure 13] FIG. 10 is a flowchart showing a control flow when the airspace monitoring system detects a loss. [Figure 14] FIG. 10 is a flowchart showing the control flow when a target flying object detects loss. [Figure 15] A flowchart showing a first example of a setting method for determining a waiting area in a target aircraft or airspace monitoring system. [Figure 16] FIG. 10 is a conceptual diagram illustrating a first setting method of the waiting area. [Figure 17] A flowchart showing a second example of a determination method for determining a waiting area in a target aircraft or airspace monitoring system. [Figure 18] FIG. 10 is a conceptual diagram illustrating a second method for setting a waiting area. [Figure 19]A flowchart showing a third example of a determination method for determining a waiting area in a target aircraft or an airspace monitoring system. [Figure 20] FIG. 10 is a conceptual diagram illustrating a third method for setting a waiting area. [Figure 21] FIG. 10 is a flowchart showing the process of outputting a lost resolution action command in the airspace monitoring system. [Figure 22] FIG. 10 is a flowchart illustrating the process of outputting a lost recovery action command to the target aircraft. [Figure 23] FIG. 10 is a flowchart illustrating the process of outputting an action command when the airspace monitoring system continues to be lost. [Figure 24] FIG. 10 is a flowchart illustrating the output of an action command when the target aircraft continues to be lost. [Figure 25a] FIG. 10 is a diagram showing an example of the external configuration of an aircraft detection unit configured using a ground-based radar sensor. [Figure 25b] FIG. 10 is a diagram showing an example of the external configuration of an aircraft detection unit configured by mounting a radar sensor on a mobile vehicle. [Figure 26a] FIG. 2 is a diagram showing the radar irradiation range on a horizontal plane. [Figure 26b] FIG. 1 is a diagram showing the radar irradiation range in a vertical plane. [Figure 27] 10 is a table showing examples of multiple types of radar sensors. [Figure 28] 10 is a diagram showing a display image of the flying object detection result when the flying object detection unit detects the flying object. FIG. [Figure 29] FIG. 10 is a diagram showing a display image of detailed information about an aircraft selected by a user. [Figure 30] FIG. 10 is a diagram showing a display image when communication is lost. [Figure 31] FIG. 10 is a diagram showing a display screen when acquisition is lost. DETAILED DESCRIPTION OF THE INVENTION

[0010] The present invention will be described below by listing the contents of the embodiments. The present invention has the following configuration. [Item 1] an aircraft detection device that searches a predetermined airspace area and detects aircraft flying in the airspace area; a linkage system that wirelessly communicates with the aircraft; a waiting area information acquisition unit that acquires information about a waiting area, which is an airspace in which the flying object can wait; When a detection lost state occurs in which the flying object detection device does not detect the flying object flying within the airspace area, or when a communication lost state occurs in which wireless communication between the flying object flying within the airspace area and the linked system is interrupted, An operation system that causes the aircraft to fly through the waiting area. [Item 2] The flight system according to item 1, When a detection lost state occurs in which the flying object detection device does not detect the flying object flying within the airspace area, flying the aircraft through the waiting area; An operation system that causes the flying object detection device to search the waiting area. [Item 3] The flight system according to item 1 or 2, When a communication lost state occurs in which wireless communication between the aircraft flying within the airspace area and the linked system is interrupted, An operation system that flies the aircraft through the waiting area and reconnects wireless communication between the aircraft and the coordination system in the waiting area. [Item 4] The flight operation system according to any one of items 1 to 3, The flying object detection device is a detection unit that uses a radar sensor that measures reflected waves of radar waves or a laser sensor that measures reflected light of laser light, When a detection lost state occurs in which the flying object detection device does not detect the flying object flying within the airspace area, An operation system that changes at least one of the irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar waves or laser light emitted by the flying object detection device, or switches the flying object detection device to another sensor that has a different irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar waves or laser light. [Item 5] An operation system according to any one of items 1 to 4, An operation system in which the waiting area is set in an airspace area where disturbance to electromagnetic waves or laser light is less than a predetermined standard. [Item 6] 6. The flight operation system according to any one of items 1 to 5, An air navigation system that acquires information about the disturbance for each airspace in advance or in real time, and determines an airspace area in which the disturbance is less than the predetermined standard. [Item 7] Item 1 to 6: An operation system according to any one of items 1 to 6, An operation system in which the waiting area is set in an airspace area where the aircraft can be seen within sight from the installation location of the aircraft detection device or coordination system, or in an airspace area where the aircraft can be detected by a radar sensor or laser sensor. [Item 8] 8. The flight operation system according to any one of items 1 to 7, the waiting area information acquisition unit acquires information about the waiting area set before the flight of the aircraft, An operation system in which the acquired information on the waiting area is recorded in the recording unit of the aircraft and the recording unit of the aircraft detection device, respectively. [Item 9] An operation system according to any one of items 1 to 8, An operation system in which the information on the waiting area includes multiple candidate waiting areas positioned along the planned flight path of the aircraft, and information on waiting area selection rules for selecting a specific waiting area from the multiple candidate waiting areas. [Item 10] 10. The flight operation system according to any one of items 1 to 9, The waiting area selection rule is a selection rule for selecting, from among multiple candidates for the waiting area, the candidate closest to the position of the aircraft when the detection lost state or the communication lost state occurs as the waiting area, in an operation system. [Item 11] The flight operation system according to any one of items 1 to 10, An operation system in which the information on the waiting area includes candidate areas for the waiting area arranged along the planned flight path of the aircraft, and information on waiting area setting rules that set a portion of the area inside the candidate areas as a waiting area. [Item 12] 12. The flight system according to any one of items 1 to 11, An operation system, wherein the waiting area setting rule is a setting rule that determines, as a waiting area, a portion of the candidate area corresponding to a position a predetermined distance in the direction of travel of the aircraft from the position of the aircraft when the detection lost state or the communication lost state occurred. [Item 13] 13. The flight operation system according to any one of items 1 to 12, When the flying object detection device detects the detection lost state, it transmits a detection lost signal to the flying object; When the aircraft receives the detection lost signal, the aircraft is caused to fly over the waiting area. Operation system. [Item 14] 14. The flight operation system according to any one of items 1 to 13, An operation system in which, when the detection lost state occurs, if the aircraft cannot be detected even after searching the waiting area with the aircraft detection device for a predetermined time or longer, the coordination system sends a landing command to the aircraft. [Item 15] 15. The flight operation system according to any one of items 1 to 14, When the detection lost state occurs, if the aircraft does not receive a signal from the aircraft detection device indicating that the aircraft has been detected even after flying in the waiting area for a predetermined time or more, the flight system lands the aircraft at the takeoff point, or on the spot, or at another location. [Item 16] 16. The flight operation system according to any one of items 1 to 15, the flying object detection device is connected to the flying object via wireless communication; When both a communication lost state in which the wireless communication connection is interrupted and a detection lost state occur, the waiting area information acquisition unit prioritizes an airspace area in which the wireless communication environment meets specified conditions as the waiting area, rather than an airspace area in which disturbance to electromagnetic waves or laser light is less than a specified standard. [Item 17] 17. The flight system according to any one of items 1 to 16, An operation system that, when the detection lost state is detected, notifies information regarding the detection lost state to at least one of other aircraft other than the aircraft and other aircraft detection devices. [Item 18] 18. The flight operation system according to any one of items 1 to 17, An operation system in which, when the aircraft receives a notification that the detection lost state of another aircraft has occurred, the aircraft performs a search for the other aircraft using a sensor installed on the aircraft. [Item 19] 19. The flight operation system according to any one of items 1 to 18, the wireless communication is wireless communication using a public wireless line, An operation system that, when a communication lost state in which wireless communication using the public wireless line is interrupted is detected, reconnects the wireless communication with the aircraft flying within the waiting area. [Item 20] 19. The flight operation system according to any one of items 1 to 19, the linkage system includes a wireless communication antenna used for wireless communication with the aircraft, When a communication lost state in which the wireless communication is interrupted is detected, the operation system changes the position, direction, elevation angle, and communication distance of the wireless communication antenna so that the waiting area is within the wireless communication range, or switches to wireless communication using another wireless communication antenna with a different position, direction, elevation angle, and communication distance. [Item 21] 21. The flight operation system according to any one of items 1 to 20, An operation system in which the waiting area is set to an airspace area where the communication conditions of radio communication satisfy predetermined standards. [Item 22] 22. The flight operation system according to any one of items 1 to 21, An operation system that acquires information regarding the communication status for each airspace in advance or in real time, and determines airspace areas in which the communication status meets the specified criteria. [Item 23] 23. The flight operation system according to any one of items 1 to 22, the waiting area information acquisition unit acquires information about the waiting area set before the flight of the aircraft, An operation system in which the acquired information on the waiting area is recorded in the recording unit of the aircraft and the recording unit of the coordination system, respectively. [Item 24] 24. The flight operation system according to any one of items 1 to 23, The linkage system constantly or periodically transmits a communication signal to the aircraft; An operation system that determines that the communication lost state has occurred if the communication signal cannot be received by the aircraft for a predetermined period of time or longer. [Item 25] 25. The flight operation system according to any one of items 1 to 24, The cooperation system includes at least one of an operation base device that remotely controls the aircraft, an aircraft traffic control device that manages operations in an airspace area in which the aircraft flies, and the aircraft detection device, An operation system that switches to wireless communication with the aircraft via another device included in the collaboration system when the wireless communication connection between any of the devices included in the collaboration system and the aircraft is interrupted, causing the communication lost state. [Item 26] 26. The flight operation system according to any one of items 1 to 25, An operation system that sends a landing command from the coordination system to the aircraft when the communication loss state occurs and wireless communication between the aircraft and the coordination system cannot be reconnected for a predetermined time or longer. [Item 27] 27. The flight system according to any one of items 1 to 26, When the communication loss state occurs, if wireless communication between the aircraft and the linked system cannot be reconnected even after flying in the waiting area for a predetermined time or more, the operation system lands the aircraft at the takeoff point, or on the spot, or at another location. [Item 28] 28. The flight system according to any one of items 1 to 27, An operation system that, when the communication lost state is detected in the aircraft or the linked system, notifies information regarding the communication lost state to at least one of other aircraft other than the aircraft and other linked systems. [Item 29] 29. The flight system according to any one of items 1 to 28, The collaboration system is an operation system that includes at least one of an operation base device that remotely controls the aircraft, an aircraft operation control device that manages operations in the airspace area in which the aircraft flies, and the aircraft detection device. [Item 30] 29. The flight system according to any one of items 1 to 29, An operation system in which the aircraft relays wireless communication between the other aircraft and the linked system when it receives information from the linked system or the other aircraft regarding a communication lost state in which wireless communication between the other aircraft and the linked system has been interrupted. [Item 31] A flight method for operating an aircraft flying in a predetermined airspace area, comprising: The computer a communication step of wirelessly communicating between the linkage system and the flying object; a detection step of searching the airspace area to detect the flying object; a waiting area information acquisition step for acquiring information about a waiting area, which is an airspace in which the flying object can wait; a flight control step of causing the aircraft to fly through the waiting area when a detection lost state occurs in which the aircraft flying within the airspace area cannot be detected, or a communication lost state occurs in which wireless communication between the aircraft flying within the airspace area and the linked system is interrupted; A method of operation. [Item 32] A flight program for operating an aircraft flying in a predetermined airspace area, On the computer, a communication command for wirelessly communicating between the linkage system and the aircraft; a detection command to search the airspace area and detect the air vehicle; a waiting area information acquisition command to acquire information about a waiting area, which is an airspace in which the flying object can wait; a flight control command to make the aircraft fly through the waiting area when a detection lost state occurs in which the aircraft flying within the airspace area cannot be detected, or a communication lost state occurs in which wireless communication between the aircraft flying within the airspace area and the linked system is interrupted; An operation program that executes the above. [Item 33] An aircraft capable of flying in a predetermined airspace area, A waiting area information acquisition unit is provided to acquire information about a waiting area, which is an airspace in which the flying object can wait, When a detection loss state occurs where a flying object in the airspace area cannot be detected by a flying object detection device that searches the airspace area and detects the flying object, or a communication loss state occurs where wireless communication between the flying object and a ground communication device for wireless communication is interrupted, the flying object flies in the standby area based on information acquired by a standby area information acquisition unit.

[0011] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0012] <A. One Embodiment> [A-1. Configuration] (A-1-1. Overview) FIG. 1 is an overall configuration diagram of an operation system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the operation system 1 includes a target flying object 1000, a control base system 2000, a manned flying object 3000, an airspace monitoring system 4000, an unmanned aircraft operation management system (UAS Traffic Management (hereinafter also referred to as "UTM")) 5000, an air traffic control system (Air Traffic Management (hereinafter also referred to as "ATM")) 6000, and a space information data utilization system 7000. Each system (control base system 2000, airspace monitoring system 4000, unmanned aircraft operation management system (UAS Traffic Management (hereinafter also referred to as "UTM")) 5000, air traffic control system (Air Traffic Management (hereinafter also referred to as "ATM")) 6000) that communicates directly or indirectly with the target flying object 1000 is also referred to as a cooperation system 2 in this application.

[0013] The target aircraft 1000 is a manned or unmanned aircraft or other aircraft, and its flight is controlled based on control commands received via wireless communication from the control base system 2000. The target aircraft 1000 is equipped with sensors such as optical cameras, infrared cameras, and laser sensors including LiDAR, and uses these sensors to acquire information about the measurement target area from the sky as measurement data. The target aircraft 1000 wirelessly transmits the measurement data to the control base system 2000 during flight. The target aircraft 1000 is not limited to acquiring information about the measurement target area, but may also acquire weather data or environmental data, track suspicious vessels, or perform other tasks. Furthermore, the target aircraft 1000 does not necessarily have to be an aircraft, but may also be a vehicle, ship, or other moving object equipped with the above-mentioned sensors.

[0014] The control base system 2000 receives flight status information from the target aircraft 1000 via control communication, and transmits flight control commands to the target aircraft 1000 to remotely control the flight of the target aircraft 1000. The control base system 2000 also has the function of receiving measurement data acquired by the target aircraft 1000 via measurement data communication, and transmitting the received measurement data to the spatial information data utilization system 7000 described below. Note that the control base system 2000 is not limited to a fixed building, and can also be configured as a mobile vehicle, ship, aircraft, etc.

[0015] The manned aircraft 3000 is a manned or unmanned aircraft or other aircraft, and is an aircraft other than the target aircraft 1000 that flies within the airspace monitored by the airspace monitoring system 4000 described below.

[0016] The airspace monitoring system 4000 is a system that monitors in real time the airspace through which the target aircraft 1000, which is the target of control by the control base system 2000, flies. The airspace monitoring system 4000 has the function of constantly detecting aircraft flying in the airspace using an aircraft detection device such as radar or sonar, and the function of transmitting aircraft detection information detected by the aircraft detection device to the control base system 2000 via wired or wireless communication. The airspace monitoring system 4000 also constantly communicates with the target aircraft 1000 wirelessly (direct communication, LTE, via communication satellite) to acquire position information measured by the target aircraft. Furthermore, the airspace monitoring system 4000 can be communicatively connected to the target aircraft 1000, manned aircraft 3000, UTM5000, and ATM6000, and may be configured to transmit and receive the aircraft detection information and various other information. Detailed functions of the airspace monitoring system 4000 will be described later.

[0017] UTM5000 is a system commonly known as an unmanned aircraft traffic management system (UAS Traffic Management), which collects information on aircraft in the airspace, weather information, and other information to ensure the safe and efficient operation of unmanned aircraft in the airspace under its jurisdiction, and shares the collected information with unmanned aircraft via wireless communication to prevent accidents involving unmanned aircraft. Details will be provided later.

[0018] ATM6000 is a system commonly known as an Air Traffic Management system, which collects information on aircraft in the airspace, weather information, and other information to ensure the safe and efficient operation of aircraft (especially manned aircraft) in the airspace under its jurisdiction, and shares the collected information with manned aircraft via wireless communication to prevent accidents involving manned aircraft. Details will be provided later.

[0019] The spatial information data utilization system 7000 is connected to the control base system 2000 via wired or wireless communication and receives measurement data acquired by the target aircraft 1000 from the control base system 2000. The spatial information data utilization system 6000 processes the received measurement data to convert it into data that makes it easier for users to understand the condition of the measurement target area and provides the processed data to a user terminal, etc. For example, if the measurement data is images measured with an optical camera or infrared camera, the system generates a wide-area image by stitching together multiple images, a wide-area orthoimage by stitching together multiple images after orthogonal transformation, or a map image by integrating the wide-area image or wide-area orthoimage with geographic information. Furthermore, if the measurement data is point cloud data acquired by a laser sensor, the system processes the point cloud data to generate three-dimensional spatial data expressed in a digital surface model (DSM) or digital elevation model (DEM), or a map image by integrating the three-dimensional spatial data with geographic information.

[0020] The wired or wireless communications between the components of the flight operation system 1 shown in FIG. 1 (target aircraft 1000, control base system 2000, manned aircraft 3000, airspace monitoring system 4000, UTM 5000, ATM 6000, and spatial information data utilization system 7000) may be interconnected via a communication network such as the Internet or a communication method such as LTE. Each wireless communication may constitute a dedicated wireless communication network or may utilize an existing wireless infrastructure. The control communication (e.g., command and control link) for transmitting and receiving the above-mentioned control-related information and the measurement data communication (e.g., payload link) for transmitting and receiving measurement data are each assigned a different communication frequency band or a different communication path, and are communicated via a different wireless communication link.

[0021] (A-1-2. Explanation of communication loss and acquisition loss) Next, we will explain communication loss and detection loss that may occur during operation of the flight operation system 1. Figure 2 is a diagram for explaining communication loss and detection loss in the flight operation system.

[0022] (A-1-2-1. Communication Lost CL01) First, communication loss CL01 will be described. Communication loss CL01 is a state in which control communication between the target aircraft 1000 and the control base system 2000 is interrupted. In such a case, the target aircraft 1000 cannot receive flight control commands from the control base system 2000, making it difficult to continue flight control. In particular, if the target aircraft 1000 is an unmanned aircraft, there is no pilot on the aircraft side, making it difficult for the target aircraft 1000 to continue flight control on its own. Therefore, when communication loss CL01 occurs, it is necessary to quickly restore control communication between the target aircraft 1000 and the control base system 2000.

[0023] (A-1-2-2. Detection Lost DL01) Next, a detection lost DL01 will be described. A detection lost DL01 is a state in which the aircraft detection device of the airspace monitoring system 4000 fails to detect an aircraft in the airspace (hereinafter also referred to as a "capture lost"). In such a case, the position information of the aircraft can only be obtained from the positioning sensor on the aircraft itself, and the position of the aircraft cannot be detected by sensors on the ground. If an abnormality occurs in the positioning sensor on the aircraft itself or a transmission delay of the positioning information occurs, safe operation in the airspace may be hindered. Therefore, when a detection lost DL01 occurs, it is required that the aircraft detection device of the airspace monitoring system 4000 quickly redetect (recapture) the aircraft that has been detected and lost, and restore the detection lost DL01 state to a normal state.

[0024] (A-1-2-3. Communication Lost CL02) Next, communication loss CL02 will be described. Communication loss CL02 is a state in which communication between the target aircraft 1000 and the UTM 5000 is interrupted. In this communication, flight status information is transmitted from the target aircraft 1000 to the UTM 5000, and flight instructions within the airspace (instructions regarding flight paths and flight areas to prevent collisions with other aircraft) are transmitted from the UTM 5000 to the target aircraft 1000. Therefore, if this communication is interrupted, there is a risk that collisions with other aircraft within the airspace cannot be prevented. Therefore, when communication loss CL02 occurs, it is necessary to quickly restore control communication between the target aircraft 1000 and the UTM 5000.

[0025] (A-1-2-4. Communication Lost CL03) Next, communication loss CL03 will be described. Communication loss CL03 occurs when direct communication between the target aircraft 1000 and the airspace monitoring system 4000 is interrupted. This communication can be, for example, a very high frequency (VHF) communication channel using a frequency band of 30 MHz to 300 MHz, but is not limited to this. In this communication, flight status information is transmitted from the target aircraft 1000 to the airspace monitoring system 4000, and the airspace monitoring system 4000 transmits information about the operational status of other aircraft in the airspace to the target aircraft 1000. Therefore, if this communication is interrupted, it may become impossible to prevent a collision with another aircraft in the airspace. Therefore, when communication loss CL03 occurs, it is necessary to quickly restore control communication between the target aircraft 1000 and the airspace monitoring system 4000.

[0026] (A-1-3. Overview of the Control Base System 2000) Next, we will explain the main functions of the control base system 2000 and the communication connection relationships with other systems. Figure 3 is a configuration diagram showing the main functions of the control base system 2000. The control base system 2000 includes a communication infrastructure management system 2100, an aircraft operation operating system 2200, an operation management system 2300, and an acquired data management system 2400.

[0027] The communication infrastructure management system 2100 has a communication function for transmitting control-related information, including control command information and flight status information, and other information, such as measurement data, to the control base system 2000 directly or via a communication satellite 8000. It also has a communication function for receiving captured position information and flight status information of aircraft within the monitored airspace from the airspace monitoring system 4000. It also has a communication function for transmitting information, such as measurement data, to the spatial information data utilization system 7000. The communication infrastructure management system 2100 also has a function for determining the communication connection status and a means for switching communication means. Specifically, it monitors the state of communication loss, communication strength, and communication speed, and determines the appropriate communication means based on the stability and speed required for communication, and switches to that communication means. The communication processing may be, for example, parallel transmission or switched transmission. The variations of the multiple communication means switched by the communication infrastructure management system 2100 are described below in Figures 4 and 5.

[0028] The aircraft operation system 2200 is a system that generates a flight mission for a target aircraft to be remotely controlled, acquires the real-time flight status (including position and speed) of the target aircraft, and controls the target aircraft by transmitting control target values ​​as control commands to the aircraft. The flight mission is, for example, a movement plan including the movement path and movement speed of the target aircraft 1000. Furthermore, when a lost state, which will be described later, occurs, the aircraft operation system 2200 generates a flight mission from the current position to a waiting area and a flight mission for waiting within the waiting area.

[0029] The flight management system 2300 is a system that makes decisions and gives instructions for the operation of the target air vehicle 1000. The flight management system 2500 prepares a plan for operations of the target air vehicle 1000, including, for example, sensing and flight, transmits the plan to the aircraft flight operating system 2200, and causes the aircraft flight operating system 2200 to generate flight missions and the like in accordance with the plan. The flight management system 2300 can also prepare plans for multiple target air vehicles and transmit information about the plans to the aircraft flight operating systems 2200 that control each of the air vehicles.

[0030] The acquired data management system 2400 is a system that manages the measurement data acquired by the target aircraft 1000. Specifically, for the vast amount of measurement data acquired via the communication infrastructure management system 2100, it determines whether the measurement data contains defective data, records the measurement data, and determines whether to send the measurement data to the spatial information data utilization system 7000.

[0031] (A-1-4. Multiple communication methods) Next, the communication means between the communication infrastructure management system 2100 and the target aircraft 1000 will be described. Figures 4a, 4b, 5a, and 5b are diagrams showing examples of communication means between the communication infrastructure management system 2100 and the target aircraft 1000. Communication between the communication infrastructure management system 2100 and the target aircraft 1000 can be achieved by direct wireless communication, or by communication via a terrestrial Internet line. In addition, communication between the communication infrastructure management system 2100 and the target aircraft 1000 can be achieved by satellite relay communication via a communication satellite 8000. In this case, communication between the communication satellite 8000 and the communication infrastructure management system 2100 can be achieved by direct wireless communication, or by communication via a terrestrial Internet line.

[0032] 4a shows an example of direct wireless communication between the target aircraft 1000 and the communication infrastructure management system 2100. The example of communication means shown in this figure particularly shows an example of direct wireless communication between the target aircraft 1000 and the communication infrastructure management system 2100, using wireless communication equipment for direct communication (including a wireless communication antenna, etc.) provided in the communication infrastructure management system 2100. Note that, for example, wireless communication bands in the 2.4 GHz band or the 5.7 GHz band can be used for this direct wireless communication, but are not limited to these. Wireless communication using very long waves in the 3 kHz to 30 kHz band, long waves in the 30 kHz to 300 kHz band, medium waves in the 300 kHz to 3 MHz band, short waves in the 3 MHz to 30 MHz band, very short waves in the 30 MHz to 300 MHz band, ultra-short waves in the 300 MHz to 3 GHz band, microwaves in the 3 GHz to 30 GHz band, millimeter waves in the 30 GHz to 300 GHz band, and submillimeter waves in the 300 GHz to 3 THz band can also be applied.

[0033] Next, Figure 4b shows an example in which the target aircraft 1000 and the communication infrastructure management system 2100 communicate via an Internet line. In the example of communication means shown in this figure, communication between the communication infrastructure management system 2100 and the target aircraft 1000 is particularly performed via an Internet line such as LTE (Long Term Evolution) or public wireless equipment. Wireless communication between public wireless communication equipment (including base stations for aircraft communication, wireless communication antennas, etc.) and the target aircraft 1000 can appropriately use wireless in the various bands described above.

[0034] Next, a communication means via a communication satellite 8000 will be described. FIG. 5a is a diagram showing an example of a communication means via a communication satellite 8000. The example of the communication means shown in this figure shows an example in which the communication infrastructure management system 2100 of the control base system 2000 communicates with the target aircraft 1000 via the communication satellite 8000, and in particular, shows an example in which direct wireless communication is performed with the communication satellite 8000 using wireless communication equipment (including a wireless communication antenna, etc.) for direct communication with the communication satellite, which is installed in the communication infrastructure management system 2100. Note that the direct wireless communication can use wireless communication bands such as, but not limited to, the 2.4 GHz band or the 5.7 GHz band.

[0035] 5b is a diagram showing another example of a communication means via a communication satellite 8000. The example of the communication means shown in this figure shows an example in which the communication infrastructure management system 2100 of the control base system 2000 communicates with the target aircraft 1000 via the communication satellite 8000, and in particular, communication between the communication infrastructure management system 2100 and the communication satellite 8000 is performed via an Internet line such as LTE (Long Term Evolution) and public wireless facilities (including base stations for satellite communication, wireless communication antennas, etc.).

[0036] The communication between the target aircraft 1000 and the communication infrastructure management system 2100 may be configured using any one of the four communication means described above, but it can also be configured as redundant communication using multiple of these communication means.

[0037] (A-1-5. Overview of the target aircraft) Next, the target aircraft 1000 will be described. FIG. 6 is a functional block diagram showing the main functions of the target aircraft. In this specification, the term "aircraft" refers to any aircraft with flight capabilities, regardless of the power source (electric power, prime mover, etc.), the control method (wireless or wired, and whether fully autonomous or partially manual control, etc.), and whether manned or unmanned. Aircraft may also be referred to as an unmanned aerial vehicle (UAV), aircraft, multicopter, RPAS (remote piloted aircraft systems), or UAS (unmanned aircraft systems), etc.

[0038] The target aircraft 1000 is a manned or unmanned aircraft or other aircraft, and transmits measurement data to the control base system 2000 via wireless communication or transports a recording medium on which the measurement data is recorded. The target aircraft 1000 may be a fixed-wing aircraft, a rotary-wing aircraft, or a vertical take-off and landing aircraft (VTOL) equipped with fixed wings and rotary wings. The target aircraft 1000 includes a flying unit 1100, a measurement unit 1200, a communication unit 1300, a lost determination unit 1400, a waiting area acquisition unit 1500, a lost situation resolution action command unit 1600, and a lost state continuation action command unit 1700.

[0039] (A-1-5-1. Flight Section 1100) The flying unit 1100 is a functional unit that flies the target flying object 1000, and includes a self-position measuring unit 1110, an attitude measuring unit 1120, a flight control unit 1130, a self-position estimating unit 1140, and a other flying object detecting unit 1150.

[0040] The self-location measurement unit 1110 measures the position (absolute position) of the aircraft. The self-location measurement unit 1110 measures its current position using, for example, a Global Navigation Satellite System (GNSS) or a Global Positioning System (GPS), although this is not particularly limited. For example, a Real Time Kinematic - Global Navigation Satellite System (RTK-GNSS) can also be used as a method for measuring the self-location. The position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Note that the self-location measurement unit 1110 is not limited to measuring the position of the aircraft, and may also measure information on speed and acceleration.

[0041] The attitude measurement unit 1120 measures the attitude (orientation) of the aircraft. The self-location measurement unit 1110 measures the current orientation of the aircraft using, for example, a geomagnetic sensor, a GNSS compass, or the like. The attitude information includes at least an attitude angle (orientation) in a planar view around the Z axis, and preferably includes attitude information around three axes: the X axis, the Y axis, and the Z axis. Note that the attitude measurement unit 1120 is not limited to measuring the attitude of the aircraft, and may also measure information on angular velocity and angular acceleration.

[0042] The flight control unit 1130 is a mechanism and function that controls the flight operation of the target air vehicle 1000, generating thrust for the air vehicle 1000 to lift and move in a desired direction. The flight control unit 1130 includes a processing unit, also referred to as a flight controller. The processing unit may include one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP). The processing unit has access to memory. The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.

[0043] The processing unit includes a control module configured to control the airframe state of the target air vehicle 1000. For example, the control module adjusts the spatial configuration, attitude angle, angular velocity, angular acceleration, angular jerk rate, and / or acceleration of the target air vehicle 1000, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). That is, the flight control unit 1130 controls the target air vehicle 1000 to perform various operations such as liftoff, forward movement, turning, and landing, and controls the attitude angle control and flight operations of the target air vehicle 1000 from takeoff to flight and landing.

[0044] The flight control unit 1130 can control the flight of the target aircraft 1000 based on, for example, an autonomous flight program acquired from the aircraft flight operating system 2200. The flight control unit 1130 can also control the flight of the target aircraft 1000 by controlling the motor based on various information such as the measurement target area, flight permitted / prohibited areas, information on the corresponding flight geofences, map information including two-dimensional or three-dimensional map data, the current position information of the target aircraft 1000, attitude information (heading information), speed information, and acceleration information, and any combination of these.

[0045] The self-location estimation unit 1140 is a functional unit that estimates its own location when an abnormality occurs in the self-location measurement unit 1110. For example, if the self-location measurement unit 1110 is a measurement unit that performs self-location measurement using GNSS, and the reception state of satellite signals deteriorates and self-location measurement by GNSS malfunctions, the self-location estimation unit 1140 estimates its current self-location (and movement direction and movement speed) based on information on at least one of the self-location, movement direction, movement speed, planned flight path, and wind (wind direction and wind speed) immediately before the GNSS malfunctioned, or a combination of these. In addition, information on the estimated self-location (and movement direction and movement speed) is transmitted to a linked system (including the piloting base system 2000, the airspace monitoring system 4000, or the UTM 5000).

[0046] The other aircraft detection unit 1150 is a functional unit that detects the manned aircraft 3000 or other unmanned aircraft flying in the airspace surrounding the aircraft. The other aircraft detection unit 1150 detects other aircraft using sensors such as radar and laser (LiDAR). For example, when the other aircraft detection unit 1150 receives a signal (search request signal) indicating that the manned aircraft 3000 or other aircraft in the airspace has been lost or an abnormality signal from the aircraft monitoring unit of the airspace monitoring system 4000 via the monitoring system communication unit 1330 (described later) from the airspace monitoring system 4000, the other aircraft detection unit 1150 transmits detection information (position, speed, etc.) of the manned aircraft 3000 detected by the other aircraft detection unit 1150 from the monitoring system communication unit 1330 to the airspace monitoring system 4000. Note that, as an example of a method for detecting other aircraft using a sensor, for example, when flying at a high altitude, surrounding other aircraft are detected by illuminating a LiDAR or the like downward or sideways. Alternatively, the radar may be rotated 360 degrees in the approximately horizontal direction of the aircraft to detect other flying objects in the vicinity.

[0047] (A-1-5-2. Measurement unit 1200) The measurement unit 1200 is a functional unit that acquires information about a measurement target area using a measurement sensor 1210. The measurement unit 1200 includes the measurement sensor 1210, a sensor attitude control unit 1220, and a sensor control unit 1230.

[0048] The measurement sensor 1210 is composed of, for example, an optical camera that acquires optical images, an infrared camera that acquires infrared images, a laser sensor such as LiDAR that acquires point cloud data, etc. The measurement sensor 1210 acquires optical images, infrared images, point cloud data, etc. of the ground surface of the measurement target area from the sky above the measurement target area as measurement data.

[0049] The sensor attitude control unit 1220 controls at least one of the attitude angles of the measurement sensor 1210 around three axes relative to the body of the target flying object 1000 by operating an attitude change device such as a gimbal that supports the measurement sensor. The sensor attitude control unit 1220 may control either or both of the pitch angle relative to the horizontal attitude of the body and the yaw angle relative to a predetermined reference direction. The sensor attitude control unit 1220 adjusts the sensor attitude change device to control the orientation of the measurement sensor 1210 so that the measurement target area can be photographed from a predetermined flight path.

[0050] The sensor control unit 1230 controls measurement parameters of the measurement sensor 1210, such as the timing of data acquisition by the measurement sensor 1210 and the zoom amount. The sensor control unit 1230 controls the measurement sensor 1210 so that an image is captured according to measurement conditions, such as the data acquisition timing and zoom amount, which are set in advance. For example, if the measurement sensor is an optical camera, the sensor control unit 1230 may control the image acquisition timing, shutter speed, resolution, etc.

[0051] (A-1-5-3. Communications Department 1300) The communication unit 1300 includes a radio wave communication module capable of radio wave communication. The communication unit 1300 also includes a base communication unit 1310 that communicates with the piloting base system 2000 directly or via a communication satellite 8000, a UTM communication unit 1320 that communicates with the UTM 5000, a monitoring system communication unit 1330 that communicates with the airspace monitoring system 4000, and a communication relay unit 1340 that relays wireless communications between other aircraft and the linked system. Each of these communication units can use wireless communications via a communication network NW or direct wireless communications using Wi-Fi, 2.4 GHz, or a frequency band between 5.6 and 5.8 GHz. The communication unit 1300 can use a communication network NW that uses a communication standard such as LTE (Long Term Evolution).

[0052] The base communication unit 1310 transmits, for example, measurement information such as the self-position measured by the self-position measurement unit 1110, control status information such as measurement information of the aircraft attitude measured by the attitude measurement unit 1120, or loss information detected by the lost determination unit 1400 to the control base system 2000, and receives flight control commands for the flight control unit 1130, sensor attitude control commands for the sensor attitude control unit 1220, and sensor control commands for the sensor control unit 1230 from the control base system 2000. In addition, the base communication unit 1310 transmits measurement data measured by the measurement unit 1200 of the target aircraft (optical images, infrared images, point cloud data, etc. of the ground surface of the measurement target area) to the control base system 2000.

[0053] The UTM communication unit 1320 transmits, for example, measurement information such as the aircraft's own position measured by the self-position measurement unit 1110, control status information such as measurement information of the aircraft's attitude measured by the attitude measurement unit 1120, or loss information detected by the loss determination unit 1400 to the UTM 5000, and receives operation instructions, communication loss information, etc. from the UTM 5000.

[0054] The monitoring system communication unit 1330 transmits, for example, measurement information such as the aircraft's own position measured by the self-position measurement unit 1110, control status information such as measurement information of the aircraft's attitude measured by the attitude measurement unit 1120, or loss information detected by the loss determination unit 1400 to the airspace monitoring system 4000, and receives operation information of the aircraft within the monitored airspace, communication loss information, etc. from the airspace monitoring system 4000.

[0055] The communication relay unit 1340 is a functional unit that relays wireless communication between the other aircraft and the linked system when information regarding a communication loss state of the other aircraft is received from the linked system or another aircraft. In a communication loss state in which wireless communication between the target aircraft 1000 and the linked system is interrupted, it may be impossible to safely move the target aircraft 1000 to the waiting area. Therefore, when information regarding a communication loss of another aircraft is received, by relaying wireless communication between the aircraft in which communication loss has occurred and the linked system, the other aircraft in which communication loss has occurred can be moved to the waiting area more safely.

[0056] (A-1-5-4. Lost determination unit 1400) The lost determination unit 1400 has a function of determining a non-detection state (acquisition lost) in which the airspace monitoring system 4000 cannot detect an aircraft in the airspace, and a function of determining a state (communication lost) in which communication with the control base system 2000, the airspace monitoring system 4000, or the UTM 5000 has been interrupted. The lost determination unit 1400 includes a acquisition lost determination unit 1410, a communication lost determination unit 1420, a lost position acquisition unit 1430, and a lost information notification unit 1440.

[0057] The acquisition lost determination unit 1410 is a functional unit that determines a non-detection state (acquisition lost) in which the airspace monitoring system 4000 is unable to detect an aircraft in the airspace. When acquisition lost information is received from the airspace monitoring system 4000, the acquisition lost determination unit 1410 determines that the acquisition lost state has occurred.

[0058] The communication loss determination unit 1420 is a functional unit that determines a state in which communication with the control base system 2000, the airspace monitoring system 4000, or the UTM 5000 has been interrupted (communication lost). For example, the communication loss determination unit 1420 constantly or periodically transmits and receives communication signals (so-called heartbeat signals) with the communication partner, and determines that a communication loss state has occurred in which communication with the communication partner has been interrupted, when no communication signal is received for a predetermined time or longer.

[0059] The lost position acquisition unit 1430 is a functional unit that acquires the position of the aircraft at the time of acquisition loss when the acquisition loss determination unit 1410 determines that acquisition loss has occurred, and the position of the aircraft at the time of communication loss when the communication loss determination unit 1420 determines that communication loss has occurred. For example, information on the acquisition loss occurrence position may be received together with the acquisition loss information from the airspace monitoring system 4000, or may be determined based on information on the aircraft's own position when it is determined that acquisition loss has occurred. Similarly, information on the communication loss position may be determined based on information on the aircraft's own position when it is determined that communication loss has occurred.

[0060] The lost information notification unit 1440 is a functional unit that transmits the acquisition lost information detected by the acquisition lost determination unit 1410 and the communication lost information detected by the communication lost determination unit 1420 to the linked system, such as the pilot base system 2000, the airspace monitoring system 4000, the UTM 5000, or other flying bodies 1000 and 3000.

[0061] (A-1-5-5. Waiting area acquisition unit 1500) The waiting area acquisition unit 1500 is a functional unit that acquires information about the waiting area, which is an airspace area where the target flying object 1000 will perform waiting flight when at least one of acquisition loss and communication loss occurs. The waiting area acquisition unit 1500 can acquire information about the waiting area by receiving information about the waiting area and acquiring it from a memory unit or having the system determine it. For example, the waiting area acquisition unit 1500 includes a waiting area information receiving unit 1510, a waiting area information recording unit 1520, a disturbance state recording unit 1530, and an area determination unit 1540.

[0062] The waiting area information receiving unit 1510 receives information about the waiting area from the pilot base system 2000, the airspace monitoring system 4000, and the UTM 5000 (hereinafter also referred to as "coordination systems"). For example, the information about this waiting area may be set by a user or the like in the coordinated system before the flight of the target aircraft 1000, and may be received from the coordinated system when a capture loss or communication loss occurs, or may be acquired from the pilot base system 2000 before the flight. The information about the waiting area includes information about the position and shape of the waiting area, and may further include information about the flight path of the waiting flight within the waiting area.

[0063] The information about the waiting area received by the waiting area information receiving unit 1510 includes any of the following three types of information. - Uniquely determined waiting area location information. Location information of multiple candidate waiting areas set up along the planned flight route, and information on waiting area selection rules for selecting a specific waiting area from multiple candidate waiting areas. Location information of candidate waiting areas set along the planned flight route, and information on waiting area setting rules that set a part of the area inside the candidate waiting area as a waiting area.

[0064] Here, the aforementioned "information on waiting area selection rules for selecting a specific waiting area from multiple waiting area candidates" refers to, for example, selection rule information for selecting, from multiple waiting area candidates, the candidate closest to the position of the target aircraft when a detection lost state or communication lost state occurs, as the waiting area.

[0065] Furthermore, the aforementioned "information on waiting area setting rules for setting a part of the area inside the candidate waiting area as the waiting area" is, for example, a setting rule for determining, as the waiting area, a part of the area within the candidate area corresponding to a position a predetermined distance in the direction of travel of the target aircraft from the position of the target aircraft when a detection lost state or a communication lost state occurs.

[0066] The waiting area information recording unit 1520 records information about the above-mentioned waiting area that has been set in advance. The information about the waiting area recorded in the waiting area information recording unit 1520 is set, for example, by a user or the like before the flight of the target flying object 1000. In addition, the waiting area information recording unit 1520 may record information about the waiting area received by the waiting area information receiving unit 1510 from the linked system.

[0067] The disturbance state recording unit 1530 records, for each airspace, a capture disturbance state that disturbs the detection of an airborne object by the airborne object detection sensor 4110 of the airborne object detection unit described below. Furthermore, it records, for each airspace, a communication disturbance state that disturbs wireless communication between the target airborne object 1000 and each ground-side system (control base system 2000, airspace monitoring system 4000, UTM5000, ATM6000) that communicates wirelessly with the target airborne object 1000. Information on the capture disturbance state and communication disturbance state may be past or real-time detection values ​​for each airspace by the airborne object detection unit or communication information of past or real-time wireless communication for each airspace, or information on these disturbance states may be acquired from an external system.

[0068] Here, disturbances to the detection of flying objects by the flying object detection sensor 4110 include, for example, fog and clouds that attenuate laser light when a laser sensor is used as the flying object detection sensor 4110.

[0069] When at least one of acquisition loss and communication loss occurs, the area determination unit 1540 determines the waiting area based on the information about the waiting area received by the waiting area information receiving unit 1510 or recorded in the waiting area information recording unit 1520. If the information about the waiting area is "position information of a uniquely determined waiting area," the waiting area is determined based on the position information of the waiting area.

[0070] Furthermore, if the information regarding the waiting area is "location information of multiple candidate waiting areas located along the planned flight route and information regarding waiting area selection rules for selecting a specific waiting area from the multiple candidate waiting areas," the area determination unit 1540, for example, selects the candidate waiting area closest to the lost position based on information about the lost position acquired by the lost position acquisition unit 1430, and determines it as the waiting area.

[0071] Furthermore, if the information regarding the waiting area is "location information of candidate waiting areas located along the planned flight route and information regarding waiting area setting rules for setting a portion of the area inside the candidate waiting area as the waiting area," the area determination unit 1540 determines, for example, based on information regarding the lost position acquired by the lost position acquisition unit 1430 and information regarding the direction of travel of the aircraft measured by the self-position measurement unit 1110, a portion of the area within the candidate waiting area corresponding to a position a predetermined distance in the direction of travel of the aircraft from the lost position as the waiting area.

[0072] As another example, when the acquisition loss determination unit 1410 detects acquisition loss, the area determination unit 1540 determines, as a waiting area, an airspace in which the disturbance to the aircraft detection sensor (including a radar sensor using electromagnetic waves and a laser sensor using laser light) by the aircraft detection unit is less than a predetermined standard based on the disturbance information for each airspace recorded in the disturbance state recording unit 1530. Alternatively, the area determination unit 1540 selects, from among multiple waiting area candidates recorded as information related to waiting areas, a candidate in which the disturbance to the aircraft detection sensor is less than a predetermined standard, and determines that candidate as the waiting area. Alternatively, the area determination unit 1540 determines, as a waiting area, an airspace that is a part of the waiting area candidate and in which the disturbance to the aircraft detection sensor is less than a predetermined standard.

[0073] As another example, when communication loss determination unit 1420 detects communication loss, area determination unit 1540 determines, as a waiting area, an airspace in which the wireless communication state satisfies a predetermined standard (for example, the disturbance is less than the predetermined standard) based on the disturbance information for each airspace recorded in disturbance state recording unit 1530. Alternatively, it selects a candidate in which the wireless communication state satisfies the predetermined standard from among multiple waiting area candidates recorded as information related to the waiting area, and determines that candidate as a waiting area. Alternatively, it determines, as a waiting area, a part of the airspace within the waiting area candidate, in which the wireless communication state satisfies the predetermined standard.

[0074] As another example, when the capture loss determination unit 1410 detects a capture loss, the area determination unit 1540 determines, as a waiting area, an airspace area where the flying object can be visually confirmed from the installation position of either the flying object detection unit 4100 or the linked system. Here, the airspace area where the flying object can be visually confirmed may be set in advance by the user, or may be set according to a predetermined condition, such as being within a predetermined distance range from the installation position of the flying object detection unit 4100.

[0075] As yet another example, when the capture loss determination unit 1410 detects a capture loss, the area determination unit 1540 determines, as a waiting area, an airspace area in which an air vehicle can be detected by a radar sensor or a laser sensor used as the air vehicle detection sensor 4110. Here, the airspace area in which an air vehicle can be detected by a radar sensor or a laser sensor may be set in advance by a user, or may be set according to predetermined conditions such as being within a predetermined distance range from the installation position of the air vehicle detection unit 4100 or the linked system.

[0076] As another example, when both acquisition loss and communication loss are detected, the area determination unit 1540 determines, as a waiting area, an airspace where the communication state of wireless communication satisfies a predetermined standard (for example, where the disturbance is less than a predetermined standard) based on the disturbance information for each airspace recorded in the disturbance state recording unit 1530, rather than an airspace where the disturbance to the aircraft detection sensor (including a radar sensor that uses electromagnetic waves and a laser sensor that uses laser light) by the aircraft detection unit is less than a predetermined standard. In this way, when acquisition loss and communication loss occur simultaneously, a waiting area is set that prioritizes resolving the communication loss.

[0077] Here, an example has been described in which the area determination unit 4720 determines the position of the waiting area based on information such as the position information and lost position information of the candidate waiting area, disturbance information from the flying object detection sensor or wireless communication, and whether the flying object is within a specified range such as line of sight from the flying object detection unit 4100, but the position of the waiting area can also be determined by combining these determination conditions.

[0078] (A-1-5-6. Lost Resolving Action Command Unit 1600) The lost state resolution action command unit 1600 is a functional unit that outputs an action command to be executed to resolve a lost state or a communication lost state when the lost state or the communication lost state occurs. The lost state resolution action command unit 1600 includes a lost state detection response action command unit 1610, a communication lost response action command unit 1620, and a lost state continuation action command unit 1630.

[0079] The detection-loss response action command unit 1610 is a functional unit that commands an action to have the air vehicle detection unit 4100 of the airspace monitoring system 4000 redetect (recapture) the target air vehicle when the capture-loss determination unit 1410 detects a capture loss. For example, when the detection-loss response action command unit 1610 detects a capture loss, it outputs an action command to have the target air vehicle 1000 fly through the waiting area determined by the area determination unit, causing the target air vehicle 1000 to wait in the waiting area. Here, if the target air vehicle is a fixed-wing aircraft, the waiting flight can be achieved by having the aircraft fly in a circle within the waiting area, or by flying along a circular, elliptical, or rectangular circuit path generated within the waiting area, or a spiral or vortex path generated within the waiting area with a different path for each circuit. On the other hand, if the target air vehicle is a multicopter, it can be achieved by having the aircraft hover within the waiting area.

[0080] In addition to taking the action of having the target aircraft 1000 fly in a waiting area, the detection loss response action command unit 1610 may also continue to transmit identification information or location information of the waiting area where the aircraft is flying in a waiting area via wireless communication to the airspace monitoring system 4000 or other linked systems.

[0081] The communication loss response action command unit 1620 is a functional unit that commands an action to reconnect wireless communication between the target aircraft 1000 and the linked system when communication loss is detected by the communication loss determination unit 1420. For example, when communication loss is detected, the communication loss response action command unit 1620 outputs an action command to cause the target aircraft 1000 to fly through the waiting area determined by the area determination unit, causing the target aircraft 1000 to wait in the waiting area. In this case, the waiting flight is also performed along the above-mentioned circular flight, circular route, or other route.

[0082] The communication loss response action command unit 1620 attempts to wirelessly reconnect the target aircraft 1000 to the linked system while the target aircraft 1000 is waiting in the waiting area. Here, the wireless communication means used to attempt the reconnection may be the wireless communication means (communication path, communication channel, or a combination thereof) that was used immediately before the communication loss occurred, or may be another wireless communication means.

[0083] Here, in a communication-lost state in which wireless communication between the target aircraft 1000 and the linked system is interrupted, it may be impossible to safely move the target aircraft 1000 to the waiting area. Therefore, when communication loss is detected, the communication-loss response action command unit 1620 may output an action command to switch communication means to wirelessly communicate with the linked system in which communication loss occurred via another linked system, using wireless communication with that other linked system. As an example, when wireless communication between the piloting base system 2000 and the target aircraft 1000 is lost, the communication path is switched to one in which the piloting base system 2000 and the target aircraft 1000 communicate indirectly via the airspace monitoring system 4000. This allows the target aircraft 1000 to move to the waiting area more safely even when communication loss occurs.

[0084] The action command unit 1630 for when the lost state continues is a functional unit that outputs an action command when the capture lost or communication lost state continues for more than a predetermined time and the lost state cannot be resolved, even if the detection lost response action command unit 1610 or the communication lost response action command unit 1620 causes the target aircraft 1000 to wait in a waiting area and takes action to resolve the lost state.

[0085] As an example, if a capture lost state occurs and the target aircraft 1000 flies over the waiting area for a predetermined time or more but does not receive a signal from the airspace monitoring system 4000 indicating that the target aircraft has been detected, the action command unit 1630 for when the lost state continues outputs an action command to the target aircraft to land at the takeoff point, or at the same location (current flight position), or at another location.

[0086] As another example, if a communication lost state occurs and the target aircraft 1000 is flown over the waiting area for a predetermined time or more but is unable to reconnect and the communication lost state is not resolved, an action command is output to the target aircraft to land at the takeoff point, or at the same location (current flight position), or at another location.

[0087] (A-1-6. Overview of the Airspace Monitoring System) Next, the airspace monitoring system 4000 will be described. Fig. 7 is a functional block diagram showing the main functions of the airspace monitoring system. The airspace monitoring system 4000 includes an airborne object detection unit 4100, an external system communication unit 4200, an airborne object communication unit 4300, an in-airspace airborne object information management unit 4400, a waiting area information registration unit 4500, a lost object determination unit 4600, a waiting area acquisition unit 4700, a lost object resolution action command unit 4800, and a user interface unit 4900. The airspace monitoring system 4000 may be equipment installed in a fixed position on the ground, but is not limited to this, and may also be implemented on a vehicle moving on the ground or a ship moving on water or the sea.

[0088] (A-1-6-1. Aircraft detection unit 4100) The flying object detection unit 4100 is a functional unit that searches a predetermined airspace area to be monitored and detects flying objects flying in that airspace area. It includes a flying object detection sensor 4110, a sensor change unit 4120, and a flying object determination unit 4130.

[0089] The flying object detection sensor 4110 can be configured with a radar sensor or a laser sensor. When a radar sensor is used, radar waves (electromagnetic waves) are emitted from the ground or sea where the airspace monitoring system 4000 is installed toward the airspace to be monitored by the airspace monitoring system 4000, and the reflected waves reflected by the flying objects present in the airspace are detected, thereby detecting flying objects in the monitored airspace. On the other hand, when a laser sensor is used, laser light is emitted from the ground or sea where the airspace monitoring system 4000 is installed toward the airspace to be monitored by the airspace monitoring system 4000, and the reflected light reflected by the flying objects present in the airspace is detected, thereby detecting flying objects in the monitored airspace.

[0090] The sensor change unit 4120 is a functional unit that changes at least one of the irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar waves or laser light irradiated from the flying object detection sensor 4110. The irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle may be changed by changing the orientation or sensor parameters of the flying object detection sensor 4110, but this is not limitative, and at least one of the irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar waves or laser light may be changed by switching to another sensor that has a different irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle.

[0091] The flying object determination unit 4130 determines at least one of the position, movement direction, movement speed, and movement acceleration of the flying object based on the detection information of the reflected radar wave or the reflected laser light obtained by the flying object detection sensor 4110. The flying object determination unit 4130 may also have a function to determine whether or not a flying object to be detected is present in the monitored airspace. For example, if the size of an object identified by the detection information is smaller than a predetermined size, it can be determined to be noise information such as a bird rather than a flying object. Furthermore, the flying object may be given unique characteristics in its body shape (curvature, reflection intensity) and the unique characteristics may be identified by the reflected laser light or reflected radar wave, thereby not only detecting the presence of the flying object but also identifying the flying object.

[0092] (A-1-6-2. External system communication unit 4200) The external system communication unit 4200 is a functional unit that communicates with other systems in the linked system (ATM 6000, UTM 5000, and control base system 2000). The external system communication unit 4200 includes an ATM communication unit 4210, a UTM communication unit 4220, and a control base communication unit 4230.

[0093] The ATM communication unit 4210 is a functional unit that communicates with the ATM 6000. For example, it receives information about manned aircraft in the airspace (flight position, flight speed, aircraft identification information, etc.) from the ATM 6000. It also transmits to the ATM 6000 information about aircraft in the airspace generated by the aircraft in the airspace information management unit 4400, which will be described later.

[0094] The UTM communication unit 4220 is a functional unit that communicates with the UTM 5000. For example, it receives information about unmanned aerial vehicles in the airspace (flight position, flight speed, aircraft identification information, etc.) and loss information (information about communication loss when wireless communication between the UTM and the target aerial vehicle is interrupted) from the UTM 5000. It also transmits intra-airspace aerial vehicle information generated by an intra-airspace aerial vehicle information management unit 4400 (described later) to the UTM 5000. It may also transmit ground-side action commands generated by a loss resolution action command unit 4800 (described later) to the UTM 5000.

[0095] The control base communication unit 4230 is a functional unit that communicates with the control base system 2000. For example, it receives loss information (information about communication loss when wireless communication between the control base system 2000 and the target aircraft is interrupted). It transmits intra-airspace aircraft information generated by an intra-airspace aircraft information management unit 4400 (described later) to the control base system 2000. Furthermore, it may transmit ground-side action commands generated by a loss resolution action command unit 4800 (described later) to the control base system 2000.

[0096] (A-1-6-3. Aircraft communication unit 4300) The air vehicle communication unit 4300 is a communication facility for directly communicating with the target air vehicle 1000, and includes a wireless communication antenna 4310 and an antenna changing unit 4320. The wireless communication antenna 4310 is a communication antenna for directly communicating with the target air vehicle 1000. Note that, for example, wireless communication bands of the 2.4 GHz band or the 5.7 GHz band can be used for direct wireless communication between the target air vehicle 1000 and the airspace monitoring system 4000, but are not limited to these. Wireless communication using very long waves of frequencies from 3 kHz to 30 kHz, long waves of 30 kHz to 300 kHz, medium waves of 300 kHz to 3 MHz, short waves of 3 MHz to 30 MHz, very short waves of 30 MHz to 300 MHz, ultra-short waves of 300 MHz to 3 GHz, microwaves of 3 GHz to 30 GHz, millimeter waves of 30 GHz to 300 GHz, and submillimeter waves of 300 GHz to 3 THz can also be applied.

[0097] The antenna changing unit 4320 is a functional unit that changes at least one of the position, orientation, elevation angle, and communication distance of the wireless communication antenna 4310. The position, orientation, elevation angle, and communication distance may be changed by changing the direction of the antenna changing unit 4320 or the antenna configuration, but is not limited to this, and may also be changed by switching to another antenna that has a different position, orientation, elevation angle, or communication distance.

[0098] When the flying object determination unit 4130 identifies an flying object, the flying object communication unit 4300 may transmit to the flying object at least any of information regarding the position, movement direction, movement speed, and movement acceleration of the flying object detected by the flying object determination unit 4130. The flying object can use the information received from the flying object communication unit 4300 as backup information to be used in case of an abnormality in the self-position measurement unit 1110 within the flying object.

[0099] (A-1-6-4. Airspace Vehicle Information Management Department 4400) The in-airspace aircraft information management unit 4400 is a functional unit that integrates information about aircraft in the target airspace monitored by the airspace monitoring system 4000 and shares the integrated information with other systems in the flight system. The in-airspace aircraft information management unit 4400 includes an information integration unit 4410 and an integrated information sharing unit 4420.

[0100] The information integration unit 4410 integrates capture information on aircraft within the airspace detected by the aircraft detection unit 4100, information on manned aircraft within the airspace obtained from the ATM 6000, information on unmanned aircraft within the airspace obtained from the UTM 5000, and the like to generate information on aircraft within the airspace.

[0101] The integrated information sharing unit 4420 transmits the in-airspace aircraft information generated by the information integration unit 4410 to the target aircraft 1000, the control base system 2000, the ATM 6000, and the UTM 5000. The in-airspace aircraft information is transmitted to the target aircraft 1000 via the aircraft communication unit 4300. The in-airspace aircraft information is transmitted to the control base system 2000, the ATM 6000, and the UTM 5000 via the external system communication unit 4200.

[0102] (A-1-6-5. Waiting area information registration unit 4500) The waiting area information registration unit 4500 is a functional unit that receives and records information about waiting areas. The waiting area information registration unit 4500 includes a waiting area information reception unit 4510 and a waiting area information storage unit 4520.

[0103] The waiting area information receiving unit 4510 is a functional unit that receives information about the waiting area input by the user via the user interface unit 4900 (described later), information about the waiting area obtained from an external system via the external system communication unit 4200, or information about the waiting area obtained from the target flying object via the flying object communication unit 4300. The waiting area information storage unit 4520 is a functional unit that records the information about the waiting area received by the waiting area information receiving unit 4510. The information about the waiting area is input by the user before the target flying object starts flying. The information about the waiting area may also be transmitted to the target flying object 1000 via the flying object communication unit 4300.

[0104] The information relating to the waiting area received by the waiting area information receiving unit 4510 includes one of the following three types of information, similar to the information relating to the waiting area received by the waiting area information receiving unit 1510. - Uniquely determined waiting area location information. Location information of multiple candidate waiting areas set up along the planned flight route, and information on waiting area selection rules for selecting a specific waiting area from multiple candidate waiting areas. Location information of candidate waiting areas set along the planned flight route, and information on waiting area setting rules that set a part of the area inside the candidate waiting area as a waiting area.

[0105] (A-1-6-6. Lost determination unit 4600) The lost determination unit 4600 has a function of determining a non-detection state (acquisition lost) in which the airspace monitoring system 4000 cannot detect an air vehicle in the airspace, and a function of determining a state (communication lost) in which communication between the air vehicle and the control base system 2000, the airspace monitoring system 4000, or the UTM 5000 has been interrupted. The lost determination unit 4600 includes a acquisition lost determination unit 4610, a communication lost determination unit 4620, a lost position acquisition unit 4630, a lost information notification unit 4640, and a communication lost information acquisition unit 4650.

[0106] The acquisition lost determination unit 4610 is a functional unit that determines a detection lost (acquisition lost) state in which an aircraft cannot be detected in the monitored airspace by the aircraft detection unit 4100. The acquisition lost determination unit 4610 determines acquisition lost in the following cases, for example. When the flight position received from the target aircraft via the aircraft communication unit 4300 is within the airspace monitored by the aircraft detection unit 4100, but the aircraft detection unit 4100 cannot detect the aircraft corresponding to that flight position. When the aircraft detection unit 4100 detects an aircraft within the monitored airspace, the aircraft detection unit 4100 suddenly becomes unable to detect the aircraft, and is still able to communicate with the aircraft via the aircraft communication unit 4300.

[0107] The communication loss determination unit 4620 is a functional unit that determines a state in which wireless communication is interrupted (communication lost) between the airspace monitoring system 4000 and the target aircraft 1000. The communication loss determination unit 4620 determines communication loss in the following cases, for example. - When communication signals are constantly or periodically sent and received with the communication partner (so-called heartbeat signals) and no communication signals are received for a specified period of time or longer. - When communication signals are sent and received with the communication partner on a constant or regular basis (so-called heartbeat signals), and no communication signals are received for a specified period of time or longer, and the aircraft detection unit 4100 detects the aircraft in question within the monitored airspace.

[0108] Here, the means of wireless communication between the target flying object 1000 and the airspace monitoring system 4000 is not limited to direct wireless communication, but can also be direct wireless communication, communication via public wireless, or communication via a communication satellite, as shown in Figures 4 and 5. The communication loss determination unit 4620 can detect communication loss even when using any of these communication means.

[0109] Furthermore, when the external system communication unit 4200 receives communication loss information from the UTM or the control base system, the communication loss determination unit 4620 determines that communication loss has occurred in the UTM or the control base system.

[0110] The lost position acquisition unit 4630 is a functional unit that acquires the position of the aircraft at the time of capture loss when the capture loss determination unit 4610 determines that capture loss has occurred, and the position of the aircraft at the time of communication loss when the communication loss determination unit 4620 determines that communication loss has occurred.

[0111] The lost information notification unit 4640 is a functional unit that transmits the capture lost information detected by the capture lost determination unit 1410 and the communication lost information detected by the communication lost determination unit 1420 to the target flying object 1000, other flying objects 1000, 3000, or other linked systems such as the control base system 2000, UTM5000, and ATM6000. Upon receiving the capture lost information or communication lost information, the target flying object 1000 flies through a waiting area and performs an action to resolve the lost state.

[0112] Furthermore, when the communication loss determination unit 1420 detects a communication loss state, communication is interrupted, and therefore communication loss information cannot be sent directly to the target aircraft 1000. Therefore, the communication loss information is sent to the target aircraft 1000 via the control base system 2000, UTM5000, and ATM6000, which are other linked systems.

[0113] When the communication lost information acquisition unit 4650 detects a communication lost state in which wireless communication with the target aircraft 1000 is interrupted in other linked systems, such as the control base system 2000, UTM5000, and ATM6000, it acquires communication lost information from the control base system 2000, UTM5000, and ATM6000.

[0114] (A-1-6-7. Waiting area acquisition unit 4700) The waiting area acquisition unit 4700 is a functional unit that acquires information about the waiting area, which is an airspace area where the target flying object 1000 will perform waiting flight when at least one of capture loss and communication loss occurs. The waiting area acquisition unit 4700 may acquire information about the waiting area from the waiting area information registration unit 4500, or may acquire information about the waiting area determined by the system. For example, the waiting area acquisition unit 4700 includes a disturbance state storage unit 4710 and an area determination unit 4720.

[0115] The disturbance state storage unit 4710 records, for each airspace, a capture disturbance state that is a disturbance to the detection of an airborne object by the airborne object detection sensor 4110. Furthermore, it records, for each airspace, a communication disturbance state that is a disturbance to wireless communication between the target airborne object 1000 and each ground-side system (control base system 2000, airspace monitoring system 4000, UTM5000, ATM6000) that communicates wirelessly with the target airborne object 1000. Information on the capture disturbance state and communication disturbance state may be past or real-time detection values ​​for each airspace by the airborne object detection unit or communication information of past or real-time wireless communication for each airspace, or information on these disturbance states may be acquired from an external system.

[0116] The area determination unit 4720 determines the waiting area based on the information about the waiting area received by the waiting area information receiving unit 4510 or recorded in the waiting area information storage unit 4520. If the information about the waiting area is "position information of a uniquely determined waiting area," the area determination unit 4720 determines the waiting area based on the position information of the waiting area.

[0117] Furthermore, if the information regarding the waiting area is "location information of multiple candidate waiting areas located along the planned flight route and information regarding waiting area selection rules for selecting a specific waiting area from the multiple candidate waiting areas," the area determination unit 4720, for example, selects the candidate waiting area closest to the lost position based on information about the lost position acquired by the lost position acquisition unit 4630, and determines it as the waiting area.

[0118] Furthermore, if the information regarding the waiting area is "location information of a candidate waiting area located along the planned flight route and information regarding a waiting area setting rule that sets a portion of the area inside the candidate waiting area as a waiting area," the area determination unit 4720 determines, for example, based on information regarding the lost position acquired by the lost position acquisition unit 4630 and information regarding the direction of travel received from the target aircraft 1000 before the loss occurred, that a portion of the area within the candidate waiting area corresponding to a position a predetermined distance in the direction of travel from the lost position as the waiting area.

[0119] As another example, when the capture lost determination unit 4610 detects a capture loss, the area determination unit 4720 determines, based on the disturbance information for each airspace recorded in the disturbance state storage unit 4710, an airspace in which the disturbance to the airborne object detection sensor (including a radar sensor using electromagnetic waves and a laser sensor using laser light) by the airborne object detection unit is less than a predetermined standard, as a waiting area. Alternatively, from among multiple waiting area candidates recorded as information related to the waiting area, a candidate in which the disturbance to the airborne object detection sensor is less than a predetermined standard is selected and determined as the waiting area. Alternatively, an airspace that is a part of the waiting area candidate and in which the disturbance to the airborne object detection sensor is less than a predetermined standard is determined as a waiting area.

[0120] As another example, when capture loss determination unit 4610 detects capture loss, area determination unit 4720 determines an airspace area where an air vehicle can be visually confirmed from the installation position of air vehicle detection unit 4100 or the linked system as a waiting area. Here, the airspace area where an air vehicle can be visually confirmed may be set in advance by the user, or may be set according to predetermined conditions such as being within a predetermined distance range from the installation position of air vehicle detection unit 4100 or the linked system.

[0121] As yet another example, when the capture loss determination unit 4610 detects a capture loss, the area determination unit 4720 determines, as a waiting area, an airspace area in which an airborne object can be detected by a radar sensor or a laser sensor used as the airborne object detection sensor 4110. Here, the airspace area in which an airborne object can be detected by the radar sensor or the laser sensor may be set in advance by a user or the like based on the detectable distance and detectable range of each radar sensor or laser sensor, or may be set based on predetermined conditions such as being within a predetermined distance range from the installation position of the airborne object detection unit 4100 or the linked system. Here, when multiple different sensors with different detectable distances and detectable ranges are available, a different detectable airspace area for each sensor is determined as a waiting area based on the detectable distance and detectable range of each sensor.

[0122] As another example, when communication loss determination unit 4620 detects communication loss, area determination unit 4720 determines, as a waiting area, an airspace in which the communication state of wireless communication satisfies a predetermined standard (for example, the disturbance is less than the predetermined standard) based on the disturbance information for each airspace recorded in disturbance state storage unit 4710. Alternatively, it selects a candidate in which the communication state of wireless communication satisfies the predetermined standard from among multiple waiting area candidates recorded as information related to the waiting area, and determines that candidate as a waiting area. Alternatively, it determines, as a waiting area, a part of the airspace within the waiting area candidate, in which the communication state of wireless communication satisfies the predetermined standard.

[0123] As yet another example, when both acquisition loss and communication loss are detected, the area determination unit 4720 determines, as a waiting area, an airspace where the communication state of wireless communication satisfies a predetermined standard (for example, where the disturbance is less than a predetermined standard) based on the disturbance information for each airspace recorded in the disturbance state storage unit 4710, rather than an airspace where the disturbance to the aircraft detection sensor (including a radar sensor that uses electromagnetic waves and a laser sensor that uses laser light) by the aircraft detection unit is less than a predetermined standard. In this way, when acquisition loss and communication loss occur simultaneously, a waiting area is set that prioritizes resolving the communication loss.

[0124] Here, an example has been described in which the area determination unit 4720 determines the position of the waiting area based on information such as the position information and lost position information of the candidate waiting area, disturbance information from the flying object detection sensor or wireless communication, and whether the flying object is within a specified range such as line of sight from the flying object detection unit 4100, but the position of the waiting area can also be determined by combining these determination conditions.

[0125] (A-1-6-8. Lost Resolving Action Command Unit 4800) The lost state resolution action command unit 4800 is a functional unit that generates an action command to resolve a capture lost state (detection lost state) or a communication lost state, and outputs the action command to the functional units in the airspace monitoring system 4000. The lost state resolution action command unit 4800 includes a redetection action command unit 4810, a communication reconnection action command unit 4820, and an action command unit 4830 for action when the lost state persists.

[0126] When the capture lost determination unit 4610 detects capture lost (detection lost), the redetection action command unit 4810 outputs an action command to the sensor change unit 4120 to change at least one of the irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar wave or laser light irradiated from the flying object detection sensor 4110. Specifically, at least one of the parameters of the irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar wave or laser light is changed so that the flying object detection sensor 4110 can search the waiting area acquired by the waiting area acquisition unit 4700, and the flying object detection sensor 4110 is caused to search the waiting area.

[0127] Here, as described above, the redetection action command unit 4810 may output an action command to the sensor change unit 4120 to change each parameter such as the irradiation direction of radar waves or laser light, and automatically control the flying object detection sensor 4110, or may display the action command on an information display unit 4920 of the user interface unit 4900 (described later) to notify the action command to the user operating the airspace monitoring system 4000. The user can input a command to the sensor change unit 4120 through the input unit 4910 based on the displayed action command.

[0128] When the communication loss determination unit 4620 detects communication loss, the communication reconnection action command unit 4820 outputs an action command to the antenna change unit 4320 to change at least one of the position, orientation, elevation angle, and communication distance of the wireless communication antenna 4310. Specifically, at least one of the position, orientation, elevation angle, and communication distance of the wireless communication antenna 4310 is changed so that the waiting area acquired by the waiting area acquisition unit 4700 falls within the wireless communication range of the wireless communication antenna 4310, and the target flying object is reconnected to wireless communication using the wireless communication antenna 4310.

[0129] Here, as described above, the communication reconnection action command unit 4820 may output an action command to the antenna changing unit 4320 to change the position of the wireless communication antenna 4310 or the like, and automatically control the wireless communication antenna 4310, or may display the action command on an information display unit 4920 of the user interface unit 4900 (described later) to notify the action command to the user operating the airspace monitoring system 4000. The user can input a command to the antenna changing unit 4320 through the input unit 4910 based on the displayed action command.

[0130] The action command unit 4830 for when the lost state continues is a functional unit that outputs an action command when the state of capture lost or communication lost continues for more than a predetermined time and the lost state cannot be resolved, even if the redetection action command unit 4810 or the communication reconnection action command unit 4820 takes action to resolve the lost state by changing the orientation of the aircraft detection sensor 4110 or the wireless communication antenna 4310, etc.

[0131] When a detection lost state occurs, if the target aircraft cannot be detected even after the aircraft detection unit 4100 searches the waiting area for a predetermined time or longer, the action command unit 4830 for a continued lost state transmits a landing command to the target aircraft via the aircraft communication unit 4300. The landing command may be transmitted not only to the target aircraft but also to the pilot base system 2000 and the UTM 5000 via the external system communication unit 4200. Here, the landing command may be a command to land the target aircraft at the takeoff point, on the spot, or at another location. The landing command may be transmitted only once, or may be transmitted continuously to the target aircraft, the pilot base system 2000, and the UTM 5000 until the landing of the target aircraft is confirmed. In this way, if the aircraft cannot be recaptured for a predetermined time or longer, the safety of the airspace can be ensured by landing the aircraft.

[0132] Furthermore, when a detected lost state occurs and wireless communication between the target aircraft 1000 and the airspace monitoring system 4000 cannot be reestablished for a predetermined time or longer, the action command unit 4830 for a continued lost state transmits a landing command to the target aircraft via the aircraft communication unit 4300. The landing command may be transmitted not only to the target aircraft but also to the pilot base system 2000 and UTM5000 via the external system communication unit 4200. Here, the landing command may be a command to land the target aircraft at the takeoff point, on the spot, or at another location. The landing command may be transmitted only once, or may be transmitted continuously to the target aircraft, pilot base system 2000, and UTM5000 until the landing of the target aircraft is confirmed. In this way, if wireless communication with the aircraft cannot be reestablished for a predetermined time or longer, the safety of the airspace can be ensured by landing the aircraft.

[0133] (A-1-6-9. User interface unit 4900) The user interface unit 4900 includes an input unit 4910 and an information display unit 4920. The input unit 4910 is a functional unit that accepts input of various information from the user, and can, for example, input information about the waiting area to the waiting area information accepting unit 4510. It can also input commands to the sensor change unit 4120. The information display unit 4920 is a functional unit that displays information to the user, and can, for example, display various action commands generated by the lost object resolution action command unit 4800. The information displayed is not limited to this, and integrated information generated by the in-airspace aircraft information management unit 4400 may also be displayed.

[0134] (A-1-7. Communication Infrastructure Management System 2100) Next, a description will be given of the communication infrastructure management system 2100 of the control base system 2000. Fig. 8 is a functional block diagram of the communication infrastructure management system of the control base system. The communication infrastructure management system 2100 includes a lost determination unit 2110, a communication status determination unit 2120, a communication switching unit 2130, and an air vehicle communication unit 2140.

[0135] The communication loss determination unit 2110 is a functional unit that determines communication loss and notifies an external system of communication loss determination information. The communication loss determination unit 2110 includes a communication loss determination unit 2111 and a communication loss information notification unit 2112. The communication loss determination unit 2111 determines a communication lost state in which wireless communication with the target flying object 1000, which is the control target of the control base system, has been interrupted. For example, the communication loss determination unit 2111 constantly or periodically transmits and receives communication signals (so-called heartbeat signals) with the communication partner, and determines that a communication lost state in which communication with the communication partner has been interrupted when no communication signal is received for a predetermined time or longer. The communication loss information notification unit 2112 notifies other linked systems of the determined communication loss information, and further notifies the target flying object 1000 of the communication loss information via the other linked systems.

[0136] The communication state determination unit 2120 includes a communication speed determination unit 2121 and a communication strength determination unit 2122, and each determination unit determines the communication strength and communication speed for each of the multiple communication means shown in FIGS.

[0137] The communication switching unit 2130 switches to a specific communication means from among a plurality of candidate communication means, depending on the communication strength and communication speed for each communication means determined by the communication state determination unit 2120.

[0138] 4a, the air vehicle communication unit 2140 has a dedicated wireless communication antenna 2141 that is used when the target air vehicle 1000 and the communication infrastructure management system communicate directly by wireless communication, and an antenna changing unit 2142 that changes the position of the wireless communication antenna 2141. The configurations of the wireless communication antenna 2141 and the antenna changing unit 2142 can be similar to the wireless communication antenna 4310 and the antenna changing unit 4320 in the airspace monitoring system 4000, and therefore detailed description thereof will be omitted.

[0139] The communication infrastructure management system 2100 can further include a waiting area information registration unit 4500, a waiting area acquisition unit 4700, and a loss resolution action command unit 4800, similar to the airspace monitoring system 4000, and when communication loss is detected by the communication loss determination unit 2111, action can be taken to resolve the communication loss by changing at least one of the position, direction, elevation angle, and communication distance of the wireless communication antenna in the antenna change unit based on information regarding the waiting area.

[0140] In addition, in this embodiment, an example is shown in which the airspace monitoring system 4000 is installed at a different location as an independent system different from the control base system 2000, but the present invention is not limited to this, and it is also possible to integrate the airspace monitoring system 4000 and the control base system 2000 into a single system (which may be composed of either a fixed base or a mobile base) and install it in one location.

[0141] (A-1-8.UTM5000) Next, we will explain the UTM 5000. Fig. 9 is a functional block diagram of the UTM. The UTM 5000 includes a lost determination unit 5100, an information acquisition unit 5200, an air traffic control unit 5300, an aircraft communication unit 5400, and an external system communication unit 5500.

[0142] The lost determination unit 5100 is a functional unit that determines communication loss in wireless communication between the UTM 5000 and the target air vehicle 1000 (unmanned aerial vehicle) communicating with the UTM 5000 and notifies an external system of the communication loss determination information. The lost determination unit 5100 includes a communication loss determination unit 5110 and a communication loss information notification unit 5120. For example, the communication loss determination unit 5110 constantly or periodically transmits and receives communication signals (so-called heartbeat signals) with the communication partner, and determines that communication with the communication partner has been interrupted and a communication loss state has occurred when no communication signal is received for a predetermined period of time or longer. The communication loss information notification unit 5120 notifies other linked systems (such as the airspace monitoring system 4000 and the piloting base system 2000) of the determined communication loss information, and further notifies the target air vehicle 1000 of the communication loss information via the other linked systems (such as the airspace monitoring system 4000 and the piloting base system 2000).

[0143] The information acquisition unit 5200 is a functional unit that acquires information about aircraft (including unmanned aircraft and manned aircraft) within the target airspace for which the UTM 5000 performs flight management. The information acquisition unit 5200 receives, from the target unmanned aircraft 1000 with which the UTM 5000 wirelessly communicates, measurement information such as its own position measured by the target aircraft's self-position measurement unit 1110, control status information such as aircraft attitude measurement information measured by the attitude measurement unit 1120, or loss information detected by the lost determination unit 1400. Furthermore, the information acquisition unit 5200 receives information about unmanned and manned aircraft within the monitored airspace detected by the aircraft detection unit 4100 of the airspace monitoring system 4000 via the external system communication unit 5500 (described later). Furthermore, the information acquisition unit 5200 receives control status information such as the position, speed, and attitude of the manned aircraft 3000 operated and managed by the ATM 6000, which is directly or indirectly connected to the ATM for communication. Furthermore, the information acquisition unit 5200 may receive information on detection loss and communication loss in the airspace monitoring system 4000, and information on communication loss between the ATM and the manned aircraft 3000, via the external system communication unit 5500 described below.

[0144] The flight control unit 5300 generates flight commands for the target flight object 1000 (unmanned aircraft) with which it communicates wirelessly and flight status information for other flight objects within the target airspace based on control status information and lost information for unmanned and manned flight objects within the target airspace that it manages, acquired by the information acquisition unit 5200, and transmits the flight commands and flight status information to the target flight object 1000 via the flight object communication unit 5400, which will be described later.

[0145] The air vehicle communication unit 5400 is a communication device for directly communicating with the target air vehicle 1000, and includes a wireless communication antenna 5410 and an antenna change unit 5420. The wireless communication antenna 5410 is a communication antenna for directly communicating with the target air vehicle 1000. Note that, similar to the air vehicle communication unit 4300 of the airspace monitoring system 4000, communication channels using various frequency bands can be applied to the direct wireless communication between the target air vehicle 1000 and the UTM 5000.

[0146] The antenna changing unit 5420 can be configured similarly to the antenna changing unit 4320 of the airspace monitoring system 4000, and is a functional unit that changes at least one of the position, direction, elevation angle, and communication distance of the wireless communication antenna 5410.

[0147] The external system communication unit 5500 is a functional unit that communicates with other linked systems, such as the airspace monitoring system 4000, the control base system 2000, and the ATM 6000.

[0148] Similar to the airspace monitoring system 4000, the UTM 5000 can further include a waiting area information registration unit 4500, a waiting area acquisition unit 4700, and a loss resolution action command unit 4800, and when a communication loss is detected by the communication loss determination unit 5110, the UTM 5000 can take action to resolve the communication loss by changing at least one of the position, direction, elevation angle, and communication distance of the wireless communication antenna in the antenna change unit 5420 based on information regarding the waiting area.

[0149] (A-1-9.ATM6000) Next, the ATM 6000 will be described. Fig. 10 is a functional block diagram of the ATM. The ATM 6000 includes a lost determination unit 6100, an information acquisition unit 6200, an operation control unit 6300, an aircraft communication unit 6400, and an external system communication unit 6500.

[0150] The loss determination unit 6100 is a functional unit that determines communication loss in wireless communication between the ATM 6000 and the target flying object 1000 (manned aircraft) communicating with it, and notifies an external system of communication loss determination information. The loss determination unit 6100 includes a communication loss determination unit 6110 and a communication loss information notification unit 6120. The communication loss determination unit 6110 and the communication loss information notification unit 6120 can have the same configuration as the communication loss determination unit 5110 and the communication loss information notification unit 5120 of the UTM 5000.

[0151] The information acquisition unit 6200 is a functional unit that acquires information about air vehicles (including unmanned and manned aircraft) within the target airspace for which the ATM 6000 performs flight control. The information acquisition unit 6200 receives control status information including measurement information such as the manned air vehicle 3000's own position and aircraft attitude measured by the manned air vehicle 3000 with which the ATM 6000 performs wireless communication, or loss information detected by the lost determination unit 6100. Furthermore, the information acquisition unit 6200 receives information about unmanned and manned air vehicles within the monitored airspace detected by the air vehicle detection unit 4100 of the airspace monitoring system 4000 via the external system communication unit 6500 (described later). Furthermore, the information acquisition unit 6200 receives control status information such as the position, speed, and attitude of the unmanned target air vehicle 1000 operated and managed by the UTM 5000, which is directly or indirectly connected to the UTM for communication. Furthermore, the information acquisition unit 5200 may receive information on detection loss and communication loss in the airspace monitoring system 4000, and information on communication loss between the UTM and the target flying object 1000, via the external system communication unit 6500 described below.

[0152] The flight control unit 6300 generates flight commands for the flight vehicle 3000 (manned aircraft) that communicates wirelessly and flight status information for other flight vehicles flying within the target airspace based on control status information for manned and unmanned flight vehicles within the target airspace that it manages, as well as lost information, acquired by the information acquisition unit 6200, and transmits the flight commands and flight status information to the flight vehicle 3000 via the flight vehicle communication unit 6400, which will be described later.

[0153] The air vehicle communication unit 6400 is communication equipment for direct communication with the manned air vehicle 3000, and includes a wireless communication antenna 6410 and an antenna changing unit 6420. The wireless communication antenna 6410 is a communication antenna for direct communication with the manned air vehicle 3000. Note that, similar to the air vehicle communication unit 4300 of the airspace monitoring system 4000, communication channels using various frequency bands can be applied to the direct wireless communication between the manned air vehicle 3000 and the ATM 6000.

[0154] The antenna changing unit 6420 can be configured similarly to the antenna changing unit 4320 of the airspace monitoring system 4000, and is a functional unit that changes at least one of the position, direction, elevation angle, and communication distance of the wireless communication antenna 6410.

[0155] The external system communication unit 6500 is a functional unit that communicates with other linked systems, such as the airspace monitoring system 4000, the control base system 2000, and the UTM 5000.

[0156] The ATM 6000 can further include a waiting area information registration unit 4500, a waiting area acquisition unit 4700, and a loss resolution action command unit 4800, similar to the airspace monitoring system 4000, and when a communication loss is detected by the communication loss determination unit 6110, the ATM 6000 can take action to resolve the communication loss by changing at least one of the position, direction, elevation angle, and communication distance of the wireless communication antenna in the antenna change unit 6420 based on information regarding the waiting area.

[0157] (A-1-10. Hardware configuration) 11 is a configuration diagram showing the hardware configuration of an airspace monitoring system, etc. Here, the airspace monitoring system 4000, the piloting base system 2000, the UTM 5000, the ATM 6000, and the spatial information data utilization system 7000, which constitute the flight operation system 1 of the present invention, are information processing devices such as a server device or a PC. As shown in the figure, the airspace monitoring system 4000, the piloting base system 2000, the UTM 5000, the ATM 6000, and the spatial information data utilization system 7000 each include an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0158] The input device 100 is a device for inputting information and instructions by users of each system constituting the operation system 1. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0159] The output device 200 is a device that outputs information from an information display unit in the airspace monitoring system 4000, the piloting base system 2000, the UTM 5000, the ATM 6000, or the spatial information data utilization system 7000. Specifically, the output device 200 is a display device (including eyewear, AR, VR display devices, etc.), a printer, or a speaker.

[0160] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing arithmetic processing.

[0161] The main storage device 400 is a memory device such as a RAM that temporarily stores various types of read information and a ROM that stores programs, application programs, and other various information executed by the processing device 300. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

[0162] The communication device 600 is a device that performs wireless or wired information communication with an external device.

[0163] (A-1-11. Flowchart) Next, we will explain the operation flow of the operation system 1. Fig. 12 is a flowchart showing the operation of the operation system.

[0164] First, the waiting area information registration unit 4500 receives information about the waiting area from the user and registers the information about the waiting area (step 11). Note that it is desirable to register the information about the waiting area before flying the aircraft. In addition, the registered information about the waiting area is also transmitted to the target aircraft 1000 and recorded on the aircraft side.

[0165] Next, the control base system 2000 starts the flight of the target aircraft (step 12).

[0166] Next, a lost state is detected in each of the coordinated system (including the airspace monitoring system 4000) and the target aircraft 1000 (step 13). The lost state includes at least one of a detection lost state and a communication lost state. The communication lost state also includes a communication loss between the target aircraft 1000 and the pilot base system 2000, a communication loss between the target aircraft 1000 and the UTM 5000, and a communication loss between the target aircraft 1000 and the airspace monitoring system 4000.

[0167] Next, the cooperative system (including the airspace monitoring system 4000) and the target aircraft 1000 each acquire waiting area information (step 14). Information regarding the waiting area may be received from a user or externally, or may be acquired by reading waiting area information pre-registered in a storage unit. Alternatively, the waiting area may be determined based on information such as disturbance information, waiting area candidates pre-registered in a storage unit, and lost location.

[0168] Next, a loss resolution action is commanded in each of the linked system (including the airspace monitoring system 4000) and the target aircraft 1000 (step 15). For example, the target aircraft 1000 flies in a waiting area as a loss resolution action, and the linked system (including the airspace monitoring system 4000) searches the waiting area by adjusting the direction of the radar waves or laser light of the aircraft detection unit 4100, or adjusts the position of the wireless communication antenna to try to reconnect with the target aircraft flying in the waiting area by wireless communication.

[0169] Next, the coordinated system (including the airspace monitoring system 4000) and the target aircraft 1000 each issue a command to take action in the event that the lost state continues (step 16). For example, if the lost state continues for a predetermined time or longer even after a lost state resolution action has been executed, the target aircraft is landed.

[0170] (A-1-12. Lost detection method) Next, an example of a method for detecting communication loss and detection loss using the loss determination units (4600, 1400) mounted on the airspace monitoring system 4000 and the target aircraft 1000 will be described with reference to FIGS.

[0171] (A-1-12-1. Lost detection method in airspace monitoring system) FIG. 13 is a flowchart showing a control flow when the airspace monitoring system detects a loss.

[0172] First, the lost determination unit 4600 of the airspace monitoring system 4000 determines whether or not the communication lost determination unit 4620 has detected a communication lost state with the target flying object 1000 (step 101), and if a communication lost state is detected, determines that communication loss has occurred between the target flying object 1000 and the airspace monitoring system (step 102).On the other hand, if a communication lost state is not detected, the process proceeds to processing step 103.

[0173] As a method for detecting a communication loss state in step 101, for example, communication loss is detected in the following cases. - When communication signals are constantly or periodically sent and received with the communication partner (so-called heartbeat signals) and no communication signals are received for a specified period of time or longer. - When communication signals are sent and received with the communication partner on a constant or regular basis (so-called heartbeat signals), and no communication signals are received for a specified period of time or longer, and the aircraft detection unit 4100 detects the aircraft in question within the monitored airspace.

[0174] Next, the communication loss determination unit 4620 of the airspace monitoring system 4000 determines whether communication loss information has been received from the UTM 5000 via the external system communication unit 4200 (step 103), and if communication loss information has been received, determines that communication loss has occurred between the target aircraft 1000 and the UTM 5000 (step 104).On the other hand, if communication loss information has not been received from the UTM, the process proceeds to processing step 105.

[0175] Next, the communication loss determination unit 4620 of the airspace monitoring system 4000 determines whether communication loss information has been received from the pilot base system 2000 via the external system communication unit 4200 (step 105), and if communication loss information has been received, determines that communication loss has occurred between the target aircraft 1000 and the pilot base system 2000 (step 106).On the other hand, if communication loss information has not been received from the pilot base system, the process proceeds to processing step 107.

[0176] Next, the acquisition loss determination unit 4610 of the airspace monitoring system 4000 determines whether acquisition loss has been detected (step 107), and if acquisition loss is detected, it determines that acquisition loss has occurred in the airspace monitoring system 4000 (step 108).On the other hand, if acquisition loss is not detected, it determines that a lost state has not occurred (step 109).

[0177] Using the above-described lost state determination method, the linked system determines whether a lost state has occurred in the airspace monitoring system 4000, the control base system 2000, and the UTM 5000.

[0178] (A-1-12-2. Lost detection method for target aircraft) Next, a method for detecting loss of a target flying object will be described. Fig. 14 is a flowchart showing the control flow when loss detection is performed by a target flying object.

[0179] First, the communication loss determination unit 1420 of the target aircraft 1000 determines whether a communication loss state with the target aircraft 1000 has been detected (step 201), and if a communication loss state is detected, determines that a communication loss has occurred between the target aircraft 1000 and the airspace monitoring system (step 202).On the other hand, if a communication loss state is not detected, the process proceeds to processing step 203.

[0180] As a method for detecting a communication loss state in step 201, for example, communication loss is detected in the following cases. - When communication signals are constantly or periodically sent and received with the communication partner (so-called heartbeat signals) and no communication signals are received for a specified period of time or longer. - When communication signals are sent and received with the communication partner on a constant or regular basis (so-called heartbeat signals), and no communication signals are received for a specified period of time or longer, and the aircraft detection unit 4100 detects the aircraft in question within the monitored airspace.

[0181] Next, the communication loss determination unit 1420 of the target aircraft 1000 determines whether a communication loss state with the UTM 5000 has been detected (step 203), and if a communication loss state is detected, it determines that a communication loss has occurred between the target aircraft 1000 and the UTM (step 204).On the other hand, if a communication loss state is not detected, the process proceeds to processing step 205.

[0182] Next, the communication loss determination unit 1420 of the target aircraft 1000 determines whether a communication loss state with the control base system 2000 has been detected (step 205), and if a communication loss state is detected, it determines that a communication loss has occurred between the target aircraft 1000 and the control base system (step 206).On the other hand, if a communication loss state is not detected, the process proceeds to processing step 207.

[0183] Next, the communication unit 1300 of the target flying object 1000 determines whether or not acquisition lost information has been received from the airspace monitoring system 4000 (step 207), and if acquisition lost information has been received, it determines that a detection loss has occurred in the airspace monitoring system 4000 (step 208).On the other hand, if acquisition lost information has not been received, it determines that a lost state has not occurred (step 209).

[0184] (A-1-13. How to set up a waiting area) Next, a method for setting a waiting area will be described using Figures 15 to 20. The method for setting a waiting area shown in Figures 15 to 20 is a process executed by both the target flying body 1000 and the airspace monitoring system 4000, but the following description will focus on the method for setting a waiting area in the airspace monitoring system in particular.

[0185] (A-1-13-1. First method for setting up a waiting area) First, a first setting method for a waiting area when a waiting area candidate is registered at a predetermined specific position will be described with reference to Figures 15 and 16. Figure 15 is a flowchart showing a first example of a setting method for determining a waiting area in a target flying object or an airspace monitoring system.

[0186] First, the loss determination unit 4600 determines whether a communication loss or acquisition loss has been detected (step 301), and if at least one of a communication loss and an acquisition loss has been detected, the process proceeds to processing step 302; on the other hand, if neither a communication loss nor an acquisition loss has been detected, the process of this flowchart ends.

[0187] Next, the disturbance state storage unit 4710 checks the latest disturbance state for the waiting area candidate accepted or recorded by the waiting area information registration unit 4500 (step 302).

[0188] Next, the area determination unit 4720 determines whether the disturbance in the candidate waiting area is greater than a predetermined value (the disturbance state is worse than a predetermined value) (step 303), and if the disturbance is greater than the predetermined value, the process transitions to processing step 305, and if the disturbance is smaller than the predetermined value, the process transitions to processing step 304.

[0189] Next, if it is determined in step 303 that the disturbance is smaller than the predetermined value, a previously registered standby area candidate is set as the standby area (step 304).

[0190] Next, if it is determined in step 303 that the disturbance is greater than or equal to a predetermined value, an airspace other than the pre-registered waiting area candidates that has less disturbance than the predetermined value is set as the waiting area (step 305). In this way, by setting the waiting area airspace based on the latest disturbance information, it is possible to set the waiting area in an airspace with less disturbance in response to the disturbance situation that changes moment by moment even during flight.

[0191] FIG. 16 is a conceptual diagram illustrating a first method for setting a waiting area. This diagram shows the planned flight path of the target aircraft 1000 from the takeoff position to the planned landing position, and illustrates the positional relationship between the planned flight path and the waiting area candidates received or recorded by the waiting area information registration unit 4500. One of the illustrated waiting area candidates W01 to W03 is pre-registered in the waiting area information registration unit 4500. Waiting area candidate W01 is an example of a waiting area candidate registered in an airspace a predetermined distance laterally or vertically away from the planned flight path of the target aircraft 1000. Waiting area candidate W02 is an example of a waiting area candidate registered in an airspace on the planned flight path of the target aircraft 1000 (i.e., an airspace including the planned flight path). Waiting area candidate W03 is an example of a waiting area candidate registered in an airspace on an extension of the planned flight path of the target aircraft 1000.

[0192] (A-1-13-2. Second method for setting up a waiting area) Next, a first method for setting a waiting area when waiting area candidates are registered in multiple predetermined airspaces will be explained using Figures 17 and 18. Figure 17 is a flowchart showing a second example of a setting method for determining a waiting area in a target flying object or an airspace monitoring system.

[0193] First, the loss determination unit 4600 determines whether a communication loss or acquisition loss has been detected (step 401), and if at least one of a communication loss and an acquisition loss has been detected, the process proceeds to processing step 402; on the other hand, if neither a communication loss nor an acquisition loss has been detected, the process of this flowchart ends.

[0194] Next, a specific waiting area candidate is selected from the multiple waiting area candidates (step 402). In this step, for example, based on the lost position acquired by the lost position acquisition unit 4630, the waiting area candidate closest to the lost position or the waiting area candidate closest ahead in the traveling direction from the lost position may be selected.

[0195] As another example of a method for selecting a candidate waiting area in this step, multiple candidate waiting areas may be registered separately for when a communication loss is detected and when a capture loss is detected, and a specific waiting area may be selected from the multiple candidate waiting areas depending on whether a communication loss or a capture loss is detected by the loss determination unit 4600.

[0196] Next, the latest disturbance state for the standby area candidate selected in step 402 is confirmed by the disturbance state storage unit 4710 (step 403).

[0197] Next, the area determination unit 4720 determines whether the disturbance in the candidate waiting area is greater than a predetermined value (the disturbance state is worse than a predetermined value) (step 404), and if the disturbance is greater than the predetermined value, the process proceeds to processing step 406, and if the disturbance is less than the predetermined value, the process proceeds to processing step 405. Here, if it is detected that both communication loss and acquisition loss have occurred simultaneously, recovery from the communication lost state takes priority over recovery from the acquisition lost state, and the process determines whether the selected candidate waiting area is an airspace with less disturbance to wireless communication, rather than an airspace with less disturbance to the radar sensor and laser sensor that make up the aircraft detection sensor 4110.

[0198] Next, if it is determined in step 404 that the disturbance is smaller than the predetermined value, the selected standby area candidate is set as the standby area (step 405).

[0199] Next, if it is determined in step 404 that the disturbance is greater than or equal to a predetermined value, an airspace other than the selected waiting area candidate that has less disturbance than the predetermined value is set as the waiting area (step 406). In this way, by setting the waiting area airspace based on the latest disturbance information, it is possible to set the waiting area in an airspace with less disturbance in response to the disturbance situation that changes moment by moment even during flight.

[0200] 18 is a conceptual diagram illustrating a second method for setting a waiting area. This diagram shows the planned flight path of the target aircraft 1000 from the takeoff position to the planned landing position, and illustrates the positional relationship between the planned flight path and a candidate waiting area (candidate waiting area W04) set up in multiple airspaces that has been accepted or recorded by the waiting area information registration unit 4500. Either the candidate waiting area W04 or W05 shown in the diagram is registered in advance in the waiting area information registration unit 4500.

[0201] Candidate waiting area W04 is an example of a candidate waiting area when candidate waiting areas are registered in multiple airspaces (three airspaces) that are located along the planned flight path of the target aircraft 1000 and are a predetermined distance apart horizontally or vertically from the planned flight path. The area determination unit 4720 selects a specific airspace from the three candidate waiting areas shown as candidate waiting area W04.

[0202] The candidate waiting area W05 is an airspace on the planned flight path of the target aircraft 1000 or an extension thereof (i.e., an airspace including the planned flight path or an extension thereof), and shows an example of a candidate waiting area when candidate waiting areas are registered in multiple airspaces. The area determination unit 4720 selects a specific airspace from the four candidate waiting areas shown as candidate waiting area W05.

[0203] (A-1-13-3. Third method for setting up a waiting area) Next, a first method for setting a waiting area when long and narrow waiting area candidates are registered in advance in the airspace along the planned flight route will be described using Figures 19 and 20. Figure 19 is a flowchart showing a third example of a setting method for determining a waiting area in a target flying object or an airspace monitoring system.

[0204] First, the loss determination unit 4600 determines whether a communication loss or acquisition loss has been detected (step 501), and if at least one of a communication loss and an acquisition loss has been detected, the process proceeds to processing step 502; on the other hand, if neither a communication loss nor an acquisition loss has been detected, the process of this flowchart ends.

[0205] Next, a specific waiting area candidate is set in an area inside the long and narrow or wide waiting area candidate (step 502). In this step, for example, based on the lost position acquired by the lost position acquisition unit 4630, an area that is a predetermined distance ahead in the traveling direction from the lost position and is inside the waiting area candidate may be set as the waiting area candidate.

[0206] As another example of a method for setting a candidate waiting area in this step, the candidate waiting area when a communication loss is detected and the candidate waiting area when a capture loss is detected may be registered separately, and the candidate waiting area to be set may be changed depending on whether a communication loss or a capture loss is detected by the loss determination unit 4600.

[0207] Next, the latest disturbance state for the standby area candidate set in step 502 is confirmed by the disturbance state storage unit 4710 (step 503).

[0208] Next, the area determination unit 4720 determines whether the disturbance in the candidate waiting area is greater than a predetermined value (the disturbance state is worse than a predetermined value) (step 504), and if the disturbance is greater than the predetermined value, the process proceeds to processing step 506, and if the disturbance is less than the predetermined value, the process proceeds to processing step 505. Here, if it is detected that both communication loss and acquisition loss have occurred simultaneously, the process prioritizes recovery from the communication lost state over recovery from the acquisition lost state, and determines whether the selected candidate waiting area is an airspace with less disturbance to wireless communication, rather than an airspace with less disturbance to the radar sensor and laser sensor that make up the aircraft detection sensor 4110.

[0209] Next, if it is determined in step 504 that the disturbance is smaller than the predetermined value, the selected standby area candidate is set as the standby area (step 505).

[0210] Next, if it is determined in step 504 that the disturbance is greater than or equal to a predetermined value, an airspace other than the selected waiting area candidate that has less disturbance than the predetermined value is set as the waiting area (step 506). In this way, by setting the waiting area airspace based on the latest disturbance information, it is possible to set the waiting area in an airspace with less disturbance in response to the disturbance situation that changes moment by moment even during flight.

[0211] 20 is a conceptual diagram illustrating a third method for setting a waiting area. This diagram shows the planned flight path of the target aircraft 1000 from the takeoff position to the planned landing position, and illustrates the positional relationship between the planned flight path and a waiting area candidate (waiting area candidate W04) registered as a narrow airspace accepted or recorded by the waiting area information registration unit 4500. Either the waiting area candidate W06 or W07 shown in the diagram is registered in advance in the waiting area information registration unit 4500.

[0212] Candidate waiting area W06 is an example of a candidate waiting area that is registered in a narrow airspace at a predetermined distance to the side or above or below the planned flight path, at a position along the planned flight path of the target aircraft 1000. The area determination unit 4720 sets a waiting area inside the candidate waiting area indicated as candidate waiting area W06.

[0213] Candidate waiting area W07 shows an example of a candidate waiting area when the candidate waiting area is registered in a narrow airspace on or an extension of the planned flight path of the target aircraft 1000 (i.e., an airspace including the planned flight path and / or its extension). The area determination unit 4720 sets a waiting area inside the narrow candidate waiting area shown as candidate waiting area W07.

[0214] (A-1-14. Lost Removal Action Order) Next, a control method for outputting an action command to resolve a lost state when the state is lost will be described using Figures 21 and 22. Figure 21 is a flowchart for outputting a lost state resolution action command in an airspace monitoring system, and Figure 22 is a flowchart for outputting a lost state resolution action command in a target flying object.

[0215] (A-1-14-1. Output of lost data resolution action command in airspace monitoring system 4000) The control flow for outputting a lost object elimination action command in the airspace monitoring system 4000 will be described with reference to FIG.

[0216] First, the loss detection result determined by the loss determination unit 4600 is grasped (step 601). Next, it is determined whether or not a communication loss between the target aircraft 1000 and the airspace monitoring system 4000 has been detected (step 602). If not detected, the process proceeds to processing step 607, and if detected, the process proceeds to processing step 603.

[0217] In step 603, it is determined whether the communication means immediately before communication was lost was direct communication between the airspace monitoring system and the aircraft (step 603), and if it was direct communication, the process proceeds to processing step 604, and if it was not direct communication, the process proceeds to processing step 605.

[0218] In step 604, the position, direction, etc. of the wireless communication antenna 4310 of the airspace monitoring system 4000 is changed (step 604).

[0219] In step 605, an attempt is made to reconnect wireless communication via public wireless communication or satellite communication via the communication satellite 8000 (step 605).

[0220] Next, a relay request signal is transmitted to another aircraft other than the target aircraft, requesting that the other aircraft relay wireless communication between the target aircraft 1000 and the airspace monitoring system 4000 (step 606).

[0221] Next, it is determined whether communication loss between the target aircraft 1000 and the UTM 5000 has been detected (step 607), and if not detected, the process proceeds to processing step 610, and if detected, the process proceeds to processing step 608.

[0222] In step 608, information about the waiting area, including the location information of the waiting area, is transmitted to the UTM 5000 (step 608).

[0223] Next, a relay request signal is transmitted to another aircraft other than the target aircraft, requesting that the wireless communication between the target aircraft 1000 and the UTM 5000 be relayed (step 606).

[0224] Next, it is determined whether communication loss between the target aircraft 1000 and the control base system 2000 has been detected (step 610), and if not detected, the process proceeds to processing step 615, and if detected, the process proceeds to processing step 611.

[0225] In step 611, it is determined whether the communication means immediately before communication was lost was direct communication between the control base system and the aircraft (step 611), and if it was direct communication, the process proceeds to processing step 612, and if it was not direct communication, the process proceeds to processing step 613.

[0226] In step 612, the position, direction, etc. of the wireless communication antenna 2141 of the control base system 2000 is changed (step 612).

[0227] In step 613, an attempt is made to reconnect wireless communication via public wireless communication or satellite communication via the communication satellite 8000 (step 613).

[0228] Next, a relay request signal is transmitted to another aircraft other than the target aircraft, requesting that the other aircraft relay wireless communication between the target aircraft 1000 and the control base system 2000 (step 614).

[0229] Next, it is determined whether or not the airspace monitoring system 4000 has detected a loss of capture in the aircraft detection unit 4100 (step 615). If not, the control flow ends; if detected, the process proceeds to processing step 616.

[0230] In step 616, a capture lost signal indicating that capture loss has been detected and information about the waiting area, including the location information of the waiting area, are transmitted to the target aircraft (step 616). In this step, the information about the waiting area is not transmitted to the target aircraft just once, but may be transmitted multiple times until a response information confirming receipt is received from the target aircraft.

[0231] Next, the detection lost response action command unit 1610 changes the irradiation direction, etc. of the radar waves or laser light emitted from the flying object detection sensor 4110 of the flying object detection unit 4100. Specifically, the irradiation direction, etc. is changed so that the radar waves or laser light can irradiate the waiting area, thereby enabling the target flying object 1000 flying within the waiting area to be searched for and detected (step 617). Note that the detection lost response action command unit 1610 may estimate the position of the target flying object (or its flight path to the waiting area) based on the planned flight path, information on the position and speed of the target flying object immediately before the detection lost occurred, and information on external disturbances such as wind, before the target flying object arrives at the waiting area, and change the irradiation direction, etc. of the radar waves or laser light to search for that position. Furthermore, as another control method, after detecting the occurrence of a capture loss, rather than immediately searching the waiting area, the sensor change unit 4120 may be controlled so that the lost position or an area nearby is the irradiation range for a predetermined time, and after the predetermined time has elapsed, the sensor change unit 4120 may be controlled so that the irradiation range is the waiting area, thereby searching the waiting area.

[0232] Next, a search request signal for detecting the position of the target aircraft 1000 is transmitted to another aircraft other than the target aircraft (step 618). The aircraft that receives the search request signal detects the target aircraft using sensors such as radar and laser (LiDAR), and notifies the airspace monitoring system 4000 of the detection result.

[0233] (A-1-14-2. Output of lost elimination action command in target aircraft 1000) Next, a control flow for outputting a lost object resolution action command in the target flying object 1000 will be described with reference to FIG.

[0234] First, the loss detection result determined by the loss determination unit 1400 is grasped (step 701). Next, it is determined whether or not a communication loss between the target aircraft 1000 and the linked system (pilot base system 2000, airspace monitoring system 4000, UTM 5000) or a capture loss of the airspace monitoring system 4000 has been detected (step 702). If not detected, the process proceeds to processing step 710, and if detected, the process proceeds to processing step 703.

[0235] In step 703, the communication loss response action command unit 1620 determines whether or not a communication loss has been detected between the target aircraft 1000 and the linked system (pilot base system 2000, airspace monitoring system 4000, UTM 5000) (step 703), and if detected, transitions to processing step 704, and if not detected, transitions to processing step 707.

[0236] In step 704, the communication loss response action command unit 1620 uses, as an alternative communication means, a linked system (one of the control base system 2000, airspace monitoring system 4000, or UTM5000) that has no abnormalities in wireless communication with the target aircraft 1000, or a communication means that relays wireless communication using another aircraft (step 704). In this way, by using the alternative communication means, it is possible to secure a control communication means until the aircraft moves to the waiting area and recovers from the communication loss.

[0237] Next, the flight control unit 1130 controls the flight operation of the target aircraft to move to the waiting area and perform waiting flight within the waiting area (step 705).

[0238] Next, the detected lost action command unit 1610 attempts to reconnect communication using the wireless communication means that was used immediately before the communication loss was detected (step 706).

[0239] Next, in step 707, information about the waiting area determined by the target aircraft 1000 is transmitted to the airspace monitoring system 4000 (step 707).

[0240] Next, the flight control unit 1130 controls the flight operation of the target aircraft to move to the waiting area and perform waiting flight within the waiting area (step 708). Note that, as another flight control method, after detecting a loss, instead of immediately moving to the waiting area, the target aircraft may be made to fly over the lost position or an area nearby for a predetermined time and wait for recapture by the aircraft detection unit 4100.

[0241] Next, a search request signal is transmitted to other aircraft (step 709).

[0242] In step 710, it is determined whether a communication relay request signal for relaying wireless communication between the other aircraft and the linked system has been received (step 710), and if a communication relay request signal has been received, the wireless communication between the other aircraft and the linked system is relayed (step 711). On the other hand, if a communication relay request signal has not been received, the process proceeds to processing step 712.

[0243] In step 712, it is determined whether a search request signal for searching for other flying objects has been received (step 712), and if a search request signal has been received, the other flying object detection unit 1150 searches for other flying objects and notifies the linked system of the capture result information (step 713). On the other hand, if a search request signal has not been received, the processing of this control flow is terminated.

[0244] (A-1-15. Action instructions when the lost state continues) Next, an action command when the lost state continues despite the execution of actions corresponding to the detection lost and communication lost will be described with reference to FIGS.

[0245] (A-1-15-1. Action command when the airspace monitoring system continues to be lost) FIG. 23 is a flowchart showing the process of outputting an action command when the airspace monitoring system continues to be lost.

[0246] First, the lost determination unit 4600 determines whether the lost state has been resolved and the state has recovered to one where there is no lost state, either detection lost or communication lost (step 801). If the lost state has been resolved, a lost resolution signal is sent to the target aircraft, causing the target aircraft to resume normal flight (step 802). On the other hand, if the lost state has not been resolved, the process proceeds to processing step 803.

[0247] Next, in step 803, it is determined whether a predetermined time has passed since the lost state was detected (step 803), and if the predetermined time has not passed, the lost state resolution action is continued (step 804).On the other hand, if the predetermined time or more has passed, the process proceeds to processing step 805.

[0248] Next, in step 805, it is determined whether the lost state that has continued for more than a predetermined time is (1) only acquisition lost, (2) only communication lost, or (3) both acquisition and communication lost (step 805). If the determination result is "(1) only acquisition lost," the process transitions to processing step 806. On the other hand, if the determination result is "(2) only communication lost," the process transitions to processing step 810. On the other hand, if the determination result is "(3) both acquisition and communication lost," the process transitions to processing step 809.

[0249] Next, in step 806, a movement command is sent to the target aircraft to move to another waiting area (step 806).

[0250] Next, the other waiting areas are searched for by the flying object detection unit 4100 (step 807).

[0251] Next, if the target aircraft still cannot be detected after the above search, a landing command is sent to the target aircraft (step 808). Here, the landing command is not limited to being sent once, but may be sent multiple times until an answerback signal is received from the target aircraft or the landing of the target aircraft is confirmed. The landing command may also include a landing command to return to the takeoff point and land, land on the same spot, or land at a location where it can land safely. If the target aircraft is short of energy, it will be forced to land on the same spot or at a nearby landing point.

[0252] Next, in step 809, an action command to resolve the communication loss is continued until the landing of the aircraft is confirmed (step 809).

[0253] Next, in step 810, action commands to resolve communication loss and acquisition loss are continued until the landing of the aircraft is confirmed (step 810).

[0254] (A-1-15-2. Action command when target aircraft continues to be lost) FIG. 24 is a flowchart showing the process of outputting an action command when the target aircraft remains lost.

[0255] First, the lost determination unit 1400 determines whether the lost state has been resolved and the state has recovered to one where there is no lost state, either detection lost or communication lost (step 901). If the lost state has been resolved, a normal flight resume signal is sent to the coordination system, causing the target aircraft to resume normal flight along the original planned flight path (step 902). On the other hand, if the lost state has not been resolved, the process proceeds to processing step 903.

[0256] Next, in step 903, it is determined whether a predetermined time has passed since the lost state was detected (or since the arrival at the waiting area) (step 903), and if the predetermined time has not passed, the lost resolution action is continued (step 904). On the other hand, if the predetermined time or more has passed, the process proceeds to processing step 905.

[0257] Next, in step 905, it is determined whether the lost state that has continued for more than a predetermined time is (1) only acquisition lost, (2) only communication lost, or (3) both acquisition and communication lost (step 905). If the determination result is "(1) only acquisition lost," the process transitions to processing step 906. On the other hand, if the determination result is "(2) only communication lost" or "(3) both acquisition and communication lost," the process transitions to processing step 908, where the target aircraft is landed (step 908).

[0258] Next, in step 906, it is determined whether a movement command to move to another waiting area has been received (step 906), and if not, the process proceeds to processing step 908 and the target aircraft lands (step 908), while if a movement command has been received, the aircraft flies in a waiting mode within the other waiting area (step 907).

[0259] Next, in step 908, the target aircraft is landed (step 908). The landing operation performed in this step may be to return to the takeoff point and land, or to land on the same spot, or to land at a location where it can land safely. If the target aircraft is out of energy, it may be landed on the same spot or at a nearby landing point.

[0260] (A-1-16. Specific example of the flying object detection unit 4100) Next, a specific example of the flying object detection unit 4100 of the airspace monitoring system 4000 will be described with reference to Figs. 25 to 27. Fig. 25 is a diagram showing an example of the external configuration of the flying object detection unit when a radar sensor is used. In particular, Fig. 25a is a diagram showing an example of the external configuration when the flying object detection unit is configured using a ground-mounted radar sensor. Fig. 25b is a diagram showing an example of the external configuration when the flying object detection unit is configured by mounting a radar sensor on a mobile vehicle. The flying object detection unit 4100 shown in Figs. 25a and 25b forms a flying object detection sensor 4110 using a radar sensor, and further includes a sensor change unit 4120 that changes the irradiation azimuth, elevation angle, irradiation angle (irradiation width), installation position, etc. of the radar sensor.

[0261] Next, Fig. 26 is a diagram showing the irradiation range of a radar wave when the flying object detection unit is configured using a radar sensor. In particular, Fig. 26a is a diagram showing the radar irradiation range in a horizontal plane. Fig. 26b is a diagram showing the radar irradiation range in a vertical plane. The radar sensor shown in this figure has a beam width of 15.5 degrees in the horizontal and vertical planes, and a scan width of 90 degrees. The redetection action command unit 4810 outputs an action command to the sensor change unit 4120 to change the irradiation azimuth, elevation angle, irradiation angle (irradiation width), installation position, etc. of the radar sensor so that the radar irradiation range shown in this figure includes the waiting area.

[0262] Next, FIG. 27 is a table showing examples of multiple types of radar sensors. As shown in this figure, radar sensors vary in weight and detection performance depending on the type. For example, Radar 1 has a maximum detection range of 25 km for medium-sized UAVs, a detection angle of ±90 degrees, and a sensor weight of 30 kg, while Radar 4 has a maximum detection range of 80 km for medium-sized UAVs, a detection angle of ±90 degrees, and a sensor weight of 150 kg. In this way, using different types of radar sensors makes it possible to change the aircraft detection range of the aircraft detection unit. For this reason, multiple radar sensors with different detection performance, as shown in FIG. 27, are prepared in advance, and the redetection action command unit 4810 outputs an action command to the sensor change unit 4120 to select and switch from the multiple radar sensors a radar sensor whose radar irradiation range can include a waiting area.

[0263] (A-1-17. Display example of detection results by the flying object detection unit 4100) Next, a display screen that displays the detection results of flying objects by the flying object detection unit 4100 on the information display unit 4920 of the user interface unit 4900 will be described. Fig. 28 is a diagram showing a display image of the flying object detection results when an flying object is detected by the flying object detection unit. In this figure, the positions, traveling directions, and movement histories of three flying objects are displayed as triangles. Also, the position of the flying object detection device is shown near the center, and the area from the center to the right shows the detection range of the flying object detection sensor (radar sensor).

[0264] Next, Figure 29 is a diagram showing a display image of detailed information about an aircraft selected by a user. In this figure, when a user selects an aircraft located near the center, detailed information about the aircraft is displayed. For example, the information includes the aircraft identification number, the distance from the aircraft detection device to the aircraft, the altitude of the aircraft, the aircraft's speed, the azimuth angle of the aircraft relative to the aircraft detection device, the elevation angle of the aircraft relative to the aircraft detection device, and the radar cross section (RCS).

[0265] Next, an example of a display screen when communication is lost between the airspace monitoring system and an aircraft will be described. Fig. 30 shows a display image when communication is lost. On the display screen in this figure, "Communication Lost" is displayed in correspondence with the captured aircraft. This display allows the user to understand whether communication has been lost for each aircraft in the captured airspace.

[0266] Next, an example of a display screen when a lock-on occurs in the airspace monitoring system will be described. FIG. 31 shows a display screen when a lock-on occurs. The display screen in this figure displays the extent of the waiting area on a map, along with a message saying, "Lock-on has been lost. Please irradiate the 'waiting area' on the map with radar." Additionally, the type of radar sensor and its control parameter information, including the type of lock-on radar, irradiation direction, irradiation elevation angle, and irradiation distance, are displayed as a lock-on control command generated by the redetection action command unit 4810. By displaying such a display, the user can change the radar or irradiation direction, etc., in accordance with the lock-on control command, and re-lock on the aircraft in the waiting area.

[0267] In the above-described embodiment, an example was described in which the control base system 2000 and the airspace monitoring system 4000 are implemented in different devices, but all or part of the functions of the airspace monitoring system 4000 can be implemented in the control base system 2000.

[0268] [A-2. Effects of this embodiment] According to this embodiment, the safety of the operation of a remotely controlled flying object can be further improved. Or, more specifically, even if the flying object can no longer be detected by a ground-based flying object detection unit, the flying object can be more reliably detected again. Or, even if wireless communication between the flying object and a linked system such as a remote control base is interrupted, wireless communication can be more reliably reconnected.

[0269] The present invention is not limited to the above-described embodiment, and it goes without saying that various configurations can be adopted based on the contents of the present specification.

[0270] The series of processes described in connection with the above embodiment may be realized using software, hardware, or a combination of software and hardware. A computer program for realizing each function of the operation system 1 according to this embodiment may be created and installed on a PC or the like. A computer-readable recording medium storing such a computer program may also be provided. Examples of the recording medium include a magnetic disk, an optical disk, a magneto-optical disk, and a flash memory. The computer program may also be distributed, for example, via a communication network NW without using a recording medium.

[0271] The flowcharts used in the above embodiments do not necessarily have to be executed in the order shown in the drawings. Some processing steps may be executed in parallel. In addition, additional processing steps may be employed, and some processing steps may be omitted. [Explanation of symbols]

[0272] 1...Operation system (system) 100...input device 200...output device 300...Processing device 400...Main storage device 500...Auxiliary storage device 600...Communication device 700...bus 1000...Target aircraft 1100...Flight unit 1110...Self-position measurement unit 1120: Attitude measurement unit 1130: Flight control unit 1140: Self-position estimation unit 1150: Other flying object detection unit 1200... Measuring unit 1210... Measurement sensor 1220: Sensor attitude control unit 1230: Sensor control unit 1300...Control communication unit 1310...Base communication unit 1320...UTM communication unit 1330...Monitoring system communication unit 1340…Communication relay unit 1400...Lost determination unit 1410...Capture / loss determination unit 1420: Communication loss determination unit 1430: Lost position acquisition unit 1440...Lost Information Notification Department 1500: Waiting area acquisition unit 1510: Waiting area information receiving unit 1520: Standby area information storage unit 1530: Disturbance state storage unit 1540...Area determination section 1600...Lost Relief Action Command Center 1610…Detection Loss Response Action Command Center 1620…Communication Loss Response Action Command Center 1630...Action Command Center when Lost State Continues 2000...Control Base System 2100...Communication Infrastructure Management System 2110: Lost determination unit 2111: Communication lost determination unit 2112...Communication loss information notification section 2120: Communication state determination unit 2121: Communication speed determination unit 2122…Communication strength determination unit 2130...Communication switching unit 2140...Aircraft communication unit 2141...Wireless communication antenna 2142...Antenna change section 2200...Aircraft Operation System 2300...Flight Management System 2400...Acquisition data management system 3000...manned aircraft 4000...Airspace monitoring system 4100...Flying object detection unit 4110...Flying object detection sensor 4120: Sensor change unit 4130: Aircraft determination unit 4200: External system communication unit 4210: ATM communication unit 4220...UTM Communications Unit 4230...Control Base Communications Unit 4300...Aircraft communication unit 4310...Wireless communication antenna 4320...Antenna change section 4400...Airspace Vehicle Information Management Department 4410...Information Integration Department 4420…Integrated information sharing department 4500... Waiting area information registration unit 4510... Waiting area information reception unit 4520...Waiting area information storage unit 4600...Lost determination unit 4610...Capture / loss determination unit 4620: Communication loss determination unit 4630: Lost position acquisition unit 4640... Lost information notification unit 4650... Communication lost information acquisition unit 4700...Standby area acquisition unit 4710...Disturbance state storage unit 4720...Area determination section 4800...Lost Relief Action Command Center 4810...Redetection action command section 4820...Communication reconnection action command section 4830...Action Command Center when Lost State Continues 4900...User interface section 4910...Input section 4920…Information display section 5000...UTM 5100: Lost determination unit 5110: Communication lost determination unit 5120...Communication loss information notification unit 5200…Information acquisition department 5300: Flight control unit 5310: Unmanned aircraft flight command generation unit 5400...Aircraft communication unit 5410...Wireless communication antenna 5420...Antenna change section 5500…External system communication section 6000...ATM 6100: Lost determination unit 6110: Communication lost determination unit 6120...Communication loss information notification unit 6200…Information acquisition department 6300...Air Traffic Control Department 6400...Aircraft communication unit 6410...Wireless communication antenna 6420...Antenna change section 6500…External system communication section 7000…Spatial information data utilization system 8000…Communications satellite

Claims

1. an aircraft detection device that searches a predetermined airspace area and detects aircraft flying in the airspace area; a linkage system that wirelessly communicates with the aircraft; a waiting area information acquisition unit that acquires information about a waiting area, which is an airspace in which the flying object can wait; When a detection lost state occurs in which the flying object detection device does not detect the flying object flying within the airspace area, or when a communication lost state occurs in which wireless communication between the flying object flying within the airspace area and the linked system is interrupted, An operation system that causes the aircraft to fly through the waiting area.

2. 2. The operation system according to claim 1, When a detection lost state occurs in which the flying object detection device does not detect the flying object flying within the airspace area, flying the aircraft through the waiting area; An operation system that causes the flying object detection device to search the waiting area.

3. 2. The operation system according to claim 1, When a communication lost state occurs in which wireless communication between the aircraft flying within the airspace area and the linked system is interrupted, An operation system that flies the aircraft through the waiting area and reconnects wireless communication between the aircraft and the coordination system in the waiting area.

4. 3. The operation system according to claim 2, The flying object detection device is a detection unit that uses a radar sensor that measures reflected waves of radar waves or a laser sensor that measures reflected light of laser light, When a detection lost state occurs in which the flying object detection device does not detect the flying object flying within the airspace area, An operation system that changes at least one of the irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar waves or laser light emitted by the flying object detection device, or switches the flying object detection device to another sensor that has a different irradiation direction, irradiation elevation angle, irradiation distance, and irradiation angle of the radar waves or laser light.

5. 3. The operation system according to claim 2, An operation system in which the waiting area is set in an airspace area where disturbance to electromagnetic waves or laser light is less than a predetermined standard.

6. 6. The operation system according to claim 5, An air navigation system that acquires information about the disturbance for each airspace in advance or in real time, and determines an airspace area in which the disturbance is less than the predetermined standard.

7. 3. The operation system according to claim 2, An operation system in which the waiting area is set in an airspace area where the aircraft can be seen within sight from the installation location of the aircraft detection device or the coordination system, or in an airspace area where the aircraft can be detected by a radar sensor or a laser sensor.

8. 3. The operation system according to claim 2, the waiting area information acquisition unit acquires information about the waiting area set before the flight of the aircraft, An operation system in which the acquired information on the waiting area is recorded in the recording unit of the aircraft and the recording unit of the aircraft detection device, respectively.

9. 2. The operation system according to claim 1, An operation system in which the information on the waiting area includes multiple candidate waiting areas positioned along the planned flight path of the aircraft, and information on waiting area selection rules for selecting a specific waiting area from the multiple candidates.

10. 10. The operation system according to claim 9, The waiting area selection rule is a selection rule for selecting, from among the multiple candidates for the waiting area, the candidate closest to the position of the aircraft when the detection lost state or the communication lost state occurs as the waiting area, in an operation system.

11. 2. The operation system according to claim 1, An operation system in which the information on the waiting area includes candidate areas for the waiting area arranged along the planned flight path of the aircraft, and information on waiting area setting rules that set a portion of the area inside the candidate areas as the waiting area.

12. The operation system according to claim 11, An operation system, wherein the waiting area setting rule is a setting rule that determines, as the waiting area, a portion of the candidate area corresponding to a position a predetermined distance in the direction of travel of the aircraft from the position of the aircraft when the detection lost state or the communication lost state occurred.

13. 3. The operation system according to claim 2, When the flying object detection device detects the detection lost state, it transmits a detection lost signal to the flying object; When the aircraft receives the detection lost signal, the aircraft is caused to fly over the waiting area. Operation system.

14. 3. The operation system according to claim 2, An operation system in which, when the detection lost state occurs, if the aircraft cannot be detected even after searching the waiting area with the aircraft detection device for a predetermined time or longer, the coordination system sends a landing command to the aircraft.

15. 3. The operation system according to claim 2, When the detection lost state occurs, if the aircraft does not receive a signal from the aircraft detection device indicating that the aircraft has been detected even after flying in the waiting area for a predetermined time or more, the operation system lands the aircraft at the takeoff point, or on the spot, or at another location.

16. 3. The operation system according to claim 2, the flying object detection device is connected to the flying object via wireless communication; When both a communication lost state in which the wireless communication connection is interrupted and a detection lost state occur, the waiting area information acquisition unit prioritizes an airspace area in which the wireless communication environment meets specified conditions as the waiting area, rather than an airspace area in which disturbance to electromagnetic waves or laser light is less than a specified standard.

17. 3. The operation system according to claim 2, An operation system that, when the detection lost state is detected, notifies information regarding the detection lost state to at least one of other aircraft other than the aircraft and other aircraft detection devices.

18. 3. The operation system according to claim 2, An operation system in which, when the aircraft receives a notification that the detection lost state of another aircraft has occurred, the aircraft performs a search for the other aircraft using a sensor installed on the aircraft.

19. 4. The navigation system according to claim 3, the wireless communication is wireless communication using a public wireless line, An operation system that, when a communication lost state in which wireless communication using the public wireless line is interrupted is detected, reconnects the wireless communication with the aircraft flying within the waiting area.

20. 4. The navigation system according to claim 3, the linkage system includes a wireless communication antenna used for wireless communication with the aircraft, When a communication lost state in which the wireless communication is interrupted is detected, the operation system changes the position, direction, elevation angle, and communication distance of the wireless communication antenna so that the waiting area is within the wireless communication range, or switches to wireless communication using another wireless communication antenna with a different position, direction, elevation angle, and communication distance.

21. 4. The navigation system according to claim 3, An operation system in which the waiting area is set to an airspace area where the communication conditions of radio communication satisfy predetermined standards.

22. 22. The navigation system according to claim 21, An operation system that acquires information regarding the communication status for each airspace in advance or in real time, and determines airspace areas in which the communication status meets the specified criteria.

23. 4. The navigation system according to claim 3, the waiting area information acquisition unit acquires information about the waiting area set before the flight of the aircraft, An operation system in which the acquired information on the waiting area is recorded in the recording unit of the aircraft and the recording unit of the coordination system, respectively.

24. 2. The operation system according to claim 1, The linkage system constantly or periodically transmits a communication signal to the aircraft; An operation system that determines that the communication lost state has occurred if the communication signal cannot be received by the aircraft for a predetermined period of time or longer.

25. 4. The navigation system according to claim 3, The cooperation system includes at least one of an operation base device that remotely controls the aircraft, an aircraft traffic control device that manages operations in an airspace area in which the aircraft flies, and the aircraft detection device, An operation system that switches to wireless communication with the aircraft via another device included in the collaboration system when the wireless communication connection between any of the devices included in the collaboration system and the aircraft is interrupted, causing the communication lost state.

26. 4. The navigation system according to claim 3, An operation system that sends a landing command from the coordination system to the aircraft when the communication loss state occurs and wireless communication between the aircraft and the coordination system cannot be reconnected for a predetermined time or longer.

27. 4. The navigation system according to claim 3, When the communication loss state occurs, if wireless communication between the aircraft and the linked system cannot be reconnected even after flying in the waiting area for a predetermined time or more, the operation system lands the aircraft at the takeoff point, or on the spot, or at another location.

28. 4. The navigation system according to claim 3, An operation system that, when the communication lost state is detected in the aircraft or the linked system, notifies information regarding the communication lost state to at least one of other aircraft other than the aircraft and other linked systems.

29. 29. The navigation system according to claim 28, The collaboration system is an operation system that includes at least one of an operation base device that remotely controls the aircraft, an aircraft operation control device that manages operations in the airspace area in which the aircraft flies, and the aircraft detection device.

30. 29. The navigation system according to claim 28, An operation system in which the aircraft relays wireless communication between the other aircraft and the linked system when it receives information from the linked system or the other aircraft regarding the communication lost state in which wireless communication between the other aircraft and the linked system has been interrupted.

31. A flight method for operating an aircraft flying in a predetermined airspace area, comprising: The computer a communication step of wirelessly communicating between the linkage system and the flying object; a detection step of searching the airspace area to detect the flying object; a waiting area information acquisition step for acquiring information about a waiting area, which is an airspace in which the flying object can wait; a flight control step of causing the aircraft to fly through the waiting area when a detection lost state occurs in which the aircraft flying within the airspace area cannot be detected, or a communication lost state occurs in which wireless communication between the aircraft flying within the airspace area and the linked system is interrupted; A method of operation.

32. A flight program for operating an aircraft flying in a predetermined airspace area, On the computer, a communication command for wirelessly communicating between the linkage system and the aircraft; a detection command to search the airspace area and detect the air vehicle; a waiting area information acquisition command to acquire information about a waiting area, which is an airspace in which the flying object can wait; a flight control command for causing the aircraft to fly through the waiting area when a detection lost state occurs in which the aircraft flying within the airspace area cannot be detected, or a communication lost state occurs in which wireless communication between the aircraft flying within the airspace area and the linked system is interrupted; and An operation program that executes the above.

33. An aircraft capable of flying in a predetermined airspace area, a waiting area information acquisition unit that acquires information about a waiting area, which is an airspace in which the flying object can wait; An aircraft that flies through a waiting area based on information acquired by a waiting area information acquisition unit when a detection lost state occurs in which an aircraft detection device that searches the airspace area and detects the aircraft cannot detect the aircraft flying within the airspace area, or when a communication lost state occurs in which wireless communication between the aircraft and a ground communication device that communicates wirelessly with the aircraft is interrupted.

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