Patent Description:
A flight vehicle configured to establish a service link with a communication terminal on the ground, establish a feeder link using a directional antenna with a gateway on the ground, and provide a wireless communication service to a communication terminal is known (for example, refer to <CIT>). To provide a base radio station equipment, a transmission directivity calibration method and a calibration program where the calibration precision of transmission directivity is improved, according to <CIT>, a desired signal and an interference signal are sent from a two-antenna terminal or an adaptive array to an adaptive array base station being the object of calibration, and array-received simultaneously by all the antennas of the adaptive array base station. The antennas of the adaptive array base station forms a transmission directivity pattern facing a beam and a null to a desired signal source and an interference signal source based on reception weight and the terminal or base station measures a DU ratio. The base station corrects the reception weight so as to obtain an optimal DU ratio and determines the corrected value to be a calibration correction value. From <CIT> an apparatus for calibrating a multi-antenna system is known which includes an unmanned aerial vehicle (UAV). The UAV includes one or more millimeter-wave (mm-wave) single channel radios that can transmit and receive a mm-wave signal to or from a multi-antenna system under test; at least one directional antenna connected to the one or more radios; sensors that determine a position of the UAV; an omni-directional mobile or Wi-Fi transceiver that communicates with an operator; and a digital microprocessor unit connected to the one or more mm-wave single channel radios, the sensors, and the omni-directional mobile or Wi-Fi transceiver. The digital microprocessor unit can control motion of the UAV and analyze signals received from the one or more mm-wave single channel radios and the at least one directional antenna using position information received from the sensors. <CIT> discloses a method that involves using an aircraft i.e. drone equipped with a broad band directing antenna. A level of signal received by a dipole is measured, and phase differences between each dipole of the antenna are measured for each frequency during a rotation of the aircraft around the antenna. A quality score of the received signal is determined by comparing the signal level with a signal level expected for an angle of emission. Values of differences between a measured incident angle and a theoretical incident angle are stored in a calibration table for a value of frequency. An independent claim is also included for a system for calibrating a fixed antenna. <CIT> describes a self-correcting mobile antenna control system. A method is provided for controlling the direction of an antenna mounted on a vehicle. The method includes determining a position decision based on a direction change signal output from a direction sensor, determining an energy decision based on a signal strength indicator, combining the position decision and the energy decision to produce an antenna control signal, and adjusting the antenna's direction based on the antenna control signal. The system also operates to periodically calibrate itself to offset any sensor errors so that intensive calibration procedures can be avoided. From <CIT> an intelligent mobile terminal assisted directional antenna direction adjustment system is known. A directionality device mainly refers to a directional antenna used in the wireless communication field. The whole system has gyroscopes, gravity sensors, posture and position sensors such as GPS which are built in an intelligent terminal, and wireless link control and detection devices integrated. According to the method described here, the geographic coordinates and altitudes of the devices at two ends are obtained by a series of sensors and control detection devices in the system; the current device states are sensed; the device states include information such as absolute angles, angle changes and receiving signal electrical levels; suitable target azimuth angles and pitch angles are calculated according to the obtained values; the angles are compared and correction information is output. According to the system, all kinds of information is integrated; the alignment precision is improved; and the problem that the alignment difficulty in the alignment process of the very narrow beam antenna is great is solved.

When two communication apparatuses communicate with each other using a directional antenna, at least one of which is loaded on a mobile object, it is desirable that a technology can be provided to be able to support to realize a high communication quality as unaffected as possible by the movement of the mobile object.

According to a first aspect of the present invention, a system including a first communication apparatus with a first directional antenna, and a second communication apparatus, loaded on a mobile object, with a second directional antenna is provided. The first communication apparatus may include a first adjustment performing unit configured to perform a calibration of the first directional antenna, by measuring a radio wave receipt intensity from the second directional antenna by the first directional antenna while changing continuously a direction of the first directional antenna. The first communication apparatus may include a first notification information transmitting unit configured to transmit a first notification information to the second communication apparatus according to a completion of a calibration of the first directional antenna by the first adjustment performing unit. The second communication apparatus may include a second adjustment performing unit configured to perform a calibration of the second directional antenna by measuring a radio wave receipt intensity from the first directional antenna by the second directional antenna while changing continuously a direction of the second directional antenna according to a receipt of the first notification information.

The second adjustment performing unit may be configured to perform a calibration of the second directional antenna according to a receipt of the first notification information without performing a calibration of the second directional antenna during performing a calibration of the first directional antenna by the first adjustment performing unit. The second communication apparatus may include a second notification information transmitting unit configured to transmit a second notification information to the first communication apparatus according to a completion of a calibration of the second directional antenna by the second adjustment performing unit; and the first adjustment performing unit may be configured to perform a calibration of the first directional antenna according to a receipt of the second notification information without performing a performing a calibration of the first directional antenna during performing a calibration of the second directional antenna by the second adjustment performing unit. The second communication apparatus may include a second control antenna configured to transmit mobile object information related to the mobile object, with a lower directionality than the second directional antenna; the first communication apparatus may include a first control antenna configured to communicate with the second control antenna, with a lower directionality than the first directional antenna; the first notification information transmitting unit may be configured to transmit the first notification information to the second communication apparatus using the first control antenna; and the second notification information transmitting unit may be configured to transmit the second notification information to the first communication apparatus using the second control antenna. the mobile object may be configured to travel in circles in a predetermined path; the second communication apparatus may include a mobile object information transmitting unit configured to transmit the mobile object information including location information, a moving direction and a movement velocity of the mobile object using the second control antenna to the first communication apparatus; the first communication apparatus may include: a history storage unit configured to store history of the mobile object information, and the direction of the first directional antenna after adjustment, which is adjusted by a calibration of the first directional antenna by the first adjustment performing unit in a location shown in location information included in the mobile object information; and a estimation model storage unit configured to store an estimation model for estimating the direction of the first directional antenna after adjustment from the mobile object information, that is generated by using, as teacher data, the mobile object information and the direction of the first directional antenna after adjustment included in the history; and the first adjustment performing unit may be configured to adjust the direction of the first directional antenna based on the direction of the first directional antenna after adjustment estimated from the mobile object information that has been received, using the estimation model.

The first communication apparatus may be installed on the ground; the second communication apparatus may be configured to form a service link with a user terminal on the ground, and is loaded on a flight vehicle configured to communicate with the user terminal via the service link; and the first communication apparatus and the second communication apparatus may form a feeder link using the first directional antenna and the second directional antenna. The second communication apparatus may include a second control antenna configured to transmit mobile object information related to the flight vehicle, with a lower directionality than the second directional antenna; the first communication apparatus may include a first control antenna configured to communicate with the second control antenna, with a lower directionality than the first directional antenna; the first notification information transmitting unit may be configured to transmit the first notification information to the second communication apparatus using the first control antenna; and the second notification information transmitting unit may be configured to transmit the second notification information to the first communication apparatus using the second control antenna. The first communication apparatus and the second communication apparatus may be configured to form a C2 link by the first control antenna and the second control antenna, and communicate by the C2 link. The second communication apparatus may include a mobile object information transmitting unit configured to transmit the mobile object information including location information, a moving direction and a movement velocity of the flight vehicle using the second control antenna to the first communication apparatus; and the first communication apparatus may include a tracking control unit configured to predict a location of the flight vehicle based on the mobile object information and adjust the direction of the first directional antenna to track the flight vehicle based on a predicted location. The first adjustment performing unit may be configured to perform a calibration of the first directional antenna, after completing an adjustment of the direction of the first directional antenna by the tracking control unit. The second communication apparatus may include a communication relay unit configured to transmit data received from the user terminal via the service link to the first communication apparatus via the feeder link; and the first adjustment performing unit may be configured to perform a calibration of the first directional antenna by measuring a radio wave receipt intensity by the first directional antenna of a wave modulation including data transmitted by the second communication apparatus. The first control antenna may be an omni-antenna. The second control antenna may be an omni-antenna. The first adjustment performing unit may search for a direction in which the radio wave receipt intensity is the strongest by measuring the radio wave receipt intensity from the second directional antenna by the first directional antenna while changing continuously the direction of the first directional antenna. The first adjustment performing unit may specify a direction of the first directional antenna in which the radio wave receipt intensity from the second directional antenna by the first directional antenna is the strongest and complete a calibration by making the first directional antenna to direct to the direction. The tracking control unit may adjust a physical pointing direction of the first directional antenna. The tracking control unit may predict a location of a destination of the flight vehicle based on location information, moving direction and movement velocity included in the mobile object information, and adjust the direction of the first directional antenna to direct to a direction of a location of predicting the first directional antenna. The second communication apparatus may include a target information storage unit configured to store target object information related to a communication object. The target information storage unit may store location information of the first communication apparatus. The second communication apparatus may include a tracking control unit configured to adjust the direction of the second directional antenna to track the first communication apparatus based on the target object information stored in the target information storage unit and the mobile object information. The tracking control unit may specify a relative locational relationship with the first communication apparatus based on the target object information and the mobile object information, and adjust the direction of the second directional antenna to direct to the direction of the first communication apparatus by the second directional antenna. The tracking control unit may specify a relative locational relationship between the second directional antenna and the first communication apparatus by predicting a location and a posture of the flight vehicle based on location information, a moving direction and a movement velocity included in the mobile object information, and adjust the direction of the second directional antenna to direct to the direction of the first communication apparatus by the second directional antenna.

Hereinafter, (some) embodiment(s) of the present invention will be described.

<FIG> schematically illustrates one example of a system <NUM>. The system <NUM> includes a communication apparatus <NUM> and a communication apparatus <NUM>, at least one of which is loaded on a mobile object. In the example shown in <FIG>, the communication apparatus <NUM> is installed fixedly, and the communication apparatus <NUM> is loaded on the mobile object <NUM>.

The mobile object <NUM> may be any object as long as it is autonomously moveable. Examples of the mobile object <NUM> include an automobile, a ship, a drone, and a flight vehicle such as HAPS (High Altitude Platform Station) and so on.

The communication apparatus <NUM> includes a control antenna <NUM> and a directional antenna <NUM>. The control antenna <NUM> may be an antenna with the directionality lower than that of the directional antenna <NUM>. The control antenna <NUM> is, for example, an omni-antenna.

The communication apparatus <NUM> includes a control antenna <NUM> and a directional antenna <NUM>. The control antenna <NUM> may be an antenna with a lower directionality than that of the directional antenna <NUM>. The control antenna <NUM> is, for example, an omni-antenna.

The communication apparatus <NUM> and the communication apparatus <NUM> perform a wireless communication by the directional antenna <NUM> and the directional antenna <NUM>. Since the location and posture of the communication apparatus <NUM> change due to the movement of the mobile object <NUM>, the communication apparatus <NUM> is required to perform a calibration so that the directional antenna <NUM> directs correctly to the direction of the communication apparatus <NUM>. On the other hand, the communication apparatus <NUM> is also required to perform a calibration so that the directional antenna <NUM> directs correctly to the direction of the communication apparatus <NUM>. However, if the calibrations of both devices are performed, the receipt levels of the both devices change, and calibration failure happens, for example, the time required for the calibration becomes longer, the calibration is no longer possible or the like.

In contrast, the communication apparatus <NUM> and the communication apparatus <NUM> of the present embodiment take turns performing the calibration by having the other perform the calibration in response to the other receiving notification information indicating that the calibration of one has been completed.

For example, firstly, the communication apparatus <NUM> transmits, to the communication apparatus <NUM>, the mobile object information including the location information of the mobile object <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM>. The location information of the mobile object <NUM> may include latitude, longitude, and altitude of the mobile object <NUM>. The mobile object information may further include the moving direction of the mobile object <NUM>. The mobile object information may further include the movement velocity of the mobile object <NUM>.

The mobile object information of the mobile object <NUM> may be provided to the communication apparatus <NUM> by the mobile object control apparatus <NUM> that controls the movement of the mobile object <NUM>. The communication apparatus <NUM> may transmit the mobile object information acquired from the mobile object control apparatus <NUM> to the communication apparatus <NUM>. The mobile object control apparatus <NUM> may include various types of sensors such as a location measuring sensor like a GPS sensor, a gyro sensor and an acceleration sensor, and may manage the location, moving direction and movement velocity of the mobile object <NUM>.

The communication apparatus <NUM> may prestore the location information of the communication apparatus <NUM>, and controls the direction of the directional antenna <NUM> to direct to the communication apparatus <NUM> based on the location and posture of the mobile object <NUM>. The communication apparatus <NUM> estimates, with the mobile object information received from the communication apparatus <NUM>, the direction, with reference to the location of the communication apparatus <NUM>, in which the communication apparatus <NUM> is located, and controls the direction of the directional antenna <NUM> to direct to the communication apparatus <NUM>.

Then, for example, the communication apparatus <NUM> performs the calibration of the directional antenna <NUM>, by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while continuously changing the direction of the directional antenna <NUM>. The communication apparatus <NUM> may specify the direction of the directional antenna <NUM> to which the radio wave receipt intensity from the directional antenna <NUM> is the strongest, and complete the calibration by making the direction direct to the directional antenna <NUM>. The communication apparatus <NUM> transmits the notification information to the communication apparatus <NUM> in response to the completion of the calibration of the directional antenna <NUM>. The notification information may indicate the completion of the calibration.

The communication apparatus <NUM> performs the calibration of the directional antenna <NUM>, by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while continuously changing the direction of the directional antenna <NUM> in response to the receipt of the notification information. The communication apparatus <NUM> may specify the direction of the directional antenna <NUM> to which the radio wave receipt intensity from the directional antenna <NUM> is the strongest, and complete the calibration by making the direction direct to the directional antenna <NUM>. The communication apparatus <NUM> transmits the notification information to the communication apparatus <NUM> in response to the completion of the calibration of the directional antenna <NUM>. The notification information may indicate the completion of the calibration.

In this way, the calibration can be performed alternately by notifying to each other that the calibration has been completed and controlling not to perform the calibration until calibration of the other device is completed. In this way, resonance caused by starting the calibration simultaneously can be prevented.

In <FIG>, the example of the case where the communication apparatus <NUM> is fixedly installed is described, but the communication apparatus <NUM> may also be loaded on the mobile object. In this case, the communication apparatus <NUM> may transmit the mobile object information including the location information of the mobile object to the communication apparatus <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM>.

<FIG> schematically illustrates one example of a flow of a process of the system <NUM>. Herein, the flow of the process where the communication apparatus <NUM> and the communication apparatus <NUM> alternately perform the calibration is shown.

In step (which may be abbreviated to S) <NUM>, the communication apparatus <NUM> transmits the mobile object information of the mobile object <NUM> to the communication apparatus <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM>. In S <NUM>, the communication apparatus <NUM> transmits the beacon signal by the directional antenna <NUM>.

In S106, the communication apparatus <NUM> starts the calibration of the directional antenna <NUM>. The communication apparatus <NUM> searches for a direction in which the radio wave receipt intensity is the strongest, by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while continuously changing the direction of the directional antenna <NUM>. The communication apparatus <NUM> specifies the direction of the directional antenna <NUM> in which the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> is the strongest, and completes the calibration by making the direction to direct to the directional antenna <NUM> (S108).

In S <NUM>, the communication apparatus <NUM> transmits the beacon signal by the directional antenna <NUM>. In S112, the communication apparatus <NUM> starts the calibration of the directional antenna <NUM>. The communication apparatus <NUM> searches for a direction in which the radio wave receipt intensity is the strongest, by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while continuously changing the direction of the directional antenna <NUM>. The communication apparatus <NUM> specifies the direction of the directional antenna <NUM> in which the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> is the strongest, and completes the calibration by making the direction to direct to the directional antenna <NUM> (S114). With these steps, the first calibration is completed.

In S116, the communication apparatus <NUM> starts the calibration of the directional antenna <NUM>. The communication apparatus <NUM> may perform the calibration of the directional antenna <NUM> by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> when the data communication between the communication apparatus <NUM> and the communication apparatus <NUM> using the directional antenna <NUM> and the directional antenna <NUM> is performed. It should be noted that the communication apparatus <NUM> may transmit the beacon signal as appropriate by the directional antenna <NUM>, and the communication apparatus <NUM> may perform the calibration of the directional antenna <NUM> by measuring the radio wave receipt intensity of the beacon signal by the directional antenna <NUM>. The communication apparatus <NUM> transmits, according to the completion of the calibration (S118), the notification information to the communication apparatus <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM> (S120).

The communication apparatus <NUM> starts the calibration of the directional antenna <NUM> according to the receipt of the notification information (S122). The communication apparatus <NUM> may perform the calibration of the directional antenna <NUM> by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> when the data communication between the communication apparatus <NUM> and the communication apparatus <NUM> using the directional antenna <NUM> and the directional antenna <NUM> is performed. It should be noted that the communication apparatus <NUM> may transmit the beacon signal as appropriate by the directional antenna <NUM>, and the communication apparatus <NUM> may perform the calibration of the directional antenna <NUM> by measuring the radio wave receipt intensity of the beacon signal by the directional antenna <NUM>.

The communication apparatus <NUM> transmits, according to the completion of the calibration (S124), the notification information to the communication apparatus <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM> (S126). By repeating the processes from S116 to S126, the calibration may be performed continuously between the communication apparatus <NUM> and the communication apparatus <NUM> alternately.

<FIG> schematically illustrates one example of the calibration orbit <NUM>. <FIG> schematically illustrates one example of the radio wave strength graph <NUM>. <FIG> schematically illustrates one example of the radio wave strength graph <NUM>.

The calibration orbit <NUM> shown in <FIG> includes a lateral orbit <NUM> and a longitudinal orbit <NUM>. The communication apparatus <NUM>, for example, changes the direction of the directional antenna <NUM> along the lateral orbit <NUM> firstly, and next, changes the direction of the directional antenna <NUM> along the longitudinal orbit <NUM>.

The radio wave strength graph <NUM> indicates the change of the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> when the direction of the directional antenna <NUM> is changed along the lateral orbit <NUM> by the communication apparatus <NUM>. The radio wave strength graph <NUM> indicates the change of the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> when the direction of the directional antenna <NUM> is changed along the longitudinal orbit <NUM> by the communication apparatus <NUM>.

<FIG> schematically illustrates another example of the calibration orbit <NUM>. <FIG> schematically illustrates one example of the radio wave strength graph <NUM>.

The calibration orbit <NUM> shown in <FIG> includes a gyratory orbit <NUM>. The communication apparatus <NUM> changes the direction of the directional antenna <NUM> along the gyratory orbit <NUM>. The radio wave strength graph <NUM> indicates the change of the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> when the direction of the directional antenna <NUM> is changed along the gyratory orbit <NUM> by the communication apparatus <NUM>.

<FIG> schematically illustrates one example of a functional configuration of the communication apparatus <NUM>. The communication apparatus <NUM> includes a mobile object information storage unit <NUM>, a mobile object information receiving unit <NUM>, an antenna control unit <NUM>, a notification information transmitting unit <NUM>, a notification information receiving unit <NUM>, a history storage unit <NUM>, an estimation model generation unit <NUM> and an estimation model storage unit <NUM>.

The mobile object information storage unit <NUM> stores mobile object-related information that relates to the mobile object <NUM> of the communication object. For example, when the mobile object <NUM> moves along a predetermined movement path or travels in circles in a predetermined movement path, the mobile object information storage unit <NUM> stores the information indicating the movement path of the mobile object <NUM>.

The mobile object information receiving unit <NUM> receives the mobile object information including the location information of the mobile object <NUM>. The mobile object information receiving unit <NUM> may receive the mobile object information by the wireless communication between the control antenna <NUM> and the control antenna <NUM> from the communication apparatus <NUM> of the mobile object <NUM>. The mobile object information may include a moving direction of the mobile object <NUM>. The mobile object information may also include a movement velocity of the mobile object <NUM>. The mobile object information receiving unit <NUM> stores the received mobile object information in the mobile object information storage unit <NUM>.

The antenna control unit <NUM> controls the directional antenna <NUM>. The antenna control unit <NUM> includes a tracking control unit <NUM> and an adjustment performing unit <NUM>.

The tracking control unit <NUM> predicts the location of the mobile object <NUM> based on the mobile object information stored in the mobile object information storage unit <NUM> received by the mobile object information receiving unit <NUM>, and adjusts the direction of the directional antenna <NUM> to track the mobile object <NUM> based on the predicted location. The tracking control unit <NUM> may adjust the physical pointing direction of the directional antenna <NUM>. The tracking control unit <NUM> predicts, for example, the location of the destination of the mobile object <NUM> based on the location information, moving direction and movement velocity included in the mobile object information, and adjusts the direction of the directional antenna <NUM> to make the directional antenna <NUM> direct to the direction of the predicted location.

The adjustment performing unit <NUM> performs the calibration of the directional antenna <NUM>. The adjustment performing unit <NUM> performs the calibration of the directional antenna <NUM> by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while changing the direction of the directional antenna <NUM> continuously. The adjustment performing unit <NUM> may change the physical pointing direction of the directional antenna <NUM> continuously.

The adjustment performing unit <NUM>, for example, searches for the direction in which the radio wave receipt intensity is the strongest, by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while changing the direction of the directional antenna <NUM> continuously. The adjustment performing unit <NUM> may specify the direction of the directional antenna <NUM> in which the radio wave receipt intensity of the directional antenna <NUM> by the directional antenna <NUM> is the strongest, and complete the calibration by making the directional antenna <NUM> direct to the direction.

The notification information transmitting unit <NUM> transmits the notification information to the communication apparatus <NUM> according to the completion of the calibration of the directional antenna <NUM> by the adjustment performing unit <NUM>. The notification information transmitting unit <NUM> may transmit the notification information to the communication apparatus <NUM> via the control antenna <NUM>. The notification information transmitting unit <NUM> may transmit the notification information to the communication apparatus <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM>.

The notification information receiving unit <NUM> receives the notification information transmitted according to the completion of the calibration of the directional antenna <NUM> by the communication apparatus <NUM>. The notification information receiving unit <NUM> may receive the notification information via the control antenna <NUM>. The notification information receiving unit <NUM> may receive the notification information transmitted by the wireless communication between the control antenna <NUM> and the control antenna <NUM> by the communication apparatus <NUM>.

The adjustment performing unit <NUM> may perform the calibration of the directional antenna <NUM> according to the receipt of the notification information from the communication apparatus <NUM> by the notification information receiving unit <NUM>, without performing the calibration of the directional antenna <NUM> during performing the calibration of the directional antenna <NUM> by the communication apparatus <NUM>.

The history storage unit <NUM> stores the history of the mobile object information stored in the mobile object information storage unit <NUM> and the direction of the directional antenna <NUM> after adjustment by the adjustment performing unit <NUM> in a location indicated by the location information included in the mobile object information.

The estimation model generation unit <NUM> generates an estimation model that estimates the direction of the directional antenna <NUM> after adjustment from the mobile object information, by using, as teacher data, the mobile object information and the direction of the directional antenna <NUM> after adjustment included in a plurality of pieces of history stored in the history storage unit <NUM>.

The estimation model storage unit <NUM> stores the estimation model generated by the estimation model generation unit <NUM>. When the plurality of pieces of history stored in the history storage unit <NUM> are provided to other apparatuses and estimation models are generated by the other apparatuses, the estimation model storage unit <NUM> may acquire and store the estimation models generated by the other apparatuses from the other apparatuses.

The adjustment performing unit <NUM> may use the estimation model stored in the estimation model storage unit <NUM> to adjust the direction of the directional antenna <NUM>. For example, the adjustment performing unit <NUM> adjusts the direction of the directional antenna <NUM> based on the direction of the directional antenna <NUM> after adjustment that is estimated by using the estimation model from the received mobile object information by the mobile object information receiving unit <NUM>. The adjustment performing unit <NUM> adjusts, for example, the estimated direction of the directional antenna <NUM> to match the direction of the directional antenna <NUM> after adjustment.

Particularly, when the mobile object <NUM> travels in circles, in the location through which the mobile object <NUM> is to pass, the direction of the directional antenna <NUM> and the directional antenna <NUM> are likely to be compatible by adjusting the direction of the directional antenna <NUM> to be the same as the direction in which the mobile object <NUM> used to pass through the location. The adjustment performing unit <NUM> can save the time for searching for the direction in which the radio wave receipt intensity is the strongest with the calibration by performing the adjustment of the directional antenna <NUM> using the estimation model.

<FIG> schematically illustrates one example of the functional configuration of the communication apparatus <NUM>. The communication apparatus <NUM> includes a target information storage unit <NUM>, a mobile object information acquisition unit <NUM>, a mobile object information transmitting unit <NUM>, an antenna control unit <NUM>, a notification information transmitting unit <NUM>, a notification information receiving unit <NUM>, a history storage unit <NUM>, an estimation model generation unit <NUM> and an estimation model storage unit <NUM>.

The target information storage unit <NUM> stores the target information related to the communication object. The target information storage unit <NUM> stores, for example, the location information of the communication apparatus <NUM>, which is the communication object.

The mobile object information acquisition unit <NUM> acquires the mobile object information of the mobile object <NUM> loaded with the communication apparatus <NUM>. The mobile object information acquisition unit <NUM> may acquire the mobile object information from the mobile object control apparatus <NUM> of the mobile object <NUM>.

The mobile object information transmitting unit <NUM> transmits the mobile object information acquired by the mobile object information acquisition unit <NUM> to the communication apparatus <NUM>. The mobile object information transmitting unit <NUM> may transmit the mobile object information to the communication apparatus <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM>.

The tracking control unit <NUM> adjusts the direction of the directional antenna <NUM> to track the communication apparatus <NUM> based on the target object information stored in the target information storage unit <NUM> and the mobile object information acquired by the mobile object information acquisition unit <NUM>. The tracking control unit <NUM> may specify the relative locational relationship with the communication apparatus <NUM> based on the target object information and the mobile object information, and the directional antenna <NUM> may adjust the direction of the directional antenna <NUM> to direct to the direction of the communication apparatus <NUM>. The tracking control unit <NUM>, for example, specifies the relative locational relationship between the directional antenna <NUM> and the communication apparatus <NUM> by predicting the posture and location of the mobile object <NUM> based on the location information, the moving direction and the movement velocity included in the mobile object information, and the directional antenna <NUM> adjusts the direction of the directional antenna <NUM> to direct to the direction of the communication apparatus <NUM>.

The adjustment performing unit <NUM> performs the calibration of the directional antenna <NUM>. The adjustment performing unit <NUM> performs the calibration of the directional antenna <NUM> by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while changing continuously the direction of the directional antenna <NUM>. The adjustment performing unit <NUM> may change continuously the physical pointing direction of the directional antenna <NUM>.

The adjustment performing unit <NUM>, for example, searches for the direction in which the radio wave receipt intensity is the strongest by measuring the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> while changing continuously the direction of the directional antenna <NUM>. The adjustment performing unit <NUM> may specify the direction of the directional antenna <NUM> in which the radio wave receipt intensity from the directional antenna <NUM> by the directional antenna <NUM> is the strongest, and complete the calibration by making the directional antenna <NUM> direct to the direction.

The adjustment performing unit <NUM> may perform the calibration of the directional antenna <NUM> according to the receipt of the notification information from the communication apparatus <NUM> by the notification information receiving unit <NUM> without performing the calibration of the directional antenna <NUM> while performing the calibration of the directional antenna <NUM> by the communication apparatus <NUM>.

The history storage unit <NUM> stores the history of the mobile object information acquired by the mobile object information acquisition unit <NUM> and the direction of the directional antenna <NUM> after adjustment that is adjusted by the calibration of the directional antenna <NUM> by the adjustment performing unit <NUM> in the location shown by the location information included in the mobile object information.

The estimation model generation unit <NUM> generates the estimation model that estimates the direction of the directional antenna <NUM> after adjustment from the mobile object information, using, as the teacher data, the mobile object information and the direction of the directional antenna <NUM> after adjustment included in the plurality of pieces of history stored in the history storage unit <NUM>.

The estimation model storage unit <NUM> stores the estimation model generated by the estimation model generation unit <NUM>. When the plurality of pieces of history stored in the history storage unit <NUM> are provided by the other apparatuses, and the estimation models are generated by the other apparatuses, the estimation model storage unit <NUM> may acquire the estimation models generated by the other apparatuses from the other apparatuses and store them.

The adjustment performing unit <NUM> may adjust the direction of the directional antenna <NUM> using the estimation model stored in the estimation model storage unit <NUM>. For example, the adjustment performing unit <NUM> adjusts the direction of the directional antenna <NUM> based on the direction of the directional antenna <NUM> after adjustment, which is estimated using the estimation model, from the mobile object information acquired by the mobile object information acquisition unit <NUM>. The adjustment performing unit <NUM> adjusts the direction of the directional antenna <NUM> to match the estimated direction of the directional antenna <NUM> after adjustment, for example.

<FIG> schematically illustrates a HAPS <NUM> as one example of the mobile object <NUM>. The HAPS <NUM> may be one example of a flight vehicle. The HAPS <NUM> includes a vehicle <NUM>, a central unit <NUM>, a propeller <NUM>, a pod <NUM> and a solar panel <NUM>. The central unit <NUM> includes a control apparatus <NUM> and a communication apparatus <NUM> that are not illustrated.

The electrical power generated by the solar panel <NUM> is stored in one or more batteries arranged in at least any of the vehicle <NUM>, the central unit <NUM> and the pod <NUM>. The electrical power stored in the battery is utilized by each component included in the HAPS <NUM>.

The control apparatus <NUM> may control the flight of the HAPS <NUM>. The control apparatus <NUM> controls the flight of the HAPS <NUM> by controlling the rotation of the propeller <NUM>, for example. Also,, the control apparatus <NUM> may control the flight of the HAPS <NUM> by changing the angle of a flap or an elevator that is not illustrated. The control apparatus <NUM> includes various types of sensors such as a location measuring sensor such as a GPS sensor, a gyro sensor and an acceleration sensor, and may manage the location, the moving direction and the movement velocity of the HAPS <NUM>.

The communication apparatus <NUM> includes an control antenna <NUM>, a FL (Feeder Link) antenna <NUM> and a SL (Service Link) antenna <NUM>. The FL antenna <NUM> is an antenna for the feeder link. The FL antenna <NUM> may be one example of the directional antenna. The communication apparatus <NUM> forms the feeder link with the communication apparatus <NUM> on the ground by the FL antenna <NUM>. The communication apparatus <NUM> and the communication apparatus <NUM> form the feeder link using the FL antenna <NUM> and the directional antenna <NUM>.

The control antenna <NUM> is an antenna with a lower directionality than the FL antenna <NUM>. The control antenna <NUM> may be an omni-antenna, for example. The control antenna <NUM> may be one example of the control antenna <NUM>. The communication apparatus <NUM> and the communication apparatus <NUM> may form the C2 (Command Control) link by the control antenna <NUM> and the control antenna <NUM>, and communicate by the C2 link.

The SL antenna <NUM> is an antenna for the service link. The SL antenna <NUM> may be an antenna with a lower directionality than the FL antenna <NUM>, and a higher directionality than the control antenna <NUM>. The communication apparatus <NUM> forms the cell <NUM> on the ground by the SL antenna <NUM>. The communication apparatus <NUM> forms the service link with the user terminal <NUM> inside the cell <NUM> by the SL antenna <NUM>.

The user terminal <NUM> may be any terminal as long as it is a communication terminal that can be communicate with the communication apparatus <NUM>. For example, the user terminal <NUM> is a mobile phone such as a smartphone. The user terminal <NUM> may also be a tablet terminal, a PC (Personal Computer) and the like. The user terminal <NUM> may also be a so-called IoT (Internet of Thing) device. The user terminal <NUM> may include all things corresponding to so-called IoE (Internet of Everything).

The communication apparatus <NUM> may provide a wireless communication service to the user terminal <NUM> by relaying the communication between the user terminal <NUM> and the network <NUM> on the ground together with the communication apparatus <NUM>. The network <NUM> may include a core network that is provided by a telecommunication carrier. The core network may comply with any mobile communication system, for example, it complies with the <NUM> (3rd Generation) communication system, the LTE (Long Term Evolution) communication system, the <NUM> (4th Generation) communication system, and the <NUM> (5th Generation) or later communication system, and the like. The network <NUM> may include the Internet.

The HAPS <NUM>, for example, establishes the service link with each communication apparatus <NUM> arranged in each location on the ground and communicates with the network <NUM> on the ground via the communication apparatus <NUM>. The HAPS <NUM> covers the ground area with the cell <NUM> while flying in circles along the circular flight path in the sky of the ground area of the targeted for coverage, for example. The flight path may be a regular circle, an ellipse and so on, or even a figure eight. The circling flight of the HAPS <NUM> in the sky of the ground area may be described as a fixed-point flight. Also, the HAPS <NUM>, for example, covers the entire of the ground area by moving in the sky of the ground area while covering a part of the ground area of the targeted for coverage by the cell <NUM>.

<FIG> schematically illustrates one example of the functional configuration of the communication apparatus <NUM>. The communication apparatus <NUM> includes a target information storage unit <NUM>, a mobile object information acquisition unit <NUM>, a mobile object information transmitting unit <NUM>, an antenna control unit <NUM>, a notification information transmitting unit <NUM>, a notification information receiving unit <NUM>, a communication relay unit <NUM>, a history storage unit <NUM>, an estimation model generation unit <NUM> and an estimation model storage unit <NUM>.

The target information storage unit <NUM> stores target information related to the communication object. The target information storage unit <NUM> stores the location information of the communication apparatus <NUM> that is the communication object, for example.

The mobile object information acquisition unit <NUM> acquires the mobile object information of the HAPS <NUM> loaded with the communication apparatus <NUM>. The mobile object information acquisition unit <NUM> may receive the mobile object information from the control apparatus <NUM> of the HAPS <NUM>.

The antenna control unit <NUM> controls the FL antenna <NUM>. The antenna control unit <NUM> includes a tracking control unit <NUM> and an adjustment performing unit <NUM>.

The tracking control unit <NUM> adjusts the direction of the FL antenna <NUM> to track the communication apparatus <NUM> based on the target object information stored in the target information storage unit <NUM> and the mobile object information acquired by the mobile object information acquisition unit <NUM>. The tracking control unit <NUM> may specify the relative locational relationship with the communication apparatus <NUM> based on the target object information and the mobile object information, and the FL antenna <NUM> may adjust the direction of the FL antenna <NUM> to direct to the direction of the communication apparatus <NUM>. The tracking control unit <NUM>, for example, specifies the relative locational relationship between the FL antenna <NUM> and the communication apparatus <NUM> by predicting the posture and the location of the HAPS <NUM> based on the location information, the moving direction and the movement velocity included in the mobile object information, and the FL antenna <NUM> adjusts the direction of the FL antenna <NUM> to direct to the direction of the communication apparatus <NUM>.

The adjustment performing unit <NUM> performs the calibration of the FL antenna <NUM>. The adjustment performing unit <NUM> performs the calibration of the FL antenna <NUM> by measuring the radio wave receipt intensity from the directional antenna <NUM> by the FL antenna <NUM> while changing continuously the direction of the FL antenna <NUM>. The adjustment performing unit <NUM> may change continuously the physical pointing direction of the FL antenna <NUM>.

The adjustment performing unit <NUM>, for example, searches for the direction in which the radio wave receipt intensity is the strongest, by measuring the radio wave receipt intensity from the directional antenna <NUM> by the FL antenna <NUM> while changing continuously the direction of the FL antenna <NUM>. The adjustment performing unit <NUM> may specify the direction of the FL antenna <NUM> in which the radio wave receipt intensity from the directional antenna <NUM> by the FL antenna <NUM> is the strongest and complete the calibration by making the FL antenna <NUM> to direct to the direction.

The notification information transmitting unit <NUM> transmits the notification information to the communication apparatus <NUM> according to the completion of the calibration of the FL antenna <NUM> by the adjustment performing unit <NUM>. The notification information transmitting unit <NUM> may transmit the notification information to the communication apparatus <NUM> via the control antenna <NUM>. The notification information transmitting unit <NUM> may transmit the notification information to the communication apparatus <NUM> by the wireless communication between the control antenna <NUM> and the control antenna <NUM>.

The adjustment performing unit <NUM> may perform the calibration of the FL antenna <NUM> according to the receipt of the notification information from the communication apparatus <NUM> by the notification information receiving unit <NUM>, without performing the calibration of the FL antenna <NUM> during performing the calibration of the directional antenna <NUM> by the communication apparatus <NUM>.

The communication relay unit <NUM> relays the communication between the user terminal <NUM> and the communication apparatus <NUM>. The communication relay unit <NUM> may relay the communication between the user terminal <NUM> and the communication apparatus <NUM> by transmitting the data received from the user terminal <NUM> via the service link to the communication apparatus <NUM> via the feeder link. Herein, the adjustment performing unit <NUM> of the communication apparatus <NUM> may perform the calibration of the directional antenna <NUM> by measuring the radio wave receipt intensity by the directional antenna <NUM> of the wave modulation including the data transmitted by the communication apparatus <NUM>. In this way, by making it possible to perform the calibration utilizing the wave modulation when relaying the data communication between the user terminal <NUM> and the communication apparatus <NUM>, the need to interrupt data communication to transmit a beacon signal for calibration can be eliminated, and the calibration can be performed efficiently.

The history storage unit <NUM> stores the history of the mobile object information acquired by the mobile object information acquisition unit <NUM> and the direction of the FL antenna <NUM> after adjustment that is adjusted by the calibration of the FL antenna <NUM> by the adjustment performing unit <NUM> in the location shown by the location information included in the mobile object information.

The estimation model generation unit <NUM> generates an estimation model that estimates the direction of the FL antenna <NUM> after adjustment from the mobile object information, by using, as teacher data, the mobile object information and the direction of the FL antenna <NUM> after adjustment included in a plurality of pieces of history stored in the history storage unit <NUM>.

The estimation model storage unit <NUM> stores the estimation model generated by the estimation model generation unit <NUM>. When the plurality of pieces of history stored in the history storage unit <NUM> are provided by other apparatuses and estimation models are generated by the other apparatuses, the estimation model storage unit <NUM> may acquire and store the estimation models generated by the other apparatuses from the other apparatuses.

The adjustment performing unit <NUM> may use the estimation model stored in the estimation model storage unit <NUM> to adjust the direction of the FL antenna <NUM>. For example, the adjustment performing unit <NUM> adjusts the direction of the FL antenna <NUM> based on the direction of the FL antenna <NUM> after adjustment, which is estimated using the estimation model, from the mobile object information acquired by the mobile object information acquisition unit <NUM>. The adjustment performing unit <NUM>, for example, adjusts the estimated direction of the FL antenna <NUM> to match the direction of the FL antenna <NUM> after adjustment.

<FIG> schematically illustrates one example of a hardware configuration of a computer <NUM> that functions as a communication apparatus <NUM>, a communication apparatus <NUM> or a communication apparatus <NUM>. A program that is installed in the computer <NUM> can cause the computer <NUM> to function as one or more sections of the apparatus of the present embodiment or cause the computer <NUM> to execute operations associated with the apparatus of the present embodiment or the one or more sections, and/or cause the computer <NUM> to execute the process of the present embodiment or steps thereof. Such programs may be executed by a central processing unit (CPU) <NUM> in order to cause the computer <NUM> to execute a specific operation associated with some or all of the flowchart and the blocks in the block diagrams described in the present specification.

The computer <NUM> according to the present embodiment includes the CPU <NUM>, a RAM <NUM>, and a graphics controller <NUM> which are mutually connected by a host controller <NUM>. The computer <NUM> also includes a communication interface <NUM>, a storage device <NUM>, and an input and output unit such as an IC card drive which are connected to the host controller <NUM> via an input and output controller <NUM>. The storage device <NUM> may be a hard disk drive, a solid state drive, or the like. The computer <NUM> also includes legacy input/output units such as a ROM <NUM> and a keyboard, which are connected to the input/output controller <NUM> via an input/output chip <NUM>.

The CPU <NUM> operates according to the programs stored in the ROM <NUM> and the RAM <NUM>, thereby controlling each unit. The graphics controller <NUM> is configured to acquire image data generated by the CPU <NUM> in a frame buffer or the like provided in the RAM <NUM> or in itself, and cause the image data to be displayed on a display device <NUM>.

The communication interface <NUM> communicates with other electronic devices via a network. The storage device <NUM> stores programs and data used by the CPU <NUM> in the computer <NUM>. The IC card drive reads programs and data from an IC card, and/or writes programs and data into the IC card.

The ROM <NUM> stores therein boot programs or the like executed by the computer <NUM> at the time of activation, and/or stores programs depending on hardware of the computer <NUM>. The input/output chip <NUM> may also be configured to connect various input/output units to the input/output controller <NUM> via a USB port, a parallel port, a serial port, a keyboard port, a mouse port or the like.

The programs are provided via a computer readable storage medium such as an IC card. The programs are read from a computer readable storage medium, installed in the storage device <NUM>, the RAM <NUM>, or the ROM <NUM> which is also an example of the computer readable storage medium, and executed by the CPU <NUM>. Information processing written in these programs is read by the computer <NUM>, and provides cooperation between the programs and the various types of hardware resources described above. An apparatus or a method may be configured by realizing an operation or processing of information according to a use of the computer <NUM>.

For example, when communication is performed between the computer <NUM> and an external device, the CPU <NUM> may execute a communication program loaded in the RAM <NUM>, and instruct the communication interface <NUM> to execute communication processing based on processing written in the communication program. The communication interface <NUM>, under the control of the CPU <NUM>, reads transmission data stored in a transmission buffer processing region provided in a recording medium such as the RAM <NUM>, the storage device <NUM>, or the IC card, transmits the read transmission data to the network, or writes receipt data received from the network into a receipt buffer processing region or the like provided on the recording medium.

In addition, the CPU <NUM> may cause all or necessary portion of a file or a database stored in the external recording medium such as the storage device <NUM> or the IC card, to be read by the RAM <NUM>, and execute various types of processing on the data on the RAM <NUM>. Next, the CPU <NUM> may write back the processed data to the external recording medium.

Various types of programs and various types of information such as data, a table, and a database may be stored in the recording medium, and subjected to information processing. The CPU <NUM> may execute, on the data read from the RAM <NUM>, various types of processing including various types of operations, information processing, conditional judgement, conditional branching, unconditional branching, information retrieval/replacement, or the like described in any part in the present disclosure and specified by instruction sequences of the programs, and writes back the results to the RAM <NUM>. In addition, the CPU <NUM> may retrieve information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU <NUM> may retrieve, out of the plurality of entries, an entry with the attribute value of the first attribute specified that meets a condition, read the attribute value of the second attribute stored in the entry, and thereby acquire the attribute value of the second attribute associated with the first attribute meeting a predetermined condition.

The above-described program or software modules may be stored in the computer-readable storage medium on or near the computer <NUM>. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer readable storage medium, so that the programs are provided to the computer <NUM> via the network.

In the present embodiment, blocks of the flowcharts and the block diagrams may represent steps of processes in which operations are executed or sections of apparatuses responsible for performing operations. A specific step and "unit" may be implemented by a dedicated circuit, a programmable circuit supplied along with a computer readable instruction stored on a computer readable storage medium, and/or a processor supplied along with the computer readable instruction stored on the computer readable storage medium. A dedicated circuit may include digital and/or analog hardware circuits and may include integrated circuits (IC) and/or discrete circuits. The programmable circuit may include, for example, a reconfigurable hardware circuit including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, and a flip-flop, a register, and a memory element, such as a field programmable gate array (FPGA) and a programmable logic array (PLA).

The computer readable storage medium may include any tangible device capable of storing an instruction executed by an appropriate device, so that the computer readable storage medium having the instruction stored thereon constitutes a product including an instruction that may be executed in order to provide means to execute an operation specified by a flowchart or a block diagram. Examples of the computer-readable storage medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, a magneto-electric storage medium, a semiconductor storage medium, and the like. More specific examples of the computer readable storage medium may include a floppy (registered trademark) disk, a diskette, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or flash memory), an electrically erasable programmable read only memory (EEPROM), a static random access memory (SRAM), a compact disk read only memory (CD-ROM), a digital versatile disk (DVD), a Blu-ray (registered trademark) disk, a memory stick, an integrated circuit card, or the like.

The computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcodes, firmware instructions, state setting data, or any of source codes or object codes described in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk (registered trademark), JAVA (registered trademark), or C++, and conventional procedural programming languages, such as "C" programming languages or similar programming languages.

The computer readable instruction may be provided to a general purpose computer, a special purpose computer, or a processor or a programmable circuit of another programmable data processing apparatus locally or via a local area network (LAN), a wide area network (WAN) such as the Internet or the like in order that the general purpose computer, the special purpose computer, or the processor or the programmable circuit of another programmable data processing apparatus is to execute the computer readable instruction to provide means to execute operations specified by the flowchart or the block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc..

It is apparent to persons skilled in the art that various alterations and improvements can be added to the above-described embodiments. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the invention.

The operations, procedures, steps, and stages of each process performed by an apparatus, system, program, and method shown in the claims, embodiments, or diagrams can be performed in any order as long as the order is not indicated by "prior to," "before," or the like and as long as the output from a previous process is not used in a later process. Even if the process flow is described using phrases such as "first" or "next" in the claims, embodiments, or diagrams, it does not necessarily mean that the process must be performed in this order.

Claim 1:
A system (<NUM>), comprising:
a first communication apparatus (<NUM>) including a first directional antenna (<NUM>); and
a second communication apparatus (<NUM>), loaded on a mobile object, including a second directional antenna (<NUM>),
wherein the first communication apparatus (<NUM>) includes:
a first adjustment performing unit (<NUM>) configured to perform a calibration of the first directional antenna (<NUM>), by measuring a radio wave receipt intensity from the second directional antenna (<NUM>) by the first directional antenna (<NUM>) while changing continuously a direction of the first directional antenna (<NUM>); and
a first notification information transmitting unit (<NUM>) configured to transmit a first notification information to the second communication apparatus according to a completion of a calibration of the first directional antenna (<NUM>) by the first adjustment performing unit (<NUM>); and
wherein the second communication apparatus (<NUM>) includes a second adjustment performing unit (<NUM>) configured to perform a calibration of the second directional antenna (<NUM>) by measuring a radio wave receipt intensity from the first directional antenna (<NUM>) by the second directional antenna (<NUM>) while changing continuously a direction of the second directional antenna (<NUM>) according to a receipt of the first notification information.