Beam antenna device

Abstract

The objective of the present invention is to provide a beam antenna device that, despite being incapable of perpetual rotation in a panning direction, can perform beam tracking of a flying corps turning in the air. This beam antenna device this beam antenna device comprises: a tabular flat plate part; a first rotor which rotates about a first axis perpendicular to the flat plate part as a rotation axis and which does not rotate perpetually with respect to the flat plate part; a second rotor having a second axis perpendicular to the first axis as a rotation axis; an antenna which is provided to the second rotor and of which the antenna directivity is pointed in a direction that is perpendicular to the second axis and fixed as viewed from the second rotor; and a control unit that controls the rotation of the first rotor and the rotation of the second rotor. The flat plate part is installed so as to be inclined at a prescribed angle with respect to the horizontal plane.

Description

Beam antenna device 【0001】 This invention relates to a beam antenna device that forms antenna directivity for communication. 【0002】 Conventionally, there is a technology that uses beamforming to create antenna directivity in order to suppress interference from communications with other parties during communication with a communication partner. In addition, a technology has been developed that uses base stations in the air, where the possibility of reflected waves and diffraction is low, to enable communication with smartphones and other devices. Patent Document 1 discloses a technology that equips an aircraft with base station functionality and performs beamforming control on terminals. 【0003】 Japanese Patent Publication No. 2024-126594 【0004】 In one aspect of the present invention, a beam antenna device comprises a flat plate portion, a first rotating body that rotates about a first axis perpendicular to the flat plate portion and does not rotate permanently relative to the flat plate portion, a second rotating body that rotates about a second axis perpendicular to the first axis, an antenna provided on the second rotating body in a direction perpendicular to the second axis and directing its antenna directivity toward a fixed direction as viewed from the second rotating body, and a control unit that controls the rotation of the first rotating body and the second rotating body, wherein the flat plate portion is installed at a predetermined angle inclined with respect to the horizontal plane. 【0005】 Furthermore, in the beam antenna device described above, the antenna directivity may be directed toward an aircraft orbiting in the sky. 【0006】 Furthermore, in the beam antenna device described above, the flying object may be a HAPS (High Altitude Platform Station). 【0007】 Furthermore, in the beam antenna device described above, the beam antenna device may be installed within the range vertically below the rotational circle around which the HAPS rotates. 【0008】 Furthermore, in the above beam antenna device, the installation angle of the beam antenna device is set to (θ, ψ azimuth ) where θ is the angle of the flat plate portion with respect to the horizontal plane, and ψ azimuthLet θ be the rotation angle from true north on a horizontal plane, where true north is 0 degrees in azimuth, and the reference direction of the flat plate part on the horizontal plane is oriented towards true north. tilt_max , the limiting angular velocity in the pan direction is ω pan_max Let (x(t), y(t), z(t)) be the relative position of the HAPS beam antenna device at time t. 【0009】 The above equation (1) is true, and Ry and Rz are rotation matrices that satisfy the following: 【0010】 【0011】 From equation (1), 【0012】 【0013】 This can be calculated, 【0014】 【0015】 【0016】 The angle θ that satisfies equations (2) and (3) may be set to a predetermined angle. 【0017】 Furthermore, in the beam antenna device described above, the beam antenna device includes an acquisition unit that acquires the current relative position (x, y, z) of the HAPS, and the current relative position satisfies the following conditions: 【0018】 The control unit is 【0019】 【0020】 【0021】 The rotation of the first and second rotating bodies may be controlled to achieve the following result. 【0022】This is a perspective view showing the external appearance of a beam antenna device. This is an overview diagram showing an example of the configuration of a conventional communication system. This is an overview diagram showing an example of the configuration of a communication system. This is a perspective view showing the external appearance of a beam antenna device. This is a block diagram showing an example of the configuration of a beam antenna device. This is a flowchart showing an example of the operation of a beam antenna device. This is the first diagram showing an example of the deformation process of a beam antenna device. This is the second diagram showing an example of the deformation process of a beam antenna device. This is a graph showing an example of the angle change of the rotation angle. 【0023】 In recent years, by deploying wireless communication base stations at high altitudes, the communication area of ​​the base stations can be expanded. As a result, communication systems using HAPS (High Altitude Platform System), known as a high-altitude platform that mounts radio stations on aircraft that remain airborne at high altitudes, have been developed. 【0024】 This HAPS communicates with ground stations and works in conjunction with ground-based communication systems to provide communication services to users' wireless terminals. Therefore, ground stations need to communicate with HAPS at all times. To ensure good communication with HAPS, ground stations form antenna directivity towards the HAPS in the air and communicate. Forming antenna directivity allows for good communication within the range of the formed antenna directivity, but it narrows the communication range. Therefore, in order to communicate with HAPS orbiting in the air, ground stations need to constantly form antenna directivity towards HAPS and keep tracking it. 【0025】 Therefore, we consider a beam antenna device 1 that forms antenna directivity relative to HAPS in order to continue tracking (hereinafter, antenna directivity will be referred to as a beam, and the process of forming antenna directivity may be called beam tracking). 【0026】As shown in Figure 1, the beam antenna device 1 may consist of a flat plate portion 10, a first shaft portion 11, a first rotating body 12, a second shaft portion 13, a second rotating body 14, an antenna mounting portion 15, and a planar antenna 16. The flat plate portion 10 is a flat plate, and the first shaft portion 11 is an axis perpendicular to the plane formed by the flat plate portion 10. The first rotating body 12 rotates around the first shaft portion 11, that is, around the first axis 21. The second shaft portion 13 is provided on the first rotating body 12 and is an axis perpendicular to the first shaft portion 11. The second rotating body 14 rotates around the second shaft portion 13, that is, around the second axis 23. The antenna mounting portion 15 is a base portion for mounting the antenna fixed to the second rotating body 14, and the planar antenna 16 is provided on it. The planar antenna 16 may be a planar antenna for general satellite communication, and it forms antenna directivity in a direction perpendicular to the plane formed by this planar antenna. 【0027】 When this beam antenna device 1 is to communicate with HAPS by forming antenna directivity as shown in Figure 2, the first rotating body 12 is rotated around the first shaft portion 11, while the second rotating body 14 is rotated around the second shaft portion 13, so that the beam 30 formed by the planar antenna 16 mounted on the antenna mounting portion 15 can be directed towards HAPS 100. Incidentally, HAPS 100 continues to rotate in basically the same direction while drawing a swirling trajectory 101. For this reason, the first rotating body 12 needs to be configured to rotate infinitely around the first shaft portion 11. Infinite rotation means rotating in the same direction. In other words, in the state shown in Figure 2, the beam antenna device 1 continues to rotate in one direction, the pan direction (also called the yaw direction). If infinite rotation is not possible, in order to direct the beam towards HAPS 100, it is necessary to return the rotation of the first rotating body 12 to its original position, that is, to the opposite side from the end of the rotation, and during that time, there will be a timing when beam tracking with respect to HAPS is not possible. At this time, there is a problem in that the wireless communication of the wireless terminals 300a and 300b, which are receiving communication services from HAPS, is interrupted. 【0028】Therefore, in the present embodiment, there is provided a beam antenna device 1 as shown in FIG. 1, which can provide a wireless communication service by performing beam tracking so as to follow the HAPS 100, even if the first rotating body 12 cannot rotate infinitely with respect to the first shaft portion 11, that is, the beam antenna device 1 cannot rotate infinitely in the pan direction. 【0029】 FIG. 3 is a diagram schematically showing the communication system according to the present embodiment. As shown in FIG. 3, the communication system includes the HAPS 100, and the HAPS 100 is gliding and turning in the air so as to draw a turning orbit 101. The HAPS 100 communicates with a wireless terminal used by a user on the ground as a communication base station, and provides a wireless communication service to the user's wireless terminal. Further, the HAPS 100 communicates with a ground station including the beam antenna device 1. 【0030】 In the state where the beam antenna device 1 is not shown in FIG. 1 but is installed obliquely as shown in FIG. 3, that is, by installing the flat plate portion 10 so as to have a predetermined angle θ with respect to the horizontal plane, the first rotating body 12 can continue to follow the HAPS 100 and perform beam tracking even if it cannot rotate infinitely with respect to the first shaft portion 11. This will be described in detail below. 【0031】 <Configuration>FIG. 4 is a perspective view showing the outer shape of the beam antenna device 1. The beam antenna device 1 according to the present embodiment is installed and operated obliquely as shown in FIG. 3 with the beam antenna device 1 shown in FIG. 1. 【0032】 As shown in FIG. 4, the beam antenna device 1 may be composed of a flat plate portion 10, a first shaft portion 11, a first rotating body 12, a second shaft portion 13, a second rotating body 14, an antenna installation portion 15, and a planar antenna 16. 【0033】 The flat plate portion 10 is a flat plate. The flat plate portion 10 is actually installed at a predetermined angle θ with respect to the horizontal plane. 【0034】 The first shaft portion 11 is connected to the flat plate portion 10. 【0035】 Further, the first rotating body 12 is connected to the first shaft portion 11. 【0036】 The first rotating body 12 rotates about the first axis 21 of the first shaft portion 11, but cannot rotate infinitely. The first rotating body 12 may be configured to be rotatable with respect to the first shaft portion 11, or may be fixed to the first shaft portion 11 and the first shaft portion 11 may be configured to be rotatable with respect to the flat plate portion 10. The first rotating body 12 may be rotated by a motor (not shown). The first rotating body 12 (the first axis 21) is an axis perpendicular to the plane formed by the flat plate portion 10. 【0037】 A second shaft portion 13 is provided on the first rotating body 12. And a second rotating body 14 is connected to the second shaft portion 13. The second rotating body 14 rotates about the second axis 23 of the second shaft portion 13. The second rotating body 14 may be configured to be rotatable with respect to the second shaft portion 13, or may be fixed to the second shaft portion 13 and the second shaft portion 13 may be configured to be rotatable with respect to the first rotating body 12. The second shaft portion 13 (the second axis 23) is an axis perpendicular to the first axis 21. 【0038】 An antenna installation portion 15 is connected to the second rotating body 14. The antenna installation portion 15 is a base portion on which the planar antenna 16 is placed, and the planar antenna 16 forms antenna directivity and communicates with the HAPS 100. In the present embodiment, it is a planar antenna, but the planar antenna 16 may be a parabolic antenna. 【0039】 As shown in FIG. 3, the beam antenna device 1 is installed on the ground within the range directly below the turning orbit 101 described by the HAPS 100, that is, within the range of the circle 102. The beam antenna device 1 is connected to a ground station (a ground gateway station) or is provided in the ground station and communicates with the HAPS 100. Note that the beam antenna device 1 is not limited to the illustrated shape as long as it has the above-described configuration. 【0040】 <Functional configuration example> FIG. 5 is a functional block diagram showing a configuration example of an information processing device that controls the beam antenna device 1. 【0041】 As shown in FIG. 5, the beam antenna device 1 includes a communication unit 110, an input unit 120, a control unit 130, a storage unit 140, and a drive unit 150. 【0042】The communication unit 110 has the function of communicating with the connected ground station. The communication unit 110 also has the function of communicating with HAPS 100 via the planar antenna 16. The communication unit 110 forms an antenna directivity (beam 30) toward HAPS 100 and communicates with HAPS 100. The communication unit 110 also receives information indicating the position of HAPS 100 from the ground station and transmits it to the control unit 130. 【0043】 The input unit 120 is an input interface provided on the beam antenna device 1 that provides input to the beam antenna device 1. The input unit 120 may be implemented by, for example, a keyboard or a touch panel. The input unit 120 may, for example, receive input of information indicating the position of the HAPS 100 and transmit it to the control unit 130. 【0044】 The control unit 130 is a processor that controls each part of the beam antenna device 1. The control unit 130 executes various programs by referring to various data stored in the memory unit 140, and realizes the functions that the beam antenna device 1 is supposed to perform. 【0045】 The control unit 130 includes an acquisition unit 131, a calculation unit 132, and a drive control unit 133, which are the functions that the beam antenna device 1 is supposed to perform. 【0046】 The acquisition unit 131 acquires (receives) information indicating the position of the HAPS 100 via the communication unit 110 or the input unit 120, and transmits it to the calculation unit 132. 【0047】 The calculation unit 132 calculates the rotation angles of the first rotating body 12 and the second rotating body 14 based on the position of the HAPS 100 transmitted from the communication unit 110 or the input unit 120. 【0048】 Here, we will explain the method for calculating the angle θ at which the beam antenna device 1 is installed at an angle and the rotation angle of each rotating body. 【0049】 First, the installation angle of the beam antenna device 1 is (θ, ψ azimuth ) Let θ be the angle between the flat plate portion 10 and the horizontal plane 41 (horizontal line in the illustration). Also, as shown in the same Figure 4, ψ azimuthLet it be the angle between the reference direction 42 of the flat plate portion 10 and true north as the azimuth on a virtual horizontal plane. The reference direction 42 is ψ azimuth coincides with true north when it is 0. Also, the reference direction 42 may be an arbitrary direction that determines the direction of the flat plate portion 10 arbitrarily set by the user in the flat plate portion 10 when the flat plate portion 10 is placed on the horizontal plane. Note that ψ shown in FIG. 4 azimuth is strictly the angle between the direction when the reference direction is projected onto the virtual horizontal plane and true north. In FIG. 4, the dotted arrow indicating true north and the dotted arrow indicating the reference direction 42 are arrows on the virtual horizontal plane, and the virtual horizontal plane may be a plane parallel to the horizontal plane. 【0050】 When the position of the beam antenna device 1 is taken as the origin and the true north direction is taken as the x-axis, the relative position of the HAPS 100 at time t is (x(t), y(t), z(t)), and when the reference direction of the flat plate portion is taken as the x-axis, the relative position of the HAPS 100 at time t is (X(θ, t), Y(θ, t), Z(θ, t)), then 【0051】 【0052】 holds. In the above formula (1), Ry and Rz are rotation matrices and satisfy the following. 【0053】 【0054】 At this time, from the above formula (1), 【0055】 【0056】 can be calculated. 【0057】 Here, let the limit angle of tilt (the angle limit that the second rotating body 14 can take with respect to the first rotating body 12 and the limit angle that can rotate around the second axis 23) be θ tilt_max , and the limit angular velocity in the pan direction (the limit angular velocity around the first axis 21 of the first rotating body 12 of the beam antenna device 1) be ω pan_max . 【0058】 【0059】 【0060】 In this case, the value θ that satisfies equations (2) and (3) above is defined as the angle that the flat plate portion 10 makes with respect to the horizontal plane (the angle at which the beam antenna device 1 should be installed at an angle). In this way, the angle θ between the flat plate portion 10 and the horizontal plane can be determined. 【0061】 Then, the calculation unit 132 uses the current relative position (x, y, z) of the HAPS 100 transmitted from the communication unit 110 or the input unit 120 and the following formula (4) to determine: 【0062】 The following equation holds true, and based on equation (4), 【0063】 【0064】 【0065】 The calculation unit 132 calculates the rotation angles of the first rotating body 12 using equation (5) and the second rotating body 14 using equation (6). The calculation unit 132 transmits the calculated rotation angles of the first rotating body 12 and the second rotating body 14 to the drive control unit 133. In this way, the control angles of both rotating bodies can be calculated. 【0066】 The drive control unit 133 controls the drive unit 150 to control both motors so that the rotation angles of the first rotating body 12 and the second rotating body 14 match the calculated rotation angles of the first rotating body 12 and the second rotating body 14, based on the rotation angles of the first rotating body 12 and the second rotating body 14 calculated by the calculation unit 132. 【0067】The storage unit 140 has the function of storing various programs and data necessary for the operation of the beam antenna device 1. The storage unit 140 can be implemented using, for example, an HDD (Hard Disc Drive), an SSD (Solid State Drive), or flash memory, but is not limited to these. The storage unit 140 may also be cloud storage accessible by the beam antenna device 1. The storage unit 140 may store various programs and data necessary to realize the functions that the beam antenna device 1 should perform. The storage unit 140 may store programs that calculate the rotation angle of the motor controlling the rotation of the first rotating body 12 and the motor controlling the rotation of the second rotating body 14 based on the relative positional relationship between the beam antenna device 1 and the HAPS 100, and programs that control the rotation of the first rotating body 12 and the second rotating body 14 based on the calculated rotation angles. 【0068】 The drive unit 150 drives a motor that controls the rotation of the first rotating body 12 and a motor that controls the rotation of the second rotating body 14 of the beam antenna device 1. The drive unit 150 controls both motors according to instructions from the control unit 130 to control the direction in which the beam 30 is pointed. 【0069】 The above is an example of the configuration of the beam antenna device 1. 【0070】 <Operation> Figure 6 is a flowchart showing the operation of the beam antenna device 1, specifically the operation to track the HAPS 100 and direct the beam 30. 【0071】 As shown in Figure 6, the communication unit 110 or input unit 120 of the beam antenna device 1 acquires information indicating the position of HAPS 100 (relative position information) from the connected ground station and transmits it to the control unit 130 (step S601). 【0072】 The calculation unit 132 of the control unit 130 calculates the rotation angle of the first rotating body 12 and the rotation angle of the second rotating body 14 based on the relative position of the HAPS 100 and the above equations (5) and (6) (step S602). The calculation unit 132 transmits the calculated rotation angles, along with information indicating which rotation angle each is, to the drive control unit 133. 【0073】 The drive control unit 133 instructs the drive unit 150 to control the motors of each corresponding rotating body (first rotating body 12, second rotating body 14) so ​​that they rotate at the transmitted angle. The drive unit 150 controls the motors of each rotating body so that they rotate at the angle transmitted from the drive control unit 133 (step S603), and then terminates the process. 【0074】 The beam antenna device 1 sequentially performs the process shown in Figure 6 each time it acquires the position information of the HAPS 100. This allows the beam antenna device 1 to always direct the beam 30 toward the direction where the HAPS 100 is located, i.e., to direct the antenna's directivity. 【0075】 <Rotation Example> Figures 7 and 8 show the rotation of the beam antenna device 1, illustrating the changes observed from the same direction when it follows the HAPS 100 in the air. The arrows from the planar antenna 16 in the figures indicate the direction of the beam, which is the direction of the HAPS 100. Although the example shown in Figures 7 and 8 covers only half a rotation, it can be understood by observing the changes in the beam antenna device 1 from Figure 7 to Figure 8 that it is possible to follow the circling HAPS 100. 【0076】 Figure 9 is a graph showing the change in the control angle (rotation angle) of the pan angle and tilt angle. Figure 9 shows an example of the change in rotation angle (control example) when the aircraft is rotating at a speed of 250 km / h, with a radius of 2.5 km, and at a position 3 km directly above the beam antenna device 1, with the beam antenna device 1 positioned in the center of the rotation circle. In Figure 9, the solid line 91 represents the pan angle (ψ) when the inclination angle θ of the flat plate section 10 is 45 degrees. pan The dotted line 92 shows the change in the tilt angle (φ) at that time (θ = 45). tilt The dashed line 93 shows the change in the pan angle (ψ) when the inclination angle θ of the flat plate portion 10 is 55 degrees. pan The dotted line 92 shows the change in the tilt angle (φ) at that time (θ = 55). tiltThis shows the change in angle. Figure 9 shows an example of angle change when following the HAPS100 for one full rotation of its trajectory. As can be seen from the pan angle (solid line 91, dashed line 93), it can be seen that it is possible to follow without rotating 360 degrees. In other words, it is possible to follow the HAPS100 without infinite rotation in the pan direction. 【0077】 <Summary> As described above, the beam antenna device 1 consists of a flat plate portion 10, a first shaft portion 11 provided perpendicular to the flat plate portion 10, a first rotating body 12 that rotates relative to the first shaft portion 11, and a second rotating body 14 that rotates relative to a second shaft portion 13 provided on the first rotating body 12 and has an antenna mounting portion 15. Even if the first rotating body 12 does not rotate permanently around the first shaft portion 11, by installing the beam antenna device 1 so that the flat plate portion 10 is oblique to the horizontal plane, it is possible to maintain communication by performing uninterrupted beam tracking for the HAPS 100 that is orbiting in the air. 【0078】 <Modifications> It goes without saying that the beam antenna device 1 and terminal device 300 according to the above embodiment are not limited to the above embodiment and may be realized by other methods. Various modifications will be described below. 【0079】 (1) In the above embodiment, an example was described in which the beam antenna device 1 performs beam tracking on a HAPS orbiting in the air to perform communication. However, the target of beam tracking by the beam antenna device 1 is not limited to a HAPS. Any flying object that orbits in the air and has a communication function may be other than a HAPS, such as an aircraft, drone, helicopter, or airship. 【0080】(2) In the above embodiment, the beam antenna device 1 is installed at an angle. This can be achieved by providing a third rotating shaft and motor parallel to the flat plate portion 10 of the beam antenna device 1 shown in Figure 1, and driving the motor to rotate the flat plate portion 10 so that it is tilted at a predetermined angle θ. In this case, prior to executing the flowchart shown in Figure 6, the calculation unit 132 may perform the calculations shown in paragraphs 0055-0067 to calculate θ, and control the motor of the third rotating shaft provided on the flat plate portion 10 to tilt the flat plate portion 10 so that it is tilted at that angle. 【0081】 (3) The program for the beam antenna device 1 of this disclosure to calculate the rotation angles of the first rotating body 12 and the second rotating body 14 based on the position of the aircraft (HAPS) and to control the angle of the beam antenna device 1 may be provided stored in a computer-readable storage medium. The storage medium is a “non-temporary tangible medium” capable of storing the program. The storage medium may include any suitable storage medium such as an HDD or SSD, or two or more suitable combinations thereof. The storage medium may be volatile, non-volatile, or a combination of volatile and non-volatile. However, the storage medium is not limited to these examples and may be any device or medium capable of storing the program. 【0082】 The beam antenna device 1 can realize the functions of the multiple functional units shown in each embodiment by, for example, reading a program stored on a storage medium and executing the read program. Furthermore, the program may be provided to the beam antenna device 1 via any transmission medium (such as a communication network or broadcast waves). The beam antenna device 1 realizes the functions of the multiple functional units shown in each embodiment by, for example, executing a program downloaded via the Internet or the like. This program may be executed by the beam antenna device 1 or the like. 【0083】The program can be implemented using, but is not limited to, scripting languages ​​such as ActionScript and JavaScript®, object-oriented programming languages ​​such as Objective-C, Java®, and Python®, and markup languages ​​such as HTML5. 【0084】 At least a portion of the processing in the beam antenna device 1 may be implemented by cloud computing, which is comprised of one or more computers. Furthermore, each functional unit of the beam antenna device 1 may be implemented by one or more circuits that implement the functions shown in the above embodiment, or one circuit may implement the functions of multiple functional units. 【0085】 (4) According to each aspect of the present disclosure described above, a beam antenna device can be provided that performs uninterrupted beam tracking with a base station (HAPS) orbiting in the air to provide communication services, thereby contributing to the achievement of Sustainable Development Goal (SDG) 9, "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation." 【0086】 1 Beam antenna device 10 Flat plate section 11 First shaft section 12 First rotating body 13 Second shaft section 14 Second rotating body 15 Antenna mounting section 16 Planar antenna 100 HAPS 110 Communication section 120 Input section 130 Control section 131 Acquisition section 132 Calculation section 133 Drive control section 140 Storage section 150 Drive section 300 Terminal

Claims

1. A beam antenna device comprising: a flat plate portion; a first rotating body that rotates about a first axis perpendicular to the flat plate portion and does not rotate permanently relative to the flat plate portion; a second rotating body that rotates about a second axis perpendicular to the first axis; an antenna provided on the second rotating body in a direction perpendicular to the second axis and directed toward a fixed direction when viewed from the second rotating body; and a control unit that controls the rotation of the first rotating body and the second rotating body, wherein the flat plate portion is installed at a predetermined angle inclined with respect to a horizontal plane.

2. The beam antenna device according to claim 1, characterized in that the antenna directivity is directed toward an aircraft orbiting in the sky.

3. The beam antenna device according to claim 2, characterized in that the flying object is a HAPS (High Altitude Platform Station).

4. The beam antenna device according to claim 3, characterized in that the beam antenna device is installed within the range vertically below the rotational circle on which the HAPS rotates.

5. The installation angle of the beam antenna device is (θ, ψ azimuth ) where θ is the angle of the flat plate portion with respect to the horizontal plane, and ψ azimuth Let θ be the rotation angle from true north on a horizontal plane, where true north is 0 degrees in azimuth, and the reference direction of the flat plate part on the horizontal plane is oriented towards true north. tilt_max , the limiting angular velocity in the pan direction is ω pan_max Let (x(t), y(t), z(t)) be the relative position of the HAPS beam antenna device at time t. The above equation (1) is true, and Ry and Rz are rotation matrices that satisfy the following: From equation (1), This can be calculated, The beam antenna device according to claim 4, characterized in that θ that satisfies equations (2) and (3) is set to a predetermined angle.

6. The beam antenna device includes an acquisition unit that acquires the current relative position (x, y, z) of the HAPS, and the current relative position satisfies the following conditions: The control unit, The beam antenna device according to claim 5, characterized in that the rotation of the first rotating body and the second rotating body is controlled to such a state.

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