JP2019211272A - Measurement device, power receiving device, power transmitting device, flying object and flying system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measuring device which enables highly accurate position measurement, and a power receiving device, a power transmitting device, a flying body and a flight system related thereto. A position measuring device 12 as an example of a measuring device includes at least five antennas 121 for receiving pilot signals, and a phase difference meter 125 for measuring the phase difference between pilot signals received by the antennas 121. A signal relating to the phase difference measured by the phase difference meter 125 is input to the position calculation section 127, and the position calculation section 127 transmits a pilot signal based on the phase difference measured by the phase difference meter 125. Calculate the position. [Selection diagram] Fig. 4

Description

  The present invention relates to a measurement device used for position measurement, and a power receiving device, a power transmission device, a flying object, and a flight system related to the measurement device.

  Conventionally, a flying object such as a drone performs navigation control using the position of its own aircraft measured by a navigation device such as a GPS receiver or a barometric altimeter. For example, an aircraft disclosed in Patent Document 1 includes an own aircraft position calculation unit that calculates own aircraft position information IP based on measurement values of GPS signals, barometric altimeters, etc., an aircraft's destination position information, and an own aircraft. And a movement control unit that performs navigation control based on the position information IP.

  Conventionally, when performing automatic landing with a flying object such as a drone, the horizontal position information of the own aircraft and the relative altitude information of the own aircraft and the landing surface are required. The GNSS (Global Navigation Satellite System), which is a single positioning method, is used to measure the horizontal position, and the barometric altimeter is used to measure the relative altitude, but it requires atmospheric pressure information at the landing point. Therefore, in general, automatic take-off and landing is limited to the case where it is performed on the same altitude ground.

JP 2017-69799 A

  The drone automatic landing control requires highly accurate relative altitude information to avoid the ground effect. However, if there is a difference in altitude between the take-off point and the landing point, the barometric altimeter requires barometric pressure information at the landing point, but the barometric pressure depends on the air condition, temperature, wind speed, etc. The relative altitude information with an accuracy of about ± 20 cm to 30 cm required for avoiding the ground effect cannot be handled by the barometric altimeter.

  Moreover, the landing accuracy in the conventional automatic drone landing is about 2 m to 3 m. When wireless power transmission is performed between a drone in a landing state or a hovering state and a device installed on the ground, it is difficult to say that the conventional landing accuracy is sufficient. For example, in the case of this wireless power transmission, the positional accuracy in the horizontal direction of about ± 20 cm is required in the positional relationship between the power transmitting antenna and the power receiving antenna.

  The landing accuracy depends mainly on the positioning accuracy of GNSS, which is a navigation device. High positioning accuracy can be achieved by changing the single positioning method to the relative positioning method. However, since the GNSS positioning information at an appropriate reference point is required from outside the aircraft, the positioning system becomes complicated and is not practically used. In particular, the measurement accuracy of the altimeter barometer is affected by atmospheric conditions, temperature, wind speed, and the like, and this tendency becomes more prominent if the difference in altitude is large.

  In addition, in order to improve the measurement accuracy of the horizontal position and the relative altitude, an optical method or an ultrasonic method is being considered in place of the conventional navigation device. However, these methods inevitably deteriorate the measurement accuracy due to the influence of temperature, fog, rain, lens dirt, shielding objects, and the like.

  An object of the present invention is to provide a measurement device that enables highly accurate position measurement, and a power receiving device, a power transmission device, a flying object, and a flight system related to the measurement device.

  The measurement apparatus of the present invention includes at least five measurement antennas that receive a pilot signal, and a phase difference measurement unit that measures a phase difference of the pilot signal received by the measurement antenna, and the phase difference measurement A signal related to the phase difference measured by the unit is input to the arithmetic unit, and the arithmetic unit calculates a transmission position where the pilot signal is transmitted based on the phase difference measured by the phase difference measuring unit.

  ADVANTAGE OF THE INVENTION According to this invention, the measuring device which enables a highly accurate position measurement is realizable.

FIG. 1 is a diagram showing an outline of an autonomous flight system 10 according to the first embodiment. FIG. 2 is a block diagram showing an outline of the autonomous flight system 10. FIG. 3 is a block diagram of the transmission / reception unit 113. FIG. 4 is a block diagram of the position measuring device 12. FIG. 5A shows the arrangement of the antenna 121. FIG. 5B is a diagram illustrating the arrangement of the antennas 121 as viewed from the Z-axis direction. FIG. 6 is a circuit diagram of the modulator 129. FIG. 7 is a block diagram of a transmission / reception unit according to a modification of the first embodiment. FIG. 8 is a block diagram of a position measuring apparatus according to a modification of the first embodiment. FIG. 9 is a diagram illustrating an outline of the power transmission system 20 according to the second embodiment. FIG. 10 is a block diagram of the main part of the drone 21. FIG. 11 is a block diagram illustrating circuits of the power receiving system and the communication system of the power receiving device 22. FIG. 12 is a block diagram illustrating a part of a position measurement system circuit of the power receiving device 22. FIG. 13 is a plan view of the rectenna array 261. FIG. 14A is a block diagram of the rectifier 263 of the rectenna 262B. FIG. 14B is a circuit diagram of the modulator 229. FIG. 15 is a diagram illustrating an outline of the power transmission system 30 according to the third embodiment. FIG. 16 is a block diagram of the main part of the drone 31. FIG. 17 is a circuit diagram of the protection circuit 359. FIG. 18 is a block diagram showing a power receiving system and a communication system circuit of the power receiving device 32. FIG. 19 is a diagram illustrating an outline of a power transmission system 40 according to the fourth embodiment. FIG. 20 is a block diagram of the main part of the drone 41. FIG. 21 is a plan view of the rectenna array 461. FIG. 22 is a block diagram illustrating a power transmission system and a communication system circuit of the power transmission device 42. FIG. 23 is a diagram illustrating an overview of a power transmission system 50 according to the fifth embodiment. FIG. 24 is a diagram illustrating an overview of a power transmission system 50 according to the fifth embodiment. FIG. 25 is a block diagram illustrating a position measurement system and a communication system circuit of the power transmission device 52. FIG. 26 is a plan view showing an arrangement of the radial slot antenna 542 for power transmission, the antenna 121 for position measurement, and the antenna 153 for communication. FIG. 27A illustrates the arrangement of the antenna 121. FIG. 27B is a diagram illustrating the arrangement of the antennas 121 as viewed from the Z-axis direction. FIG. 28 is a block diagram showing a power transmission system circuit of the power transmission device 52. FIG. 29 is a block diagram showing a circuit of a power transmission system according to a modification of the fifth embodiment.

  Hereinafter, several specific examples will be given with reference to the drawings to show a plurality of modes for carrying out the present invention. In each embodiment, a different point from the embodiment described before that embodiment will be described. In particular, the same operation effect by the same configuration will not be sequentially described for each embodiment.

<< First Embodiment >>
FIG. 1 is a diagram showing an outline of an autonomous flight system 10 according to the first embodiment. The autonomous flight system 10 includes a drone 11 and a position measuring device 12. The autonomous flight system 10 is an example of the “flight system” of the present invention. The drone 11 is an example of the “aircraft” of the present invention. The position measurement device 12 is an example of the “measurement device” in the present invention.

  For example, the drone 11 flies autonomously by a waypoint method. The position measuring device 12 is installed on the ground, for example. The drone 11 autonomously flies using the position of the own aircraft acquired from the GPS receiver and the barometric altimeter until reaching the inside of the basket 13 from the departure point. The basket 13 is an arbitrary area set in advance above the position measuring device 12. When the drone 11 reaches the basket 13, the drone 11 autonomously flies using the position of the drone 11 acquired from the position measuring device 12 instead of the position of the drone 11 acquired from the GPS receiver and the barometric altimeter.

  For example, when the drone 11 lands, the drone 11 descends by performing flight control using the position acquired from the position measurement device 12 to an altitude at which the influence of the ground effect cannot be avoided. Then, after reaching the altitude where the influence of the ground effect cannot be avoided, the drone 11 turns off the flight control, descends in a non-controlled state, and touches down. For example, when the drone 11 hovers over the position measurement device 12, the drone 11 controls the hovering state using the position obtained from the position measurement device 12.

  The drone 11 transmits a pilot signal to the position measuring device 12 in order to acquire the position of the drone 11 from the position measuring device 12. This pilot signal is an electromagnetic wave, for example, a microwave in a 2.45 GHz band or a 5.8 GHz band. As will be described later, the position measurement device 12 measures the position of the drone 11 using the received pilot signal, places the position data including the position on the data signal, and transmits the data signal to the drone 11.

  FIG. 2 is a block diagram showing an outline of the autonomous flight system 10. The drone 11 includes a GNSS receiver 111, a barometric altimeter 112, a transmission / reception unit 113, an antenna 142, and a control unit 115. The antenna 142 is an example of the “aircraft antenna” in the present invention.

  The GNSS receiver 111 is a GPS receiver, for example, and measures the position (latitude and longitude) of its own device in the horizontal direction using a GNSS signal from a navigation satellite. The transmission / reception unit 113 transmits a pilot signal from the antenna 142 to the position measurement device 12. The transmission / reception unit 113 receives the data signal transmitted from the position measurement device 12 by the antenna 142 and extracts the position data from the data signal. The antenna 142 is disposed at the lower part of the drone 11, for example.

  The control unit 115 includes a CPU, a memory, and other electronic circuits, and controls the entire operation of the drone 11. The control unit 115 includes a flight control unit 116 that controls autonomous flight of the drone 11. The flight control unit 116 uses the latitude and longitude of the aircraft obtained from the GNSS receiver 111 and the relative altitude of the aircraft obtained from the measurement value of the barometric altimeter 112 until the flight control unit 116 reaches the basket 13 from the departure point. Control the flight. When the flight control unit 116 reaches the basket 13, the flight control unit 116 instructs the transmission / reception unit 113 to transmit a pilot signal. The flight control unit 116 uses the position data extracted from the data signal received by the transmission / reception unit 113 after reaching the basket 13, that is, the position of the drone 11 measured by the position measurement device 12. Perform flight control.

  FIG. 3 is a block diagram of the transmission / reception unit 113. The transmission / reception unit 113 includes a transmission unit 141, a reception unit 143, and a circulator 144. The transmitter 141 is an example of the “pilot signal transmitter” in the present invention. The receiving unit 143 is an example of the “second communication unit” in the present invention.

Transmitter 141 transmits a pilot signal from antenna 142. The frequency of the pilot signal is, for example, a 2.45 GHz band or a 5.8 GHz band. The receiving unit 143 receives the data signal transmitted from the position measuring device 12 by the antenna 142 and extracts position data from the data signal. At this time, the reception unit 143 performs homodyne detection using the demultiplexed signal of the pilot signal demultiplexed by the transmission unit 141. As a result, interference between the data signal transmitted from the position measuring device 12 and the pilot signal is suppressed. The position data extracted by the receiving unit 143 includes the position coordinates d _X , d _Y , and H of the drone 11 measured by the position measuring device 12. Details of the position coordinates d _X , d _Y , and H will be described later. The circulator 144 is connected to the transmission unit 141, the antenna 142, and the reception unit 143. The circulator 144 outputs a signal input to the port on the transmission unit 141 side from the port on the antenna 142 side, and outputs a signal input to the port on the antenna 142 side from the port on the reception unit 143 side. Thereby, the antenna 142 is shared by the pilot signal transmission and the data signal reception.

  FIG. 4 is a block diagram of the position measuring device 12. The position measurement device 12 includes a position measurement system and a communication system circuit. The position measurement system circuit includes five antennas 121, five mixers 122, a signal generator 123, five low-pass filters 124, four phase difference meters 125, and a position calculation unit 127. The communication system circuit includes a modulation control unit 128, a modulator 129, and an antenna 121O.

  The antenna 121 is an example of the “measuring antenna” in the present invention. The phase difference meter 125 is an example of the “phase difference measurement unit” in the present invention. The position calculation unit 127 is an example of the “calculation device” in the present invention. The antenna 121O is an example of the “communication antenna” in the present invention. The configuration including the modulation control unit 128 and the modulator 129 is an example of the “first communication unit” in the present invention. The modulator 129 is an example of the “modulation unit” in the present invention.

  In addition, when distinguishing each antenna of the position measuring device 12, it describes as antenna 121A, 121B, 121F, 121G, 121O, and when not distinguishing, it describes as antenna 121.

The mixer 122 mixes the pilot signal received by the antenna 121 and the signal generated by the signal generator 123, and outputs a signal having a frequency fp ± fs. Here, the frequency fp is the frequency of the pilot signal, and the frequency fs is the frequency of the signal generated by the signal generator 123. The low-pass filter 124 passes a signal having a frequency fp-fs. For example, when the signal generator 123 generates a signal having a frequency 20 MHz lower than the pilot signal, the frequency of the signal passing through the low-pass filter 124 is 20 MHz. The phase difference meter 125 measures the magnitude of the difference between the phase of the pilot signal received by the antenna 121O and the phase of the pilot signal received by the antennas 121A, 121B, 121F, and 121G, and the phase difference φ _A , φ _B , φ _F , φ _G are output. The antenna 121O is an example of the “reference antenna” in the present invention.

The phase difference φ _A is a phase difference between the pilot signal received by the antenna 121O and the pilot signal received by the antenna 121A. The phase difference φ _B is a phase difference between the pilot signal received by the antenna 121O and the pilot signal received by the antenna 121B. The phase difference φ _F is a phase difference between the pilot signal received by the antenna 121O and the pilot signal received by the antenna 121F. The phase difference φ _G is a phase difference between the pilot signal received by the antenna 121O and the pilot signal received by the antenna 121G.

  Here, the arrangement of the antenna 121 will be described. FIG. 5A shows the arrangement of the antenna 121. FIG. 5B is a diagram illustrating the arrangement of the antennas 121 as viewed from the Z-axis direction. Here, the coordinate axis is taken so that the origin O is the position of the antenna 121O, the positive direction of the Z-axis is vertically upward, and the positive direction of the X-axis is the direction from the origin O to the position B of the antenna 121B. Yes. The position A of the antenna 121A is separated from the origin O by a distance L in the negative direction of the X axis. The position B of the antenna 121B is separated from the origin O by a distance L in the positive direction of the X axis. The position F of the antenna 121F is separated from the origin O by a distance L in the positive direction of the Y axis. The position G of the antenna 121G is separated from the origin O by a distance L in the negative direction of the Y axis. The antenna 121 is disposed, for example, on the upper part of the position measurement device 12.

The control unit 126 includes a CPU, a memory, and other electronic circuits, and controls the entire operation of the position measurement device 12. The control unit 126 includes a position calculation unit 127 and a modulation control unit 128. The position calculation unit 127 calculates the position coordinates d _X , d _Y , H of the drone 11 from the following formula.

Here, d _X is the X coordinate of the position P of the drone 11 in the coordinate system shown in FIG. d _Y is the Y coordinate of the position P of the drone 11 in the coordinate system shown in FIG. H is the Z coordinate of the position P of the drone 11 in the coordinate system shown in FIG. OP is the distance from the origin O to the position P of the drone 11. λ is the wavelength of the pilot signal. As described above, the position calculation unit 127 calculates the current three-dimensional position of the drone 11. In other words, the position calculation unit 127 calculates a transmission position where the pilot signal is transmitted.

Modulator 129 modulates the reflected signal of the pilot signal received by antenna 121O. The modulation control unit 128 controls the modulator 129 to place the position data including the position coordinates d _X , d _Y , H calculated by the position calculation unit 127 on the reflected signal. More specifically, the modulation control unit 128 controls the modulator 129 and superimposes the subcarrier carrying the position data on the reflected wave. The modulated reflected signal is transmitted from the antenna 121O to the drone 11 as a data signal. The position coordinates d _X , d _Y , and H are examples of “data based on phase difference” in the present invention.

  The modulation control unit 128 transmits the identifier (identification code) of the position measurement device 12 built in the modulation control unit 128 to the drone 11 prior to transmission of the position data. The identifier of the position measuring device 12 may be associated with the landing point identifier of the drone 11, for example.

  The directional coupler 151 is connected to the antenna 121O, the mixer 122, and the modulator 129. The directional coupler 151 outputs a signal input to the port on the antenna 121O side from the port on the mixer 122 side and the port on the modulator 129 side, and the signal input to the port on the modulator 129 side on the antenna 121O side. Output from the port. Thereby, the antenna 121O is shared by the reception of the pilot signal and the transmission of the data signal.

  FIG. 6 is a circuit diagram of the modulator 129. The modulator 129 includes a diode D2, capacitors C1 and C2, a resistor R1, and a quarter wavelength line 154. The diode D2 is turned on / off by a control voltage (reverse voltage) applied from the modulation control unit 128. The diode D2 is, for example, a PIN diode. The load resistance of the antenna 121O is changed by turning on / off the diode D2 according to the control voltage applied from the modulation control unit 128. Thereby, the reflected signal of the pilot signal is modulated.

  FIG. 7 is a block diagram of a transmission / reception unit according to a modification of the first embodiment. FIG. 8 is a block diagram of a position measuring apparatus according to a modification of the first embodiment. As shown in FIG. 7, an antenna 142A for transmitting a pilot signal and an antenna 142B for receiving a data signal may be provided separately. As shown in FIG. 8, the position measurement antenna 121 and the data signal transmission antenna 153 may be provided separately.

  In the first embodiment, the position measurement device 12 calculates the position of the drone 11 using the phase difference of the pilot signals received by the five antennas 121. Thereby, the position measuring device 12 can measure the position of the drone 11 flying over the position measuring device 12 with high accuracy. In particular, the position measuring device 12 can measure the position of the drone 11 with high accuracy even in a severe environment caused by temperature, wind, fog, rain, dirt, shielding objects other than metal, and the like.

  Further, the drone 11 can automatically land at the target point with high accuracy by performing flight control using the position of the drone 11 measured by the position measuring device 12. In particular, the drone 11 can automatically land at the target point even when the altitude difference between the takeoff and landing points is large or in the above severe environment.

<< Second Embodiment >>
FIG. 9 is a diagram illustrating an outline of the power transmission system 20 according to the second embodiment. The power transmission system 20 includes a drone 21 and a power receiving device 22. The drone 21 supplies power to the power receiving device 22 while hovering over the power receiving device 22 installed on the ground. At this time, the drone 21 uses the position of the drone 21 measured by the power receiving device 22 to control the hovering state. The transmitted radio wave transmitted from the drone 21 is not only used for supplying power to the power receiving device 22 but also used as a pilot signal for measuring the position of the drone 21.

  FIG. 10 is a block diagram of the main part of the drone 21. The drone 21 includes a power transmission system circuit and a receiving unit 143. The power transmission system circuit includes a power transmission unit 245, a distributor 246, and an array antenna 242. The power transmission unit 245 generates high-frequency power based on the control of the control unit 115 (see FIG. 2), supplies the high-frequency power to the array antenna 242, and radiates transmitted radio waves from the array antenna 242. The array antenna 242 is disposed, for example, below the drone 21. The transmitted radio wave is, for example, a microwave in a 2.45 GHz band or a 5.8 GHz band. The distributor 246 distributes the high frequency power to each antenna element of the array antenna 242.

  The circulator 144 is connected to the antenna element 247 of the array antenna 242, the receiving unit 143 and the distributor 246. The circulator 144 outputs the high frequency power input to the port on the distributor 246 side from the port on the antenna element 247 side, and outputs the signal input to the port on the antenna element 247 side from the port on the receiving unit 143 side. Thereby, one antenna element 247 of the array antenna 242 is shared for power transmission and reception of data signals.

  The power receiving device 22 includes circuits of a power receiving system, a communication system, and a position measuring system. FIG. 11 is a block diagram illustrating circuits of the power receiving system and the communication system of the power receiving device 22. FIG. 12 is a block diagram illustrating a part of a position measurement system circuit of the power receiving device 22. The power receiving system circuit includes a rectenna array 261, a plurality of current collection sub-buses 264, a plurality of rectenna controllers 265, a current collection main bus 266, and a storage battery 267. The communication system circuit includes a modulation control unit 128, a modulator 229, and a rectenna 262B. The position measurement system circuit includes five antennas 221A, five mixers 122, a signal generator 123, five low-pass filters 124, four phase difference meters 125, and a position calculation unit 127. The circuit of the position measurement system of the power receiving device 22 is basically configured similarly to the circuit of the position measurement system according to the first embodiment.

  The rectenna array 261 includes five rectennas 262A, one rectenna 262B, and a plurality of rectennas 262C. The rectenna 262A includes an antenna 221A and a rectifier 263. The rectenna 262B includes an antenna 221B and a rectifier 263. The rectenna 262C includes an antenna 221C and a rectifier 263. The antenna 221A is shared by power reception and position measurement. The antenna 221B is shared for power reception and data signal transmission. The antenna 221C is used only for power reception.

  Note that when the rectennas 262A, 262B, and 262C are not distinguished, they are simply referred to as rectennas 262. When the antennas 221A, 221B, and 221C are not distinguished, they are simply referred to as the antenna 221.

  FIG. 13 is a plan view of the rectenna array 261. The rectenna array 261 has a square shape in plan view. The rectennas 262 are arranged in a lattice pattern. The rectenna 262A is arranged similarly to the antenna 121 according to the first embodiment. The rectenna 262B is arranged, for example, at a corner of the rectenna array 261 in plan view. The rectenna array 261 is disposed, for example, on the power receiving device 22.

  The rectifier 263 rectifies and converts the high frequency power input to the antenna 221 to DC power. The rectenna controller 265 controls the load resistance of the rectenna block so that the efficiency of the rectification conversion of the rectenna 262 is always maximized. The rectenna block includes a plurality of rectennas 262 connected to the same current collecting subbus 264. FIG. 11 does not illustrate some of the rectenna blocks.

  The DC power output from the rectenna 262 is collected for each rectenna block by the current collecting sub-bus 264. The DC power collected for each rectenna block is collected by the current collecting main bus 266 and stored in the storage battery 267. This DC power may be stored in the electric double layer capacitor instead of the storage battery 267. The diode D1 is connected between the rectenna controller 265 and the storage battery 267, and prevents reverse current flow.

  The directional coupler 268 is connected to the antenna 221A, the rectifier 263, and the mixer 122. The directional coupler 268 outputs the high frequency power input to the port on the antenna 221A side from the port on the rectifier 263 side, and outputs a part of the high frequency power from the port on the mixer 122 side. Thereby, the transmitted radio wave transmitted from the drone 21 is shared for power feeding and position measurement. The antenna 221A is shared by power reception and position measurement.

The modulator 229 changes the reflected resistance of the transmitted radio wave input to the rectenna 262B by changing the load resistance of the rectenna 262B, and modulates the reflected wave. The modulation control unit 128 controls the modulator 229 to place the position data including the position coordinates d _X , d _Y , H calculated by the position calculation unit 127 on the reflected wave. The modulated reflected wave is radiated from the antenna 221B as a data signal. As a result, the antenna 221B is shared for power reception and data signal transmission.

  FIG. 14A is a block diagram of the rectenna 262B. The rectifier 263 of the rectenna 262B includes a rectifying element 253, an input filter 254, and an output filter 255. The rectifying element 253 is a diode, for example, and rectifies the transmitted radio wave input to the antenna 221B. The input filter 254 prevents harmonics generated during rectification by the rectifier element 253 from being output to the antenna 221B side. The output filter 255 outputs only DC power to the storage battery 267 side.

  14A illustrates the rectifier 263 of the rectenna 262B, the rectifier 263 of the rectenna 262A and 262C is configured similarly to the rectifier 263 of the rectenna 262B.

  FIG. 14B is a circuit diagram of the modulator 229. Modulator 229 includes transistor Q1, resistors R3, R4, R5, and inductance L1. The transistor Q1 is an FET, for example, and is turned on / off by a control voltage applied from the modulation control unit 128. For this reason, the load resistance of the rectenna 262B changes according to the control voltage applied from the modulation control unit 128. As a result, a change occurs in the reflected wave of the transmitted radio wave input to the rectenna 262B, and the reflected wave is modulated.

  The modulated wave that modulates the reflected wave has a frequency of 16 kHz, for example. The modulator 229 varies the load resistance of the rectenna 262B at the frequency of the modulated wave. The control band of the rectenna controller 265 is set in a range in which the fluctuation of the load resistance does not affect the control of the rectenna controller 265. The inductance L1 cuts the modulated wave in order to avoid the influence of the modulated wave on the rectenna controller 265.

  In the second embodiment, the drone 21 controls the hovering state using the position of the drone 21 measured by the power receiving device 22. For this reason, the drone 21 can reliably supply power to the power receiving device 22 while hovering over the power receiving device 22.

<< Third Embodiment >>
FIG. 15 is a diagram illustrating an outline of the power transmission system 30 according to the third embodiment. The power transmission system 30 includes a drone 31 and a power receiving device 32. The power receiving device 32 is installed on the ground, for example. The drone 31 descends by performing flight control using the position of the drone 31 measured by the power receiving device 32, opens the folding leg 317, and lands. At this time, the drone 31 lands so that the array antenna 242 (see FIG. 16) of the drone 31 faces the rectenna array 261 (see FIG. 18) of the power receiving device 32. The drone 31 supplies power to the power receiving device 32 in the landing state. The power receiving device 32 does not have to measure the position of the drone 31 during power feeding.

  FIG. 16 is a block diagram of the main part of the drone 31. The drone 31 includes a power transmission system circuit, a transmission unit 141, and a reception unit 143. The power transmission system circuit according to the third embodiment is basically configured in the same manner as the power transmission system circuit according to the second embodiment.

  The transmission unit 141 transmits a pilot signal when the drone 31 descends. The receiving unit 143 receives a data signal when the drone 31 descends. The power transmission unit 245 radiates transmitted radio waves from the array antenna 242 during power feeding. The frequency of the pilot signal is the same as the frequency of the transmitted radio wave. The frequency of the pilot signal and the transmitted radio wave is, for example, the 2.45 GHz band or the 5.8 GHz band. The transmission power of the pilot signal is extremely small compared to the transmission power, for example, about 10 mW.

  Circulator 144 is connected to antenna element 247, circulator 358 and directional coupler 356. The circulator 144 outputs a signal input to the port on the directional coupler 356 side from the port on the antenna element 247 side, and outputs a signal input to the port on the antenna element 247 side from the port on the circulator 358 side. The directional coupler 356 is connected to the circulator 144, the distributor 246 and the transmission unit 141. The directional coupler 356 outputs a signal input to the port on the distributor 246 side and the port on the transmission unit 141 side from the port on the circulator 144 side. Thereby, one antenna element 247 of the array antenna 242 is shared by power transmission, transmission of a pilot signal, and reception of a data signal.

  Circulator 358 is connected to circulator 144, protection circuit 359, and terminator W1. The circulator 358 outputs a signal input to the port on the circulator 144 side from the port on the protection circuit 359 side, and outputs a signal input to the port on the protection circuit 359 side from the port on the terminator W1 side. An input port of the protection circuit 359 is connected to the circulator 358, and an output port of the protection circuit 359 is connected to the receiving unit 143. As described later, the protection circuit 359 allows a low-power signal to pass but does not allow a high-power signal to pass. For this reason, the data signal input to the antenna element 247 when the drone 31 descends is input to the receiving unit 143. On the other hand, the reflected wave of the transmitted radio wave input to the antenna element 247 during power feeding is not input to the receiving unit 143 but is absorbed by the terminator W1. As described above, the protection circuit 359 protects the reception unit 143 connected to the output port from high power input to the input port.

  FIG. 17 is a circuit diagram of the protection circuit 359. The protection circuit 359 has a quarter wavelength line 154 and diodes D3 and D4. The diodes D3 and D4 are, for example, PIN diodes. When a high-power signal is input to the input port of the protection circuit 359, one of the diodes D3 and D4 to which a reverse voltage is applied is turned on. As a result, the input end of the quarter wavelength line 154 (circulator 358 side) The impedance at the end of Therefore, a high-power signal input to the input port of the protection circuit 359 cannot pass through the protection circuit 359 and is not input to the reception unit 143. When a low-power signal is input to the input port of the protection circuit 359, one of the diodes D3 and D4 to which the reverse voltage is applied is turned off. Therefore, a low-power signal input to the input port of the protection circuit 359 passes through the protection circuit 359 and is input to the reception unit 143.

  The power receiving device 32 includes circuits of a power receiving system, a communication system, and a position measuring system. FIG. 18 is a block diagram showing a power receiving system and a communication system circuit of the power receiving device 32. The power reception system circuit of the power reception device 32 is basically configured in the same manner as the power reception system circuit according to the second embodiment. The communication circuit of the power receiving device 32 is basically configured in the same manner as the communication circuit according to the first embodiment. The position measurement system circuit of the power receiving apparatus 32 includes five antennas 221A and the circuit shown in FIG. 12, and is basically configured similarly to the position measurement system circuit according to the second embodiment.

  The input port of the protection circuit 371 is connected to the directional coupler 268, and the output port of the protection circuit 371 is connected to the mixer 122 (see FIG. 12) of the position measurement system circuit. The protection circuit 371 is configured similarly to the protection circuit 359 (see FIG. 17). The circulator 372 is connected to the antenna 221B, the protection circuit 589, and the rectifier 263. The circulator 372 outputs a signal input to the port on the antenna 221B side from the port on the protection circuit 589 side, and outputs a signal input to the port on the protection circuit 589 side from the port on the rectifier 263 side. The input port of the protection circuit 589 is connected to the circulator 372, and the output port of the protection circuit 371 is connected to the modulator 129. The protection circuit 589 is configured similarly to the protection circuit 359 (see FIG. 17). For this reason, the high frequency power input to the antenna 221 </ b> B at the time of power feeding is not input to the communication system circuit but is stored in the storage battery 267.

  In the third embodiment, the drone 31 supplies power to the power receiving device 32 in the landing state. For this reason, since power transmission is performed at a short distance, it is necessary to protect circuits such as a communication system and a position measurement system that handle weak power from high power of the power transmission system. The receiving unit 143 of the drone 31 is protected from the reflected wave of the transmitted radio wave reflected by the power receiving device 32 by the protection circuit 359. The circuit of the position measurement system is protected from a transmission wave input to the antenna 221A by the protection circuit 371. The circuit of the communication system is protected from a transmission wave input to the antenna 221B by the protection circuit 589.

<< Fourth Embodiment >>
FIG. 19 is a diagram illustrating an outline of a power transmission system 40 according to the fourth embodiment. The power transmission system 40 includes a drone 41 and a power transmission device 42. The power transmission device 42 is installed on the ground, for example. The drone 41 descends by performing flight control using the position of the drone 41 measured by the power transmission device 42, opens the folding leg 317, and lands. At this time, the drone 41 lands so that the rectenna array 461 (see FIG. 20) of the drone 41 faces the array antenna 242 (see FIG. 22) of the power transmission device 42. The rectenna array 461 is disposed, for example, below the drone 41. The array antenna 242 is disposed on the power transmission device 42, for example. The power transmission device 42 supplies power to the drone 41 after the drone 41 has landed. The power transmission device 42 does not have to measure the position of the drone 41 during power feeding.

  FIG. 20 is a block diagram of the main part of the drone 41. The drone 41 includes a power receiving system circuit, a transmission unit 141, and a reception unit 143. The power receiving system circuit of the drone 41 is basically configured similarly to the power receiving system circuit according to the third embodiment.

  Transmitted radio waves are input to the power receiving system circuit during power feeding. The transmission unit 141 transmits a pilot signal when the drone 41 descends. The receiving unit 143 receives a data signal when the drone 41 descends. The frequency of the pilot signal is the same as the frequency of the transmitted radio wave. The frequency of the pilot signal and the transmitted radio wave is, for example, the 2.45 GHz band or the 5.8 GHz band. The transmission power of the pilot signal is extremely small compared to the transmission power, for example, about 10 mW.

  The rectenna array 461 includes a rectenna 262D and a rectenna 262E. The rectenna 262D has an antenna 221D and a rectifier 263. The rectenna 262E has an antenna 221E and a rectifier 263. The antenna 221D is shared for power reception and transmission of a pilot signal. The antenna 221E is commonly used for power reception and data signal reception. An antenna 221D for transmitting a pilot signal and an antenna 221E for receiving a data signal are provided separately.

  FIG. 21 is a plan view of the rectenna array 461. The rectennas 262 are arranged in a lattice pattern. The rectennas 262D and 262E are arranged substantially at the center of the rectenna array 461.

  Directional coupler 475 is connected to antenna 221D, rectifier 263, and circulator 476. The directional coupler 475 outputs a signal input to the port on the circulator 476 side from the port on the antenna 221D side. The directional coupler 475 outputs the signal input to the port on the antenna 221D side from the port on the rectifier 263 side and the circulator 476 side. The circulator 476 is connected to the directional coupler 475, the terminator W2, and the transmission unit 141. The circulator 476 outputs the signal input to the port on the transmission unit 141 side from the port on the directional coupler 475 side, and outputs the signal input to the port on the directional coupler 475 side from the port on the terminator W2 side. To do. The high frequency power output from the port on the circulator 476 side of the directional coupler 475 at the time of feeding is not input to the transmission unit 141 but is absorbed by the terminator W2.

  The circulator 478 is connected to the antenna 221E, the protection circuit 479, and the rectifier 263. The circulator 478 outputs a signal input to the port on the antenna 221E side from the port on the protection circuit 479 side, and outputs a signal input to the port on the protection circuit 479 side from the port on the rectifier 263 side. The input port of the protection circuit 479 is connected to the circulator 478, and the output port of the protection circuit 479 is connected to the receiving unit 143. The protection circuit 479 is configured similarly to the protection circuit 359 (see FIG. 17). For this reason, the high frequency power input to the antenna 221E during power feeding is not input to the receiving unit 143 but is stored in the storage battery 267.

  The power transmission device 42 includes a power transmission system, a communication system, and a position measurement system. FIG. 22 is a block diagram illustrating a power transmission system and a communication system circuit of the power transmission device 42. The power transmission system circuit of the power transmission device 42 is basically configured in the same manner as the power transmission system circuit according to the second embodiment. The array antenna 242 of the power transmission device 42 is an example of the “power transmission antenna” in the present invention.

  The communication system circuit of the power transmission apparatus 42 is basically configured in the same manner as the communication system circuit according to the first embodiment. The communication system circuit of the power transmission device 42 is configured to be electrically separated from the power transmission system circuit. The data signal transmission antenna 153 and the array antenna 242 are provided separately. The diode D2 (see FIG. 6) of the modulator 129 is turned off during power feeding. The position measurement system circuit of the power transmission apparatus 42 includes five antennas 447 and the circuit shown in FIG. 12, and is basically configured in the same manner as the position measurement system circuit according to the second embodiment.

  Directional coupler 481 is connected to antenna element 447, distributor 246 and protection circuit 590. The directional coupler 481 outputs the signal input to the port on the distributor 246 side from the port on the antenna element 447 side. The directional coupler 481 outputs a signal input to the port on the antenna element 447 side from the port on the distributor 246 side and the protection circuit 590 side. The input port of the protection circuit 590 is connected to the directional coupler 481, and the output port of the protection circuit 590 is connected to the mixer 122 (see FIG. 12) of the position measurement system circuit. The protection circuit 590 is configured similarly to the protection circuit 359 (see FIG. 17).

  In the fourth embodiment, the power transmission device 42 supplies power to the drone 41 after the landing of the drone 41. For this reason, since power transmission is performed at a short distance, it is necessary to protect circuits such as a position measurement system and a communication system that handle weak power from high power of the power transmission system. The transmission unit 141 of the drone 41 is protected from a transmission wave input to the antenna 221D by the circulator 476. The receiving unit 143 of the drone 41 is protected from a transmission wave input to the antenna 221E by the protection circuit 479. The circuit of the position measurement system of the power transmission device 42 is protected from the reflected wave of the transmitted radio wave reflected by the drone 41 by the protection circuit 590. The communication system circuit of the power transmission device 42 is protected from the reflected wave of the transmitted radio wave reflected by the drone 41 by turning off the diode D2 of the modulator 129.

<< Fifth Embodiment >>
FIG. 23 and FIG. 24 are diagrams showing an outline of a power transmission system 50 according to the fifth embodiment. FIG. 23 shows a state when the drone 41 descends. FIG. 24 shows how the power transmission device 52 supplies power to the drone 41. The power transmission system 50 includes a drone 41 and a power transmission device 52. The drone 41 descends by performing flight control using the position of the drone 41 measured by the power transmission device 52, opens the folding leg 317, and lands. The power transmission device 52 supplies power to the drone 41 after the drone 41 has landed.

  The power transmission device 52 includes a power transmission system, a communication system, and a position measurement system. FIG. 25 is a block diagram illustrating a position measurement system and a communication system circuit of the power transmission device 52. The position measurement system circuit includes six antennas 121, six mixers 122, a signal generator 123, six low-pass filters 124, four phase difference meters 125, and a position calculation unit 527. The communication system circuit includes a modulation control unit 128, a modulator 129, and an antenna 153.

  In addition, when distinguishing the six antennas 121 of the power transmission apparatus 52, they are described as antennas 121A, 121B, 121C, 121D, 121M, and 121N.

The mixer 122 mixes the pilot signal received by the antenna 121 and the signal generated by the signal generator 123, and outputs a signal having a frequency fp ± fs. As described above, the frequency fp is the frequency of the pilot signal, and the frequency fs is the frequency of the signal generated by the signal generator 123. The low-pass filter 124 passes a signal having a frequency fp-fs. The phase difference meter 125 measures the magnitude of the difference between the phase of the pilot signal received by the antennas 121M and 121N and the phase of the pilot signal received by the antennas 121A, 121B, 121C, and 121D, and the phase difference φ _AM , Φ _BM , φ _CN , φ _DN are output.

The phase difference φ _AM is a phase difference between the pilot signal received by the antenna 121A and the pilot signal received by the antenna 121M. The phase difference φ _BM is a phase difference between the pilot signal received by the antenna 121B and the pilot signal received by the antenna 121M. The phase difference φ _CN is a phase difference between the pilot signal received by the antenna 121C and the pilot signal received by the antenna 121N. The phase difference φ _DN is a phase difference between the pilot signal received by the antenna 121D and the pilot signal received by the antenna 121N.

  Here, the arrangement of the radial slot antenna 542 for power transmission, the antenna 121 for position measurement, and the antenna 153 for communication provided in the power transmission device 52 will be described.

  FIG. 26 is a plan view showing an arrangement of the radial slot antenna 542 for power transmission, the antenna 121 for position measurement, and the antenna 153 for communication. Position measurement antennas 121A, 121B, 121C, and 121D and a communication antenna 153 are disposed around a radial slot antenna 542 for power transmission. Further, antennas 121M and 121N for position measurement are arranged at positions farther from the radial slot antenna 542 than the positions of the antennas 121A, 121B, 121C, and 121D. The radial slot antenna 542 and the antennas 121 and 153 are disposed, for example, on the upper part of the power transmission device 52.

FIG. 27A illustrates the arrangement of the antenna 121. FIG. 27B is a diagram illustrating the arrangement of the antennas 121 as viewed from the Z-axis direction. Here, the origin O is the midpoint between the position A of the antenna 121A and the position B of the antenna 121B, the positive direction of the Z axis is the vertical upward direction, and the positive direction of the X axis is the position B of the antenna 121B from the origin O. The coordinate axes are taken so that the direction is toward. The position A of the antenna 121A is separated from the origin O by a distance L in the negative direction of the X axis. The position B of the antenna 121B is separated from the origin O by a distance L in the positive direction of the X axis. The position C of the antenna 121C is separated from the origin O by a distance L in the negative direction of the Y axis. The position D of the antenna 121D is separated from the origin O by a distance L in the positive direction of the Y axis. The position M of the antenna 121M is separated from the origin O by a distance L _{S in} the negative direction of the X axis. The position N of the antenna 121N is separated from the origin O by a distance L _{S in} the negative direction of the Y axis.

As illustrated in FIG. 25, the control unit 526 includes a position calculation unit 527 and a modulation control unit 128. The position calculation unit 527 calculates the position coordinates d _X , d _Y , H of the drone 11 from the following formula.

Here, d _X is the X coordinate of the position P of the drone 41 in the coordinate system shown in FIG. d _Y is the Y coordinate of the position P of the drone 41 in the coordinate system shown in FIG. H is the Z coordinate of the position P of the drone 41 in the coordinate system shown in FIG. MP is the distance from the position M of the antenna 121M to the position P of the drone 11. λ is the wavelength of the pilot signal.

The modulation control unit 128 controls the modulator 129 to place the position data including the position coordinates d _X , d _Y , H calculated by the position calculation unit 527 on the reflected signal. The modulated reflected signal is transmitted from the antenna 153 to the drone 41 as a data signal.

  FIG. 28 is a block diagram showing a power transmission system circuit of the power transmission device 52. The amplifier circuit 585 amplifies the reference signal generated by the reference signal oscillator 584. The circulator 586 injects the output signal of the amplifier circuit 585 into the magnetron 583 and guides the output wave from the magnetron 583 to the radial slot antenna 542. The radial slot antenna 542 radiates the output wave from the magnetron 583 as a transmission wave.

  Circulator 587 is connected to circulator 586, radial slot antenna 542, and terminator W3. Circulator 587 and terminator W3 constitute an isolator. The isolator passes the signal only in the direction from the circulator 586 toward the radial slot antenna 542. The magnetron 583 and the radial slot antenna 542 are connected by a transmission line such as a coaxial type or a waveguide type.

  The magnetron 583 includes a tube having a cathode heated by a filament (heater) and an unheated anode, and a permanent magnet that forms a strong magnetic field in the axial direction of the tube. The cathode is disposed at the center of the tube, and the anode is disposed so as to surround the cathode. A positive high voltage is applied to the anode with respect to the cathode. When the cathode is heated with a filament, thermoelectrons are emitted and the thermoelectrons are accelerated toward the anode by the electric field between the anode and the cathode. At this time, the traveling direction of the thermoelectrons is bent by the influence of a strong magnetic field in the axial direction of the tube. Due to this action, electrons start a circular motion while oscillating while drawing a cycloid curve in the action space between the cathode and the anode. Since there are a plurality of regularly formed cavities in the anode, microwaves determined by the resonant frequency of the cavities are generated when the cyclovibrating electrons pass through the openings of the cavities. The microwave generated in this way is output to the outside through the slit through the transmission path.

  The filament power supply 581 applies an AC voltage to the filament of the magnetron 583. The magnetron high voltage power supply 582 applies a positive DC high voltage to the anode with respect to the cathode.

  Since the reference signal is injected into the magnetron 583, the oscillation of the magnetron 583 is synchronized with the reference signal. The magnetron injection locking method is a method of locking the magnetron oscillation frequency to the frequency of the injection signal by injecting a reference signal having a frequency close to the self-excited oscillation frequency of the magnetron into the magnetron. As a result, a transmitted radio wave in which spurious is suppressed can be obtained.

FIG. 29 is a block diagram illustrating a circuit of a power transmission system according to a modification of the fifth embodiment. The modulation control unit 128 controls the modulator 529 to place position data including the position coordinates d _X , d _Y , H on the reference signal. The modulated reference signal is injected into the magnetron 583. An output wave from the magnetron 583 is transmitted from the radial slot antenna 542 as a data signal. In this modification, the power transmission circuit is shared for data signal transmission, so that the modulator 129 and the antenna 153 shown in FIG. 25 are unnecessary.

In the fifth embodiment, the position measurement antenna 121 is disposed around the origin O, but the position measurement antenna 121 may not be disposed at the origin O. For this reason,
The radial slot antenna 542 can be arranged in a region surrounded by the position measurement antenna 121. Accordingly, the position of the drone 41 can be measured using the antenna 121 for position measurement, and the drone 41 can be supplied with power using the radial slot antenna 542.

  Note that the position measurement system circuit according to the fifth embodiment may be used in a power transmission system in which a drone supplies power to a power receiving device. In this case, the position measurement system circuit according to the fifth embodiment is provided in the power receiving apparatus.

  In the fifth embodiment, the radial slot antenna 542 is used as the power transmission antenna. However, another antenna may be used as the power transmission antenna. In the fifth embodiment, an antenna different from the array antenna can be used as a power transmission antenna.

<< Other embodiments >>
In the above embodiment, an example in which the position of the drone is measured has been described, but the position of another flying object such as a multicopter, an airship, or a balloon may be measured.

  In the above-described embodiment, the example in which the position measurement system circuit is provided in the apparatus installed on the ground has been described. However, the position measurement system circuit may be provided in the drone. In this case, a device installed on the ground may reflect the pilot signal transmitted from the drone, and the drone may receive the reflected wave. Further, a device installed on the ground may transmit a pilot signal to the drone.

  Further, in the above-described embodiment, an example in which the position calculation unit is provided in a device installed on the ground has been described, but the position calculation unit may be provided in the drone. In this case, phase difference data measured by a device installed on the ground is transmitted to the drone.

  Finally, the description of the above embodiment is illustrative in all respects and not restrictive. Modifications and changes can be made as appropriate by those skilled in the art. It goes without saying that partial substitutions or combinations of configurations shown in different embodiments are possible. The scope of the present invention is shown not by the above embodiments but by the claims. Furthermore, the scope of the present invention is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.

C1, C2 ... Capacitors D1, D2, D3, D4 ... Diode L1 ... Inductor Q1 ... Transistors R1, R3, R4, R5 ... Resistors W1, W2, W3 ... Terminator 10 ... Autonomous flight systems 11, 21, 31, 41 ... Drone 12 ... Position measuring device 13 ... Basket 20, 30, 40, 50 ... Power transmission system 22, 32 ... Power receiving device 42, 52 ... Power transmitting device 111 ... GNSS receiver 111 ... Receiver 112 ... Barometric altimeter 113 ... Transmitter / receiver 115 Control unit 116: Flight control unit 121, 121A, 121B, 121C, 121D, 121F, 121G, 121M, 121N, 121O, 153 ... Antenna 122 ... Mixer 123 ... Signal generator 124 ... Low pass filter 125 ... Phase difference meter 126, 526... Control unit 127, 527... Position calculation unit 128. 9, 229, 529 ... modulator 141 ... transmitter 142, 142A, 142B ... antenna 143 ... receivers 144, 358, 372, 476, 478, 586, 587 ... circulators 151, 268, 356, 475, 481 ... directionality Couplers 154, 588 ... 1/4 wavelength lines 221, 221A, 221B, 221C, 221D, 221E ... Antenna 242 ... Array antenna 245 ... Power transmission unit 246 ... Dividers 247, 447 ... Antenna element 253 ... Rectifier element 254 ... Input filter 255 ... Output filters 261, 461 ... Rectenna arrays 262, 262A, 262B, 262C, 262D, 262E ... Rectenna 263 ... Rectifier 264 ... Current collector sub-bus 265 ... Rectenna controller 266 ... Current collector main bus 267 ... Battery 317 ... Folding leg 359 371, 79,589,590 ... protection circuit 542 ... radial slot antenna 581 ... filament power supply 582 magnetron high voltage power supply 583 ... magnetron 584 ... reference signal oscillator 585 ... amplifier circuit

Claims (11)

At least five measurement antennas for receiving pilot signals;
A phase difference measurement unit that measures a phase difference of the pilot signal received by the measurement antenna,
A signal related to the phase difference measured by the phase difference measuring unit is input to an arithmetic device, and the arithmetic device is a transmission position where the pilot signal is transmitted based on the phase difference measured by the phase difference measuring unit. A measuring device that calculates The measurement antenna includes a reference antenna,
The measurement according to claim 1, wherein the phase difference measurement unit measures a phase difference between the pilot signal received by the reference antenna and the pilot signal received by the measurement antenna other than the reference antenna. apparatus. A communication antenna;
The measurement device according to claim 1, further comprising: a first communication unit that transmits a data signal carrying data based on the phase difference measured by the phase difference measurement unit from the communication antenna. The first communication unit includes a modulation unit and a modulation control unit,
The modulation unit modulates a reflected signal of the pilot signal received by the communication antenna,
The measurement apparatus according to claim 3, wherein the modulation control unit controls the modulation unit to place data based on the phase difference measured by the phase difference measurement unit on the reflected signal. A measuring device according to any one of claims 1 to 4,
With multiple rectennas,
At least one of the rectennas includes the measuring antenna;
The power receiving apparatus, wherein the measurement antenna is commonly used for receiving and receiving the pilot signal. A measuring device according to claim 4;
With multiple rectennas,
At least one of the rectennas includes the communication antenna;
The communication antenna is shared for transmission and reception of the data signal,
A power receiving apparatus, wherein a protection circuit that protects the modulation unit from received power is connected between the communication antenna and the modulation unit. A measuring device according to any one of claims 1 to 4,
A power transmission antenna;
A power transmission unit that feeds power to the power transmission antenna,
The power transmission antenna is an array antenna having a plurality of antenna elements,
A power transmission device in which at least one of the antenna elements includes the measurement antenna. A measuring device according to any one of claims 1 to 4,
A power transmission antenna;
A power transmission unit that feeds power to the power transmission antenna,
The number of measurement antennas is six,
The power transmission device, wherein the measurement antenna is disposed so as to surround the power transmission antenna.   The power receiving device according to claim 5 or 6, or the power transmitting device according to claim 7 or 8, wherein the frequency of the electromagnetic wave used for power transmission is the same as the frequency of the electromagnetic wave used for the pilot signal. An autonomous flying object,
At least one antenna;
A pilot signal transmission unit that transmits the pilot signal from the antenna of the flying object to the measurement device according to claim 3 or 4,
A second communication unit that receives the data signal transmitted from the first communication unit by an antenna of the flying object;
A flying control unit that controls flight of the flying object based on the transmission position. A measuring device according to claim 3 or 4,
The arithmetic unit;
A flying system comprising: the flying body according to claim 10.

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