Phased array antenna and control method

Abstract

To provide a phased array antenna capable of improving the performance of transmitting and receiving radio waves. [Solution] The phased array antenna comprises a plurality of flying bodies, each including an antenna element, a position detection means for detecting the position of the flying bodies, and a position control means for controlling the position of the flying bodies, wherein the position detection means detects relative position information between a first antenna element of any one of the plurality of flying bodies (a first flying body) and a second antenna element located nearest to the first antenna element of another of the plurality of flying bodies (a second flying body), and the position control means controls the position of at least one of the first and second flying bodies based on at least directional information regarding the directivity of the phased array antenna received from a command body and the relative position information between the first antenna element and the second antenna element detected by the position detection means.

Description

[Technical Field]

[0001] The present invention relates to a phased array antenna and a control method. [Background technology]

[0002] It has been proposed to deploy a large number of small satellites in space, fly them in formation, and have them communicate wirelessly with each other, thereby functioning as a wire-free phased array antenna. For example, Patent Document 1 describes a phased array antenna system in which multiple small satellites form a relay system for communications between communication devices on the ground. In a phased array antenna, each antenna element is provided with a phase shifter, and beam steering can be performed by adjusting the phase of the carrier wave or modulated wave. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7416468 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, designing a phase shifter for high-frequency bands is not easy, and there are issues such as difficulty in wide-angle or high-precision steering, difficulty in changing the frequency band used, and difficulty in changing the frequency used to multiple completely different frequencies.

[0005] Therefore, one object of the present disclosure is to provide a phased array antenna that can improve the performance of transmitting and receiving radio waves. [Means for solving the problem]

[0006] The phased array antenna of the present disclosure comprises a plurality of flying bodies, each including an antenna element; a position detection means for detecting the position of the flying bodies; and a position control means for controlling the position of the flying bodies, wherein the position detection means detects relative position information between a first antenna element of any one of the plurality of flying bodies (a first flying body) and a second antenna element located nearest to the first antenna element of another of the plurality of flying bodies (a second flying body), and the position control means controls the position of at least one of the first and second flying bodies based on at least directional information regarding the directivity of the phased array antenna received from a command body and the relative position information between the first antenna element and the second antenna element detected by the position detection means. [Effects of the Invention]

[0007] An object of the present disclosure is to provide a phased array antenna that can improve the performance of transmitting and receiving radio waves. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a conceptual diagram for explaining an overview of a phased array antenna according to an embodiment of the present invention. [Figure 2] FIG. 1 is a plan view of a phased array antenna according to an embodiment of the present invention. [Figure 3] FIG. 2 is a block diagram showing an example of the functional configuration of a phased array antenna according to the present embodiment. [Figure 4] FIG. 1 is a schematic diagram of an array element satellite according to the present embodiment. [Figure 5] FIG. 2 is a diagram for explaining a coordinate system in which the phased array antenna according to the present embodiment is arranged. [Figure 6] FIG. 10 is a sequence diagram for explaining a method for adjusting the positions of array element satellites in the phased array antenna according to the present embodiment. [Figure 7] FIG. 2 is a diagram for explaining an example of the arrangement of an array element satellite according to the present embodiment. [Figure 8]FIG. 2 is a diagram for explaining an example of the arrangement of an array element satellite according to the present embodiment. [Figure 9] FIG. 2 is a diagram for explaining an example of the arrangement of an array element satellite according to the present embodiment. [Figure 10] FIG. 2 is a diagram for explaining an example of the arrangement of an array element satellite according to the present embodiment. [Figure 11] FIG. 10 is a diagram showing a modified example of an array element satellite according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The configuration of a phased array antenna in this embodiment will be described with reference to Fig. 1. Hereinafter, the drawings of the embodiment are merely examples, and the dimensions and shapes of each part are schematic, so the technical scope of the present invention should not be interpreted as being limited to this embodiment.

[0010] For convenience, each drawing may be accompanied by an orthogonal coordinate system consisting of an X-axis, a Y-axis, and a Z-axis. The directions parallel to the X-axis, Y-axis, and Z-axis are referred to as the X-axis, Y-axis, and Z-axis directions, respectively. The plane defined by the X-axis and Y-axis is referred to as the XY plane. For convenience, the positive direction of the Z-axis (the direction of the arrow) will be referred to as the ground side, and the negative direction of the Z-axis (the direction opposite to the arrow) will be referred to as the sky side.

[0011] (1) Overview of Phased Array Antenna 1 FIG. 1 is a conceptual diagram for explaining an overview of a phased array antenna 1 according to this embodiment. FIG. 2 is a plan view of the phased array antenna 1 according to this embodiment. FIG. 3 is a block diagram showing the configuration of the phased array antenna 1 according to this embodiment. The phased array antenna 1 includes at least a plurality of array element satellites 110 (an example of a first flying vehicle), a position detection means 117, and a position control means 118. Note that the position detection means 117, the position control means 118, and the array element satellite 110 are not necessarily provided separately. For example, the phased array antenna 1 may include a satellite equipped with any two or more of the position detection means 117, the position control means 118, and the array element satellite 110. In this case, the position detection means 117, the position control means 118, and the array element satellite 110 may use the same processor and storage device, thereby achieving a reduction in satellite weight and cost.

[0012] The multiple array element satellites 110 included in the phased array antenna 1 are arranged along the XY plane. At least some of the array element satellites 110 may be arranged in an array. There are no particular limitations on how the array element satellites 110 are arranged, and they may be arranged, for example, in a regular triangular lattice pattern, a linear pattern, a planar pattern, a lattice pattern, or a concentric circle pattern.

[0013] In this embodiment, a microsatellite is used as the array element satellite 110. The array element satellite 110 and the control satellite 200 may be collectively referred to as "satellite 100." For example, the size of one satellite 100 is several centimeters to several tens of centimeters. The total number N of satellites 100 constituting the phased array antenna 1 is not particularly limited. The total number N of satellites 100 may be several hundred, several thousand, or even tens of thousands or more. The distance between adjacent satellites 100 is, for example, several centimeters to several tens of centimeters. The distance between adjacent satellites 100 may be on the order of a wavelength or may be shorter than a wavelength (e.g., assumed frequency band = 0.8 GHz to 60 GHz). The altitude of each satellite 100 is, for example, several hundred kilometers to several thousand kilometers.

[0014] The multiple satellites 100 included in the phased array antenna 1 may fly on a predetermined circular orbit, thereby performing a formation flight (flying in formation) in a general circular orbit (GCO) or a record disc orbit. In the formation flight, the satellites 100 constituting the phased array antenna 1 may fly so that the arrangement of the satellites 100 rotates on an imaginary plane (plane of rotation) without changing their relative positions to each other.

[0015] At least some of the satellites 100 included in the phased array antenna 1 may constitute a receiving phased array antenna and receive signals transmitted from a transmitter. Furthermore, at least some of the satellites 100 included in the phased array antenna 1 may constitute a transmitting phased array antenna and transmit signals to a receiver. The phased array antenna 1 may relay communications between the transmitter and the receiver. That is, the transmitting phased array antenna may generate a transmission signal based on a signal generated by the receiving phased array antenna receiving a signal from the transmitter, and transmit the transmission signal to the receiver. Note that the phased array antenna 1 may include multiple receiving phased array antennas and / or multiple transmitting phased array antennas that may be formed by multiple satellites 100. These multiple receiving phased array antennas and / or multiple transmitting phased array antennas may each individually communicate with a ground station (a transmitter and / or a receiver grounded on the ground).

[0016] The transmitter and receiver are not particularly limited. For example, the transmitter and receiver may be mobile stations such as smartphones. In this case, at least some of the satellites 100 of the phased array antenna 1 may form a service link with the mobile stations (transmitters and / or receivers). Furthermore, for example, the transmitter and receiver may be base stations. In this case, at least some of the satellites 100 of the phased array antenna 1 may form a feeder link with the base station (transmitter and / or receivers). The transmitter and receiver may be integrated into one device.

[0017] (1-1) Array Element Satellite 110 The configuration of the array element satellite 110 will be described with reference to Figures 3 and 4. Figure 4 is a schematic diagram of the array element satellite 110 according to this embodiment. The array element satellite 110 comprises an adjustment mechanism 111, antenna elements 112, and a control device 120. In this embodiment, the array element satellite 110 has a rectangular shape, but is not limited to this and may also have a spherical or cylindrical shape.

[0018] The adjustment mechanism 111 is a mechanism for adjusting the position and attitude of the array element satellite 110. In the case of a micro-array element satellite 110 that performs formation flight, the adjustment mechanism 111 may include an electromagnet. The electromagnet can adjust the relative positions of nearby satellites 100 using magnetic force, thereby maintaining a desired array shape. In this case, it is desirable that adjacent array element satellites 110 be positioned within a range where the magnetic fields of the electromagnets can influence each other. The magnetic field generated by the electromagnet acts on the adjustment mechanism 111 of the nearest array element satellite 110 but has almost no effect on satellites 100 positioned further away. This makes it possible to adjust the relative positions and attitudes of adjacent array element satellites 110. As described above, using an electromagnet for the adjustment mechanism 111 enables wireless coupling between satellites 100 with a simple configuration. This contributes to reducing the size, weight, and cost of the phased array antenna 1. The adjustment mechanism 111 is not limited to one that uses the driving force of an electromagnet, and may be, for example, a thruster or a propeller. In the embodiment illustrated in Fig. 3, one adjustment mechanism 111 is provided on each of four opposing faces in the X-axis direction and the Y-axis direction of the array element satellite 110, but this is not limiting. For example, multiple adjustment mechanisms 111 may be provided on one face, or an adjustment mechanism 111 may be provided on a face opposing the Z-axis direction, which is the up-down direction.

[0019] Antenna element 112 receives radio waves transmitted from a transmission source, including a transmitter installed on the ground, and outputs the signals to circuit 115. Circuit 115 receives signals via antenna element 112 and sends the received signals to control device 120. Circuit 115 also receives signals transmitted from control device 120 and transmits the signals via antenna element 112.

[0020] The antenna elements 112 are provided on one surface of the array element satellite 110. In this embodiment, as shown in Fig. 4, the antenna elements 112 are provided on one surface on the ground side / positive Z-axis direction side of each array element satellite 110, forming an antenna plane 300A on the XY plane. This allows multiple array element satellites 110 to function as one large array antenna. The directivity of the antenna plane 300A is determined by the excitation weight of each antenna element 112.

[0021] Furthermore, in the array element satellite 110, an additional antenna element may be provided on the surface opposite to the surface on which the antenna element 112 is provided. This forms an antenna surface on the sky side as well, making it possible to transmit and receive signals from a transmission source located on the sky side of the phased array antenna 1.

[0022] The control device 120 is a device that controls the overall operation of the array element satellite 110. Specifically, the control device 120 controls the position and attitude of the array element satellite 110 by controlling the adjustment mechanism 111. The control device 120 also controls communications between the array element satellite 110 and other devices (e.g., other array element satellites 110, the control satellite 200, other satellites 100, and ground stations). Furthermore, the control device 120 performs various signal processing and various information processing.

[0023] The control device 120 includes one or more processors 121 (hereinafter simply referred to as "processors 121") and one or more storage devices 122 (hereinafter simply referred to as "storage devices 122"). The processor 121 includes a CPU (Central Processing Unit) and performs various types of information processing. The storage device 122 stores various types of information required for processing by the processor 121. The storage device 122 stores a control program. The control program is a computer program executed by the processor 121, and the functions of the control device 120 are realized by cooperation between the processor 121 and the storage device 122. The control program may be recorded on a computer-readable recording medium.

[0024] (1-2) Position detection means The position detection means 117 detects the relative positions of the antenna elements 112 of each of the array element satellites 110. Specifically, the relative distance and angle between any one antenna element 112 and the antenna element 112 located closest to that antenna element 112 may be detected. In this case, the relative positions of the antenna elements 112 may be expressed by a function f(x, y, z), where x, y, and z are the position coordinates of the antenna element 112 in the XYZ coordinate system.

[0025] The position detection means 117 may be equipped with a distance measurement sensor and detect the relative position using the distance measured by the distance measurement sensor. Alternatively, the relative positions of the antenna elements 112 may be estimated by transmitting and receiving signals between the multiple antenna elements 112 and the position detection means 117 and measuring the strength of the signals. Furthermore, information on the absolute position of the antenna elements 112 may be used to detect the relative positions. For example, the antenna elements 112 may obtain information on their own position and orientation in an absolute coordinate system using a well-known method. For example, the position detection means 117 may obtain information on the position and orientation of itself or the antenna elements 112 in the absolute coordinate system by capturing images of the sun, moon, earth, or stars using a camera.

[0026] The position detection means 117 may be provided on the ground, or may be provided in each of the array element satellites 110. Furthermore, the phased array antenna 1 may be provided with a separate satellite having the position detection means 117.

[0027] The position detection means 117 may include one or more processors 117A (hereinafter simply referred to as "processor 117A") and one or more storage devices 117B (hereinafter simply referred to as "storage device 117B"). The processor 117A includes a CPU (Central Processing Unit) and performs various types of information processing. The storage device 117B stores various types of information required for processing by the processor 117A. The storage device 117B stores a control program. The control program is a computer program executed by the processor 117A. The control program may be recorded on a computer-readable recording medium. The storage device 117B may store the relative position of any one antenna element 112 and the antenna element 112 located nearest thereto. The processor 117A may also output the stored relative position to the position control means 118.

[0028] (1-3) Position control means The position control means 118 determines a target position to which the antenna elements 112 should move. It may also determine a target angle of the antenna elements 112. Then, it outputs a command to the control device 120 of the array element satellite 110 so that the antenna elements 112 move to the determined target position and angle. The position control means 118 may be provided in each of the array element satellites 110, and each position control means 118 may control the array element satellite 110 on which it is mounted. The position control means 118 may also be provided on the ground. Alternatively, the phased array antenna 1 may be provided with a separate satellite having a position control means 118, and the separate satellite may perform centralized control of multiple array element satellites 110.

[0029] The position control means 118 acquires information on the direction of the radio waves transmitted and received by the phased array antenna 1 from an indicator device included in the phased array antenna 1. The indicator device may be, for example, a parent satellite or a relay satellite that controls the multiple array element satellites 110. It may also be a transmitter or a ground station provided on the ground. Here, the direction of the direction of the radio waves is the direction in which the radio waves are particularly strong. The information on the direction of the direction of the radio waves transmitted and received by the phased array antenna 1 includes, for example, angle information and wavelength information, etc., that indicate the direction of the radio waves transmitted and received by the phased array antenna 1.

[0030] The position control means 118 may include one or more processors 118A (hereinafter simply referred to as "processor 118A") and one or more storage devices 118B (hereinafter simply referred to as "storage device 118B"). The processor 118A includes a CPU (Central Processing Unit) and performs various types of information processing. The storage device 118B stores various types of information required for processing by the processor 118A. The storage device 118B stores a control program. The control program is a computer program executed by the processor 118A. The control program may be recorded on a computer-readable recording medium. The storage device 118B may store the relative position of any one antenna element 112 and the antenna element 112 located nearest thereto. Furthermore, information on the direction of radio waves to which the phased array antenna 1 is desired to be directed, obtained from a command aircraft or the like, may be output to the position control means 118. The processor 117A may also output the stored relative position to the position control means 118.

[0031] (2) Directivity adjustment method for phased array antenna 1 In the phased array antenna 1, as with a general phased array antenna, beam steering (adjustment of the direction of the main lobe) is possible electrically by adjusting the excitation weight (phase of the carrier wave or modulated wave) inside each array element satellite 110. Here, in practical phases, beam steering accuracy of 0.0001 to 0.001 degrees is required, but it is difficult to design a circuit for a multi-bit phase shifter for high frequency bands. It is also difficult to switch between multiple completely different frequencies.

[0032] The phased array antenna 1 of the present disclosure performs formation flight without wiring, and therefore the spacing between the array element satellites 110 can be adjusted while the antenna is operating in orbit. Therefore, by adjusting the spacing between the antenna elements 112 of each array element satellite 110, the directivity of the phased array antenna 1 can be controlled without using a phase shifter. A method for controlling the position and directivity of the array element satellites 110 in the phased array antenna 1 will be described with reference to Fig. 6. Fig. 6 is a sequence diagram for explaining a method for adjusting the position of the array element satellites 110 in the phased array antenna 1.

[0033] The position detection means 117 detects (S1) relative position information between any one of the multiple array element satellites 110 and the array element satellite 110 located nearest to that array element satellite 110. In other words, the position detection means 117 may detect relative position information between the antenna element 112 of any one of the array element satellites 110 and the antenna element 112 of the array element satellite 110 located nearest to that antenna element 112.

[0034] At this time, the position detection means 117 may detect relative position information using GNSS (Global Navigation Satellite System). Alternatively, the relative position information may be detected from the position of each array element satellite 110 relative to the Earth. Alternatively, the relative position information may be acquired by transmitting and receiving radio waves between the array element satellites 110. Furthermore, the position detection means 117 may be equipped with a distance measurement sensor to acquire the relative position information.

[0035] The position detection means 117 may derive relative position information by expressing the current position of any array element satellite 110 and the current position of the array element satellite 110 located closest to that array element satellite 110 as position coordinates on the XYZ axis coordinate system. The position detection means 117 transmits the detected relative position information to the position control means 118 (S2).

[0036] The position control means 118 acquires directivity information of the phased array antenna 1 from the indicator body (S3). The directivity information is the desired main lobe direction of the phased array antenna 1. The directivity information may include the wavelength of the transmission / reception radio waves, which are the desired radio waves transmitted and received by the phased array antenna 1, and information on the incidence angle and emission angle of the transmission / reception radio waves (directivity angle information). For example, as shown in FIG. 5, when a spherical coordinate system is defined on the antenna plane of the array element satellite 110, the directivity angle information may include θ, which is the clockwise rotation angle from the positive direction of the Z axis, and φ, which is the counterclockwise rotation angle from the positive direction of the X axis (i.e., similar to the definition of a general spherical coordinate system). In this disclosure, θ is referred to as the direction angle of the transmission / reception radio waves. In this case, the range of values ​​that θ can take is -π / 2≦θ≦π / 2. Furthermore, the range of values ​​that φ can take is -π≦φ≦π.

[0037] The indicator may be equipped with the phased array antenna 1 or may be another satellite. Also, the indicator may receive instructions on the main lobe direction from an indicator located on the ground.

[0038] The position control means 118 determines the target position of the array element satellite 110 based on the relative position information acquired from the position detection means 117 and the directivity information acquired from the indicator body (S4). Specifically, the target position may be determined based on the position coordinates (x1, y1, z1) and (x2, y2, z2) of an arbitrary array element satellite 110 and the array element satellite 110 located closest to that arbitrary array element satellite 110.

[0039] Here, an example of a method for determining the target position coordinates of an array element satellite 110 will be described when the array element satellite 110 is arranged along the XY plane as shown in Fig. 7. The target position coordinates (x1, y1) and (x2, y2) of an arbitrary array element satellite 110 and the array element satellite 110 located closest to that array element satellite 110 may be determined to satisfy the following function consisting of the directional angle θ of the transmitted and received radio wave with respect to the XY plane and the wavelength λ of the transmitted and received radio wave.

[0040] |sinθ| √((x1-x2)^2+(y1-y2)^2)=nλ (n is a natural number or the reciprocal of a natural number)...(Equation 1) When an arbitrary antenna element 112 and its nearest neighboring antenna element 112 are located at position coordinates (x1, y1) and (x2, y2) that satisfy this function, the phase difference between the waves received by the two antenna elements is an integer multiple of the wavelength λ of the transmitted and received radio waves. Therefore, the waves received by the two antenna elements constructively interact with each other. In other words, the array element satellite 110 can be located at a position that provides the highest sensitivity to radio waves arriving with wavelength λ and direction angle θ. By determining the positions of multiple array element satellites 110 in the phased array antenna 1 so as to satisfy the above (Equation 1), the phased array antenna 1 can be given the desired directivity.

[0041] In this case, it is preferable that the array element satellites 110 are arranged in a regular triangular lattice pattern. By arranging the array element satellites 110 in a regular triangular lattice pattern and determining position coordinates to satisfy (Equation 1), all of the array element satellites 110 can be arranged at equal intervals.

[0042] 8, the target position coordinates of the array element satellite 110 may be determined based on the distance Dx in the X-axis direction and the distance Dy in the Y-axis direction between the two nearest array element satellites 110. In this case, the target position coordinates of the array element satellite 110 can be determined by determining the distances Dx and Dy so as to satisfy the following function consisting of the direction angle θ of the transmitted and received radio waves with respect to the XY plane and the wavelength λ of the transmitted and received radio waves.

[0043] |sinθ|·Dx=nλ (n is a natural number or the reciprocal of a natural number)...(Equation 2) |sinθ|·Dy=mλ (m is a natural number or the reciprocal of a natural number)...(Equation 3) By determining the spacing Dx and spacing Dy between array element satellites 110 using the function (Equation 2), the array element satellites 110 can be arranged at positions with the highest sensitivity to radio waves arriving at wavelength λ and direction angle θ. In this case, it is preferable to arrange the array element satellites 110 in a lattice pattern. By arranging the array element satellites 110 in a lattice pattern and determining their position coordinates to satisfy (Equation 2) and (Equation 3), all of the array element satellites 110 can be arranged at equal intervals. Furthermore, by arranging them in a lattice pattern, the direction of the adjustment mechanism 111 mounted on the array element satellite 110 matches the control direction, simplifying the implementation of the control algorithm. Furthermore, since the distance between the array element satellites 110 can be shortened, the adjustment mechanism 111 can be made smaller and the control power can be reduced.

[0044] Next, an example of a method for determining the target position coordinates of an array element satellite 110 will be described when the array element satellite 110 is arranged in XYZ space as shown in Fig. 9. The target position coordinates (x1, y1, z1) and (x2, y2, z2) of an arbitrary array element satellite 110 and the array element satellite 110 located closest to that array element satellite 110 may be determined to satisfy the following function consisting of the directional angle θ of the transmitted and received radio wave with respect to the XY plane and the wavelength λ of the transmitted and received radio wave.

[0045] When we define ρ=atan((z1-z2) / √((x1-x2)^2+(y1-y2)^2)), |sin(θ+ρ)|·√((x1-x2)^2+(y1-y2)^2+(z1-z2)^2)=nλ (n is a natural number or the reciprocal of a natural number)…(Equation 4) Here, ρ represents the angle between two array element satellites 110. Therefore, when an arbitrary antenna element 112 and its nearest neighboring antenna element 112 are located at coordinates (x1, y1, z1) and (x2, y2, z2) that satisfy this function, the waves received by the two antenna elements will be reinforced. In other words, the array element satellite 110 can be located at a position with the highest sensitivity to radio waves arriving with wavelength λ and direction angle θ. In this way, by adjusting the position of the array element satellite 110 in the Z-axis direction as well, the spacing between the array element satellites 110 in the X and Y directions can be shortened. Therefore, the number of array element satellites 110 per unit area of ​​the antenna plane 300A can be increased.

[0046] As described above, the position control means 118 determines the target position coordinates based on the directivity information. Furthermore, it determines the amount of movement that the array element satellite 110 should move based on the relative position information acquired from the position detection means 117 and the target position coordinates. This amount of movement is output as a position adjustment command to the control device 120 of the array element satellite 110 (S5).

[0047] The array element satellite 110 moves itself to the target position based on the position adjustment command input from the position control means 118 (S7).

[0048] By determining the target positions of all the array element satellites 110 in this manner, it becomes possible to adjust the positions of the array element satellites 110 within the entire phased array antenna 1. Furthermore, the phased array antenna 1 can be given directivity for transmitting and receiving radio waves with a direction angle θ and wavelength λ. Here, (x1, y1, z1) and (x2, y2, z2) are preferably the position coordinates of the antenna elements 112 provided in each array element satellite 110. This allows the position of the radio wave transmitting and receiving unit in each array element satellite 110 to be adjusted, thereby enabling more accurate directivity adjustment. Therefore, the directivity of the phased array antenna 1 can be controlled without using a high-precision phase shifter. Furthermore, even while the phased array antenna 1 is operating in orbit, it becomes possible to steer the beam in real time with a sufficiently large change range and high accuracy. Furthermore, it becomes possible to significantly change the frequency used during operation. Even if the desired beam direction changes during operation, the directivity can be easily adjusted. This improves the radio wave transmission and reception performance of the phased array antenna 1.

[0049] 10, the array element satellite 110 may belong to one of multiple groups, and directivity information may be determined for each of the multiple groups. In FIG. 10, the array element satellites 110 are grouped into three groups: Group I, Group II, and Group III. Group I is assigned a wavelength λ1 and a directivity angle (θ1, φ1) as directivity information. Group II is assigned a wavelength λ2 and a directivity angle (θ2, φ2) as directivity information. Group III is assigned a wavelength λ1 and a directivity angle (θ3, φ3) as directivity information. The array element satellites 110 belonging to each group adjust their positions based on the directivity information determined for each group. This makes it possible for a single phased array antenna 1 to transmit and receive radio waves of multiple frequencies and in multiple incident directions.

[0050] (3) Variations 11 is a diagram for explaining a modified example of the phased array antenna 1. In this modified example, the array element satellite 110 may include a plurality of antenna elements 112. These plurality of antenna elements 112 may form an antenna plane 300A. In this case, each of the plurality of antenna elements 112 arranged in the array element satellite 110 can move within the array element satellite 110 by being arranged on rails, for example. Therefore, the directivity of the phased array antenna 1 may be controlled by adjusting the position of the antenna elements 112 within one array element satellite 110.

[0051] This eliminates the need to use electromagnets for adjusting the inter-satellite distance when adjusting the spacing between antenna elements 112, making it possible to reduce the number of electromagnets relative to the number of antenna elements, thereby making the satellite lighter and reducing the required power.

[0052] (4) Other In the above-described embodiment, the phased array antenna 1 is configured to include a satellite 100 as an example of an air vehicle. However, the phased array antenna 1 is not limited to the satellite 100 flying in outer space, and may be configured by any air vehicle (such as an airplane or a drone) flying within the atmosphere.

[0053] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangement, materials, conditions, shapes, sizes, etc., are not limited to those illustrated and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined with each other.

[0054] (Appendix 1) A phased array antenna, a plurality of air vehicles, each including an antenna element; a position detection means for detecting the position of the aircraft; a position control means for controlling the position of the aircraft; Equipped with the position detection means detects relative position information between a first antenna element of any one of the plurality of aircraft and a second antenna element located nearest to the first antenna element of another of the plurality of aircraft, a second aircraft; the position control means controls the position of at least one of the first and second aircraft based on at least directivity information regarding the directivity of the phased array antenna received from the indicator aircraft and relative position information between the first antenna element and the second antenna element detected by the position detection means; Phased array antenna.

[0055] (Appendix 2) Each of the first flying body and the second flying body has a position control means. 1. A phased array antenna as defined in claim 1.

[0056] (Appendix 3) The indicator body has a position control means; 1. A phased array antenna as defined in claim 1 or 2.

[0057] (Appendix 4) the first aircraft includes a plurality of first antenna elements; the position detection means detects relative position information between the first antenna elements that are closest to each other in the first flying object; the position control means controls the positions of the plurality of first antenna elements based on at least the directivity information and the relative position information between the first antenna elements detected by the position detection means; 4. The phased array antenna of claim 1.

[0058] (Appendix 5) The plurality of aircraft belong to one of a plurality of groups, The directional information is determined for each of a plurality of groups. 5. The phased array antenna of any one of Supplementary Note 1 to Supplementary Note 4.

[0059] (Appendix 6) Each of the plurality of flying bodies includes a position adjustment mechanism; 6. The phased array antenna of any one of Supplementary Note 1 to Supplementary Note 5.

[0060] (Appendix 7) The plurality of vehicles are satellites, 7. The phased array antenna of any one of Supplementary Note 1 to Supplementary Note 6.

[0061] (Appendix 8) the position adjustment mechanism includes an electromagnet; 6. A phased array antenna as defined in claim 6.

[0062] (Appendix 9) The directivity information includes information on the wavelengths of the radio waves transmitted and received by the phased array antenna and the directivity angle of the phased array antenna, the position control means determines the position coordinates of the first antenna element and the second antenna element as target positions based on at least the directivity information and the relative position information, and controls the position of at least one of the first flying body and the second flying body based on the determined target; 9. The phased array antenna of any one of Supplementary Note 1 to Supplementary Note 8.

[0063] (Appendix 10) the first antenna element and the second antenna element are respectively arranged along an XY plane consisting of an X direction and a Y direction orthogonal to the X direction; The target position is expressed as follows, where the direction angle of the transmitted and received radio waves is θ, the wavelength of the transmitted and received radio waves is λ, and the position coordinates of the two nearest antenna elements are (x1, y1) and (x2, y2). |sinθ|·√((x1-x2)^2+(y1-y2)^2)=nλ (n is a natural number or the reciprocal of a natural number) is determined to be 10. The phased array antenna of claim 9.

[0064] (Appendix 11) The first antenna element and the second antenna element are arranged in a regular triangular lattice pattern on the XY plane. 11. The phased array antenna of any one of Supplementary Notes 1 to 10.

[0065] (Appendix 12) The first antenna element and the second antenna element are arranged in a grid pattern along an XY plane consisting of an X direction and a Y direction perpendicular to the X direction, The target position is given by the following equation, where the directional angle of the transmitted and received radio waves is θ and the wavelength of the transmitted and received radio waves is λ: The distance Dx in the X direction between the two nearest antenna elements is |sinθ|·Dx=nλ (n is a natural number or the reciprocal of a natural number) It is decided that The distance Dy in the Y direction between the two nearest antenna elements is |sinθ|·Dy=mλ (m is a natural number or the reciprocal of a natural number) The determination is made so that 10. The phased array antenna of claim 9.

[0066] (Appendix 13) The plurality of aircraft are arranged in a grid pattern on an XY plane consisting of an X direction and a Y direction. 13. The phased array antenna of any one of Supplementary Notes 1 to 12.

[0067] (Appendix 14) the first antenna element and the second antenna element are arranged in an XYZ space consisting of an X direction, a Y direction perpendicular to the X direction, and a Z direction perpendicular to both the X direction and the Y direction; The target position is The direction angle of the transmitted and received radio waves is θ, the wavelength of the transmitted and received radio waves is λ, and the position coordinates of the two nearest antenna elements are (x1, y1, z1) and (x2, y2, z2), respectively. When we define ρ=atan((z1-z2) / √((x1-x2)^2+(y1-y2)^2)), It is determined so that |sin(θ+ρ)|·√((x1-x2)^2+(y1-y2)^2+(z1-z2)^2)=nλ (n is a natural number or the reciprocal of a natural number). 10. The phased array antenna of claim 9.

[0068] (Appendix 15) 1. A method for controlling a phased array antenna including a plurality of flying objects each having an antenna element, comprising: Detecting relative position information between a first antenna element of a first aircraft among the plurality of aircraft and a second antenna element of another second aircraft among the plurality of aircraft that is located closest to the first antenna element; Controlling the position of at least one of the first and second aircraft based on at least directional information regarding the directivity of the phased array antenna received from the indicator aircraft and relative position information between the first antenna element and the second antenna element detected by the position detection means; A method for controlling a phased array antenna, comprising: [Explanation of symbols]

[0069] 1...phased array antenna, 110...array element satellite, 100...satellite, 111...adjustment mechanism, 112...antenna, 115...circuit, 120...control device, 300A...antenna surface, 121...processor, 122...storage device, 117...position detection means, 117A...processor, 117B...storage device, 118...position control means, 118A...processor, 118B...storage device

Claims

1. A phased array antenna, a plurality of air vehicles, each including an antenna element; a position detection means for detecting the position of the aircraft; a position control means for controlling the position of the aircraft; Equipped with the position detection means detects relative position information between a first antenna element of any one of the plurality of flying bodies (first flying body) and a second antenna element of another of the plurality of flying bodies (second flying body) that is located nearest to the first antenna element; the position control means controls the position of at least one of the first flying body and the second flying body based on at least directivity information regarding the directivity of the phased array antenna received from the indicator body and the relative position information between the first antenna element and the second antenna element detected by the position detection means; the directivity information includes information on wavelengths of radio waves transmitted and received by the phased array antenna and information on directivity angles of the phased array antenna, the position control means determines position coordinates of the first antenna element and the second antenna element as target positions based on at least the directivity information and the relative position information, and controls the position of at least one of the first flying body and the second flying body based on the determined target position; the first antenna element and the second antenna element are arranged in an XYZ space formed by an X direction, a Y direction orthogonal to the X direction, and a Z direction orthogonal to both the X direction and the Y direction, The target position is The direction angle of the transmitted and received radio waves is θ, the wavelength of the transmitted and received radio waves is λ, and the position coordinates of the two nearest antenna elements are (x1, y1, z1) and (x2, y2, z2), respectively. When ρ is defined as atan((z1-z2) / √((x1-x2)^2+(y1-y2)^2), |sin(θ+ρ)|·√((x1-x2)^2+(y1-y2)^2+(z1-z2)^2)=nλ (n is a natural number or the reciprocal of a natural number). Phased array antenna.

2. Each of the first flying body and the second flying body has the position control means.

10. The phased array antenna according to claim 1.

3. The indicator body has the position control means.

10. The phased array antenna according to claim 1.

4. A phased array antenna, a plurality of air vehicles, each including an antenna element; a position detection means for detecting the position of the aircraft; a position control means for controlling the position of the aircraft; Equipped with the position detection means detects relative position information between a first antenna element of any one of the plurality of flying bodies (first flying body) and a second antenna element of another of the plurality of flying bodies (second flying body) that is located nearest to the first antenna element; the position control means controls the position of at least one of the first flying body and the second flying body based on at least directivity information regarding the directivity of the phased array antenna received from the indicator body and the relative position information between the first antenna element and the second antenna element detected by the position detection means; the first flying vehicle includes a plurality of the first antenna elements; the position detection means detects relative position information between the first antenna elements that are closest to each other in the first flying object, the position control means controls the positions of the plurality of first antenna elements based on at least the directivity information and the relative position information between the first antenna elements detected by the position detection means. Phased array antenna.

5. the plurality of aircraft belong to any one of a plurality of groups, The directivity information is determined for each of the plurality of groups. The phased array antenna according to any one of claims 1 to 3.

6. Each of the plurality of flying bodies includes a position adjustment mechanism, The phased array antenna according to any one of claims 1 to 3.

7. the plurality of flying vehicles are satellites; 7. The phased array antenna according to claim 6.

8. the position adjustment mechanism includes an electromagnet; 8. The phased array antenna according to claim 7.

9. the directivity information includes information on wavelengths of radio waves transmitted and received by the phased array antenna and information on directivity angles of the phased array antenna, the position control means determines position coordinates of the first antenna element and the second antenna element as target positions based on at least the directivity information and the relative position information, and controls the position of at least one of the first flying body and the second flying body based on the determined target position; 5. The phased array antenna according to claim 4.

10. the first antenna element and the second antenna element are each arranged along an XY plane formed by an X direction and a Y direction orthogonal to the X direction, The target position is expressed as follows, where θ is the direction angle of the transmitted and received radio waves, λ is the wavelength of the transmitted and received radio waves, and (x1, y1) and (x2, y2) are the position coordinates of the two nearest antenna elements, respectively: |sinθ| √((x1-x2)^2+(y1-y2)^2) = nλ (n is a natural number or the reciprocal of a natural number) is determined to be The phased array antenna according to claim 9.

11. The first antenna element and the second antenna element are arranged in a regular triangular lattice pattern on the XY plane. The phased array antenna of claim 10.

12. the first antenna element and the second antenna element are arranged in a lattice pattern along an XY plane consisting of an X direction and a Y direction orthogonal to the X direction, The target position is expressed as follows, where θ is the directional angle of the transmitted and received radio wave and λ is the wavelength of the transmitted and received radio wave: The distance Dx in the X direction between the two nearest antenna elements is |sinθ|·Dx=nλ (n is a natural number or the reciprocal of a natural number) It is decided that The distance Dy in the Y direction between the two nearest antenna elements is |sinθ| Dy = mλ (m is a natural number or the reciprocal of a natural number) The determination is made so that The phased array antenna according to claim 9.

13. The plurality of flying bodies are arranged in a grid pattern on an XY plane formed by the X direction and the Y direction. The phased array antenna of claim 12.

14. 1. A method for controlling a phased array antenna including a plurality of flying objects each having an antenna element, comprising: Detecting relative position information between a first antenna element of any one of the plurality of aircraft and a second antenna element of another of the plurality of aircraft that is located closest to the first antenna element of the second aircraft; Controlling the position of at least one of the first and second flying bodies based on directivity information regarding the directivity of the phased array antenna received from a command aircraft, the directivity information including wavelengths of transmitted and received radio waves in the phased array antenna and information on the directivity angle of the phased array antenna, and the detected relative position information between the first antenna element and the second antenna element; Including, the first antenna element and the second antenna element are arranged in an XYZ space formed by an X direction, a Y direction orthogonal to the X direction, and a Z direction orthogonal to both the X direction and the Y direction, Controlling the position of at least one of the first flying body and the second flying body includes: determining position coordinates of the first antenna element and the second antenna element as target positions based on the directivity information and the relative position information; The target position is The direction angle of the transmitted and received radio waves is θ, the wavelength of the transmitted and received radio waves is λ, and the position coordinates of the two nearest antenna elements are (x1, y1, z1) and (x2, y2, z2), respectively. When ρ is defined as atan((z1-z2) / √((x1-x2)^2+(y1-y2)^2), |sin(θ+ρ)|·√((x1-x2)^2+(y1-y2)^2+(z1-z2)^2)=nλ (n is a natural number or the reciprocal of a natural number); and controlling the position of at least one of the first and second flying bodies based on the determined target position.

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