Flying Vehicle Tracking Method, Flying Vehicle Image Acquiring Method, Flying Vehicle Displaying Method and Flying Vehicle Guiding System

A flying vehicle guiding system comprising:

• a flying vehicle system capable of being remotely controlled, a position measuring instrument capable of performing a distance measurement and an angle measurement and of tracking said flying vehicle system, and a ground base station for controlling a flight of said flying vehicle system based on a measurement result of said position measuring instrument, wherein said flying vehicle system comprises a retro-reflector and a flying vehicle control device, wherein said position measuring instrument comprises a camera unit for sighting and photographing said flying vehicle system, a distance measuring unit for performing a prism measurement and a non-prism measurement via an optical system of said camera unit, angle detectors for detecting an angle in a sighting direction, and a measurement control unit, wherein said measurement control unit has a tracking control unit for performing an optical tracking by receiving a reflected light from said retro-reflector and for performing an image tracking by extracting said flying vehicle system from an image photographed by said camera unit, an image pickup control unit for controlling a photographing condition of said camera unit, a position measurement communication unit, and an image processing unit for detecting said flying vehicle system from the image acquired by said camera unit, wherein said ground base station has a control device and a base communication unit, wherein said measurement control unit executes said optical tracking and said image tracking in parallel with each other with respect to said flying vehicle system, executes a tracking control of said flying vehicle system by putting priority on a result of said optical tracking, and executes the tracking control of said flying vehicle system by said image tracking when said optical tracking becomes in an impossible condition, said optical tracking is returned based on a result of said image tracking, and a distance measurement result obtained in a process of said optical tracking is transmitted to said flying vehicle control device as a positional information, and wherein said flying vehicle control device makes said flying vehicle system fly based on said positional information.