Server, flying object control system, server program and method

Abstract

To provide a server, a flying object control system, a server program, and a method that can stably communicate with a control device installed on a flying object and reliably perform telecontrol.SOLUTION: A server 1 is provided on an airborne vehicle 11 and is capable of communicating with a control device 10. The control device 10 and the server 1 are configured to be able to send and receive data via a main line for communication via a satellite 13 and a sub-line for communication via a ground station 14. The server 1 includes a command receiving unit 46 that receives commands from a control station 15 or the ground station 14, a communication status determining unit 47 that determines the communication status between the ground station 14 and the control device 10, and a command transmitting unit 48 that transmits commands to the control device 10 via the ground station 14 with the best communication status.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a server capable of communicating with a control device provided in a flying object, a flying object control system, a server program, and a method. [Background technology]

[0002] Conventionally, technologies for communicating with flying objects flying in the sky have been proposed. For example, Japanese Patent Application Laid-Open No. 2014-091335 discloses a wireless communication system in which a first wireless router mounted on a mobile flying object communicates with a center management device that monitors and controls the flying object via Super WiFi, which enables two-way communication (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-091335 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because the wireless communication system described in Patent Document 1 collects information about disaster areas and the like from the sky, the altitude of the aircraft is low and the distance traveled is at most a few kilometers. For this reason, no technology has been realized for stable communication and reliable telecontrol between aircraft flying at high altitudes and traveling long distances.

[0005] The present invention has been made to solve these problems, and aims to provide a server, an air vehicle control system, a server program, and a method that can stably communicate with a control device installed in an air vehicle and reliably perform telecontrol. [Means for solving the problem]

[0006] The server of the present invention is a server capable of communicating with a control device installed in an airborne vehicle in order to solve the problem of stably communicating with the control device installed in the airborne vehicle and reliably telecontrolling it, and the control device and the server are configured to be able to send and receive data via a main line that communicates via a satellite and a sub-line that communicates via multiple ground stations, and has a command receiving unit that receives commands to be sent to the control device from either a control station or the ground stations, a communication status determination unit that determines the communication status with the control device for each of the ground stations, and a command sending unit that transmits the commands to the control device from both the main line and the sub-line, and on the sub-line, transmits the commands to the control device via the ground station with the best communication status.

[0007] In addition, as one aspect of the present invention, in order to solve the problem of collectively managing the latest flying object information and all ground station information in a server, making it possible to refer to the information from a control station or a ground station, and performing stable telemetry, a main line receiving unit that receives flying object information related to the flying object from the control device in chronological order via the main line, a sub-line receiving unit that receives the flying object information that each of the ground stations has received from the control device and ground station information related to the ground station in chronological order from each of the ground stations via the sub-line, and The system may have a registration information storage unit that stores the flying object information and ground station information received thereby, a reference request receiving unit that receives a reference request for the flying object information and the ground station information from the control station or the ground station, a reference information extraction unit that extracts the latest flying object information and the ground station information for all ground stations from the registration information storage unit when the reference request receiving unit receives the reference request, and a reference information transmission unit that transmits the flying object information and the ground station information extracted by the reference information extraction unit to the control station or ground station that sent the reference request.

[0008] Furthermore, as one aspect of the present invention, in order to solve the problem of easily and accurately determining the communication status between the control device and each ground station, the ground station information includes the reception strength when the ground station receives the flying object information from the control device, and the communication status determination unit may determine the ground station with the best communication status based on the reception strength included in the ground station information received from each ground station.

[0009] In addition, as one aspect of the present invention, in order to solve the problem of making it easier for a control station or a ground station to grasp the current location and type of each ground station, the ground station information includes type data indicating the type of the ground station and position data indicating the current location of the ground station, and the control station or the ground station that receives the reference information may be provided with a reference information display device equipped with a reference information display program that displays different icons at the location indicated by the position data depending on the type indicated by the type data.

[0010] Furthermore, as one aspect of the present invention, in order to solve the problem of confirming the positioning accuracy of position data measured for flying objects and ground stations, the flying object information may include position data indicating the current position of the flying object and the number of satellites captured when the position data was measured, and the ground station information may include position data indicating the current position of the ground station and the number of satellites captured when the position data was measured.

[0011] In addition, as one aspect of the present invention, in order to solve the problem of analyzing changes in the behavior of a flying object according to the pilot's operation history, the flying object information may include a timer value which is the elapsed time since the flying object began flight.

[0012] Furthermore, the flying object control system of the present invention has a server having any of the above-mentioned aspects, the ground station, and the control device in order to solve the problem of stable communication with a control device installed in the flying object and reliable telecontrol.

[0013] In addition, the server program of the present invention is a server program that causes a server capable of communicating with a control device installed in an airborne vehicle to function in order to solve the problem of achieving stable communication with the control device installed in the airborne vehicle and reliable telecontrol, and the control device and the server are configured to be able to send and receive data via a main line that communicates via a satellite and a sub-line that communicates via multiple ground stations, and causes a computer to function as a command receiving unit that receives commands to be sent to the control device from either a control station or one of the ground stations, a communication status determination unit that determines the communication status with the control device for each of the ground stations, and a command sending unit that transmits the commands to the control device from both the main line and the sub-line, and on the sub-line, transmits the commands to the control device via the ground station with the best communication status.

[0014] Furthermore, the method of the present invention is a method executed by a server capable of communicating with a control device installed in an airborne vehicle in order to solve the problem of achieving stable communication with the control device installed in the airborne vehicle and reliable telecontrol, wherein the control device and the server are configured to be able to send and receive data via a main line for communication via a satellite and a sub-line for communication via a plurality of ground stations, and includes a command receiving step of receiving a command to be sent to the control device from either a control station or the ground stations, a communication status determination step of determining the communication status with the control device for each of the ground stations, and a command sending step of sending the command to the control device from both the main line and the sub-line, and transmitting the command to the control device via the ground station with the best communication status on the sub-line. [Effects of the Invention]

[0015] According to the present invention, stable communication can be achieved with a control device provided on a flying object, enabling reliable telecontrol. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a diagram showing an embodiment of a server and a flying object control system including the server according to the present invention; [Figure 2] FIG. 2 is a block diagram showing a server according to the present embodiment. [Figure 3] FIG. 2 is a diagram showing a command flow in the flying object control system of the present embodiment. [Figure 4] 4 is a flowchart showing a telemetry process executed by a server and a server program according to the present embodiment. [Figure 5] 10 is a flowchart illustrating a data reference process executed by a server and a server program according to the present embodiment. [Figure 6] 4 is a flowchart showing a telecontrol process executed by the server and the server program of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of a server, a flying object control system, a server program, and a method according to the present invention will be described with reference to the drawings.

[0018] As shown in Fig. 1, the flying object control system 100 of this embodiment includes a control device 10 that controls a flying object 11 flying at high altitude, and a server 1 that transmits and receives various data to and from the control device 10. The control device 10 and the server 1 are configured to be able to transmit and receive data via a main line that communicates via a satellite 13 and a sub-line that communicates via multiple ground stations 14. Each component will be described below.

[0019] In this embodiment, a balloon that flies at a low speed at high altitudes above the stratosphere is used as a suitable flying object 11. However, the flying object 11 is not limited to a balloon, but includes various flying objects such as airships. In addition, the flying object cabin 12 that is flown by the flying object 11 is configured so that the internal pressure and the like can be controlled so that the pilot and passengers can stay safe and comfortable even at high altitudes.

[0020] [1] About the control device 10 The control device 10 is for controlling the flying object 11 flying at high altitude. In this embodiment, the control device 10 is composed of a computer such as a microcomputer, a wireless communication unit, etc., and is provided in the flying object cabin 12. The control device 10 also acquires flying object information about the flying object 11 from various sensors, memories, etc. provided in the flying object cabin 12 at predetermined time intervals, and transmits the information to the server 1 via both the main line and the sub-line. Furthermore, when the control device 10 receives a command issued from the control station 15 or each ground station 14, it executes processing and operations according to the command.

[0021] 1, one of the ground stations 14 is used as the control station 15, but the present invention is not limited to this configuration. In other words, the control station 15 does not need to have the functions of the ground station 14, but may be any station that is provided in an environment that allows communication with the server 1 via the Internet or the like, and that can refer to data in the server 1 and send commands to the control device 10 to the server.

[0022] [2] About Server 1 The server 1 accumulates various data relating to the flying object 11 and the ground station 14, and transmits commands to the control device 10. In this embodiment, the server 1 is configured by a computer such as a data server, and as shown in Fig. 2, it mainly has a communication means 2 for communicating with the control device 10 and the ground station 14, a storage means 3 for storing various data, and a calculation processing means 4 for executing various calculation processes.

[0023] The communication means 2 is for communicating with the control device 10 and the ground station 14. In this embodiment, the communication means 2 is configured with a communication module or the like capable of transmitting and receiving various data using both a main line for communication via the satellite 13 and a sub-line for communication via each ground station 14, as shown in Fig. 1 .

[0024] The storage means 3 stores various data and functions as a working area when the arithmetic processing means 4 performs arithmetic processing. In this embodiment, the storage means 3 is configured with an SSD (Solid State Drive), an HDD (Hard Disk Drive), a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, etc., and has a program storage unit 31 and a registration information storage unit 32, as shown in FIG.

[0025] A server program 1a of this embodiment is installed in the program storage unit 31. The arithmetic processing means 4 executes the server program 1a, causing the computer as the server 1 to function as each component described below.

[0026] The use of the server program 1a is not limited to the above configuration. For example, the server program 1a may be stored in a non-transitory computer-readable recording medium, such as an SD card, a CF card, a USB memory, an external SSD, an external HDD, a CD-ROM, or a DVD-ROM, and may be read and executed directly from the recording medium.

[0027] The registration information storage unit 32 stores air vehicle information related to the air vehicle 11 and ground station information related to the ground station 14. The air vehicle information is received directly or indirectly from the control device 10, and stores an air vehicle ID that identifies the air vehicle 11, time (timestamp), the pressure, temperature, oxygen concentration, and carbon dioxide concentration inside the air vehicle cabin 12, the outside air pressure, the outside temperature, position data (altitude, latitude, and longitude) that indicates the current position of the air vehicle 11, the number of satellites captured when the position data was measured, and a timer value that indicates the elapsed time since the air vehicle 11 started flying.

[0028] In addition, the ground station information is received directly from all ground stations 14 functioning as sub-lines, and stores the ground station ID that identifies the ground station 14, the reception strength when the ground station 14 receives the flying object information from the control device 10, type data indicating the type of ground station 14, position data (altitude, latitude, longitude) indicating the current position of the ground station 14, the number of satellites captured when the position data was determined, and the remaining battery power of the ground station 14.

[0029] The arithmetic processing means 4 is composed of a CPU (Central Processing Unit) and the like, and by executing the server program 1a installed in the program storage unit 31, as shown in Fig. 2, functions as a main line receiving unit 41, a sub-line receiving unit 42, a reference request accepting unit 43, a reference information extracting unit 44, a reference information transmitting unit 45, a command receiving unit 46, a communication status determining unit 47, and a command transmitting unit 48. Each of the components will be described in more detail below.

[0030] 2, the main line receiving unit 41 and the sub line receiving unit 42 realize a telemetry function that enables remote measurement of various data related to the flying object 11 and the ground station 14. The reference request receiving unit 43, the reference information extracting unit 44, and the reference information transmitting unit 45 realize a data reference function that enables reference to data stored in the server 1. The command receiving unit 46, the communication status determining unit 47, and the command transmitting unit 48 realize a telecontrol function that enables remote control of the flying object 11.

[0031] The main line receiving unit 41 receives flying object information in chronological order from the control device 10 via the main line. In this embodiment, the main line receiving unit 41 receives the flying object information transmitted from the control device 10 via the main line at predetermined time intervals in chronological order via the communication means 2, and stores the information in the registration information storage unit 32.

[0032] The sub-line receiving unit 42 receives airborne object information and ground station information from each of the ground stations 14 in chronological order via the sub-line. In this embodiment, as shown in FIG. 1 , the control device 10 transmits airborne object information via both the main line and the sub-line. Furthermore, when each of the ground stations 14 constituting the sub-line receives airborne object information from the control device 10, it adds its own ground station information to the airborne object information and transmits it to the server 1. For this reason, the sub-line receiving unit 42 receives the airborne object information transmitted at predetermined time intervals via the sub-line from the control device 10 and the ground station information related to each ground station 14 from all the ground stations 14 in chronological order via the communication means 2, and stores the information in the registration information storage unit 32.

[0033] The reference request receiving unit 43 receives a reference request for flying object information and ground station information from the control station 15 or the ground station 14. In this embodiment, when the reference request receiving unit 43 receives a reference request from the control station 15 or the ground station 14 via the communication means 2, it causes the reference information extracting unit 44 to function.

[0034] The reference information extraction unit 44 extracts airborne object information and ground station information in response to a reference request from the control station 15 or the ground station 14. In this embodiment, when the reference request reception unit 43 receives a reference request, the reference information extraction unit 44 extracts the latest airborne object information and ground station information related to all ground stations 14 from the registered information storage unit 32 as reference information. Whether the airborne object information is the latest is determined based on time data included in the airborne object information.

[0035] The reference information transmission unit 45 transmits the flying object information and ground station information to the control station 15 or the ground station 14 that has transmitted the reference request. In this embodiment, the reference information transmission unit 45 transmits the flying object information and ground station information extracted by the reference information extraction unit 44 to the control station 15 or the ground station 14 that has transmitted the reference request via the communication means 2.

[0036] The command receiving unit 46 receives commands to be transmitted to the control device 10. In this embodiment, when the command receiving unit 46 receives a command from either the control station 15 or the ground station 14, it activates the communication status determination unit 47. In the present invention, the term "command" includes all commands for telecontrolling the flying object 11 from the control station 15 or the ground station 14, such as instructions for adjusting the altitude of the flying object 11.

[0037] The communication state determination unit 47 determines the communication state with the control device 10 for each of the ground stations 14. In this embodiment, when the command receiving unit 46 receives a command, the communication state determination unit 47 refers to the ground station information of all the ground stations 14 stored in the registration information storage unit 32. Then, the communication state determination unit 47 determines the ground station 14 with the best communication state based on the reception strength when each ground station 14 receives the flying object information from the control device 10.

[0038] The command transmitting unit 48 transmits commands received from the control station 15 or the ground station 14 to the control device 10. In this embodiment, the command transmitting unit 48 transmits the same command to the control device 10 via both the main line and the sub-line, as shown in FIG. 3. At this time, on the sub-line, the command transmitting unit 48 transmits the command received by the command receiving unit 46 to the ground station 14 that has been determined by the communication state determining unit 47 to have the best communication state. The command is then transmitted to the control device 10 via the ground station 14 that has the best communication state. Therefore, even if the main line is down, the command is reliably transmitted to the control device 10 via the sub-line.

[0039] [3] Satellite 13 (main line) The satellite 13 constitutes a main line for communication between the control device 10 and the server 1. In this embodiment, as shown in FIG. 1, when the satellite 13 receives flying object information from the control device 10, it transmits the information directly to the server 1. Also, as shown in FIG. 3, when the satellite 13 receives a command from the server 1, it transmits the command directly to the control device 10. The type of satellite 13 is not particularly limited, and satellite communication services such as Iridium, Inmarsat, and Starlink are used as the main line.

[0040] [4] About Ground Station 14 (Sub-Line) The ground station 14 constitutes a sub-line used as a communication line supplementing the main line. In this embodiment, the ground station 14 has a ground station board in which a microcomputer and a wireless communication unit are integrated, and a data reference device consisting of a personal computer or the like equipped with a display means. A data reference program is installed in the data reference device, which performs the functions of sending a request to the server 1 to reference the airborne object information and the ground station information, receiving the airborne object information and the ground station information from the server 1, and displaying the received airborne object information and the ground station information.

[0041] In this embodiment, a wireless standard capable of long-distance communication, such as LPWA (Low Power, Wide Area), is adopted as a sub-line between the control device 10 and the ground station 14, and a communication standard, such as LTE (Long Term Evolution) or a fifth-generation mobile communication system (5G), is adopted between the ground station 14 and the server 1. However, the communication standard of the sub-line is not limited to the above and can be adopted as appropriate.

[0042] 1 and 3, the ground stations 14 in this embodiment are mobile ground stations 141 mounted on vehicles and capable of tracking the flying object 11, and fixed ground stations 142 fixed to the ground, with multiple units arranged in different locations to cover the flight route of the flying object 11. The configuration and number of the ground stations 14 are not particularly limited, and it is sufficient that at least one of the ground stations 14 is arranged so as to maintain communication with the control device 10.

[0043] As shown in Fig. 1, each time a ground station 14 receives flying object information from the control device 10, it attaches its own ground station information to the flying object information and transmits it to the server 1. Also, as shown in Fig. 3, each ground station 14 transmits a command to the server 1 to be transmitted to the control device 10. Then, the server 1 transmits a command to the ground station 14 that the server 1 determines has the best communication status with the control device 10, and the ground station 14 transmits the command to the control device 10.

[0044] 1, in the sub-line, the control device 10 transmits flying object information to all ground stations 14, and all ground stations 14 transmit flying object information and ground station information to the server 1. In addition, in FIG. 3, the mobile ground station 141 on the right transmits a command to the server 1, and the fixed ground station 142 receives the command from the server 1 and transmits it to the control device 10. However, if the mobile ground station 141 on the right has the best communication status with the control device 10, the server 1 returns the command to the mobile ground station 141, which then transmits the command to the control device 10.

[0045] Furthermore, in this embodiment, since the control station 15 and the ground station 14 are provided with a data reference device, it is possible to share and check the same data stored in the server 1. Even if the mobile ground station 141 moves deep into the mountains or a depopulated area while tracking the flying object 11 and is unable to communicate with the server 1, the flying object information received from the control device 10 can be output from the ground station board via USB (Universal Serial Bus) serial communication to the data reference device, thereby allowing the information to be displayed directly on a display means for checking. Note that the data reference device does not need to be installed in all ground stations 14, and does not need to be installed in unmanned fixed ground stations 142.

[0046] In this embodiment, the data reference program has a function of referencing the location data and type data contained in all the ground station information received from the server 1, and displaying different icons at the position indicated by the location data according to the type indicated by the type data (mobile ground station 141, fixed ground station 142, etc.). This allows the control station 15 and the ground station 14 to clearly see the current location and type of each ground station 14 constituting the sub-line on the map displayed on the display means.

[0047] Next, the actions of the server 1, the flying object control system 100, the server program 1a, and the method executed by the server 1 of this embodiment will be explained separately for the cases where the telemetry function, the data reference function, and the telecontrol function are executed.

[0048] (1) Telemetry function When the telemetry function of this embodiment is executed, as shown in Fig. 4, every time a predetermined time elapses (step S1: YES), the control device 10 in the aircraft cabin 12 acquires aircraft information (step S2) and transmits the aircraft information through both the main line and the sub-line (step S3). As a result, the latest aircraft information is always transmitted from the control device 10 at regular time intervals.

[0049] The airborne object information transmitted over the main line is received in chronological order by the main line receiving unit 41 of the server 1 (step S7) and stored in the registration information storage unit 32 (step S9). Meanwhile, the airborne object information transmitted over the sub-line is received by each ground station 14 (step S4). In this embodiment, as shown in FIG. 1, multiple ground stations 14, including mobile ground stations 141 and fixed ground stations 142, are located in different locations. This reduces the risk that all ground stations 14 will be out of service due to obstacles such as mountains, enabling stable telemetry.

[0050] Next, each of the ground stations 14 that received the flying object information acquires its own ground station information (step S5), and transmits the flying object information received in step S4, together with the ground station information acquired in step S5, to the server 1 (step S6). The flying object information and ground station information transmitted from each ground station 14 are then received in chronological order by the sub-line receiving unit 42 of the server 1 (step S8), and stored in the registration information storage unit 32 (step S9). The processing from step S1 to step S9 described above is repeatedly executed while the flying object 11 is flying (step S10: NO).

[0051] According to the above telemetry function, the flying object information sent from the control device 10 is reliably transmitted to the server 1 via at least one of the main line or the sub-line, so that the latest flying object information is always stored in the server 1. In addition, ground station information regarding all ground stations 14 is aggregated in the server 1, enabling centralized management.

[0052] (2) Data reference function 5, when the data reference function of this embodiment is executed, the control station 15 or ground station 14 that desires to reference data transmits a reference request to the server 1 (step S11). Meanwhile, in the server 1, when the reference request receiving unit 43 receives the reference request (step S12), the reference information extracting unit 44 extracts the latest flying object information and ground station information related to all ground stations 14 from the registered information storage unit 32 (step S13). As a result, all flying object information simultaneously transmitted from the control device 10 via the main line and the sub-line is stored in duplicate in the server 1, but only the necessary information can be extracted and referenced.

[0053] Next, the reference information transmission unit 45 of the server 1 transmits the flying object information and ground station information extracted in step S13 to the control station 15 or ground station 14 that transmitted the reference request (step S14). As a result, the control station 15 or ground station 14 that transmitted the reference request receives the flying object information and ground station information from the server 1 (step S15) and displays them on the display means (step S16). At this time, in this embodiment, the data reference device displays different icons at the position indicated by the position data of the ground station information according to the type indicated by the type data. This makes it easy for the control station 15 or ground station 14 to grasp the current position and type of each ground station 14.

[0054] If the mobile ground station 141 moves deep into the mountains or a depopulated area while tracking the flying object 11 and is unable to communicate with the server 1, it cannot send the reference request in step S11 and is therefore unable to reference the data in the server 1. However, in this embodiment, the flying object information received from the control device 10 can be output to a data reference device provided in each mobile ground station 141, allowing direct confirmation. Therefore, each mobile ground station 141 can track the flying object information regardless of the communication state.

[0055] Furthermore, in this embodiment, the airborne object information includes the number of captured satellites when the position data of the airborne object 11 is measured, and the ground station information includes the number of captured satellites when the position data of the ground station 14 is measured. Therefore, the positioning accuracy of each position data can be confirmed according to the number of captured satellites. That is, the more the number of captured satellites, the higher the accuracy and the more accurate the position, and the fewer the number of captured satellites, the lower the accuracy and the more inaccurate the position.

[0056] Furthermore, in this embodiment, the flying object information includes a timer value that indicates the elapsed time since the flying object 11 started flying. Therefore, by comparing the pilot's operation history with the flight data of the flying object 11 based on the timer value, it is possible to analyze changes in the behavior of the flying object 11 according to the pilot's operation history.

[0057] (3) Telecontrol function When the telecontrol function of this embodiment is executed, as shown in Fig. 6, a command is sent from either the control station 15 or the ground station 14 to the server 1 (step S21). Meanwhile, in the server 1, when the command receiver 46 receives the command (step S22), the communication status determiner 47 determines the communication status of each ground station 14 with the control device 10 (step S23). At this time, in this embodiment, the communication status determiner 47 determines the ground station 14 with the best communication status based on the reception strength included in the ground station information received from each ground station 14. Therefore, the communication status between the control device 10 and each ground station 14 can be determined simply and with high accuracy.

[0058] 3, the command transmitting unit 48 transmits the same command to the control device 10 via both the main line and the sub-line (step S24). At this time, via the sub-line, the command transmitting unit 48 transmits the command to the ground station 14 determined to have the best communication state in step S23. This makes it possible to reliably transmit the command to the control device 10 via the sub-line even if the communication state of the main line is poor.

[0059] When the ground station 14 determined to have the best communication state in step S23 receives a command from the server 1 (step S25), it transmits the command to the control device 10 (step S26). Meanwhile, when the control device 10 receives the command transmitted via both the main line and the sub-line (step S27), it executes processing and operation according to the command (step S28). This enables reliable telecontrol of the control device 10.

[0060] The server 1, flying object control system 100, server program 1a, and method executed by the server 1 according to the present embodiment as described above provide the following advantages. 1. Stable communication with the control device 10 provided on the flying object 11 is possible, enabling reliable telecontrol. 2. The latest flying object information and all ground station information are managed collectively by the server 1, and the same data can be referenced from the control station 15 or the ground station 14, enabling stable telemetry to be performed. 3. The communication status between the control device 10 and each ground station 14 can be determined simply and with high accuracy based on the reception strength included in the ground station information. 4. Based on the type data and location data included in the ground station information, the control station 15 or the ground station 14 can easily grasp the current location and type of each ground station 14. 5. Based on the number of captured satellites included in the airborne object information and ground station information, the positioning accuracy of the position data measured for the airborne object 11 and the ground station 14 can be confirmed. 6. Based on the timer value included in the flying object information, it is possible to analyze changes in the behavior of the flying object 11 according to the pilot's operation history.

[0061] The server 1, the flying object control system 100, the server program 1a, and the method executed by the server 1 according to the present invention are not limited to the above-described embodiment, and can be modified as appropriate.

[0062] For example, in the above-described embodiment, the flying object information includes a flying object ID, assuming that multiple flying objects are flying simultaneously at high altitudes, but this configuration is not limited to this, and the flying object ID is not required when controlling one flying object independently. Also, in the above-described embodiment, the fixed ground station 142 is powered by a battery, so the remaining battery charge is included in the ground station information to determine when it is time to replace the battery, but if the battery is powered by a solar panel or the like, the remaining battery charge is not required. [Explanation of symbols]

[0063] 1 server 1a Server program 2. Means of communication 3 Memory means 4. Processing means 10 Control device 11 Projectile 12 Aircraft cabin 13 satellites 14 Ground Station 141 Mobile Ground Station 142 Fixed ground station 15 Control station 31 Program memory section 32 Registration information storage unit 41 Main line receiving section 42 Sub-line receiving unit 43 Reference request reception unit 44 Reference information extraction part 45 Reference Information Transmission Unit 46 Command receiver 47 Communication status determination unit 48 Command transmission unit 100 Projectile Control System

Claims

1. A server capable of communicating with a control device provided in a flying object, the control device and the server are configured to be able to transmit and receive data via a main line for communication via a satellite and a sub-line for communication via a plurality of ground stations, a command receiving unit that receives a command to be transmitted to the control device from either a control station or the ground station; a communication state determination unit that determines a communication state between each of the ground stations and the control device; a command transmitting unit that transmits the command to the control device from both the main line and the sub-line, and transmits the command to the control device via a ground station with the best communication status on the sub-line; A server having:

2. a main line receiving unit that receives flying object information related to the flying object from the control device in chronological order via the main line; a sub-line receiving unit that receives, in time series, the flying object information and ground station information related to the ground station that each of the ground stations has received from the control device via the sub-line; a registration information storage unit that stores the flying object information and the ground station information received by the main line receiving unit and the sub line receiving unit; a reference request receiving unit that receives a reference request for the flying object information and the ground station information from the control station or the ground station; a reference information extraction unit that extracts the latest flying object information and the ground station information related to all ground stations from the registration information storage unit when the reference request reception unit receives the reference request; a reference information transmitting unit that transmits the flying object information and the ground station information extracted by the reference information extracting unit to the control station or the ground station that transmitted the reference request; The server of claim 1 , comprising:

3. the ground station information includes a reception strength when the ground station receives the flying object information from the control device, The server according to claim 2 , wherein the communication state determination unit determines the ground station with the best communication state based on the reception strength included in the ground station information received from each ground station.

4. The ground station information includes type data indicating a type of the ground station and location data indicating a current location of the ground station, The server according to claim 2, wherein the control station or the ground station that receives the reference information is provided with a data reference device having a data reference program that displays different icons at the location indicated by the position data depending on the type indicated by the type data.

5. The flying object information includes position data indicating a current position of the flying object and the number of satellites captured when the position data is measured, The server according to claim 2 , wherein the ground station information includes location data indicating a current location of the ground station and the number of captured satellites when the location data is measured.

6. The server according to claim 2 , wherein the flying object information includes an elapsed time since the flying object started flying.

7. 7. A flying object control system comprising: the server according to claim 1; the ground station; and the control device.

8. A server program that causes a server capable of communicating with a control device provided in a flying object to function, the control device and the server are configured to be able to transmit and receive data via a main line for communication via a satellite and a sub-line for communication via a plurality of ground stations, a command receiving unit that receives a command to be transmitted to the control device from either a control station or the ground station; a communication state determination unit that determines a communication state between each of the ground stations and the control device; a command transmitting unit that transmits the command to the control device from both the main line and the sub-line, and transmits the command to the control device via a ground station with the best communication status on the sub-line; A server program that runs on a computer and makes it function.

9. A method executed by a server capable of communicating with a control device provided on an air vehicle, comprising: the control device and the server are configured to be able to transmit and receive data via a main line for communication via a satellite and a sub-line for communication via a plurality of ground stations, a command receiving step of receiving a command to be transmitted to the control device from either a control station or the ground station; a communication state determination step of determining a communication state between each of the ground stations and the control device; a command transmitting step of transmitting the command to the control device from both the main line and the sub-line, and transmitting the command to the control device via the ground station with the best communication status on the sub-line; A method comprising:

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