Abnormality determination system, abnormality determination method, and program

Abstract

To provide an abnormality determination system, etc. that enable early detection of movement of moving vehicles due to hijacking, etc.SOLUTION: An anomaly determination system 1 includes: a position information acquisition unit 11 that periodically acquires position information of a moving vehicle using a satellite positioning system; a movement control unit 12 that moves the moving vehicle along a predetermined scheduled movement route based on the acquired location information of the moving vehicle; a captured image acquisition unit 13 for acquiring a captured image of a viewpoint from the moving vehicle during movement, which is captured by an image capturing unit mounted on the moving vehicle; a virtual space information acquisition unit 14 that acquires virtual space information corresponding to the acquired location information of the moving vehicle from virtual space data created based on the scheduled movement route; and an abnormality determination unit 15 that compares the captured image and the virtual space information to determine an abnormality in the movement of the moving vehicle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an abnormality determination system, an abnormality determination method, and a program. [Background technology]

[0002] Patent Document 1 discloses a self-position measuring device that is mounted on a moving body and measures the self-position of the moving body with high accuracy with a light calculation load and without relying on external signals. This self-position measuring device includes a position extracting means that compares information acquired by an information acquiring means with estimated information at each of a plurality of reference points generated by an information generating means and extracts the position of one reference point corresponding to the estimated information with the highest degree of agreement, and a navigation selecting means that selects, based on the position of the one reference point extracted by the position extracting means, from among navigation by an inertial navigation system and navigation for determining the position of the one reference point, the one with the smaller navigation error as the navigation for measuring the own position of the moving body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-035670 A Summary of the Invention [Problem to be solved by the invention]

[0004] As mobile objects, including unmanned aircraft such as drones, become more widespread, there is a risk that the mobile objects may be hijacked. If a mobile object is hijacked, it may be possible for false location information to be transmitted, and the mobile object may be disguised as flying according to a flight plan. As a result, the hijacking may be discovered late, which may result in unpredictable accidents.

[0005] The present disclosure has been made to solve such problems, and aims to provide an abnormality determination system and the like that can detect abnormalities in the movement of a moving object due to hijacking or the like at an early stage. [Means for solving the problem]

[0006] An abnormality determination system according to one aspect of the present disclosure includes: a position information acquiring means for periodically acquiring position information of a moving object using a satellite positioning system; a movement control means for moving the moving object along a predetermined planned movement route based on the acquired position information of the moving object; a captured image acquisition means for acquiring a captured image of a viewpoint from the moving body while the moving body is moving, the captured image being captured by an imaging unit mounted on the moving body; a virtual space information acquiring means for acquiring virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; The system further includes an abnormality determination means for determining an abnormality in the movement of the moving object by comparing the captured image with the virtual space information.

[0007] An abnormality determination method according to one aspect of the present disclosure includes: Using a satellite positioning system, periodically obtain the location information of the moving object, moving the moving object along a predetermined planned moving route based on the acquired position information of the moving object; Acquire a photographed image of a viewpoint from the moving body, the photographed image being captured by an imaging unit mounted on the moving body; Acquire virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; The captured image is compared with the virtual space information to determine whether there is an abnormality in the movement of the moving object.

[0008] A program according to one aspect of the present disclosure includes: Using a satellite positioning system, periodically obtain the location information of the moving object, moving the moving object along a predetermined planned moving route based on the acquired position information of the moving object; Acquire a photographed image of a viewpoint from the moving body, the photographed image being captured by an imaging unit mounted on the moving body; Acquire virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; The computer is caused to compare the captured image with the virtual space information and determine whether there is an abnormality in the movement of the moving object. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide an abnormality determination system etc. capable of early detection of movement of a moving object due to hijacking or the like. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a configuration example of an abnormality determination system according to an embodiment; [Diagram 2] 4 is a flowchart illustrating an abnormality determination method according to an embodiment. [Diagram 3] FIG. 1 is a diagram illustrating an overview of an abnormality determination system according to some embodiments. [Figure 4] 1 is a block diagram showing a configuration of an abnormality determination system according to some embodiments. [Diagram 5] 1 is a flowchart illustrating an abnormality determination method according to some embodiments. [Figure 6] 1A and 1B are diagrams illustrating examples of virtual space data and planned flight routes according to some embodiments. [Figure 7] 11A and 11B are diagrams illustrating a comparison between a captured image and virtual space data based on position information according to some embodiments. [Figure 8] FIG. 10 is a diagram illustrating position correction according to some embodiments. [Figure 9] FIG. 1 is a diagram illustrating accurate location estimation based on captured images according to some embodiments. [Figure 10] FIG. 1 is a diagram illustrating deviations due to GPS in accordance with some embodiments. [Figure 11] 1A to 1C are diagrams illustrating examples of positional deviations that are determined to be abnormal according to some embodiments. [Figure 12] FIG. 1 illustrates an actual position determination. [Figure 13] FIG. 2 is a block diagram illustrating an example of a hardware configuration of an abnormality determination system according to some embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the present embodiment will be described with reference to the drawings. FIG. 1 is a block diagram illustrating an example of the configuration of an abnormality determination system according to an embodiment. The abnormality determination system 1 can be used to monitor the movement of a moving object and determine an abnormality. The abnormality determination system 1 can be realized by one or more computers including at least one processor and at least one memory, etc. As shown in Fig. 1, the abnormality determination system 1 includes a position information acquisition unit 11, a movement control unit 12, a captured image acquisition unit 13, a virtual space information acquisition unit 14, and an abnormality determination unit 15. Some of these components may be implemented by separate computers.

[0012] The position information acquisition unit 11 is also called a position information acquisition means, and periodically acquires the position information of the mobile body using a satellite positioning system. The movement control unit 12 is also called a movement control means, and moves the mobile body along a predetermined planned movement route based on the acquired position information of the mobile body. The movement control unit 12 may move the mobile body autonomously along the planned movement route based on the position information of the mobile body, or may move the mobile body by operation of a remote operator. Note that the position information of the mobile body using the satellite positioning system may generally have a slight position deviation or error.

[0013] The photographed image acquisition unit 13 is also called a photographed image acquisition means, and acquires photographed images taken by an imaging unit mounted on the moving object, the photographed images being viewed from the viewpoint of the moving object.

[0014] The virtual space information acquisition unit 14 is also called a virtual space information acquisition means, and acquires virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on a planned moving route. The virtual space data includes geographical information such as buildings, roads, railways, and coastlines created based on a planned moving route. Since a moving object is basically required to move along a planned moving route registered in advance, it is possible to acquire virtual space information around the moving object, i.e., virtual space information from the current position of the moving object to the destination, based on the acquired position information of the moving object.

[0015] The abnormality determination unit 15, also called the abnormality determination means, compares the captured image with the virtual space information to determine an abnormality in the movement of the moving object. The abnormality in the movement of the moving object may include, for example, the hijacking of the moving object or the fabrication of the position information of the moving object by positioning.

[0016] FIG. 2 is a flowchart showing an abnormality determination method according to one embodiment. The position information acquisition unit 11 periodically acquires the position information of the moving object using a satellite positioning system (step S11). The movement control unit 12 moves the moving object along a predetermined planned movement route based on the acquired position information of the moving object (step S12). The captured image acquisition unit 13 acquires a captured image of a viewpoint from the moving object, which is captured by an imaging unit mounted on the moving object (step S13). The virtual space information acquisition unit 14 acquires virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route (step S14). The abnormality determination unit 15 compares the captured image with the virtual space information to determine an abnormality in the movement of the moving object (step S15).

[0017] In this manner, the anomaly determination system and method according to one embodiment can detect the movement of a moving object due to hijacking or the like at an early stage.

[0018] The configuration of an abnormality determination system according to some embodiments will be described with reference to FIG. The anomaly determination system 1 includes a mobile object 100 and a management server 200. The management server 200 may be called an unmanned aircraft traffic management system (UTM) because it integrates a plurality of different security functions into a single piece of hardware and performs centralized network management. Note that the system according to the present disclosure is not limited to a cloud-centralized management server, and may use multi-access edge computing (MEC). For example, by utilizing local 5G and MEC, it is possible to reduce the amount of communication to the cloud while reducing device processing of mobile objects and improving response.

[0019] The mobile body 100, which is a drone, flies autonomously along a predetermined planned flight route based on a positioning signal from a satellite positioning system. The positioning signal from the satellite positioning system may generally be subject to positional deviation. Therefore, for example, an image of the forward direction of flight is captured by an imaging unit 103 fixed to the mobile body 100. The captured image is compared with virtual space data (especially landmarks) acquired or generated based on the positioning signal, and the position information is corrected. Such captured images are from the perspective of the drone, and may also be called FPV (First Person View) images.

[0020] The virtual space data may be generated as 3D objects by extracting a plurality of landmarks along the planned flight route in advance. The generated virtual space data may be stored in a database in association with the position information of the landmarks.

[0021] The present disclosure particularly relates to the use of such systems to provide early detection or warning of hijacking attempts that involve transmitting false location information to make it appear as if the aircraft is flying along the intended flight path.

[0022] 4 is a block diagram showing a configuration of an abnormality determination system according to some embodiments. The abnormality determination system 1 includes a mobile object 100 and a management server 200, which are communicatively connected to each other via a wired and wireless network N.

[0023] The moving body 100 may be, for example, a drone, and may include a computer including a processor, a memory, etc. The control unit of the moving body 100 may include a position information acquisition unit 101, a movement control unit 102, an imaging unit 103, and a storage unit 150. The position information acquisition unit 101 locates the position of the moving body based on a received signal from a satellite positioning system.

[0024] The position information acquisition unit 101 (position information acquisition means) can periodically acquire the position information of the mobile object 100 from position information measured by a GPS (Global Positioning System) receiver while the mobile object 100 is flying. A satellite positioning system such as a GNSS (Global Navigation Satellite System) may be used instead of GPS. The position information acquisition unit 101 periodically (for example, every second) transmits the acquired position information of the mobile object to the position information acquisition unit 201 of the management server 200 via the network.

[0025] The movement control unit 102 (movement control means) can autonomously move the moving body 100 along a planned movement route toward the destination by controlling the rotation of a drive unit such as a propeller based on the position information acquired by the position information acquisition unit 101. Note that the movement control unit 102 may be included in the management server 200. The movement control unit 102 may also move the moving body by operation of a remote operator based on the position information of the moving body.

[0026] The imaging unit 103 (imaging means) captures FPV images periodically or constantly using a camera fixed to a moving object. The FPV images may be still images or moving images. The imaging unit 103 transmits the captured images to the management server 200 via a network.

[0027] The memory unit 150 (storage means) is a storage, and specifically, a memory device such as a RAM or a ROM, a fixed disk device such as a hard disk, a flexible disk, an optical disk, etc. can be used. The memory unit 150 can store a predetermined planned movement route 151 of a moving object and position information of landmarks (e.g., latitude, longitude). The memory unit 150 can also store the acquired position information together with the acquisition time. Furthermore, the memory unit 150 can store a captured image together with the image capture time.

[0028] Next, the components of the management server 200 will be described. The management server 200 is placed on the ground and monitors the movement of a large number of moving objects. The management server 200 can be realized by a computer including a processor, a memory, and the like. The position information acquisition unit 201 (position information acquisition means) periodically acquires the position information of the moving object via the network (for example, every second). Therefore, the management server 200 can basically determine whether the moving object is moving along the planned movement route based on the position information of the moving object acquired via the network. However, if the moving object is hijacked, there is a risk that false position information will be transmitted from the moving object 100 to the management server 200, and the moving object will be disguised as if it is moving along the planned movement route. Therefore, the management server 200 of this embodiment includes the following components.

[0029] The captured image acquisition unit 202 (captured image acquisition means) acquires captured images by the imaging unit 103 of the moving object 100 together with the capture time via a network. The captured image acquisition unit 202 can acquire a plurality of still images or streaming videos. The captured image acquisition unit 202 can estimate the position of the moving object from the positions of landmarks, etc. in the captured image.

[0030] The virtual space information acquisition unit 203 (virtual space information acquisition means) acquires virtual space information, which may include one or more landmarks, from the virtual space data 282 in the memory unit 280 that was created and stored along the planned travel route, based on location information corresponding to the shooting time of the captured image.

[0031] The abnormality determination unit 204 (abnormality determination means) compares the captured image with the virtual space information to determine an abnormality in the movement of the moving object. In some embodiments, the abnormality determination unit 204 compares the captured image with the virtual space information over a predetermined time period, and may determine an abnormality in the movement when the amount of deviation gradually increases to a threshold value or more. In other embodiments, the abnormality determination unit 204 compares the captured image with the virtual space data, and may determine an abnormality in the movement when the actual position of the moving object deviates from the planned movement route by a threshold value or more. In other words, in the case of a position deviation based on GPS, the abnormality determination unit 204 does not determine an abnormality in the movement because it is considered that the actual position of the moving object is within the threshold value from the planned movement route. In still other embodiments, the abnormality determination unit 204 may determine an abnormality in the movement when it is determined that the moving object is moving toward a building, another moving object, or a crowd based on the actual position, as an act of hijacking such as terrorism.

[0032] The alert generating unit 205 (alert generating means) generates an alert to the user via a speaker or a display unit when an abnormality in the movement of the moving object is determined.

[0033] 4 is merely an example. Some of the components of the moving object 100 may be in the management server 200, and vice versa. Some of the components of the moving object 100 or the management server 200 may be implemented in another computer. For example, the alert generating unit 205 may be implemented in a computer terminal of a security company.

[0034] FIG. 5 is a flow chart illustrating an exemplary anomaly determination method according to some embodiments. The virtual space data is created along various planned flight routes, and includes various buildings, signs, landforms, etc. that can be landmarks. The landmarks can have position coordinates that are known in advance. The planned flight route is registered in the anomaly determination system in advance, and the drone, which is the moving body 100, is required to fly along the planned flight route. When the planned flight route is registered in the anomaly determination system, one or more 3D objects (three in FIG. 6) that will be landmarks along the planned flight route are extracted from the virtual space data as shown in FIG. 6 (step S101). After that, the drone flies along the planned flight route based on the position information by the GPS received by the position information acquisition unit 101 (step S102).

[0035] During flight, the drone, which is the moving body 100, periodically transmits the acquired drone position information to the UTM, which is the management server 200 (step S103). The management server 200 can determine whether the drone is flying along the planned flight route. However, if the drone is hijacked, there is a risk that false position information will be transmitted from the moving body 100 to the management server 200, and it will be disguised as if the drone is moving along the planned flight route.

[0036] During flight, the drone acquires an FPV image using a camera, which is the imaging unit 103, and transmits the image to the UTM, which is the management server 200 (step S104). The UTM acquires virtual space information based on the position of the drone (mobile body 100) at the time the FPV image was captured, from virtual space data created in advance along the planned flight route (step S105). As shown in FIG. 7, the captured FPV image (e.g., landmark 61) is compared with virtual space data (e.g., landmark 61) based on the position of the drone (mobile body 100) at the time the image was captured (step S106). Note that landmarks may also include geographical indications such as buildings, roads, railways, and coastlines.

[0037] If the comparison shows that the captured FPV image (e.g., landmark 61) matches the virtual space data (e.g., landmark 61) based on the position of the drone (moving body 100) at the time of capture (YES in step S106), the position information is corrected from the FPV image (step S107), as shown in Figure 8.

[0038] On the other hand, if the comparison result shows that the captured FPV image (e.g., landmark 61) does not match the virtual space data (e.g., landmark 61) based on the position of the drone (moving body 100) at the time of capturing the FPV image (NO in step S106), the actual position of the drone is estimated from the FPV information as shown in FIG. 9. Specifically, a 3D object (61 in FIG. 9) in the virtual space is searched for from the landmark (61 in FIG. 9) in the FPV image, and the actual position of the drone is identified from the position coordinates of the landmark (step S110). FIG. 12 is a diagram for explaining the actual position identification. The virtual space information acquisition unit 203 acquires virtual space information (including 3D object data) corresponding to the acquired position information of the moving body from the virtual space data created based on the planned movement route. The virtual space information corresponding to the position information of the moving body includes 3D object data of the direction according to the flight plan toward the destination. The 3D object data of the virtual space information is compared with the corresponding landmark or object in the FPV image captured at the position of the moving body to estimate the position of the moving body.

[0039] The abnormality determination unit 204 of the management server 200 determines whether or not the deviation between the acquired GPS position and the specified actual position is abnormal (step S111). The abnormality determination unit 204 compares the captured image with the virtual space data, and if the actual position deviates from the planned movement route by a threshold distance or more, it may determine that there is an abnormality in the movement. In other words, in the case of a position deviation based on GPS as shown in FIG. 10, the abnormality determination unit 204 does not determine that there is an abnormality in the movement because the actual position is within the threshold distance from the planned movement route. In this case, the movement control unit 102 may control the moving body so as to correct the position deviation. In addition, the abnormality determination unit 204 may determine that there is an abnormality in the movement when the deviation amount gradually increases as shown in FIG. 11 by comparing the captured image with the virtual space information over a predetermined time (for example, several seconds, several tens of seconds, etc.). In this case, the position information based on the GPS notified from the drone is fabricated, and it appears as if the drone is flying according to the flight plan, but the actual position recognized by the FPV image indicates that it is gradually deviating from the planned flight route. On the other hand, in the case of a position shift based on GPS as shown in FIG. 10, the amount of shift is almost constant over a predetermined period of time (eg, several seconds, several tens of seconds, etc.), so it is not determined to be abnormal.

[0040] In some embodiments, the anomaly determination unit 204 may determine that the GPS position notified from the drone is along the planned flight route, but that the moving body is moving toward a building, other moving body, crowd, etc. based on the actual position recognized by the FPV image, as a hijacking act such as terrorism due to fabrication of GPS position information, and may determine that the movement is abnormal. Note that if the moving body crashes due to a malfunction rather than a hijacking, the GPS position notified from the drone also deviates from the planned flight route, and the actual position recognized by the FPV image also shows that the moving body is moving toward a building, other moving body, crowd, etc. In this case, the anomaly determination unit 204 may determine that the GPS position is not fabricated, but is another anomaly, for example, a malfunction of the aircraft.

[0041] As described above, the alert generating unit 205 can generate an alert via a communication terminal when an abnormality in movement is determined. The alert can be a voice warning or a screen display warning. When a moving object is remotely controlled by a remote operator so as to move along a planned movement route, an alert can be generated in a communication terminal (e.g., a radio set, a smartphone) used by the remote operator. Alternatively, an alert can be generated in a communication terminal of a police or security company in an area on the planned movement route along which the moving object moves. The alert can be an alert indicating in which direction the moving object is moving deviating from the planned movement route.

[0042] FIG. 13 is a block diagram showing a configuration example of the anomaly determination system 1, the mobile object 100, or the management server 200. Referring to FIG. 13, the anomaly determination system 1 or the like includes a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 is used to communicate with other network node devices constituting a communication system. The network interface 1201 may be used to perform wireless communication. For example, the network interface 1201 may be used to perform wireless LAN communication defined in the IEEE 802.11 series, or mobile communication defined in 3GPP (registered trademark) (3rd Generation Partnership Project). Alternatively, the network interface 1201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 series. A positioning signal receiver 1011 such as GPS or GNSS, an imaging unit 103, and the like are connected to the network interface 1201.

[0043] The processor 1202 reads out and executes software (computer programs) from the memory 1203 to perform the processing of the abnormality determination system 1 described using the flowcharts or sequences in the above-mentioned embodiments. The processor 1202 may be, for example, a microprocessor, an MPU (Micro Processing Unit), a CPU (Central Processing Unit), or a GPU (Graphics Processing Unit). The processor 1202 may include multiple processors.

[0044] The memory 1203 is configured by a combination of volatile memory and non-volatile memory. The memory 1203 may include storage located remotely from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O interface (not shown).

[0045] 13, the memory 1203 is used to store a group of software modules. The processor 1202 can perform the processing of the anomaly determination system 1 described in the above embodiment by reading and executing the group of software modules from the memory 1203.

[0046] As described using Figures 2 and 5, each of the processors possessed by the abnormality determination system 1 etc. executes one or more programs including a group of instructions for causing a computer to execute the algorithm described using the drawings.

[0047] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, the transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0048] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention. The above-described examples can be implemented in combination as appropriate. The moving object may be, for example, a vehicle or a ship other than a drone. In addition, a technology for improving position accuracy by sensor fusion may be used.

[0049] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes. (Appendix 1) a position information acquiring means for periodically acquiring position information of a moving object using a satellite positioning system; a movement control means for moving the moving object along a predetermined planned movement route based on the acquired position information of the moving object; a captured image acquisition means for acquiring a captured image of a viewpoint from the moving body while the moving body is moving, the captured image being captured by an imaging unit mounted on the moving body; a virtual space information acquiring means for acquiring virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; an abnormality determination means for comparing the captured image with the virtual space information to determine an abnormality in the movement of the moving object. (Appendix 2) The anomaly determination system according to claim 1, wherein the anomaly determination means compares the captured image with the virtual space information over a predetermined period of time, and if the amount of deviation gradually increases to or exceeds a threshold value, determines that the position information of the moving object measured by positioning is a fabricated movement anomaly. (Appendix 3) The anomaly determination system described in Appendix 1, wherein the anomaly determination means compares the captured image with the virtual space data, and if the actual position of the moving object identified from the captured image deviates from the planned movement route by more than a threshold, determines that the position information of the moving object obtained by positioning is fabricated, indicating an anomaly in the movement. (Appendix 4) The anomaly determination system of claim 1, wherein the anomaly determination means compares the captured image with the virtual space information and determines that an anomaly in movement has occurred if the actual position of the moving object identified from the captured image over time is moving toward a building, another moving object, or a crowd. (Appendix 5) The anomaly determination system according to claim 4, wherein the anomaly determination means determines that the position information of the moving body obtained by positioning is a fabricated movement anomaly when the position information of the moving body obtained by positioning conforms to the planned movement route. (Appendix 6) 2. The abnormality determination system according to claim 1, further comprising a generating means for generating an alert when an abnormality in the movement of the moving object is determined. (Appendix 7) The anomaly determination system according to claim 1, wherein the virtual space information includes at least one 3D object serving as a landmark. (Appendix 8) The moving object is an aircraft equipped with a camera and a positioning signal receiver, The anomaly determination system according to claim 1, further comprising a ground management server equipped with the anomaly determination means for comparing the captured image with the virtual space data to determine anomalies in the movement of the moving object. (Appendix 9) Using a satellite positioning system, periodically obtain the location information of the moving object, moving the moving object along a predetermined planned moving route based on the acquired position information of the moving object; Acquire a photographed image of a viewpoint from the moving body, the photographed image being captured by an imaging unit mounted on the moving body; Acquire virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; The method for determining an abnormality includes comparing the captured image with the virtual space information to determine an abnormality in the movement of the moving object. (Appendix 10) The method for determining an anomaly as described in Appendix 9, further comprising: comparing the captured image with the virtual space information over a predetermined period of time; and if the amount of deviation gradually increases to or exceeds a threshold, determining that the position information of the moving object measured by positioning is a fabricated movement anomaly. (Appendix 11) The method for determining an anomaly as described in Appendix 9, further comprising: comparing the captured image with the virtual space data; and if the actual position of the moving object identified from the captured image deviates from the planned movement route by a threshold or more, determining that the position information of the moving object obtained by positioning is fabricated, thereby determining that the movement is abnormal. (Appendix 12) The anomaly determination method described in Appendix 9, further comprising: comparing the captured image with the virtual space information; and determining that an anomaly in movement has occurred if the actual position of the moving object identified from the captured image over time is moving toward a building, another moving object, or a crowd. (Appendix 13) The abnormality determination method according to claim 12, wherein the abnormality determination means determines that the position information of the moving body obtained by positioning is a fabricated movement abnormality when the position information of the moving body obtained by positioning conforms to the planned movement route. (Appendix 14) 10. The abnormality determination method according to claim 9, further comprising generating an alert when an abnormality in the movement of the moving object is determined. (Appendix 15) The anomaly determination method according to claim 9, wherein the virtual space information includes at least one 3D object serving as a landmark. (Appendix 16) Using a satellite positioning system, periodically obtain the location information of the moving object, moving the moving object along a predetermined planned moving route based on the acquired position information of the moving object; Acquire a photographed image of a viewpoint from the moving body, the photographed image being captured by an imaging unit mounted on the moving body; Acquire virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; A program that causes a computer to compare the captured image with the virtual space information and determine whether there is an abnormality in the movement of the moving object. (Appendix 17) The program described in Appendix 16 causes a computer to compare the captured image with the virtual space information over a predetermined period of time, and if the amount of deviation gradually increases to or exceeds a threshold, determine that the position information of the moving object obtained by positioning is a fabricated movement abnormality. (Appendix 18) The program described in Appendix 16 or 17, which causes a computer to execute the following: comparing the captured image with the virtual space data, and if the actual position of the moving object identified from the captured image deviates from the planned movement route by a threshold or more, determining that the position information of the moving object obtained by positioning is a fabricated movement abnormality. (Appendix 19) A program described in any of Appendices 16 to 18, which causes a computer to compare the captured image with the virtual space information, and determine that an abnormality in movement exists if the actual position of the moving object identified from the captured image over time is moving toward a building, another moving object, or a crowd. (Appendix 20) A program as described in any one of Appendix 19, which causes a computer to execute the following: if the position information of a moving body measured by positioning conforms to the planned movement route, the position information of the moving body measured by positioning is determined to be a fabricated movement abnormality. (Appendix 21) 21. The program according to any one of appendices 16 to 20, which causes a computer to issue an alert when an abnormality in the movement of the moving object is determined. (Appendix 22) The program according to any one of Appendices 16 to 21, wherein the virtual space information includes at least one 3D object serving as a landmark. [Explanation of symbols]

[0050] 1. Anomaly Judgment System 11 Location information acquisition section 12 Movement control section 13 Image acquisition unit 14 Virtual space information acquisition unit 15 Abnormality determination section 61, 62, 63 Landmarks 100 Mobile 101 Location information acquisition unit 102 Movement control section 103 Imaging unit 150 Storage section 151 Planned travel route 200 Management Server 201 Location information acquisition section 202 Image acquisition unit 203 Virtual space information acquisition unit 204 Abnormality determination section 205 Alert Generation Unit 280 Storage section 281 Planned travel route 282 Virtual Space Data

Claims

1. a position information acquiring means for periodically acquiring position information of a moving object using a satellite positioning system; a movement control means for moving the moving object along a predetermined planned movement route based on the acquired position information of the moving object; a captured image acquisition means for acquiring a captured image of a viewpoint from the moving body while the moving body is moving, the captured image being captured by an imaging unit mounted on the moving body; a virtual space information acquiring means for acquiring virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; an abnormality determination means for comparing the captured image with the virtual space information to determine an abnormality in the movement of the moving object.

2. The abnormality determination system according to claim 1, wherein the abnormality determination means compares the captured image with the virtual space information over a predetermined period of time, and if the amount of deviation gradually increases to or exceeds a threshold value, determines that the position information of the moving body determined by positioning is a fabricated movement abnormality.

3. The anomaly determination system according to claim 1, wherein the anomaly determination means compares the captured image with the virtual space data, and if the actual position of the moving body identified from the captured image deviates from the planned movement route by a threshold value or more, determines that the position information of the moving body obtained by positioning has been fabricated, indicating that there is an anomaly in the movement.

4. The anomaly determination system of claim 1, wherein the anomaly determination means compares the captured image with the virtual space information and determines that an anomaly in movement has occurred if the actual position of the moving object identified from the captured image over time is moving toward a building, another moving object, or a crowd.

5. 5. The anomaly determination system according to claim 4, wherein said anomaly determination means, when position information of the mobile object obtained by positioning conforms to said planned movement route, determines that the position information of the mobile object obtained by positioning is a fabricated movement anomaly.

6. The abnormality determination system according to claim 1 , further comprising a generating unit that generates an alert when an abnormality in the movement of the moving object is determined.

7. The anomaly determination system according to claim 1 , wherein the virtual space information includes at least one 3D object serving as a landmark.

8. The moving object is an aircraft equipped with a camera and a positioning signal receiver, 2. The anomaly determination system according to claim 1, further comprising a ground management server including the anomaly determination means for determining an anomaly in the movement of the moving object by comparing the captured image with the virtual space data.

9. Using a satellite positioning system, periodically obtain the location information of the moving object, moving the moving object along a predetermined planned moving route based on the acquired position information of the moving object; Acquire a photographed image of a viewpoint from the moving body, the photographed image being captured by an imaging unit mounted on the moving body; Acquire virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; The method for determining an abnormality includes comparing the captured image with the virtual space information to determine an abnormality in the movement of the moving object.

10. Using a satellite positioning system, periodically obtain the location information of the moving object, moving the moving object along a predetermined planned moving route based on the acquired position information of the moving object; Acquire a photographed image of a viewpoint from the moving body, the photographed image being captured by an imaging unit mounted on the moving body; Acquire virtual space information corresponding to the acquired position information of the moving object from virtual space data created based on the planned movement route; A program that causes a computer to compare the captured image with the virtual space information and determine whether there is an abnormality in the movement of the moving object.

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