Air traffic control system, aircraft identification method, and program

Abstract

A control system (31) according to an embodiment of the present invention is provided with: a communication unit (4) that receives, from a communication terminal (40), an image including a flying body (2) photographed by the communication terminal (40), and position information of the communication terminal (40); an estimation unit (8) that estimates an estimated position of the flying body (2) by using background information included in the image and the position information; and an identification unit (5) that identifies the flying body (2) by using the estimated position of the flying body (2). The communication unit (4) transmits information on the identified flying body (2) to the communication terminal (40).

Description

[Technical field]

[0001] The present disclosure relates to a control system, an air vehicle identification method, a computer-readable medium, and an air vehicle. [Background technology]

[0002] In recent years, research and development of flying objects such as flying cars has become active. For example, Patent Document 1 discloses a flying vehicle operation system in which the operations of a flying vehicle from takeoff at a first takeoff and landing section to takeoff and landing at a second takeoff and landing section are automatically performed under the control of a control system that controls the operation of the flying vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-151839 A Summary of the Invention [Problem to be solved by the invention]

[0004] For aircraft to become a means of transportation, a system is required that increases the sense of security regarding aircraft and makes them accepted by society. One way to increase the sense of security regarding aircraft is to allow anyone to obtain the identification information of an aircraft while it is in flight.

[0005] The object of the present disclosure has been made to solve such problems, and to provide a control system capable of identifying flying objects, an flying object identification method, a computer-readable medium, and an flying object. [Means for solving the problem]

[0006] The control system according to the present disclosure includes: a communication unit that receives an image including the flying object captured by the communication terminal and location information of the communication terminal from the communication terminal; an estimation unit that estimates an estimated position of the aircraft using background information and the position information included in the image; an identification unit that identifies the flying object using the estimated position of the flying object, The communication unit transmits information about the identified flying object to the communication terminal.

[0007] The flying object identification method according to the present disclosure includes: receiving an image including the flying object photographed by the communication terminal and location information of the communication terminal from the communication terminal; Estimating an estimated position of the aircraft using background information and the position information included in the image; identifying the air vehicle using the estimated position of the air vehicle; A method for transmitting information about the identified flying object to the communication terminal.

[0008] The computer-readable medium according to the present disclosure comprises: receiving an image including the flying object photographed by the communication terminal and location information of the communication terminal from the communication terminal; Estimating an estimated position of the aircraft using background information and the position information included in the image; identifying the air vehicle using the estimated position of the air vehicle; Transmitting information about the identified flying object to the communication terminal; It is a temporary computer-readable medium on which a program for causing a computer to execute a process is stored.

[0009] The aircraft according to the present disclosure includes: an aircraft ID control unit that holds the aircraft ID of the aircraft; a communication unit that transmits the machine ID, When the communication unit receives the request signal for the machine ID, it transmits a response signal including the machine ID in response to the request. Effect of the Invention

[0010] According to the present disclosure, a control system capable of identifying flying objects, a method for identifying flying objects, a computer-readable medium, and a flying object can be provided. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of an aircraft identification system according to a first embodiment. [Diagram 2] FIG. 4 is a diagram illustrating an example of a machine ID table according to the first embodiment. [Diagram 3] 4 is a flowchart showing the operation of the control system according to the first embodiment. [Figure 4] FIG. 11 is a block diagram showing a configuration of an air vehicle identification system according to a second embodiment. [Diagram 5] FIG. 11 is a block diagram showing the configuration of an aircraft according to a second embodiment. [Figure 6] FIG. 11 is a block diagram showing a configuration of a control system according to a second embodiment. [Figure 7] 10 is a flowchart showing the operation of a control system according to a second embodiment. [Figure 8] 10 is a flowchart showing the operation of a control system according to a second embodiment. [Figure 9] FIG. 11 is a block diagram showing a configuration of an air vehicle identification system according to a third embodiment. [Figure 10] 13 is a flowchart showing the operation of a control system according to a third embodiment. [Figure 11] FIG. 13 is a block diagram showing a configuration of an air vehicle identification system according to a fourth embodiment. [Figure 12] FIG. 13 is a diagram showing the correspondence between authority levels and information about an aircraft according to the fourth embodiment. [Figure 13] 13 is a flowchart showing the operation of a control system according to a fourth embodiment. [Figure 14] FIG. 13 is a block diagram showing a configuration of an aircraft identification system according to a fifth embodiment. [Figure 15]13 is a flowchart showing the operation of a control system according to a fifth embodiment. [Figure 16] 2 is a block diagram showing an example configuration of a control device in an aircraft, a control system, and a communication terminal according to each embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, the following description and drawings are appropriately simplified for clarity of explanation.

[0013] (First embodiment) 1 is a block diagram showing the configuration of an air vehicle identification system 1 according to the first embodiment. The air vehicle identification system 1 includes an air vehicle 2 and a control system 3.

[0014] The aircraft 2 is, for example, a rotorcraft having rotors, such as a drone, an unmanned aerial vehicle (UAV), a flying car, or a vertical take-off and landing aircraft (VTOL). The aircraft 2 generates lift and thrust by rotating the rotors. The aircraft 2 may be an unmanned aircraft carrying luggage or the like, or may be a manned aircraft on which a passenger is aboard.

[0015] The aircraft 2 has an aircraft ID as its own aircraft identification information. Different aircraft IDs are assigned to different aircraft 2, and no aircraft 2 has the same aircraft ID. The aircraft 2 has a communication unit 14 and an aircraft ID control unit 15. The communication unit 14 and the aircraft ID control unit 15 may be software or a module in which processing is performed by a processor executing a program stored in a memory. Alternatively, the communication unit 14 and the aircraft ID control unit 15 may be hardware such as a circuit or a chip.

[0016] The communication unit 14 transmits the aircraft ID. The communication unit 14 performs wireless communication with the ground side, that is, the control system 3. The communication unit 14 performs wireless communication with the control system 3 according to a frequency and transmission power, etc., that are predetermined between the control system 3 and the communication unit 14. For example, the communication unit 14 may perform processing according to a communication standard defined by 3GPP (3rd Generation Partnership Project), such as 5G and 4G, or may perform processing according to a communication standard, such as Wi-Fi (registered trademark) and Bluetooth (registered trademark). The communication unit 14 transmits a wireless signal to the control system 3. The communication unit 14 receives a wireless signal from the control system 3. This enables transmission and reception of data and information between the aircraft 2 and the control system 3. The communication unit 14 transmits the aircraft ID and position information of the aircraft 2 to the control system 3.

[0017] Furthermore, the communication unit 14 can transmit the aircraft ID not only to the control system 3 but also to a communication terminal such as a smartphone. In this case, the aircraft ID transmitted by the aircraft 2 can be obtained by installing a specific application on the smartphone. Furthermore, the communication unit 14 can transmit its own aircraft ID to other aircraft 2 and receive aircraft IDs from other aircraft 2, and can transmit and receive aircraft IDs between aircraft 2.

[0018] The aircraft ID control unit 15 controls the change and transmission of the aircraft ID. The aircraft ID control unit 15 holds the aircraft ID of the aircraft itself, which is changed according to a predetermined change pattern. The aircraft ID may be changed, for example, at predetermined time intervals, or at any timing, and the timing of changing the aircraft ID can be set to a timing desired by the user, etc. For example, the aircraft ID may be changed when the number of flights increases, or after multiple flights. For example, the aircraft ID control unit 15 may create a plurality of aircraft IDs in advance as a predetermined change pattern, as shown in the aircraft ID table in FIG. 2, and change the aircraft ID at a predetermined time. The communication unit 14 may transmit the aircraft ID table stored in the aircraft ID control unit 15 to the air traffic control system 3. This allows the aircraft ID control unit 15 to share the aircraft ID change pattern with the air traffic control system 3 that controls the flight of the aircraft. Alternatively, the communication unit 14 may receive the aircraft ID table from the air traffic control system 3. This allows the aircraft ID change pattern of the aircraft 2 to be shared between the aircraft 2 and the air traffic control system 3.

[0019] In the aircraft ID table shown in FIG. 2, the aircraft ID at the start of flight (0 minutes after the start of flight) is #0, the aircraft ID 10 minutes after the start of flight is #1, the aircraft ID 20 minutes after the start of flight is #2, and the aircraft ID 30 minutes after the start of flight is #3. Note that the aircraft ID table in FIG. 2 is an example, and any aircraft ID may be generated. For example, the aircraft ID control unit 15 or the control system 3 may generate the aircraft ID using an algorithm or a random number generation function. Furthermore, the aircraft ID may be a randomly generated ID, or an ID that changes depending on at least one of the number of flights and flight time of the aircraft.

[0020] The aircraft 2 flies according to a predetermined flight plan while communicating wirelessly with the control system 3. The aircraft 2 can fly autonomously along a flight path from a takeoff location to a landing location. For example, the aircraft 2 takes off from a takeoff and landing facility, and flies along a flight path based on the flight plan. The aircraft 2 flies to a landing location corresponding to the destination, and lands at the landing location. The flight path is a three-dimensional path from the takeoff location to the landing location. The takeoff and landing locations can use takeoff and landing facilities designated in advance. The takeoff and landing locations may be any location as long as there is space for landing. Of course, the takeoff and landing location for takeoff and landing may be the same location.

[0021] The flying object 2 can be controlled either automatically or manually by a pilot. Since the flying object 2 requires a pilot to have advanced piloting skills in areas with many obstacles, such as urban areas, the flying object 2 can be controlled automatically and can be configured to switch to manual control in the event of an emergency.

[0022] The control system 3 is a traffic management and control system. The control system 3 is a hardware device (computer device) for performing traffic management and air traffic control of the aircraft 2, and is installed in a traffic management center. The control system 3 is not limited to a single physical device, and may be, for example, a plurality of processors working together to perform the processing described below.

[0023] In addition, in order to control a wide area, the control system 3 may be provided in an air traffic control center that communicates with a plurality of traffic control centers. This allows the control system 3 of the traffic control center to communicate with the control system 3 of the air traffic control center, thereby enabling control of the flying object 2 over a wide area.

[0024] The control system 3 includes a communication unit 4 and an identification unit 5. The communication unit 4 and the identification unit 5 may be software or a module that performs processing by a processor executing a program stored in a memory. Alternatively, the communication unit 4 and the identification unit 5 may be hardware such as a circuit or a chip.

[0025] The communication unit 4 acquires the aircraft ID and the position information of the aircraft 2 transmitted from the aircraft 2. In addition, the communication unit 4 acquires the aircraft ID and the position information of the aircraft 2 at different times.

[0026] The identification unit 5 identifies the aircraft 2 using the aircraft ID received from the aircraft 2. For example, the identification unit 5 may be configured to hold in advance a table in which aircraft IDs are associated with aircraft, and to extract the aircraft associated with the received aircraft ID by referring to the table.

[0027] Here, the communication unit 4 may acquire different aircraft IDs from the aircraft 2 at different times. In this case, the identification unit 5 determines whether the aircraft ID different from the initial aircraft ID indicates the aircraft 2 associated with the initial aircraft ID based on a change between the location information acquired together with the initial aircraft ID and the location information acquired together with the aircraft ID different from the initial aircraft ID. The change in location information may be indicated, for example, by using the distance between the location information acquired at different times. For example, the identification unit 5 may determine that the aircraft ID different from the initial aircraft ID indicates the aircraft 2 associated with the initial aircraft ID when the change in location information is within a predetermined range.

[0028] Hereinafter, the operation of the control system 3 according to the first embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart showing the operation of the control system 3 according to the first embodiment. First, the communication unit 4 acquires the first aircraft ID and location information of the aircraft 2 (S1). Here, in order to distinguish the aircraft IDs, the initial aircraft ID is called the first aircraft ID, and the changed aircraft ID is called the second aircraft ID. Next, the identification unit 5 identifies the aircraft 2 using the first aircraft ID (S2). Thereafter, the control system 3 communicates with the aircraft 2 that transmits the first aircraft ID, and performs operational management and air traffic control of the aircraft 2.

[0029] Thereafter, when the communication unit 4 has not acquired the second aircraft ID and the position information of the aircraft 2 transmitting the second aircraft ID (S3, NO), the control system 3 continues to perform operational management and air traffic control of the aircraft 2 transmitting the first aircraft ID identified by the identification unit 5.

[0030] On the other hand, when the communication unit 4 acquires the second aircraft ID and the position information of the aircraft 2 that transmits the second aircraft ID (S3, YES), the identification unit 5 determines whether the aircraft 2 that transmits the second aircraft ID is the same as the aircraft 2 that transmits the first aircraft ID based on the change between the position information when the first aircraft ID was acquired and the position information when the second aircraft ID was acquired. For example, the identification unit 5 determines whether the change between the position information when the first aircraft ID was acquired and the position information when the second aircraft ID was acquired is equal to or less than a threshold (S4). When the distance between the position information acquired at different times is equal to or less than a preset threshold (for example, 50 m) (S4, YES), the identification unit 5 determines that the aircraft 2 that transmits the second aircraft ID and the aircraft 2 that transmits the first aircraft ID are the same aircraft 2 (S5).

[0031] When the distance between the position information acquired at different times is greater than a preset threshold (S4, NO), the identification unit 5 identifies the aircraft 2 transmitting the second aircraft ID as an aircraft 2 different from the aircraft 2 transmitting the first aircraft ID (S6). The control system 3 identifies the aircraft 2 transmitting the first aircraft ID and the aircraft 2 transmitting the second aircraft ID as different aircraft 2, and performs operation management and air traffic control.

[0032] As described above, the aircraft 2 according to the first embodiment can improve security by changing the aircraft ID. On the other hand, if the aircraft 2 arbitrarily changes the aircraft ID, the control system 3 cannot identify the aircraft 2, which may cause a problem that flight safety may be lost. In response to this, the control system 3 according to the first embodiment can identify the aircraft 2 by using the position information of the aircraft 2, even if different aircraft IDs are acquired at different times. As a result, the control system 3 can identify or specify the aircraft 2 that changes the aircraft ID that it transmits while taking security into consideration.

[0033] Second Embodiment 4 is a block diagram showing the configuration of an air vehicle identification system 100 according to the second embodiment. The air vehicle identification system 100 includes an air vehicle 20 and a control system 30.

[0034] 5 is a block diagram showing the configuration of an aircraft 20 according to the second embodiment. The aircraft 20 includes a flight control unit 11, a drive mechanism 12, a sensor 13, a communication unit 14, an aircraft ID control unit 15, a display unit 16, and a battery 17. In the aircraft 20 according to the second embodiment, components similar to those in the first embodiment are given the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0035] Flight control unit 11 controls each of the components constituting flying object 20. Drive mechanism 12 includes rotors and their motors, and generates lift and thrust for flight. Flight control unit 11 outputs a drive signal for controlling drive mechanism 12. For example, if flying object 20 has multiple rotors, flight control unit 11 controls drive mechanism 12 so that drive mechanism 12 drives each rotor independently.

[0036] The flight control unit 11 stores a flight plan in a memory or the like. The flight control unit 11 may store a flight plan received from the control system 30 in the memory, or may store a flight plan input by the user of the flying object 20 in the memory. In the case of autopilot, the flight control unit 11 controls the drive mechanism 12 so as to fly according to the flight plan. When the aircraft position deviates from the flight path due to wind or the like, the flight control unit 11 controls the drive mechanism 12 so as to fly the flying object 20 closer to the flight path. The flight control unit 11 can detect the position of the flying object 20 by using the sensor 13. The flight control unit 11 controls the drive mechanism 12 based on the detection result of the sensor 13.

[0037] The sensor 13 detects information related to the flight state of the flying object 20. The sensor 13 has, for example, a gyro sensor that detects the attitude of the aircraft and a position sensor that detects the position of the aircraft. For example, a satellite positioning sensor such as a Global Positioning System (GPS) can be used as the position sensor. The flight control unit 11 specifies the position of the aircraft based on the information acquired by the sensor 13. Specifically, the flight control unit 11 specifies the three-dimensional position of the flying object 20 based on, for example, positioning information received by the sensor 13 from multiple artificial satellites. The communication unit 14 transmits the aircraft ID and position information related to the position specified by the flight control unit 11. Note that the sensor 13 is not limited to one, and multiple sensors 13 may be used.

[0038] The flying object 20 may be provided with a display unit 16 that displays flight status, congestion during flight, aircraft information, and the like to passengers. The display content displayed on the display unit 16 may change depending on information about the flying object 20. For example, the display content displayed on the display unit 16 may change depending on information about whether the flying object 20 is a manned aircraft or an unmanned aircraft. Alternatively, the display content displayed on the display unit 16 may change depending on information about whether the flying object 20 is in automatic operation or manual operation. In the case of an unmanned aircraft, the display unit 16 may be omitted. The battery 17 supplies power to each device constituting the flying object 20. By being equipped with the above-mentioned components, the aircraft 20 is able to fly while communicating with the control system 30.

[0039] 6 is a block diagram of a control system 30 according to the second embodiment. The control system 30 includes a communication unit 4, an identification unit 5, a generation unit 6, a storage unit 7, and an estimation unit 8. In the control system 30 according to the second embodiment, components similar to those in the first embodiment are denoted by similar reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0040] The communication unit 4 wirelessly communicates with the flying object 20 to acquire aircraft information including the aircraft ID and location information of the flying object 20. The aircraft information may include performance information related to the performance of the flying object 20. The performance information includes data related to the weight, size, flight time, turning ability, wind resistance, flight speed, and flight altitude of the flying object 20. The performance information may include data related to the remaining battery power and remaining fuel during flight. Furthermore, the performance information may include information indicating whether the aircraft is manned or unmanned. The aircraft information may include information indicating whether the aircraft is an emergency aircraft such as for police, fire, or ambulance.

[0041] The communication unit 4 performs wireless communication with the aircraft 20 in accordance with a predetermined frequency and transmission output, etc. between the aircraft 20. For example, the communication unit 4 may perform processing in accordance with communication standards defined by 3GPP, such as 5G and 4G, or may perform processing in accordance with communication standards such as Wi-Fi (registered trademark) and Bluetooth (registered trademark). The communication unit 4 transmits a wireless signal to the aircraft 20. The communication unit 4 receives a wireless signal from the aircraft 20. This enables transmission and reception of data and information between the aircraft 20 and the control system 30.

[0042] The generation unit 6 generates a flight plan including a flight route and a flight schedule based on the planned takeoff time (scheduled takeoff time) of the aircraft 20 acquired by the communication unit 4 and travel information related to the destination. The planned takeoff time may be the current time or a time registered in advance on the schedule. The planned takeoff time and destination may be information directly input to the control system 30 by a user of the aircraft 20 or a user of the control system 30. The destination may be a place name, a facility name, an address, coordinates (latitude and longitude), etc. The destination may also be the ID of the takeoff and landing facility itself, and the travel information may include a waypoint between the takeoff and landing location.

[0043] The flight path is a travel path from a takeoff location to a landing location corresponding to a destination. The flight path is information indicating a trajectory of target positions through which the flying object 20 passes. Furthermore, a scheduled flight time may be associated with each target position on the flight path. The flight path may be, for example, a set of three-dimensional coordinates indicating target positions. Specifically, the flight path may be data in which the three-dimensional coordinates are arranged in chronological order. The flight path is generated by connecting the three-dimensional coordinates.

[0044] The generating unit 6 may generate a flight path based on the performance information. For example, the generating unit 6 generates a flight path so as to satisfy the performance indicated by the performance information. The performance information is the weight, size, flight time, turning ability, wind resistance, flight speed, and flight altitude of the flying object 20. The performance information may include the current remaining battery charge and remaining fuel charge. For example, when the power source is an electric motor, the remaining battery charge is included in the performance information, and when the power source is an internal combustion engine, the remaining fuel charge such as gasoline is included in the performance information. Alternatively, when a fuel cell is used as the battery 17, the remaining fuel charge such as hydrogen is included in the performance information. When an internal combustion engine and an electric motor are used in combination as power sources, both the remaining battery charge and the remaining fuel charge may be included in the performance information.

[0045] When the performance information includes, for example, the available flight time, the generation unit 6 generates a flight path so as not to exceed the available flight time. Specifically, for an aircraft 20 with a short available flight time, the generation unit 6 generates a flight path by shortening the flight distance so as not to exceed the available flight time. Naturally, the generation unit 6 can generate a flight path so as to satisfy performance other than the available flight time. The communication unit 4 transmits the generated flight plan to the aircraft 20.

[0046] The storage unit 7 stores aircraft information acquired from the aircraft 20 and the flight plan generated by the generation unit 6. The storage unit 7 also stores an aircraft ID table indicating a change pattern of the aircraft ID transmitted by the aircraft 20.

[0047] Even if the aircraft ID of the aircraft 20 is changed, the identification unit 5 identifies the aircraft 20 associated with the acquired aircraft ID based on the aircraft ID table stored in the storage unit 7 in addition to the change between the position information acquired at different times. The identification unit 5 may also identify the aircraft 20 by referring to a flight plan in addition to the aircraft ID and position information. The identification unit 5 can increase the accuracy of identifying the aircraft 20 by comparing the position information of the flying aircraft 20 with the flight plan of the aircraft 20.

[0048] When wireless communication between the control system 30 and the flying object 20 is cut off, the estimation unit 8 estimates an estimated position of the flying object 20 during flight based on the position information and flight plan of the flying object 20 at the time of communication cut off. For example, the estimation unit 8 calculates the speed and direction of the flying object 20 from the position information up to the time of communication cut off, and estimates an estimated position of the flying object 20 using the flight path and flight schedule of the flight plan after the time communication was cut off.

[0049] When communication is restored, the identification unit 5 compares the aircraft ID of the aircraft 20 at the estimated position with the aircraft ID based on the aircraft ID table to identify the aircraft 20. Furthermore, the identification unit 5 identifies the aircraft 20 by comparing the position of the aircraft 20 when communication is restored with the estimated position of the aircraft 20 at the time communication is restored.

[0050] Fig. 7 is a flowchart showing the operation of the control system 30 according to the second embodiment. S11 to S14 in Fig. 7 are the same as S1 to S4 in Fig. 3, and therefore the description will be omitted. As in Fig. 3, in order to distinguish the aircraft IDs, the initial aircraft ID is called the first aircraft ID, and the changed aircraft ID is called the second aircraft ID.

[0051] When the change between the location information when the first aircraft ID was acquired and the location information when the second aircraft ID was acquired is equal to or less than the threshold (S14, YES), the identification unit 5 refers to the aircraft ID change pattern stored in the memory unit 7. The change between the location information is equal to or less than the threshold means that the amount of change between the location information is equal to or less than the threshold. The identification unit 5 determines whether the second aircraft ID is the same as the aircraft ID identified by the aircraft ID change pattern of the flying object 20 that transmitted the first aircraft ID (S15).

[0052] If the second aircraft ID is different from the aircraft ID specified by the change pattern (S15, NO), the identification unit 5 identifies the aircraft 20 transmitting the second aircraft ID as an aircraft 20 different from the aircraft 20 that transmitted the first aircraft ID (S18). If the second aircraft ID is the same as the aircraft ID specified by the change pattern (S15, YES), the identification unit 5 refers to the flight plan stored in the memory unit 7 and determines whether the position when the second aircraft ID was acquired is the position on the flight plan of the aircraft 20 that transmitted the first aircraft ID (S16). If the position when the second aircraft ID was acquired does not exist in the flight plan (S16, NO), the identification unit 5 identifies it as a different aircraft 20 (S18). When the position at which the second aircraft ID was acquired exists in the flight plan (S16, YES), the identification unit 5 determines that the aircraft 20 transmitting the second aircraft ID and the aircraft 20 transmitting the first aircraft ID are the same aircraft 20 (S17). In addition, although FIG. 7 shows that the processes are executed in the order of steps S14, S15, and S16, the order of steps S14, S15, and S16 may be changed. For example, the control system 30 may execute the process of step S15 and then execute the process of step S14 or S16, or may execute the process of step S16 and then execute the process of step S14 or S15.

[0053] Fig. 8 is a flowchart showing the operation of the control system 30 when communication with the flying object 20 is restored. S21 to S22 in Fig. 8 are the same as S1 to S2 in Fig. 3, and therefore a description thereof will be omitted. As in Fig. 3, in order to distinguish the aircraft IDs, the initial aircraft ID is called the first aircraft ID, and the changed aircraft ID is called the second aircraft ID.

[0054] When communication between the communication unit 4 and the flying object 20 is cut off, the estimation unit 8 estimates an estimated position of the flying object 20 in flight based on the position information of the flying object 20 at the time of communication cut off and the flight plan stored in the memory unit 7 (S23). For example, the estimation unit 8 may determine that communication between the communication unit 4 and the flying object 20 has been cut off when the communication unit 4 does not receive a wireless signal from the flying object 20 for a predetermined period of time, or when the communication unit 4 does not receive a response signal to a wireless signal transmitted by the communication unit 4. When communication is restored and the communication unit 4 acquires the first aircraft ID, the identification unit 5 identifies the flying object 20 using the first aircraft ID.

[0055] On the other hand, when the communication unit 4 acquires the second aircraft ID and position information when communication is restored (S24), the identification unit 5 compares the estimated position of the aircraft 20 estimated by the estimation unit 8 with the position information when the second aircraft ID was acquired. When the difference between the estimated position and the position when the second aircraft ID was acquired is greater than a threshold value (S25, NO), the identification unit 5 identifies it as a different aircraft 20 (S28). When the difference between the estimated position and the position when the second aircraft ID was acquired is equal to or less than the threshold (S25, YES), the identification unit 5 refers to the change pattern of the aircraft ID stored in the storage unit 7. The identification unit 5 determines whether the second aircraft ID is the same as the aircraft ID specified by the change pattern of the aircraft ID of the aircraft 20 that transmitted the first aircraft ID (S26). When the second aircraft ID is different from the aircraft ID specified by the change pattern (S26, NO), the identification unit 5 identifies the aircraft 20 transmitting the second aircraft ID as an aircraft 20 different from the aircraft 20 that transmitted the first aircraft ID (S28). When the second aircraft ID is the same as the aircraft ID specified by the change pattern (S26, YES), the identification unit 5 determines that the aircraft 20 transmitting the second aircraft ID and the aircraft 20 that transmitted the first aircraft ID are the same aircraft 20 (S27). 8, the processing is performed in the order of steps S25 and S26, but the order of steps S25 and S26 may be changed. For example, the control system 30 may perform the processing of step S26 and then the processing of step S25.

[0056] As described above, the control system 30 according to the second embodiment can identify the flying object 20 by using the change between the position information of the flying object 20, the change pattern of the aircraft ID, and the flight plan. Furthermore, even if the aircraft ID of the flying object 20 is changed when communication with the flying object 20 is cut off, the control system 30 can determine whether the second aircraft ID indicates the flying object 20 by using the comparison result between the position information of the flying object 20 and the estimated position at the time of communication recovery and the change pattern of the aircraft ID. This allows the control system 30 to identify the flying object 20 even if the flying object 20 changes its aircraft ID to improve security.

[0057] (Third embodiment) An air vehicle identification system 101 according to the third embodiment will be described with reference to FIG. 9. The air vehicle identification system 101 according to the third embodiment includes an air vehicle 2, a control system 31, and a communication terminal 40. The air vehicle 2 includes a communication unit 14 and an aircraft ID control unit 15. The control system 31 includes a communication unit 4, an identification unit 5, and an estimation unit 8. The air vehicle identification system 101 according to the third embodiment is a system that identifies the air vehicle 2 using the communication terminal 40. In the air vehicle identification system 101 according to the third embodiment, components similar to those in the first and second embodiments are denoted by similar reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0058] The communication terminal 40 is, for example, a smartphone, and has a communication function and a photographing function. The communication terminal 40 is capable of communicating with the control system 31. For example, the communication terminal 40 may communicate with the control system 31 via a mobile network managed by a telecommunications carrier or the Internet. The user of the communication terminal 40 can obtain information on the flying object 2 by transmitting an inquiry message including an image including the flying object 2 and location information of the communication terminal 40 to the control system 31. For example, when the flying object 2 is making noise or when a suspicious flying object 2 is flying, the user of the communication terminal 40 takes an image including the flying object 2 and makes an inquiry to the control system 31.

[0059] Furthermore, the communication terminal 40 can obtain the aircraft ID by directly communicating wirelessly with the aircraft 2. For the wireless communication, a communication method such as Bluetooth (registered trademark) may be used. For example, if the communication terminal 40 requests the aircraft ID from the aircraft 2 and is unable to receive a response from the aircraft 2, it may determine that the aircraft 2 is a suspicious aircraft and notify the police that a suspicious aircraft is flying and staying near the position of the communication terminal 40. The communication terminal 40 may transmit a message to the flying object 2 in addition to the aircraft ID request. The message may be, for example, that the noise during flight is loud and annoying, or the purpose of the stay. When there is a response from the flying object 2, the communication terminal 40 can obtain the circumstances of the flying object 2, such as the purpose of the stay. On the other hand, when the communication terminal 40 is unable to obtain a response from the flying object 2, it may determine that the flying object 2 is a suspicious object, and report to the police that a suspicious object is flying and staying near the position of the communication terminal 40.

[0060] When the communication unit 14 of the flying object 2 receives a request signal for the aircraft ID from, for example, the control system 31, the communication terminal 40, another flying object 2, etc., it transmits a response signal including the aircraft ID in response to the request. Note that whether or not to respond to the request for the aircraft ID may be set in advance depending on the request source. Also, the user of the flying object 2 may decide whether or not to respond to the request for the aircraft ID and the content of the response.

[0061] The communication unit 4 of the control system 31 receives an image including the flying object 2 captured by the communication terminal 40 and position information of the communication terminal 40 from the communication terminal 40. The estimation unit 8 estimates the estimated position of the flying object 2 using background information and position information included in the received image. The estimation unit 8 identifies the position of the communication terminal 40 at the time of image capture from the position information of the communication terminal 40. Furthermore, the estimation unit 8 estimates the position of the flying object 2 near the position of the communication terminal 40 from the background information included in the received image. For example, the estimation unit 8 may estimate the position of the background information such as a building, a steel tower, a mountain, a river, or the sea, using map information or the like. Furthermore, when the received background image includes a landmark whose position is clear, the estimation unit 8 may estimate the position of the flying object 2 from the background image without using the position information of the communication terminal 40. Furthermore, the estimation unit 8 may estimate the position of the flying object 2 by estimating the distance between the flying object 2 in the image and the background information. Furthermore, the estimation unit 8 may use the shooting direction of the communication terminal 40, i.e., the angle of the communication terminal 40 when the communication terminal 40 is held up toward the sky to shoot an image of the flying object 2, for estimating the position of the flying object 2. Note that the communication unit 4 may also request, via a mobile network managed by a telecommunications carrier, a communication terminal 40 that is present in a predetermined area to send a shot image of the sky above the predetermined area or position information of the communication terminal 40 that shot the image.

[0062] The identification unit 5 identifies the aircraft 2 using the estimated position of the aircraft 2 estimated by the estimation unit 8. The identification unit 5 identifies the aircraft 2 at the estimated position by, for example, comparing the position information of the aircraft 2 under control with the estimated position. Specifically, the identification unit 5 may identify that the aircraft 2 present at the estimated position is the aircraft 2 under control when the distance between the position of the aircraft 2 under control and the estimated position is shorter than a predetermined distance.

[0063] The communication unit 4 transmits information about the identified flying object 2 to the communication terminal 40. For example, the communication unit 4 transmits information about the identified flying object 2, such as the aircraft ID, aircraft information, and destination, to the communication terminal. This allows the user of the communication terminal 40 to obtain the information about the flying object 2. For example, the aircraft ID of the flying object 2 may be associated in advance with information such as the aircraft information and destination.

[0064] The communication unit 4 may transmit a request signal requesting the aircraft ID to the aircraft 2 by using directional radio waves to the estimated position of the aircraft 2 estimated by the estimation unit 8. When the communication unit 4 receives a response signal to the request signal, the identification unit 5 may identify the aircraft 2 by using the aircraft ID included in the response signal. The identification unit 5 may refer to the memory unit 7 that stores information about the aircraft 2 and identify the aircraft 2 corresponding to the aircraft ID.

[0065] When the identification unit 5 is unable to identify the aircraft ID of the flying object 2, it determines that the flying object 2 at the estimated location is a suspicious flying object 2, and the communication unit 4 transmits a message or the like to the communication terminal 40 to inform the identification unit 5 that the flying object 2 is a suspicious flying object 2. At this time, the communication unit 4 may notify the police that the suspicious flying object 2 is flying and staying at the estimated location. The case where the communication unit 4 is unable to identify the aircraft ID of the flying object 2 may be, for example, when the aircraft ID is not included in the response signal, or when the flying object is not associated with the aircraft ID included in the response signal.

[0066] 10 is a flowchart showing the operation of the control system 31 according to the third embodiment. The operation of the control system 31 will be described below with reference to FIG. First, the communication unit 4 receives an image including the flying object 2 captured by the communication terminal 40 and the position information of the communication terminal 40 from the communication terminal 40 (S31). The estimation unit 8 estimates the estimated position of the flying object 2 using background information and position information included in the received image (S32). The communication unit 4 transmits a request signal to the flying object 2 requesting the aircraft ID to the estimated position of the flying object 2 estimated by the estimation unit 8 using directional radio waves (S33). When the communication unit 4 receives a response signal to the request signal (S34, YES), the identification unit 5 identifies the flying object 2 using the aircraft ID included in the response signal (S35). The communication unit 4 transmits information of the identified flying object 2 to the communication terminal 40 (S36), while when the communication unit 4 cannot receive a response signal to the request signal (S34, NO), the identification unit 5 determines that the flying object 2 at the estimated position is a suspicious flying object 2 (S37). The communication unit 4 transmits the determination result to the communication terminal 40 (S38). Furthermore, when the identification unit 5 determines that there is no flying object associated with the aircraft ID included in the response signal received in step S34, it may determine that the flying object 2 at the estimated position is a suspicious flying object 2. Furthermore, when the identification unit 5 determines that the response signal received in step S34 does not include an aircraft ID, it may determine that the flying object 2 at the estimated position is a suspicious flying object 2.

[0067] As described above, the control system 31 according to the third embodiment can identify the flying object 2 based on the image received from the communication terminal 40 and the position information of the communication terminal 40. This allows the control system 31 to provide the user of the communication terminal 40 with information on the flying object 2 and the determination result as to whether the flying object 2 is suspicious.

[0068] (Fourth embodiment) FIG. 11 is a block diagram showing the configuration of an air vehicle identification system 102 according to the fourth embodiment. The air vehicle identification system 102 according to the fourth embodiment includes an air vehicle 2, a control system 32, and a communication terminal 40. The air vehicle 2 includes a communication unit 14 and an aircraft ID control unit 15. The control system 32 includes a communication unit 4, a storage unit 7, and a selection unit 9. The air vehicle identification system 102 according to the fourth embodiment is a system that discloses appropriate information to the communication terminal 40 according to the authority level of the communication terminal 40. In the air vehicle identification system 102 according to the fourth embodiment, components similar to those in the first to third embodiments are denoted by similar reference numerals, and detailed explanations will be omitted as appropriate.

[0069] The communication terminal 40 can obtain the aircraft ID by wirelessly communicating with the aircraft 2. For the wireless communication, a communication method such as Bluetooth (registered trademark) may be used. An authority level is assigned to the communication terminal 40 in advance. The communication terminal 40 can obtain information about the aircraft 2 from the control system 32 by transmitting an inquiry message including the aircraft ID and authority level obtained from the aircraft 2 to the control system 32.

[0070] The storage unit 7 of the control system 32 according to the fourth embodiment manages and stores the aircraft ID of the aircraft 2 and a plurality of pieces of information related to the aircraft 2 indicated by the aircraft ID in association with each other. The storage unit 7 may manage a plurality of pieces of information related to the aircraft 2 in association with a plurality of authority levels. For example, as shown in FIG. 12, the storage unit 7 stores a plurality of pieces of information related to the aircraft 2 according to the authority level. The information of authority level 3 corresponds to personal information of the user of the aircraft 2, and the information of authority level 2 corresponds to information on the flight path and the remaining capacity of the battery 17. The information of authority level 1 corresponds to information on the destination of the aircraft 2. These are merely examples, and the administrator or user of the aircraft 2 may be able to set the authority level to be associated with the information on the aircraft 2.

[0071] When the communication unit 4 receives an inquiry message including the aircraft ID and the authority level assigned to the communication terminal 40 from the communication terminal 40, the selection unit 9 refers to the storage unit 7. The selection unit 9 selects information to be transmitted to the communication terminal 40 from among multiple pieces of information related to the aircraft ID and the aircraft ID, according to the authority level of the communication terminal 40. The communication unit 4 transmits the information on the aircraft 2 selected by the selection unit 9 to the communication terminal 40.

[0072] The selection unit 9 can select information about the flying object 2 associated with the authority level assigned to the communication terminal 40 as follows. For example, for an inquiry from a communication terminal 40 with authority level 3 held by the police, the selection unit 9 selects information with authority level 3. Similarly, for an inquiry from a communication terminal 40 with authority level 2 held by a traffic information center, the selection unit 9 selects information with authority level 2. Furthermore, for an inquiry from a communication terminal 40 with authority level 1 held by the general public, the selection unit 9 selects information with authority level 1.

[0073] Alternatively, the selection unit 9 may select information about the flying object 2 associated with an authority level lower than the authority level and the authority level assigned to the communication terminal 40. Specifically, the selection unit 9 selects information of authority levels 1 to 3 for an inquiry from a communication terminal 40 with authority level 3 held by the police, and selects information of authority levels 1 and 2 for an inquiry from a communication terminal 40 with authority level 2 held by a traffic information center. The selection unit 9 selects information of authority level 1 for an inquiry from a communication terminal 40 with authority level 1 held by a member of the public. The selection unit 9 does not select information about the flying object 2 in response to an inquiry about information with an authority level higher than the authority level assigned to the communication terminal 40. In this case, the communication unit 4 may notify the communication terminal 40 that the information about the flying object 2 cannot be provided. This allows the selection unit 9 to select information to be transmitted to the communication terminal 40 according to the authority level of the communication terminal 40.

[0074] FIG. 13 is a flowchart showing the operation of the control system 32 according to the fourth embodiment. The communication unit 4 receives an inquiry message including an aircraft ID and an authority level assigned to the communication terminal 40 from the communication terminal 40 (S41). The selection unit 9 checks the authority level included in the inquiry message of the communication terminal 40 (S42). The selection unit 9 refers to the storage unit 7 and selects information about the aircraft 2 that corresponds to the authority level of the communication terminal 40 (S43). The communication unit 4 transmits the information selected by the selection unit 9 to the communication terminal 40 (S44).

[0075] As described above, the control system 32 according to the fourth embodiment provides information about the flying object 2 according to the authority level of the communication terminal 40. This allows the control system 32 to suppress leakage of information about the flying object 2 and improve security. The control system 32 can appropriately provide information about the flying object 2 according to the situation while improving security.

[0076] Fifth embodiment FIG. 14 is a block diagram showing the configuration of an air vehicle identification system 103 according to the fifth embodiment. The air vehicle identification system 103 according to the fifth embodiment includes an air vehicle 21, a control system 33, and a communication terminal 40. The air vehicle 21 includes a communication unit 14, a storage unit 18, and an encryption unit 19. The control system 33 includes a communication unit 4, a storage unit 7, a selection unit 9, and an encryption unit 10. In the air vehicle identification system 103 according to the fifth embodiment, the same components as those in the first to fourth embodiments are given the same reference numerals, and detailed descriptions are omitted as appropriate. The air vehicle 21 according to the fifth embodiment can encrypt and transmit information held by itself according to an authority level. In addition, the air vehicle identification system 103 according to the fifth embodiment is a system that discloses appropriate information to the communication terminal 40 according to the authority level of the communication terminal 40, similar to the air vehicle identification system 102 according to the fourth embodiment.

[0077] The storage unit 18 of the flying object 21 stores flying object information, which is information about the flying object 21, in association with an authority level. For example, as shown in FIG. 12 described above, the storage unit 18 stores a plurality of flying object information about the flying object 21 according to the authority level. For example, the information of authority level 3 corresponds to personal information of the user of the flying object 21, and the information of authority level 2 corresponds to information on the flight path and the remaining battery level of the battery 17. The information of authority level 1 corresponds to information on the destination of the flying object 21. These are merely examples, and the administrator or user of the flying object 21 may set an authority level to be associated with the flying object information of the flying object 21. That is, the flying object 21 can set which information to be published at which authority level among the information to be transmitted. Also, the flying object 21 can set which information to be transmitted.

[0078] The encryption unit 19 encrypts the aircraft information associated with a predetermined authority level. For example, when the predetermined authority level is 3, the encryption unit 19 encrypts the aircraft information associated with authority level 3. Furthermore, when the predetermined authority level is 1 to 3, the encryption unit 19 may encrypt all of the aircraft information associated with authority levels 1 to 3. The communication unit 14 transmits the encrypted aircraft information. Note that the aircraft information is aircraft information, such as flight route, personal information of the aircraft owner and aircraft manager, payload, aircraft information, transfer information, aircraft status such as the presence or absence of malfunctions and remaining energy, maintenance information, and the like.

[0079] The communication terminal 40 has an authority level according to the user's status, and can decrypt encrypted aircraft information received from the aircraft 21. Users of the communication terminal 40 include, for example, the police, the parking lot manager, and the general public. For example, the police own a communication terminal 40 to which authority level 3 has been assigned, the parking lot manager owns a communication terminal 40 to which authority level 2 has been assigned, and the general public owns a communication terminal 40 to which authority level 1 has been assigned. For example, when the encryption unit 19 encrypts the flying object information of the flying object 21 associated with the authority level 3 and the communication unit 14 transmits the encrypted flying object information, the communication terminal 40 with the authority level 3 owned by the police can decrypt the encrypted flying object information of the flying object 21 with the authority level 3. In this case, the communication terminal 40 with the authority level 2 owned by the parking lot manager and the communication terminal 40 with the authority level 1 owned by the general public cannot decrypt the encrypted flying object information with the authority level 3. In addition, the communication terminal 40 with the authority level 3 can receive the flying object information associated with the authority level 1 or 2. In addition, the communication terminal 40 with the authority level 3 can also decrypt the encrypted flying object information with the authority level 1 or 2. In other words, the communication terminal 40 can obtain the flying object information associated with its own authority level and an authority level lower than its own authority level.

[0080] As described above, the aircraft 21 in the fifth embodiment can encrypt and transmit information it possesses according to the authority level, thereby enabling the communication of information to the holder of a communication terminal 40 with an appropriate authority level while improving security.

[0081] The control system 33 according to the fifth embodiment is also capable of disclosing appropriate information to the communication terminal 40 in response to an inquiry from the communication terminal 40, depending on the authority level of the communication terminal 40. As shown in Fig. 14, the control system 33 according to the fifth embodiment further includes an encryption unit 10, as compared with the control system 32 according to the fourth embodiment.

[0082] The encryption unit 10 of the control system 33 encrypts information on the flying object 21 associated with a predetermined authority level. For example, when the predetermined authority level is 3, the encryption unit 10 encrypts the flying object information on the flying object 21 associated with authority level 3. When the predetermined authority level is 1 to 3, the encryption unit 10 may encrypt all of the flying object information associated with authority levels 1 to 3. The communication unit 4 transmits the encrypted information on the flying object 21. A communication terminal 40 with authority level 3 can obtain the information on the flying object 21 with authority level 3 by decrypting the encrypted information on the flying object 21 with authority level 3. Hereinafter, the operation of the control system 33 will be described with reference to FIG. 15.

[0083] FIG. 15 is a flowchart showing the operation of the control system 33 according to the fifth embodiment. First, the communication unit 4 receives an inquiry message including an aircraft ID and an authority level assigned to the communication terminal 40 from the communication terminal 40 (S51). The selection unit 9 checks the authority level included in the inquiry message of the communication terminal 40 (S52). When the selection unit 9 checks that the authority level of the communication terminal 40 is 3, the selection unit 9 refers to the storage unit 7 and selects information on the flying object 21 corresponding to the authority level 3 (S53). When the predetermined authority level is 3, the encryption unit 10 encrypts information on the flying object 21 associated with the authority level 3 (S54). The communication unit 4 transmits information on the flying object 21 associated with the authority level 3 selected by the selection unit 9 and encrypted by the encryption unit 10 to the communication terminal 40 (S55).

[0084] As described above, the control system 33 according to the fifth embodiment can prevent interception by other communication terminals 40 by providing the encryption unit 10. This allows the control system 33 to further suppress leakage of information about the flying object 21, and improve the security of the communication system between the communication terminal 40 and the control system 33. The control system 33 can appropriately provide information about the flying object 21 depending on the situation while improving security.

[0085] In the fourth or fifth embodiment, the flying object 2 and the flying object 21 may transmit emergency information including a malfunction and a landing site directly to the communication terminal 40 in the case of an emergency, without going through the air traffic control system 32 and the air traffic control system 33. The flying object 2 and the flying object 21 may also broadcast emergency information to the ground communication terminal 40 at the landing site and the landing route. The landing route is the flight route from when an emergency such as a malfunction occurs in the flying object 2 and the flying object 21 to when the flying object 2 and the flying object 21 land at the landing site. The flying object 2 and the flying object 21 may broadcast emergency information to the ground communication terminal 40 via a mobile network managed by a telecommunications carrier, without going through the air traffic control system 32 and the air traffic control system 33. As a result, even if the communication with the air traffic control system 32 and the air traffic control system 33 is cut off in an emergency, the flying object 2 and the flying object 21 can immediately transmit emergency information to the communication terminal 40, thereby suppressing damage caused by an accident.

[0086] FIG. 16 is a block diagram showing an example of a configuration of a control device in the flying object 2, the flying object 20, the flying object 21, the control system 3, the control system 30, the control system 31, the control system 32, the control system 33, and the communication terminal 40 according to each embodiment. Referring to FIG. 16, these control devices include a network interface 201, a processor 202, and a memory 203. The network interface 201 may be used to communicate with a network node (e.g., eNB, MME, P-GW, etc.). The network interface 201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 series. Here, eNB stands for evolved Node B, MME stands for Mobility Management Entity, and P-GW stands for Packet Data Network Gateway. IEEE stands for Institute of Electrical and Electronics Engineers.

[0087] The processor 202 reads out and executes software (computer programs) from the memory 203 to perform processing related to the aircraft 2, aircraft 20, aircraft 21, control system 3, control system 30, control system 31, control system 32, control system 33, and communication terminal 40 described in the above embodiments. The processor 202 may be, for example, a microprocessor, an MPU, or a CPU. The processor 202 may include multiple processors.

[0088] The memory 203 is configured by a combination of volatile memory and non-volatile memory. The memory 203 may include storage located away from the processor 202. In this case, the processor 202 may access the memory 203 via an I / O (Input / Output) interface (not shown).

[0089] 16, the memory 203 is used to store a group of software modules. The processor 202 reads out and executes these software modules from the memory 203, thereby performing operations and processing related to the flying object 2, the flying object 20, the flying object 21, the control system 3, the control system 30, the control system 31, the control system 32, the control system 33, and the communication terminal 40 described in the above embodiments.

[0090] As explained using Figure 16, each of the processors possessed by the control devices of the flying vehicle 2, flying vehicle 20, flying vehicle 21, control system 3, control system 30, control system 31, control system 32, control system 33, and communication terminal 40 in the above-mentioned embodiments executes one or more programs including a set of instructions for causing a computer to perform the operations and processing described in the above-mentioned embodiments.

[0091] In the above example, various control programs can be stored and supplied to a computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs, CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs). The programs may also be supplied to a computer by various types of transitory computer readable media. Examples of the transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer readable media can supply the programs to a computer via wired communication paths such as electric wires and optical fibers, or wireless communication paths.

[0092] Although the present invention has been described above with reference to the embodiment, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0093] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes. (Appendix 1) a communication unit that receives an image including the flying object captured by the communication terminal and location information of the communication terminal from the communication terminal; an estimation unit that estimates an estimated position of the aircraft using background information and the position information included in the image; an identification unit that identifies the flying object using the estimated position of the flying object, The communication unit transmits information about the identified flying object to the communication terminal. Control system. (Appendix 2) The communication unit transmits a request signal to the flying object, requesting an aircraft ID, using a radio wave having directionality to the estimated position; The identification unit, when a response signal to the request signal is acquired by the communication unit, identifies the aircraft using the aircraft ID included in the response signal. 2. A control system as described in appendix 1. (Appendix 3) Further comprising a storage unit for storing information about the aircraft, The communication unit refers to the storage unit, and transmits information about the flying object identified by the identification unit to the communication terminal. 3. A control system as described in claim 1 or 2. (Appendix 4) The identification unit determines that the aircraft at the estimated position is a suspicious aircraft when the communication unit cannot acquire the aircraft ID of the aircraft, The communication unit transmits a determination result to the communication terminal. 2. A control system as described in appendix 2. (Appendix 5) The control system described in Appendix 4, wherein the identification unit determines that the aircraft at the estimated location is a suspicious aircraft if the aircraft ID is not included in the response signal or if the aircraft ID included in the response signal is not associated with the aircraft ID. (Appendix 6) receiving an image including the flying object photographed by the communication terminal and location information of the communication terminal from the communication terminal; Estimating an estimated position of the aircraft using background information and the position information included in the image; identifying the air vehicle using the estimated position of the air vehicle; Transmitting information about the identified flying object to the communication terminal; Aircraft identification method. (Appendix 7) receiving an image including the flying object photographed by the communication terminal and location information of the communication terminal from the communication terminal; Estimating an estimated position of the aircraft using background information and the position information included in the image; identifying the air vehicle using the estimated position of the air vehicle; Transmitting information about the identified flying object to the communication terminal; A temporary computer-readable medium on which a program for causing a computer to execute a process is stored. (Appendix 8) an aircraft ID control unit that holds the aircraft ID of the aircraft; a communication unit that transmits the machine ID, When the communication unit receives the request signal for the machine ID, the communication unit transmits a response signal including the machine ID in response to the request. Flying vehicle. [Explanation of symbols]

[0094] 1, 100, 101, 102, 103 Aircraft Identification System 2, 20, 21 Aircraft 3, 30, 31, 32, 33 Control System 4. Communications Department 5 Identification section 6 Generation part 7 Memory section 8 Estimation part 9 Selection section 10 Encryption section 11 Flight control unit 12 Drive mechanism 13 Sensors 14 Communications Department 15 Aircraft ID control unit 16 Display section 17 Battery 18 Memory section 19 Encryption section 40 Communication terminal 201 Network Interface 202 Processor 203 Memory

Claims

1. A communication means for receiving an image including the flying object captured by the communication terminal and location information of the communication terminal from the communication terminal; an estimation means for estimating an estimated position of the flying object using background information and the position information included in the image; and an identification means for identifying the aircraft as the controlled aircraft when a distance between the estimated position and a position of the controlled aircraft is equal to or less than a predetermined value, The communication means transmits information about the identified flying object to the communication terminal. Control system.

2. The communication means transmits a request signal to the flying object, requesting an aircraft ID, using a radio wave having directionality to the estimated position; The identification means, when a response signal to the request signal is acquired by the communication means, identifies the aircraft using the aircraft ID included in the response signal. The control system according to claim 1 .

3. Further comprising a storage means for storing information about the aircraft; The communication means refers to the storage means and transmits information about the flying object identified by the identification means to the communication terminal.

3. The control system according to claim 1 or 2.

4. the identification means, when the communication means is unable to acquire the aircraft ID of the aircraft, determines that the aircraft at the estimated position is a suspicious aircraft; The communication means transmits a determination result to the communication terminal. The control system according to claim 2 .

5. The control system of claim 4, wherein the identification means determines that the aircraft at the estimated location is a suspicious aircraft if the aircraft ID is not included in the response signal or if the aircraft ID included in the response signal is not associated with the aircraft ID.

6. receiving an image including the flying object photographed by the communication terminal and location information of the communication terminal from the communication terminal; Estimating an estimated position of the aircraft using background information and the position information included in the image; identifying the aircraft as the controlled aircraft when a distance between the estimated position and the position of the controlled aircraft is equal to or less than a predetermined value; Transmitting information about the identified flying object to the communication terminal; Aircraft identification method.

7. receiving an image including the flying object photographed by the communication terminal and location information of the communication terminal from the communication terminal; Estimating an estimated position of the aircraft using background information and the position information included in the image; identifying the aircraft as the controlled aircraft when a distance between the estimated position and the position of the controlled aircraft is equal to or less than a predetermined value; Transmitting information about the identified flying object to the communication terminal; A program that causes a computer to execute a process.

Images