Management device

Abstract

To stabilize the communication status of a flying object on the flight path.SOLUTION: A management device 10 manages a flight plan of a flying object F that flies based on flight control data transmitted from an antenna A of a base station B. An acquisition unit 110 acquires a candidate plan that is a candidate for the flight plan. A prediction unit 112 predicts an index indicating communication quality at the flying object F when the pointing direction of the antenna A is changed to follow the flying object F flying according to the candidate plan. A determination unit 113 determines whether to permit the candidate plan based on a prediction result by the prediction unit 112. A management unit 115 manages the candidate plan as a permitted flight plan when a determination result of the determination unit 113 is affirmative.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a management device for managing a flight plan of a flying object.

Background Art

[0002] Conventionally, a technique has been developed to achieve stable long-distance flight by transmitting control data of a flying object such as a drone from an antenna installed in a base station for cellular communication. For example, in the wireless communication system described in Patent Document 1 below, a user device mounted on a flying object includes a receiving unit that receives a wireless signal from a base station, and when it cannot receive the wireless signal from the base station, measures the position of the user device and generates position information indicating the measured position and transmits it to a relay device. The base station supports 3D beamforming and has an acquisition unit that acquires the position information of the user device, a determination unit that determines the direction for forming a beam based on the position information of the user device and the position information of the base station, and a transmission unit that forms a beam in the determined direction and transmits a wireless signal.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Multiple base stations are deployed to cover the area near the ground as their communication range. The antennas of each base station are normally positioned to avoid interference with radio waves. However, as with the conventional technology described above, if the direction of the antenna's beam is changed to face an aircraft, radio wave interference may occur between antennas. Also, while base station antennas are normally pointed towards the ground and optimized for ground communication, the radio wave conditions in the upper atmosphere are not necessarily taken into consideration. For example, if an aircraft enters a high-interference area created by a change in the antenna's beam direction, radio wave interruption may occur, potentially hindering flight.

[0005] The objective of this invention is to stabilize the communication status of an aircraft along its flight path. [Means for solving the problem]

[0006] A management device according to one aspect of the present invention is a management device for managing the flight plan of an aircraft flying based on a radio signal transmitted from a base station antenna, comprising: an acquisition unit for acquiring candidate plans which are candidates for the flight plan; a prediction unit for predicting an index indicating the communication quality of the aircraft when the direction of the antenna is changed to follow the aircraft flying along the candidate plan; a determination unit for determining whether or not to permit the candidate plan based on the prediction result from the prediction unit; and a management unit for managing the candidate plan as a permitted flight plan when the determination result from the determination unit is affirmative. [Effects of the Invention]

[0007] According to one aspect of the present invention, the communication status of an aircraft along its flight path can be stabilized. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing the configuration of the flight management system 1, including the management device 10 according to the embodiment. [Figure 2A] This diagram schematically shows the first state of antenna A installed at base station B. [Figure 2B] This diagram schematically shows the second state of antenna A installed at base station B. [Figure 3] This is a block diagram showing the configuration of the control device 10. [Figure 4] This is a block diagram showing the configuration of user terminal 20. [Figure 5A] This diagram schematically shows the tracking antenna and the interpolating antenna. [Figure 5B] This diagram schematically shows the tracking antenna and the interpolating antenna. [Figure 6] This diagram schematically shows an indicator of communication quality on candidate route R1. [Figure 7] This diagram schematically shows an indicator of communication quality on candidate route R1. [Figure 8] This diagram schematically shows an example of an alternative route R2. [Figure 9] This diagram schematically shows the flight paths of multiple aircraft F1 and F2. [Figure 10] This is a flowchart showing the operation of the processing unit 103. [Modes for carrying out the invention]

[0009] A. Embodiment A-1. Flight method of aircraft F First, the flight method of the aircraft F in this embodiment will be described. In this embodiment, the aircraft F is an unmanned aircraft such as a drone. However, the aircraft F may also be a manned aircraft such as an aircraft. The aircraft F flies by receiving flight control data transmitted from antenna A (e.g., antenna A1-1) of a base station B (e.g., B1, B2) located on the ground G. That is, the aircraft F flies based on a radio signal transmitted from antenna A of base station B. The radio signal is, for example, a signal that transmits flight control data for the aircraft F. Flight control data is, for example, data that instructs the aircraft F on the direction and speed of travel. In this embodiment, base station B is provided for cellular communication. By transmitting the flight control data for the aircraft F using antenna A of base station B provided for cellular communication, the aircraft F can be flown over a longer distance compared to, for example, using a controller that communicates directly with the aircraft F.

[0010] Figure 2A schematically shows the first state of antenna A (A1-1, A2-1) installed at base station B (B1, B2). Figure 2B schematically shows the second state of antenna A installed at base station B. The first state is when all of base station B's antennas A are pointed towards the ground G. The second state is when one of base station B's antennas A (antenna A1-1 in the example in Figure 2) is pointed towards an aircraft F in the sky.

[0011] Antenna A communicates wirelessly with communication devices D (D1, D2) located near the ground G or with an aircraft F flying overhead. Communication devices D are, for example, smartphones, cellular tablet devices, feature phones, etc. In this case, communication devices D transmit and receive data such as voice data for calls, video data for video playback, video data for video distribution, and emergency notification data for making emergency calls to the police or fire department, etc., using the cellular communication network. Base station B constitutes the end of the cellular communication network and relays communication with communication devices D or aircraft F to the cellular communication network. Base stations B are connected to each other by wired or wireless lines.

[0012] As shown in FIG. 5A etc., in this embodiment, three antennas A are installed at the base station B. For the sake of illustration, in FIGS. 2A and 2B, only two antennas A (A1-1, A1-2, A2-1, A2-2) of the base stations B1 and B2 are shown. The three antennas A are attached to a columnar member (such as a tower) installed at the base station B, for example, as shown in FIG. 2A etc. More specifically, the three antennas A are arranged at equal intervals on the outer periphery of the columnar member. Three communication areas (communication cells) are formed around the base station B (columnar member) by each antenna A. For example, the antenna A installed at the base station Bn is denoted as antenna An. Also, when distinguishing the three antennas A installed at the base station Bn, they are denoted as antenna An-1, An-2, and An-3. Note that the number and arrangement of the antennas A in this embodiment are examples, and the number and arrangement of the antennas A can be arbitrarily changed.

[0013] In normal times (when the flying object F is not flying around the base stations B1 and B2), as shown in FIG. 2A, the pointing direction of the antenna A1-1 of the base station B1 faces the ground G, and area E1 is used as the communication area. The communication device D1 located in area E1 connects to the cellular communication network by transmitting and receiving radio waves with the antenna A1-1. The pointing direction of the antenna A2-1 of the base station B2 also faces the ground G, and area E2 is used as the communication area. The communication device D2 located in area E2 connects to the cellular communication network by transmitting and receiving radio waves with the antenna A2-1.

[0014] On the other hand, when the flying object F is flying around the base stations B1 and B2, any one of the antennas A provided in the base stations B1 and B2 is controlled so that the pointing direction faces the flying object F in the sky. In the example of FIG. 2B, the antenna A1-1 of the base station B1 has its pointing direction facing the flying object F in the sky. The antenna A1-1 transmits flight control data to the flying object F in the sky by changing the pointing direction to track the flying object F and performing beamforming. Hereinafter, the antenna A whose pointing direction changes following the position of the flying object F is referred to as the "tracking antenna".

[0015] Generally, the aircraft F flies with some purpose. Specific examples may include aerial photography of the ground or the like using a camera, sensing of terrain or the like, spraying of agricultural chemicals, delivery of goods, etc., which may be the flight purposes of the aircraft F. For example, when the flight purpose of the aircraft F is aerial photography, the captured video may be transmitted to other terminal devices in real time and used. Also, for example, when the flight purpose of the aircraft F is sensing, the output value (sensing data) of the sensor may be transmitted to other terminal devices in real time and used. Thus, the data transmitted from the aircraft F is also transmitted and received using the antenna A.

[0016] The pointing direction of the antenna A is changed by an antenna control device (not shown). The antenna control device includes a radio base station device and a tilt angle control system for changing the tilt angle of the antenna A. The antenna control device is arranged for each base station B (B1 to Bn), for example, and controls the antenna A arranged at the base station B. The antenna control device is not limited to being arranged for each base station B. For example, it may be provided for each antenna A, or may be provided one for a plurality of base stations B. Alternatively, the management device 10 described later may have the function of the antenna control device.

[0017] The antenna control device of the base station B1 changes the tilt angle (elevation angle) of the antenna A1-1 using equipment (mechanical tilt method), for example, as shown in FIG. 2B. When the tilt angle of the antenna A1-1 is changed, the pointing direction of the antenna A1-1 changes in the vertical direction. Alternatively, the antenna control device may change the pointing direction of the antenna A1-1 by changing the phase of the radio wave radiated from the antenna A1-1 (electrical tilt method).

[0018] If the direction of antenna A1-1 is changed to face aircraft F, then area E1 of ground G, which was within antenna A1-1's communication area, will be outside of antenna A1-1's communication area, and communication equipment D1 located in area E1 will no longer be able to connect to the cellular network. Therefore, the antenna control device (antenna control device installed at base station B2) changes the direction of antenna A2-1 so that area E1 is covered by antenna A2-1 of the surrounding base station B2.

[0019] Therefore, communication device D1 located in area E1 becomes capable of sending and receiving radio waves with antenna A2-1, enabling connection to the cellular communication network. To change the direction of antenna A2-1, a mechanical tilt method is used, for example, similar to antenna A1-1. However, the direction of antenna A2-1 may also be changed by an electric tilt method. Antenna A, which changes its direction of direction toward the communication area of ​​the tracking antenna, as shown in Figure 2B, will be hereinafter referred to as the "interpolation antenna". Note that if communication device D1 is not located within the communication area of ​​the tracking antenna, it is not necessary to cover the communication area of ​​the tracking antenna with the interpolation antenna. After the aircraft F passes through the communication area of ​​antenna A1-1, antenna A1-1 returns its direction of direction to the ground G. Antenna A2-1 also returns its direction of direction to its original direction.

[0020] A-2. System Configuration Figure 1 is a block diagram showing the configuration of a flight management system 1 including a management device 10 according to an embodiment. The flight management system 1 includes a management device 10 and at least one user terminal 20. In this embodiment, there are multiple user terminals 20. The management device 10 and the user terminals 20 are connected by a network N. In this embodiment, the network N may include, for example, a cellular communication network configured by a base station B.

[0021] The management device 10 manages the flight plan of the aircraft F. More specifically, prior to the flight of aircraft F, the management device 10 receives candidate flight plans from the user terminal 20. The flight plan includes the flight path (position information of each point along the path (latitude, longitude, altitude)), the start and end times of the flight, the planned times of passage through each point along the flight path, the flight speed, and the purpose of the flight. In other words, the flight plan includes not only the flight path but also information on when aircraft F will pass through each point along the flight path. The user terminal 20 transmits candidate flight plan information containing this information about the candidate flight plans to the management device 10.

[0022] The management device 10 determines whether to approve the candidate flight plan received from the user terminal 20. As will be explained in detail later, the decision to approve the candidate flight plan is made based on whether the radio wave conditions along the flight path are stable. Stable radio wave conditions mean, for example, that there are no high-interference areas and no weak-field areas along the flight path.

[0023] If the candidate flight plan is approved, the management device 10 notifies the user terminal 20 of the approval and registers the candidate flight plan as an approved flight plan in the flight plan database DB2 (see Figure 3), which will be described later. The flight plan database DB2 is used, for example, to control antenna A as explained in Figures 2A and 2B. If the candidate flight plan is not approved, the management device 10 notifies the user terminal 20 of the disapproval of the candidate flight plan. In addition, if the management device 10 does not approve the candidate flight plan, it may suggest to the user terminal 20 an alternative route with stable radio wave conditions.

[0024] The user terminal 20 is a terminal device held by the user of the aircraft F. The user terminal 20 is, for example, a smartphone, tablet, or personal computer. The user terminal 20 can run an application that allows the user to input a flight plan. The user inputs the flight plan into the user terminal 20 and transmits the flight plan to the management device 10.

[0025] A-3.Management device 10 Next, we will describe the details of each component shown in Figure 1. Figure 3 is a block diagram showing the configuration of the management device 10. The management device 10 comprises a communication device 101, a storage device 102, and a processing device 103. The communication device 101, the storage device 102, and the processing device 103 are interconnected by a bus 104.

[0026] The communication device 101 communicates with the user terminal 20 using wireless or wired communication. In this embodiment, the communication device 101 has an interface that can connect to the network N and communicates with the communication device 201 of the user terminal 20 (see Figure 4) via the network N.

[0027] The storage device 102 is a recording medium that can be read by the processing unit 103. The storage device 102 includes, for example, non-volatile memory and volatile memory. Non-volatile memory is, for example, ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile memory is, for example, RAM (Random Access Memory).

[0028] The storage device 102 stores program PG1, base station database DB1, and flight plan database DB2. In Figure 3, "database" is abbreviated as "DB". Program PG1 is the program for operating the management device 10.

[0029] The base station database DB1 stores location information for base stations B and area information that identifies the communication area of ​​antenna A installed at each base station B. The area information includes information indicating the communication area when antenna A is pointed towards the ground G, and information indicating the communication area when antenna A is pointed towards the sky. The area information may also include information indicating the communication area at each tilt angle when the tilt angle of antenna A is changed in predetermined angle increments. Furthermore, the area information includes information indicating the distribution of radio wave intensity within the communication area and information indicating the signal-to-noise ratio. Details of radio wave intensity and signal-to-noise ratio will be described later.

[0030] The flight plan database DB2 stores information about authorized flight plans, which are flight plans approved by the management device 10. Information about authorized flight plans includes, for example, the flight path, the start and end times of the flight, the estimated times of passage at each point along the flight path, the flight speed, and the purpose of the flight. The flight plan database DB2 may also include aircraft identification information that identifies the aircraft F executing the authorized flight plan, and user identification information that identifies the user of aircraft F. The flight plan database DB2 may also include information that identifies the tracking antennas and interpolating antennas at each point when aircraft F flies in accordance with the authorized flight plan.

[0031] The processing unit 103 includes one or more CPUs (Central Processing Units). One or more CPUs are examples of one or more processors. Each processor and CPU is an example of a computer.

[0032] The processing unit 103 reads program PG1 from the storage device 102. By executing program PG1, the processing unit 103 functions as an acquisition unit 110, a determination unit 111, a prediction unit 112, a judgment unit 113, a generation unit 114, and a management unit 115. At least one of the acquisition unit 110, the determination unit 111, the prediction unit 112, the judgment unit 113, the generation unit 114, and the management unit 115 may be composed of circuits such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array). Details of the acquisition unit 110, the determination unit 111, the prediction unit 112, the judgment unit 113, the generation unit 114, and the management unit 115 will be described later.

[0033] A-4. User terminal 20 Figure 4 is a block diagram showing the configuration of the user terminal 20. The user terminal 20 comprises a communication device 201, an input device 202, a display device 203, a storage device 204, and a processing device 205. The communication device 201, the input device 202, the display device 203, the storage device 204, and the processing device 205 are interconnected by a bus 206.

[0034] The communication device 201 communicates with the user terminal 20 using wireless or wired communication. In this embodiment, the communication device 201 has an interface that can connect to the network N and communicates with the communication device 101 of the management device 10 (see Figure 3) via the network N.

[0035] The input device 202 receives input from the user. The input device 202 may be, for example, a keyboard, mouse, or operation buttons. The display device 203 displays various information to the user. The display device 203 may include, for example, a display panel and a projection device that projects images onto the display panel. The user terminal 20 may have a touch panel that integrates the input device 202 and the display device 203.

[0036] The storage device 204 is a recording medium that can be read by the processing device 205. The storage device 204 includes, for example, non-volatile memory and volatile memory. Non-volatile memory is, for example, ROM, EPROM, and EEPROM. Volatile memory is, for example, RAM. The storage device 204 stores program PG2. Program PG2 is a program for operating the user terminal 20.

[0037] The processing unit 205 includes one or more CPUs. One or more CPUs are examples of one or more processors. Each processor and CPU is an example of a computer.

[0038] The processing unit 205 reads program PG2 from the storage device 204. By executing program PG2, the processing unit 205 functions as an operation control unit 211. The operation control unit 211 may be composed of circuits such as a DSP, ASIC, PLD, and FPGA. The operation control unit 211 controls the operation of the user terminal 20. For example, the operation control unit 211 displays a candidate plan input screen on the display device 203 and accepts various information about the candidate plan from the user via the input device 202. At this time, the operation control unit 211 may also accept input of the aircraft identification information and user identification information. The operation control unit 211 also transmits the information input by the user as candidate plan information to the management device 10.

[0039] A-4. Details of Processing Unit 103 Next, we will describe in detail the acquisition unit 110, determination unit 111, prediction unit 112, judgment unit 113, generation unit 114, and management unit 115, which are realized when the processing unit 103 executes the program PG1.

[0040] The acquisition unit 110 acquires candidate plans, which are candidates for the flight plan of the aircraft F. The acquisition unit 110 acquires candidate plans, for example, by receiving the above-mentioned candidate plan information from the user terminal 20.

[0041] The decision unit 111 determines the tracking antennas that transmit flight control data to the aircraft F at each point along the route based on the candidate plan (hereinafter referred to as the candidate route). The decision unit 111 identifies the candidate route R1 of the aircraft F based on the candidate plan and determines the tracking antennas at each point along the candidate route R1 based on the base station database DB1. More specifically, the decision unit 111 When the tilt angle is changed to point upwards, antenna A, which includes the section on candidate path R1 in its communication area, is determined to be the tracking antenna for that section. If there are multiple candidate tracking antennas, for example, antenna A, which has the shortest distance to the section, may be determined as the tracking antenna.

[0042] Furthermore, even when the aircraft F flies in an area close to base station B2, as shown in Figure 2B, the tracking antenna may not be one of base station B2's antennas A2-1 to A2-3. This is because the position of the aircraft F is close to directly above base station B2, and even if the tilt angle of base station B2's antennas A2-1 to A2-3 is changed to point upwards, the aircraft F will not enter the communication area. In this case, the determination unit 111 determines that antenna A of base station B1 (antenna A1-1 in the example in Figure 2), which is located around base station B2, will be the tracking antenna.

[0043] Furthermore, the determination unit 111 determines an interpolation antenna whose direction of directional orientation is directed towards the communication area of ​​the tracking antenna during the period when the tracking antenna is changing its direction of directional orientation to follow the aircraft F. Based on the base station database DB1, the determination unit 111 determines antenna A as the interpolation antenna, which can cover the communication area when the tracking antenna is directed towards the ground G by changing the tilt angle.

[0044] Note that there may be multiple interpolation antennas. For example, the communication area of ​​the tracking antenna may be divided and covered by a first interpolation antenna and a second interpolation antenna. Alternatively, if the first interpolation antenna changes its directional direction toward the communication area of ​​the tracking antenna and as a result can no longer cover the original communication area, the second interpolation antenna may cover the communication area that the first interpolation antenna can no longer cover.

[0045] Figures 5A and 5B schematically show the tracking antenna and the interpolating antenna. The candidate path R1 shown in Figures 5A and 5B is the path in line with the candidate plan for the aircraft F. In Figures 5A and 5B, the solid line indicates that the direction of antenna A is pointed upwards, and the dashed line indicates that the direction of antenna A is pointed toward the ground G.

[0046] The decision unit 111 identifies base stations B around candidate route R1 based on the candidate plan of the aircraft F. In the example in Figure 5A, base stations B1 to B5 are located around candidate route R1. Based on the base station database DB1, the decision unit 111 identifies antenna A that can include each point on candidate route R1 in the communication area by changing the tilt angle, and determines that antenna A to be the tracking antenna.

[0047] In the example shown in Figure 5A, in the candidate route R1, antenna A1-1 of base station B1 is determined to be the tracking antenna for section P1-P2. Similarly, antenna A3-1 of base station B3 is determined to be the tracking antenna for section P2-P3, antenna A4-1 of base station B4 for section P3-P4, and antenna A5-1 of base station B5 for section P4-P5.

[0048] As shown in Figure 5B, for example, when the aircraft F is located in section P1-P2, antenna A1-1 of base station B1 becomes a tracking antenna, and antenna A1-1 directs its direction of directional antenna toward the aircraft F. During this time, if it is estimated that a communication device D is located within the communication area of ​​antenna A1-1, antenna A2-1 of base station B2, which is adjacent to base station B1, acts as an interpolating antenna to cover the communication area of ​​antenna A1-1. That is, antenna A2-1 changes its direction of directional antenna toward the communication area of ​​antenna A1-1, so that communication of the communication device D located within the communication area of ​​antenna A1-1 is not interrupted. After the aircraft F has passed through section P1-P2, antenna A1-1 returns its direction of directional antenna to the ground G. Antenna A2-1 also returns its direction of directional antenna to its original direction.

[0049] In this embodiment, the management device 10 determines the tracking antenna and interpolation antenna. However, the management device 10 may acquire information on the tracking antenna and interpolation antenna determined by another device and provide it to the functional unit described below.

[0050] The prediction unit 112 uses the base station database DB1 to simulate the radio wave conditions on the candidate path R1 when beamforming is performed from the tracking antenna to the aircraft F. That is, the prediction unit 112 predicts an index indicating the communication quality at the aircraft F when the directional direction of the tracking antenna is changed to follow the aircraft F flying along the candidate plan. Note that the communication quality at the aircraft F may be, for example, the general communication quality at the location of the aircraft F, or it may be the communication quality that reflects the characteristics of the communication equipment mounted on the aircraft F. Hereinafter, the prediction of an index indicating communication quality by the prediction unit 112 may simply be referred to as "predicting communication quality". In this embodiment, the tracking antenna follows the aircraft F by changing its tilt angle. Therefore, the prediction unit 112 predicts an index indicating the communication quality when the elevation angle of the tracking antenna is changed to follow the aircraft F.

[0051] In this embodiment, the prediction unit 112 predicts, as indicators of communication quality, the signal strength (RSRP: Reference Signal Received Power), which indicates the strength of the radio waves received by the aircraft F, and the signal-to-noise ratio, which indicates the ratio of the strength of the radio waves received from the tracking antenna to the strength of the radio waves received from antennas other than the tracking antenna. The signal strength is the strength of the radio waves received by the aircraft F from the tracking antenna. The higher the signal strength at a certain point, the better the communication conditions at that point. The signal-to-noise ratio indicates the ratio of radio waves (noise) from other antennas A to radio waves (signals) transmitted from the tracking antenna. The signal-to-noise ratio is an indicator of interference strength and is also called the signal-to-noise ratio (SN ratio) or SINR (Signal to Interference plus Noise Ratio). The larger the signal-to-noise ratio at a certain point, the better the communication conditions at that point.

[0052] In this embodiment, the prediction unit 112 predicts radio wave strength and signal-to-noise ratio as indicators of communication quality. However, it is not limited to this, and the prediction unit 112 may estimate only one of either radio wave strength or signal-to-noise ratio. In this case, the determination unit 113, described later, will use only one of the radio wave strength or signal-to-noise ratio predicted by the prediction unit 112 to determine whether or not to approve the candidate plan.

[0053] Furthermore, the prediction unit 112 may predict not only the communication quality on the candidate path R1, i.e., at the flight altitude of the aircraft F, but also the communication quality on the ground G. As described above, when the dependent antenna changes its directional direction toward the aircraft F, the radio wave conditions on the ground G also change. If the change in the directional direction of the dependent antenna toward the aircraft F results in an area on the ground G where the communication quality deteriorates, the communication status of the communication equipment D located in that area will deteriorate. Therefore, in such cases, the determination unit 111 may re-determine the tracking antenna.

[0054] The determination unit 113 determines whether to approve a candidate plan based on the prediction results from the prediction unit 112. In this embodiment, the determination unit 113 determines whether the aircraft F can receive flight control data with sufficient strength from the dependent antenna on the candidate path R1, and whether there are any areas on the candidate path R1 where radio interference occurs as a result of changing the direction of the dependent antenna in accordance with the aircraft F. The determination unit 113 approves a candidate plan if there are no weak field areas with low radio signal strength on the candidate path R1 and no high interference areas where radio interference occurs. That is, the determination unit 113 approves a candidate plan if there are no locations on the candidate path where the radio signal strength is less than a first predetermined value and there are no locations where the signal-to-noise ratio is less than a second predetermined value.

[0055] Figures 6 and 7 schematically show indicators of communication quality on candidate route R1. In Figures 6 and 7, areas where the signal-to-noise ratio is less than a second predetermined value are indicated as high interference areas IN, areas where the radio wave strength is equal to or greater than a first predetermined value are indicated as strong field areas HW, and areas where the radio wave strength is less than a first predetermined value are indicated as weak field areas LW. In Figure 6, the entire candidate route R1 is a strong field area HW, and there are no weak field areas LW (see Figure 7). Also, in Figure 6, there are no high interference areas IN on candidate route R1. Therefore, the determination unit 113 approves the candidate plan.

[0056] In addition, other types of communication quality indicators besides signal strength and signal-to-noise ratio may be used as indicators of communication quality. Specifically, for example, downlink and uplink throughput on candidate route R1 may be used. Throughput can be estimated based on the numerical values ​​of signal strength and signal-to-noise ratio (strictly speaking, frequency bandwidth, etc., should also be considered). When throughput is used as an indicator of communication quality, the prediction unit 112 predicts the throughput on candidate route R1. The determination unit 113 approves the candidate plan if there are no locations on candidate route R1 where the throughput is less than a third predetermined value. For example, if aircraft F is performing real-time video transmission, it is important to fly through areas with high throughput. By using throughput as an indicator of communication quality, it becomes possible to select a route more suitable for the flight purpose. In addition, when throughput is used as an indicator of communication quality, the area information in the base station database DB1 includes information indicating throughput within the communication area.

[0057] The management unit 115 manages the candidate flight plan as an approved flight plan if the determination result of the judgment unit 113 is positive. Specifically, if the judgment unit 113 determines that the candidate flight plan is approved, the management unit 115 notifies the user terminal 20 of the approval of the candidate flight plan. The management unit 115 also stores the candidate flight plan as an approved flight plan in the flight plan database DB2.

[0058] On the other hand, in Figure 7, a high-interference area IN is located between P2 and P3 on candidate route R1. Furthermore, the area from P4 onwards on the candidate route is a weak-field area LW where the radio wave strength is less than a first predetermined value. The weak-field area LW occurs, for example, when the distance from base station B (base station B4 in the example of Figure 7) to candidate route R1 is long. In this case, the determination unit 113 does not approve the candidate plan. If the determination unit 113 determines that the candidate plan is not to be approved, the management unit 115 notifies the user terminal 20 of the disapproval of the candidate plan.

[0059] If the determination unit 113 determines that the candidate plan is not acceptable, the generation unit 114 generates an alternative route R2 in which there are no locations where the radio wave intensity is less than a first predetermined value and no locations where the signal-to-noise ratio is less than a second predetermined value. In other words, based on the communication quality around the candidate route R1 predicted by the prediction unit 112, the generation unit 114 generates an alternative route R2 that ensures communication quality that does not interfere with the flight of the aircraft F and proposes it to the user.

[0060] Figure 8 schematically shows an example of an alternative route R2. The distribution of indicators showing communication quality on candidate route R1 in Figure 8 is the same as in Figure 7. The generation unit 114 generates an alternative route R2 that avoids the weak field area LW and the high interference area IN, for example, as shown in Figure 8. In this case, the management unit 115 transmits information about the alternative route R2 to the user terminal 20. If the user of the aircraft F approves of flying on the alternative route R2, the management unit 115 stores the candidate plan in the flight plan database DB2, in which candidate route R1 is replaced with alternative route R2, as an approved flight plan.

[0061] Here, the management device 10 receives candidate plans from multiple user terminals 20. There is a possibility that multiple aircraft F may be flying in close proximity to each other at the same time, and the mutual influence they have on each other becomes a problem. In this case, it is preferable for the prediction unit 112 to simulate the radio wave conditions on the candidate path R1 by reflecting the state of antenna A at the time of execution of an authorized flight plan stored in the flight plan database DB2.

[0062] For example, if another aircraft F2 flies around aircraft F1 at the same time, the radio wave conditions on the candidate path R1 of aircraft F1 may differ from normal conditions (when beamforming is not performed on the other aircraft F2) due to the beamforming effect on the other aircraft F2. Therefore, the prediction unit 112 refers to the flight plan database DB2 and reflects the status of the tracking antenna and interpolation antenna in the approved flight plan in the simulation. This makes it possible to predict the communication quality on the candidate path R1 with greater accuracy.

[0063] Figure 9 schematically shows the flight paths of multiple aircraft F1 and F2. It is assumed that aircraft F1 has been authorized to fly along the candidate path indicated by symbol R3 (the first candidate plan). Although this flight plan is authorized, as will be described later, the authorization may be revoked depending on the purpose of the flight of other aircraft F2, so for convenience it is referred to as the "first candidate plan". Aircraft F1 is an example of the first aircraft, and the tracking antenna when aircraft F1 flies along candidate path R3 is an example of the first antenna.

[0064] Subsequently, another user of aircraft F2 applies for a flight along the candidate path indicated by code R4 (second candidate plan). The flight time of aircraft F2 is assumed to be approximately the same as the flight time of aircraft F1. Aircraft F2 is an example of a second aircraft, and the tracking antenna used when aircraft F2 flies along candidate path R4 is an example of a second antenna.

[0065] In this case, the management device 10 reflects the beamforming (change in the tilt angle of antenna A) performed when aircraft F1 flies along candidate path R3, and determines the tracking antenna and simulates the communication quality when aircraft F2 flies along candidate path R4. Specifically, the prediction unit 112 predicts indicators of communication quality for aircraft F1 and for aircraft F2 when the directional directions of antennas A1-1, A3-1, A4-1, and A5-1 are changed to track aircraft F1 flying along the first candidate plan, and the directional directions of other antennas A, different from antennas A1-1, A3-1, A4-1, and A5-1 are changed to track aircraft F2 flying along the second candidate plan.

[0066] If the simulation results indicate that there are no problems with the flight of both aircraft F1 and aircraft F2 (i.e., neither candidate path R3 nor R4 will have a weak field area LW or a high interference area IN), the determination unit 113 approves the second candidate plan for aircraft F2.

[0067] On the other hand, if a problem occurs in the flight of either aircraft F1 or aircraft F2, the determination unit 113 refers to the purpose of the flights of aircraft F1 and aircraft F2 and prioritizes aircraft F, which is flying for a higher-priority purpose. Higher-priority purposes include, for example, tracking criminals, emergency transport of people in need of rescue, and photographing disaster sites. In other words, aircraft F1 and aircraft F2 are given priority based on their flight purposes, and the determination unit 113 determines whether to approve the first candidate plan and the second candidate plan, respectively, based on the prediction results of the prediction unit 112 and the priority of the flight purposes.

[0068] For example, if the purpose of aircraft F2's flight has a higher priority than the purpose of aircraft F1's flight, the second-choice plan for aircraft F2 will take precedence. As a result, the approval for the first-choice plan may be revoked. Also, if the priority of the purpose of aircraft F2's flight is the same as the priority of the purpose of aircraft F1's flight, the flight of aircraft F1, which submitted its flight plan application earlier, may take precedence.

[0069] In this way, by reflecting the changes in radio wave conditions associated with the flight of multiple aircraft F1 and F2 and predicting the communication quality for each aircraft F, it is possible to improve safety when multiple aircraft F1 and F2 fly within the same area. Furthermore, if communication quality cannot be maintained due to the flight of multiple aircraft F1 and F2, the public interest can be protected by prioritizing the flight plan of aircraft F flying for a higher-priority purpose.

[0070] A-5. Operation of Processing Unit 103 Figure 10 is a flowchart showing the operation of the processing unit 103. The processing unit 103 functions as an acquisition unit 110 and acquires candidate plan information for the aircraft F from the user terminal 20 (step S101). The processing unit 103 functions as a determination unit 111 and determines the tracking antenna and interpolation antenna at each point on the candidate path R1 (step S102).

[0071] The processing unit 103 functions as a prediction unit 112 and predicts an index indicating the communication quality of the aircraft F flying according to the candidate plan (step S103). As described above, in this embodiment, the index indicating the communication quality is the radio wave strength and the signal-to-noise ratio. The processing unit 103 functions as a determination unit 113 and determines whether there are any weak electric field areas on the candidate path R1 where the radio wave strength is less than a first predetermined value, and whether there are any high interference areas where the signal-to-noise ratio is less than a second predetermined value (step S104).

[0072] If there are no weak field areas or high interference areas on the candidate route R1 (step S104: YES), the processing unit 103 functions as the management unit 115 and notifies the user that the candidate plan is approved (step S105). The processing unit 103 then proceeds to step S108, stores the candidate plan as an approved flight plan in the flight plan database DB2 (step S108), and terminates the processing of this flowchart.

[0073] Furthermore, if there is either a weak electric field area or a high interference area on candidate route R1 (step S104: NO), the processing unit 103 functions as a generation unit 114 and generates an alternative route R2 that does not include the weak electric field area or high interference area (step S106). The processing unit 103 transmits information about the alternative route R2 to the user terminal 20. If the user accepts the alternative route R2 (step S107: YES), the processing unit 103 stores the flight plan with the flight path changed to alternative route R2 as an approved flight plan in the flight plan database DB2 (step S108) and terminates the processing of this flowchart. If the user does not accept the alternative route R2 (step S107: NO), the processing unit 103 terminates the processing of this flowchart.

[0074] A-6. Summary of Embodiments As described above, according to this embodiment, the management device 10 predicts the change in communication quality caused by a change in the direction of antenna A at base station B and determines whether or not to permit a candidate flight plan. Therefore, the management device 10 can stabilize the communication state of the aircraft F along the flight path. In this embodiment, flight control data is transmitted and received through communication between the aircraft F and antenna A. Therefore, the management device 10 can prevent communication failures from occurring when transmitting and receiving flight control data with the aircraft F and stabilize the flight state of the aircraft F.

[0075] Furthermore, according to the embodiment, the management device 10 predicts an index indicating the communication quality when the elevation angle (tilt angle) of antenna A is changed in accordance with the aircraft F. By changing the direction of direction of antenna A in the elevation direction, radio waves will be transmitted to areas where radio waves are not normally transmitted. By predicting the radio wave conditions in areas with little existing data, it is possible to determine with greater accuracy whether or not a communication failure with aircraft F will occur.

[0076] Furthermore, according to the embodiment, the management device 10 approves a candidate flight plan if there are no locations along the candidate plan's route where the radio wave strength is less than a first predetermined value, and there are no locations where the signal-to-noise ratio is less than a second predetermined value. Therefore, it is possible to select a flight path that ensures the radio wave strength necessary for communication between the aircraft F and the tracking antenna, and that does not cause radio interference with other antennas A, etc., thereby preventing malfunctions due to poor communication.

[0077] Furthermore, according to the embodiment, if the management device 10 determines that a candidate plan is not permitted, it generates an alternative route R2 in which there are no locations where the radio wave intensity is less than the first predetermined value and no locations where the signal-to-noise ratio is less than the second predetermined value. This makes it possible to consider a flight plan using the alternative route R2, thereby assisting the user in deciding on a flight plan.

[0078] Furthermore, according to this embodiment, the management device 10 reflects the changes in radio wave conditions associated with the flight of multiple aircraft F1 and F2 and predicts the communication quality for each aircraft F1 and F2. Therefore, safety can be improved when multiple aircraft F1 and F2 fly within the same area.

[0079] Furthermore, according to this embodiment, the management device 10 determines whether or not to permit the candidate flight plans for each of the multiple aircraft F1 and F2 based on their priority. Therefore, the flight of aircraft F flying for a high-priority purpose can be prioritized, improving convenience when many aircraft F are flying.

[0080] B: Other (1-1) The block diagrams used in the description of the above embodiments show functional units. These functional blocks (components) are realized by any combination of at least one of hardware and software. Furthermore, the method of realizing each functional block is not particularly limited. That is, each functional block may be realized using one device that is physically or logically coupled, or it may be realized using two or more physically or logically separated devices that are directly or indirectly connected (for example, using wired or wireless connections). A functional block may be realized by combining the above one device or the above multiple devices with software. Functions include, but are not limited to, judgment, decision, judgment, calculation, calculation, processing, derivation, investigation, exploration, confirmation, reception, transmission, output, access, resolution, selection, selection, establishment, comparison, assumption, expectation, assumption, broadcasting, notifying, communicating, forwarding, configuring, reconfiguring, allocating (mapping), and assigning. For example, a functional block (configuration part) that enables transmission is called a transmitting unit or transmitter. In all cases, as mentioned above, the method of implementation is not particularly limited.

[0081] (1-2) Notification of information is not limited to the embodiments / models described herein and may be carried out by other means. For example, notification of information may be carried out by physical layer signaling (e.g., DCI (Downlink Control Information), UCI (Uplink Control Information)), upper layer signaling (e.g., RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling, broadcast information (MIB (Master Information Block), SIB (System Information Block))), other signals, or combinations thereof. RRC signaling may also be called RRC messages, for example, RRC Connection Setup messages, RRC Connection Reconfiguration messages, etc.

[0082] (1-3) Each aspect / embodiment described in this disclosure is LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G (4th generation mobile communication system), 5G (5th generation mobile communication system), 6th generation mobile communication system (6G), xth generation mobile communication system (xG) (xG (where x is, for example, an integer or decimal)), FRA (Future Radio Access), NR (new Radio), New radio access (NX), Future generation radio access (FX), W-CDMA (registered trademark), GSM (registered trademark), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, UWB (Ultra-Wide This may apply to systems utilizing Bluetooth (Typing Band), Bluetooth®, or other appropriate systems, and to at least one of next-generation systems that are extended, modified, created, or defined based thereon. It may also apply to a combination of multiple systems (e.g., a combination of at least one of LTE and LTE-A with 5G).

[0083] (1-4) The processing procedures, sequences, flowcharts, etc., of each aspect / embodiment described herein may be in any order, provided that they do not contradict each other. For example, the methods described herein present various step elements in an exemplary order and are not limited to the specific order presented.

[0084] (1-5) Certain operations described in this disclosure as being performed by a base station may, in some cases, be performed by its upper node. In a network consisting of one or more network nodes having a base station, it is clear that various operations performed for communication with a terminal can be performed by the base station and at least one other network node (for example, an MME or S-GW, but not limited to these). The above example illustrates the case where there is one other network node besides the base station, but it may also be a combination of multiple other network nodes (for example, an MME and an S-GW).

[0085] (1-6) Information, etc. (see the section on "Information, Signals") may be output from a higher layer (or lower layer) to a lower layer (or higher layer). Input and output may also occur via multiple network nodes.

[0086] (1-7) Input and output information may be stored in a specific location (e.g., memory) or managed using a management table. Input and output information may be overwritten, updated, or appended to. Output information may be deleted. Input information may be transmitted to other devices.

[0087] (1-8) The determination may be made by a value represented by 1 bit (0 or 1), by a boolean value (true or false), or by a numerical comparison (for example, a comparison with a predetermined value).

[0088] (1-9) Each aspect / embodiment described herein may be used individually, in combination, or switched between as needed in practice. Furthermore, notification of certain information (e.g., notification that "X is") is not limited to explicit notification, but may also be implicit (e.g., by not providing such notification).

[0089] Although the present disclosure has been described in detail above, it will be clear to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure can be implemented in modified and altered forms without departing from the intent and scope of the present disclosure as defined by the claims. Therefore, the descriptions in the present disclosure are illustrative and not intended to be restrictive in any way.

[0090] (2-1) Software should be interpreted broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc., whether they are called software, firmware, middleware, microcode, hardware description languages ​​or by any other name. Furthermore, software, instructions, information, etc., may be transmitted and received via a transmission medium. For example, if software is transmitted from a website, server, or other remote source using at least one of wired technology (such as coaxial cable, fiber optic cable, twisted pair, or digital subscriber line (DSL)) and wireless technology (such as infrared or microwave), then at least one of these wired and wireless technologies is included in the definition of a transmission medium.

[0091] (2-2) The information, signals, etc. described in this disclosure may be represented using any of the various different technologies. For example, the data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof. The terms described in this disclosure and the terms necessary for understanding this disclosure may be replaced with terms that have the same or similar meanings. For example, at least one of the channels and symbols may be a signal (signaling). Also, a signal may be a message. Also, a component carrier (CC) may be called a carrier frequency, cell, frequency carrier, etc.

[0092] (2-3) The terms “system” and “network” as used in this disclosure are interchangeable.

[0093] (2-4) Furthermore, the information, parameters, etc. described in this disclosure may be expressed using absolute values, relative values ​​from a given value, or other corresponding information. For example, radio resources may be indicated by an index. The names used for the parameters described above are not limiting in any way. Moreover, the formulas, etc., that use these parameters may differ from those expressly disclosed in this disclosure. Various channels (e.g., PUCCH, PDCCH, etc.) and information elements can be identified by any suitable name, so the various names assigned to these various channels and information elements are not limiting in any way.

[0094] (2-5) In this disclosure, terms such as “Base Station (BS)”, “wireless base station”, “fixed station”, “NodeB”, “eNodeB (eNB)”, “gNodeB (gNB)”, “access point”, “transmission point”, “reception point”, “transmission / reception point”, “cell”, “sector”, “cell group”, “carrier”, and “component carrier” may be used interchangeably. A base station may also be referred to by terms such as macrocell, small cell, femtocell, picocell. A base station may house one or more (e.g., three) cells. When a base station accommodates multiple cells, the entire coverage area of ​​the base station can be divided into multiple smaller areas, each of which may be provided with communication services by a base station subsystem (for example, a Remote Radio Head (RRH)). The terms “cell” or “sector” refer to part or all of the coverage area of ​​at least one of the base station and / or base station subsystems that provide communication services in that coverage. In this disclosure, the transmission of information by a base station to a terminal may be interpreted as the base station instructing the terminal to perform information-based control or operation.

[0095] (2-6) In this disclosure, terms such as “Mobile Station (MS),” “user terminal,” “User Equipment (UE),” and “terminal” may be used interchangeably. A mobile station may also be referred to by those skilled in the art as a subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, or several other appropriate terms.

[0096] (2-7) At least one of the base station and the mobile station may be called a transmitting device, a receiving device, a communication device, etc. At least one of the base station and the mobile station may be a device mounted on a mobile body, the mobile body itself, etc. The mobile body means a movable object, and the speed of movement is arbitrary. This also includes the case when the mobile body is stationary. The mobile body includes, but is not limited to, vehicles, transport vehicles, automobiles, motorcycles, bicycles, connected cars, excavators, bulldozers, wheel loaders, dump trucks, forklifts, trains, buses, handcarts, rickshaws, ships and other watercraft, airplanes, rockets, satellites, drones (registered trademark), multicopters, quadcopters, balloons, and things mounted on them. The mobile body may also be a mobile body that moves autonomously based on operation commands. It may be a vehicle (e.g., a car, an airplane, etc.), an unmanned mobile body (e.g., a drone, an autonomous vehicle, etc.), or a robot (manned or unmanned). Furthermore, at least one of the base station and the mobile station may include devices that do not necessarily move during communication operations. For example, at least one of the base station and the mobile station may be an IoT (Internet of Things) device such as a sensor. Also, the term "base station" in this disclosure may be interpreted as "user terminal." For example, each aspect / embodiment of this disclosure may be applied to a configuration in which communication between a base station and a user terminal is replaced with communication between multiple user terminals (which may be called D2D (Device-to-Device), V2X (Vehicle-to-Everything), etc.). In this case, the user terminal may have the functions that the base station has. Also, terms such as "uplink" and "downlink" may be interpreted as terms corresponding to terminal-to-terminal communication (for example, "side"). For example, uplink channel, downlink channel, etc. may be interpreted as side channel. Similarly, the term "user terminal" in this disclosure may be interpreted as "base station." In this case, the base station may have the functions that the user terminal has.

[0097] (3-1) The terms “determining” and “determining” as used in this disclosure may encompass a wide variety of actions. “Determining” may include, for example, judging, calculating, computing, processing, deriving, investigating, looking up, searching, inquiry (e.g., searching in a table, database or other data structure), and ascertaining. “Determining” may also include, for example, receiving (e.g., receiving information), transmitting (e.g., sending information), input, output, and accessing (e.g., accessing data in memory). Furthermore, "judgment" and "decision" can include considering something as having been "judged" or "decided" after resolving, selecting, choosing, establishing, comparing, etc. In other words, "judgment" and "decision" can include considering something as having been "judged" or "decided" after some action. Also, "judgment (decision)" can be reinterpreted as "assuming," "expecting," or "considering."

[0098] (3-2) The terms “connected,” “coupled,” or any variation thereof, mean any direct or indirect connection or coupling between two or more elements, and may include the presence of one or more intermediate elements between two elements that are “connected” or “coupled” with each other. The coupling or connection between elements may be physical, logical, or a combination thereof. For example, “connection” may be read as “access.” As used in this disclosure, two elements may be considered to be “connected” or “coupled” with each other using at least one of one or more wires, cables, and printed electrical connections, and, in some non-limiting and non-exclusive examples, electromagnetic energy having wavelengths in the radio frequency domain, microwave domain, and optical (both visible and invisible) domain.

[0099] (3-3) The reference signal may also be abbreviated as RS (Reference Signal) and may be called Pilot depending on the applicable standard.

[0100] (3-4) The phrase “based on” as used in this disclosure does not mean “based solely on” unless otherwise specified. In other words, the phrase “based on” means both “based solely on” and “based at least on.”

[0101] (3-5) Any reference to elements using the designations “first,” “second,” etc., as used in this disclosure does not limit the quantity or order of those elements in general. These designations may be used in this disclosure as a convenient way to distinguish between two or more elements. Accordingly, references to first and second elements do not imply that only two elements may be adopted, or that the first element must precede the second element in any way.

[0102] (3-6) The term "means" in the configuration of each of the above devices may be replaced with "part," "circuit," "device," etc.

[0103] (3-7) Where the terms “include,” “including,” and variations thereof are used in this disclosure, these terms are intended to be inclusive, as is the term “comprising.” Furthermore, the term “or” as used in this disclosure is not intended to be exclusive OR.

[0104] (3-8) In the present disclosure, if articles are added by translation, such as a, an, and the in English, the present disclosure may include the fact that the noun following these articles is plural.

[0105] (3-9) In this disclosure, the term “A and B are different” may mean “A and B are different from each other.” The term may also mean “A and B are each different from C.” Terms such as “separate” and “combine” may be interpreted in the same way as “different.”

[0106] (4) It will be apparent to those skilled in the art that the present invention is not limited to the embodiments described herein. The present invention can be implemented in modified and altered forms without departing from the spirit and scope of the invention as defined by the claims. Accordingly, the description herein is for illustrative purposes only and is not intended to be restrictive in any way to the present invention. Furthermore, multiple embodiments selected from those illustrated herein may be combined. [Explanation of symbols]

[0107] 1...Flight management system, 10...Management device, 20...User terminal, 101...Communication device, 102...Storage device, 103...Processing device, 110...Acquisition unit, 111...Decision unit, 112...Prediction unit, 113...Determination unit, 114...Generation unit, 115...Management unit, 201...Communication device, 202...Input device, 203...Display device, 204...Storage device, 205...Processing device, 211...Operation control unit, A(A1-1~An-3)...Antenna, B(B1~Bn)...Base station, D(D1,D2)...Communication equipment, DB1...Base station database, DB2...Flight plan database, F(F1,F2)...Aircraft, G...Ground, HW...Strong field area, IN...High interference area, LW...Weak field area, N...Network.

Claims

1. A management device for managing the flight plan of an aircraft flying based on radio signals transmitted from the first antenna of a base station, An acquisition unit that acquires candidate plans, which are candidates for the aforementioned flight plan, A prediction unit that changes the directional direction of the first antenna, which has a first ground area as its communication area, in accordance with the aircraft flying along the candidate plan, and predicts an index indicating the communication quality of the aircraft when the second area in the air is designated as the communication area, A determination unit that determines whether or not to approve the candidate plan based on the prediction results from the prediction unit, The system includes a management unit that manages the candidate flight plan as an approved flight plan if the determination result of the determination unit is positive, The prediction unit predicts an index indicating the communication quality of the aircraft when the direction of a second antenna, which is different from that of the first antenna, is directed towards the first area if it is estimated that a communication device is present in the first area during the period when the direction of the first antenna is changing to follow the aircraft, and predicts an index indicating the communication quality of the aircraft when the direction of the second antenna is not changed if it is estimated that no communication device is present in the first area during the period when the direction of the first antenna is changing to follow the aircraft. Management device.

2. The prediction unit predicts an index indicating the communication quality when the elevation angle of the first antenna and the second antenna are changed in accordance with the aircraft. The control device according to claim 1.

3. The prediction unit predicts, as an indicator of communication quality, the radio wave intensity, which indicates the strength of the radio waves received by the aircraft, and the signal-to-noise ratio, which indicates the ratio of the radio wave intensity received from the first antenna to the radio wave intensity received from the second antenna. The determination unit approves the candidate plan if there are no locations along the candidate plan's route where the radio wave intensity is less than a first predetermined value, and there are no locations where the signal-to-noise ratio is less than a second predetermined value. The control device according to claim 1.

4. If the determination unit determines that the candidate plan is not permitted, the system further includes a generation unit that generates an alternative route in which there are no locations where the radio wave intensity is less than the first predetermined value and in which there are no locations where the signal-to-noise ratio is less than the second predetermined value. The control device according to claim 3.

5. The aforementioned aircraft is the first aircraft, and the aforementioned candidate plan is the first candidate plan. The acquisition unit further acquires a second candidate plan, which is a flight plan for a second aircraft different from the first aircraft. The prediction unit predicts an index indicating the communication quality in the first aircraft and an index indicating the communication quality in the second aircraft when the directional direction of the first antenna is changed to follow the first aircraft flying along the first candidate plan, and the directional direction of a third antenna, which is different from the first antenna, is changed to follow the second aircraft flying along the second candidate plan. The determination unit determines whether to permit the first candidate plan and the second candidate plan, respectively, based on the prediction results. The control device according to claim 1.

6. The first and second aircraft are given priority based on the purpose of their flight. The determination unit determines whether to approve the first candidate plan and the second candidate plan, respectively, based on the prediction result and the priority order. The control device according to claim 5.

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