To provide an unmanned flight body, an unmanned flight method and an unmanned flight program capable of causing a flight body to fly in a state of reducing an affection of an external magnetic field.SOLUTION: An unmanned flight body 1 for referring to a specific azimuth indicated by an electromagnetic compass 20 for controlling a flight direction comprises: reference azimuth storage means for storing a specific azimuth D2 which is indicated when the electromagnetic compass 20 does not receive an affection of an external magnetic field, as a reference azimuth D1; consultation reference azimuth calculation means for, in flying of the unmanned flight body 1, on the basis of a plurality of positions measured on the basis of a positioning wave from a plurality of navigation satellites, and/or output from an inertia sensor 22, and the reference azimuth D1, calculating a consultation reference azimuth rD1 which can be regarded as a same azimuth to the reference azimuth; gap calculation means for calculating a gap α between the specific azimuth D2 and the consultation reference azimuth rD1; and correction means for correcting the specific azimuth D2 on the basis of the gap α.SELECTED DRAWING: Figure 7
【課題】外部磁界の影響を低減して飛行することができる無人飛行体、無人飛行方法及び無人飛行プログラムを提供すること。【解決手段】電子コンパス20が示す特定方位を参照して飛行方向を制御する無人飛行体1は、電子コンパス20が外部磁界の影響を受けていないときに示す特定方位D2を基準方位D1として記憶する基準方位記憶手段と、無人飛行体1の飛行中において、複数の航法衛星からの測位用電波に基づいて測位した複数の位置、及び/または、慣性センサー22からの出力と、基準方位D1とに基づいて、基準方位と同一方位と見做すことができる参考基準方位rD1を算出する参考基準方位算出手段と、特定方位D2と参考基準方位rD1との相違αを算出する相違算出手段と、相違αに基づいて、特定方位D2を補正する補正手段と、を有する。【選択図】図7
UNMANNED FLIGHT BODY, UNMANNED FLIGHT METHOD AND UNMANNED FLIGHT PROGRAM
無人飛行体、無人飛行方法及び無人飛行プログラム
2019-10-24
Patent
Electronic Resource
Japanese
IPC: | B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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