Altitude calculation method and altitude calculation program for flying body, and flying body including the same

A flying body comprising:

• a propulsion apparatus for moving;
• a communication apparatus for communicating with an outside;
• a storage apparatus;
• and
• a control apparatus, wherein
• the storage apparatus stores altitude calculation auxiliary information obtained in advance,
• the control apparatus controls the propulsion apparatus to move the flying body, calculates information on horizontal coordinates of the flying body during movement, measures a reception signal strength of a radio signal by using the communication apparatus, and calculates an altitude of the flying body by using the information on the horizontal coordinates of the flying body, the reception signal strength of the radio signal, and the altitude calculation auxiliary information read from the storage apparatus, and measures the reception signal strength of the radio signal for communication,
• the reception signal strength is compared with a reception signal strength distribution map of a corresponding airspace measured in advance to estimate the altitude,
• the altitude calculation auxiliary information is correspondence information between an altitude at a specific horizontal coordinate position and the reception signal strength, and
• the control apparatus:
• controls the propulsion apparatus to move the flying body to the specific horizontal coordinate position by using the information on the horizontal coordinates of the flying body;
• measures the reception signal strength of the radio signal by using the communication apparatus at the specific horizontal coordinate position;
• and
• calculates the altitude of the flying body from the reception signal strength at the specific horizontal coordinate position and the correspondence information between the altitude and the reception signal strength.

A non-transitory computer-readable storage medium storing an altitude calculation program for causing a computer having a CPU, a RAM, and a storage apparatus to execute altitude calculation processing of a flying body, wherein

• the computer is provided with the storage apparatus that stores altitude calculation auxiliary information, and
• the altitude calculation program causes the computer to execute processing of measuring a reception signal strength of a radio signal for communication and calculating an altitude of the flying body by using information on horizontal coordinates of the flying body, the reception signal strength of the radio signal, and altitude calculation auxiliary information stored in the storage apparatus,
• the reception signal strength is compared with a reception signal strength distribution map of a corresponding airspace measured in advance to estimate the altitude,
• the altitude calculation auxiliary information is correspondence information between an altitude at a specific horizontal coordinate position and the reception signal strength, and
• the altitude calculation program causes the computer to execute:
• a step of moving the flying body to the specific horizontal coordinate position by using information on the horizontal coordinates of the flying body;
• a step of measuring the reception signal strength of the radio signal at the specific horizontal coordinate position;
• and
• a step of calculating the altitude of the flying body from the reception signal strength at the specific horizontal coordinate position and correspondence information between the altitude and the reception signal strength.