Flight Plan Preparing Method And Flying Vehicle Guiding System

A flying vehicle guiding system comprising:

• a flying vehicle system having a measuring device installed and capable of remotely controlling, a position measuring instrument capable of measuring distance, angle and of tracking, a ground base station for controlling a flight of a flying vehicle based on measurement result of said position measuring instrument and a control device installed on said flying vehicle or on said ground base station,
• wherein said flying vehicle has a retro-reflector,
• said position measuring instrument has a non-prism measurement function for performing a distance measurement and an angle measurement in non-prism and a prism measurement function for performing the distance measurement and the angle measurement with respect to said retro-reflector,
• said control device is adapted to have a flight range as set within a flat plane according to map information, drawing or image including an object to be measured, to prepare an approximate flight plan having a two-dimensional approximate flying route as set within said flight range, to measure said approximate flying route by the non-prism measurement, to calculate a three-dimensional detailed flying route based on the measurement results and said approximate flying route, to prepare a detailed flight plan including said detailed flying route and to control said flying vehicle so as to fly in maintaining a distance between said flying vehicle system and a surface of said object to be measured at a constant value based on said detailed flight plan and a result of the prism measurement.