Optical space communication device, optical space communication method, and program

Abstract

To provide a technique that can reduce the effects of disturbances in optical space communication.SOLUTION: An optical space communication device calculates a first target value by referring to position information, controls a gimbal unit based on the calculated first target value, calculates a second target value based on disturbance characteristics calculated by referring to light intensity information after the control, calculates a target correction value by referring to the first target value and the second target value, and controls the gimbal unit based on the target correction value.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an optical space communication device, an optical space communication method, and a program.

Background Art

[0002] In optical space communication, a technique for bringing the optical axis of a device that emits light closer to the optical axis of a device that receives light is known.

[0003] For example, Patent Document 1 discloses an optical space communication system that performs optical space communication between a first optical space communication device and a second optical space communication device. In this optical space communication system, the first optical space communication device adjusts the emission direction of the first communication light to be emitted and controls the emission state of the diffused light to be emitted based on the diffused light from the second optical space communication device and the emission state of the communication light.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the optical space communication system described in Patent Document 1, for example, the influence of disturbances such as atmospheric disturbances in the atmosphere is not considered.

[0006] In the atmosphere, the state of the air is not stable, so due to atmospheric disturbances, light is refracted or blurred. In optical space communication in the atmosphere, such atmospheric disturbances cause light not to reach the receiving side or the state of the wavefront to be disturbed. Therefore, in optical space communication in the atmosphere, there is a problem that the optical axis is refracted or shaken, and the received light cannot be processed as appropriate information, or the communication is interrupted.

[0007] The present disclosure has been made in view of the above problems, and an exemplary object thereof is to provide a technique for reducing the influence of interference in optical space communication.

Means for Solving the Problems

[0008] An optical space communication apparatus according to an exemplary aspect of the present disclosure includes: an optical intensity information acquisition unit that acquires optical intensity information indicating the intensity of transmitted light from a counterpart station received by an optical reception sensor; a position information acquisition unit that acquires position information indicating the position of the counterpart station estimated by an image sensor based on an image obtained by imaging the transmitted light from the counterpart station by an imaging apparatus; a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor, and a cooperative control unit that calculates a first target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the counterpart station, with reference to the position information; a tracking control unit that controls the gimbal unit based on the first target value; and a disturbance correction unit that calculates a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the counterpart station, based on the characteristics of the disturbance of the transmitted light calculated by referring to the position information or the optical intensity information after the gimbal unit is controlled based on the first target value by the tracking control unit. The cooperative control unit calculates a target correction value for driving the gimbal unit with reference to the first target value and the second target value, and the tracking control unit controls the gimbal unit based on the target correction value.

[0009] An optical space communication method according to an exemplary aspect of the present disclosure includes a position information acquisition process in which at least one processor acquires position information indicating a position of a counterpart station estimated by an image sensor based on an image captured by an imaging device of transmitted light from the counterpart station, a first cooperative control process that calculates, with reference to the position information, a first target value for driving a gimbal unit that changes at least one of an orientation of an optical reception sensor and the image sensor and an optical axis direction of the optical reception sensor and the image sensor so that the optical reception sensor and the image sensor track the counterpart station, a first tracking control process that controls the gimbal unit based on the first target value, an optical intensity information acquisition process that, in the first tracking control process, acquires optical intensity information indicating an intensity of transmitted light from the counterpart station received by the optical reception sensor after the gimbal unit is controlled based on the first target value, a disturbance correction process that calculates a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the counterpart station based on characteristics of disturbance of the transmitted light calculated by referring to the position information or the optical intensity information, a second cooperative control process that calculates a target correction value for driving the gimbal unit by referring to the first target value and the second target value, and a second tracking control process that controls the gimbal unit based on the target correction value.

[0010] A program according to an exemplary aspect of the present disclosure is a program that causes a computer to function as an optical space communication device, and causes the computer to perform an optical intensity information acquisition process of acquiring optical intensity information indicating the intensity of transmitted light from a counterpart station received by an optical reception sensor, a position information acquisition process of acquiring position information indicating the position of the counterpart station estimated by an image sensor based on an image obtained by imaging the transmitted light from the counterpart station by an imaging device, a cooperative control process of calculating, with reference to the position information, a first target value for driving a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor so that the optical reception sensor and the image sensor track the counterpart station, a tracking control process of controlling the gimbal unit based on the first target value, and a disturbance correction process of calculating a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the counterpart station based on the characteristics of the disturbance of the transmitted light calculated by referring to the position information or the optical intensity information after the gimbal unit is controlled based on the first target value in the tracking control process, and causing the cooperative control process to calculate a target correction value for driving the gimbal unit by referring to the first target value and the second target value, and causing the tracking control process to control the gimbal unit based on the target correction value.

Effect of the Invention

[0011] According to an exemplary aspect of the present disclosure, there is an exemplary effect that a technique for reducing the influence of disturbance in optical space communication can be provided.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be exemplified. However, the present invention is not limited to the following exemplary embodiments, and various modifications are possible within the scope shown in the claims. For example, embodiments obtained by appropriately combining the technical means employed in the following exemplary embodiments may also be included in the scope of the present invention. Further, embodiments obtained by appropriately omitting a part of the technical means employed in the following exemplary embodiments may also be included in the scope of the present invention. Also, the effects mentioned in the following exemplary embodiments are examples of the effects expected in those exemplary embodiments and do not define the scope of the present invention. That is, embodiments that do not exhibit the effects mentioned in the following exemplary embodiments may also be included in the scope of the present invention.

[0014] 〔First Exemplary Embodiment〕 A first exemplary embodiment, which is an example of an embodiment of the present invention, will be described in detail with reference to the drawings. This exemplary embodiment is a basic form for each of the exemplary embodiments described later. Note that the scope of application of each technical means employed in this exemplary embodiment is not limited to this exemplary embodiment. That is, each technical means employed in this exemplary embodiment can be employed in other exemplary embodiments included in the present disclosure as long as there are no particular technical obstacles. Also, each technical means shown in the drawings referred to for explaining this exemplary embodiment can be employed in other exemplary embodiments included in the present disclosure as long as there are no particular technical obstacles.

[0015] (Configuration of Optical Space Communication Device 1) The configuration of the optical space communication device 1 will be described with reference to FIG. 1. FIG. 1 is a block diagram showing the configuration of the optical space communication device 1. As shown in FIG. 1, the optical space communication device 1 includes an optical intensity information acquisition unit 11, a position information acquisition unit 12, a coordination control unit 13, a tracking control unit 14, and a disturbance correction unit 15. The optical intensity information acquisition unit 11, the position information acquisition unit 12, the coordination control unit 13, the tracking control unit 14, and the disturbance correction unit 15 respectively realize the optical intensity information acquisition means, the position information acquisition means, the coordination control means, the tracking control means, and the disturbance correction means in this exemplary embodiment.

[0016] The optical intensity information acquisition unit 11 acquires optical intensity information indicating the intensity of the transmitted light from the counterpart station received by the optical reception sensor. The optical intensity information acquisition unit 11 supplies the acquired optical intensity information to the disturbance correction unit 15.

[0017] The position information acquisition unit 12 acquires position information indicating the position of the counterpart station estimated by the image sensor based on the image captured by the imaging device of the transmitted light from the counterpart station. The position information acquisition unit 12 supplies the acquired position information to the coordination control unit 13.

[0018] The coordination control unit 13 calculates a first target value for driving a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor so that the optical reception sensor and the image sensor track the counterpart station, with reference to the position information. The coordination control unit 13 supplies the calculated first target value to the tracking control unit 14.

[0019] Also, the coordination control unit 13 calculates a target correction value for driving the gimbal unit with reference to the first target value and a second target value described later. The coordination control unit 13 supplies the target correction value to the tracking control unit 14.

[0020] The tracking control unit 14 controls the gimbal unit based on the first target value.

[0021] Further, the tracking control unit 14 controls the gimbal unit based on the target correction value.

[0022] The disturbance correction unit 15 calculates a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the other party based on the characteristics of the disturbance of the transmitted light calculated by referring to the light intensity information after the gimbal unit is controlled based on the first target value by the position information or the tracking control unit 14. The disturbance correction unit 15 supplies the calculated second target value to the cooperative control unit 13.

[0023] Here, the "characteristics of the disturbance of light" refers to the characteristics of the influence that light receives due to the disturbance. For example, in optical space communication within the atmosphere, the "characteristics of the disturbance of light" are the characteristics of the influence that light receives due to atmospheric disturbance.

[0024] (Effect of the optical space communication device 1) As described above, in the optical space communication device 1, an optical intensity information acquisition unit 11 that acquires optical intensity information indicating the intensity of the transmitted light from the other party received by the optical reception sensor, a position information acquisition unit 12 that acquires position information indicating the position of the other party estimated by the image sensor based on an image obtained by the imaging device capturing the transmitted light from the other party, a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor, a cooperative control unit 13 that calculates a first target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the other party by referring to the position information, a tracking control unit 14 that controls the gimbal unit based on the first target value, and a disturbance correction unit 15 that calculates a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the other party based on the characteristics of the disturbance of the transmitted light calculated by referring to the optical intensity information after the gimbal unit is controlled based on the first target value by the position information or the tracking control unit 14 are provided.

[0025] Also, in the optical space communication device 1, the cooperation control unit 13 calculates a target correction value for driving the gimbal unit with reference to the first target value and the second target value, and the tracking control unit 14 controls the gimbal unit based on the target correction value.

[0026] Therefore, according to the optical space communication device 1, an effect that the influence caused by disturbance in optical space communication can be reduced is obtained.

[0027] (Flow of the optical space communication method S1) The flow of the optical space communication method S1 will be described with reference to FIG. 2. FIG. 2 is a flowchart showing the flow of the optical space communication method S1. As shown in FIG. 2, the optical space communication method S1 includes a position information acquisition process S11, a first cooperation control process S12, a first tracking control process S13, an optical intensity information acquisition process S14, a disturbance correction process S15, a second cooperation control process S16, and a second tracking control process S17.

[0028] (Position information acquisition process S11) In the position information acquisition process S11, the position information acquisition unit 12 acquires position information indicating the position of the other party station estimated by the image sensor based on an image obtained by the imaging device capturing the transmission light from the other party station. The position information acquisition unit 12 supplies the acquired position information to the cooperation control unit 13.

[0029] (First cooperation control process S12) In the first cooperation control process S12, the cooperation control unit 13 calculates a first target value for driving the gimbal unit, which changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor, so that the optical reception sensor and the image sensor track the other party station, with reference to the position information. The cooperation control unit 13 supplies the calculated first target value to the tracking control unit 14.

[0030] (First tracking control process S13) In the first tracking control process S13, the tracking control unit 14 controls the gimbal unit based on the first target value.

[0031] (Optical intensity information acquisition process S14) In the optical intensity information acquisition process S14, after the gimbal unit is controlled based on the first target value in the first tracking control process S13, the optical intensity information acquisition unit 11 acquires the optical intensity information indicating the intensity of the transmitted light from the counterpart station received by the optical reception sensor. The optical intensity information acquisition unit 11 supplies the acquired optical intensity information to the disturbance correction unit 15.

[0032] (Disturbance correction process S15) In the disturbance correction process S15, the disturbance correction unit 15 calculates a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the counterpart station based on the characteristics of the disturbance of the transmitted light calculated by referring to the position information or the optical intensity information. The disturbance correction unit 15 supplies the calculated second target value to the cooperative control unit 13.

[0033] (Second cooperative control process S16) In the second cooperative control process S16, the cooperative control unit 13 calculates a target correction value for driving the gimbal unit by referring to the first target value and the second target value. The cooperative control unit 13 supplies the target correction value to the tracking control unit 14.

[0034] (Second tracking control process S17) In the second tracking control process S17, the tracking control unit 14 controls the gimbal unit based on the target correction value.

[0035] (Effect of the optical space communication method S1) As described above, in the optical space communication method S1, the position information acquisition unit 12 acquires position information indicating the position of the other party station estimated by the image sensor based on an image obtained by the imaging device imaging the transmission light from the other party station, which is a position information acquisition process S11; the cooperation control unit 13 calculates a first target value for driving a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor so that the optical reception sensor and the image sensor track the other party station, with reference to the position information, which is a first cooperation control process S12; the tracking control unit 14 controls the gimbal unit based on the first target value, which is a first tracking control process S13; the light intensity information acquisition unit 11 acquires light intensity information indicating the intensity of the transmission light from the other party station received by the optical reception sensor after the gimbal unit is controlled based on the first target value in the first tracking control process S13, which is a light intensity information acquisition process S14; the disturbance correction unit 15 calculates a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmission light from the other party station based on the characteristics of the disturbance of the transmission light calculated by referring to the position information or the light intensity information, which is a disturbance correction process S15; the cooperation control unit 13 calculates a target correction value for driving the gimbal unit with reference to the first target value and the second target value, which is a second cooperation control process S16; and the tracking control unit 14 controls the gimbal unit based on the target correction value, which is a second tracking control process S17. Thus, a configuration including these is adopted. Therefore, according to the optical space communication method S1, the same effects as those of the above-described optical space communication device 1 can be obtained.

[0036] 〔Second Exemplary Embodiment〕 A second exemplary embodiment, which is an example of an embodiment of the present invention, will be described in detail with reference to the drawings. Components having the same functions as those described in the above-described exemplary embodiments are denoted by the same reference numerals, and the description thereof will be omitted as appropriate. Note that the scope of application of each technical means employed in this exemplary embodiment is not limited to this exemplary embodiment. That is, each technical means employed in this exemplary embodiment can be employed in other exemplary embodiments included in the present disclosure as long as there are no particular technical obstacles. In addition, each technical means shown in each drawing referred to for explaining this exemplary embodiment can be employed in other exemplary embodiments included in the present disclosure as long as there are no particular technical obstacles.

[0037] (Overview of Optical Space Communication Device 2) The optical space communication device 2 is a device that performs optical space communication by receiving transmitted light emitted from a counterpart station. Further, the optical space communication device 2 corrects at least one of the orientation of the optical unit that receives the transmitted light and the optical axis direction in accordance with the disturbance of the transmitted light (the influence received by the transmitted light due to the disturbance). Examples of the disturbance of the transmitted light include the influence due to atmospheric disturbance and the influence due to water disturbance.

[0038] Note that the optical space communication device 2 may emit transmitted light to a counterpart station. Even in this case, the optical space communication device 2 corrects at least one of the orientation of the optical unit that emits the transmitted light and the optical axis direction in accordance with the disturbance of the transmitted light emitted from the counterpart station.

[0039] The state in which the optical space communication device 2 corrects the optical axis direction of the optical unit will be described with reference to FIG. 3. FIG. 3 is a diagram showing a state in which the optical space communication device 2 executes correction processing.

[0040] The figure shown on the upper side of FIG. 3 is a diagram in which the optical space communication device 2 and the counterpart station 3 are performing optical space communication in the atmosphere. In this case, as shown on the upper side of FIG. 3, the transmitted light emitted from the counterpart station 3 is received by the optical space communication device 2 after being disturbed by the atmosphere.

[0041] In the figure shown above FIG. 3, when the optical space communication device 2 does not correct the optical axis direction, as shown on the left side of the lower part of FIG. 3, the image sensor receives the transmitted light emitted from the counterpart station 3 in a region that spreads in the pan direction and tilt direction from near the center.

[0042] On the other hand, in the figure shown above FIG. 3, when the optical space communication device 2 corrects the optical axis direction, as shown on the right side of the lower part of FIG. 3, the image sensor receives the transmitted light emitted from the counterpart station 3 near the center of the image sensor even for light disturbed by the atmosphere.

[0043] (Overview of the optical space communication device 2) The configuration of the optical space communication device 2 will be described with reference to FIG. 4. FIG. 4 is a block diagram showing the configuration of the optical space communication device 2. The optical space communication device 2 includes a control unit 20 and a gimbal unit 30.

[0044] (Gimbal unit 30) The gimbal unit 30 changes at least one of the direction of the optical unit 320 that receives the transmitted light and the optical axis direction. As shown in FIG. 4, the gimbal unit 30 includes a fine control drive unit 31 and a coarse control drive unit 32.

[0045] Based on an instruction from the control unit 20, the fine control drive unit 31 finely adjusts the direction of the optical unit 320 and the optical axis direction with high precision. As an example, the fine control drive unit 31 uses an FPM (Fine Pointing Mechanism) to drive at least two axes of AZ (Azimuth) / EL (Elevation) or more, thereby finely adjusting the direction of the optical unit 320 and the optical axis direction with high precision. The fine control drive unit 31 supplies information indicating the angle of the gimbal unit 30 after driving to the control unit 20.

[0046] The coarse control drive unit 32 largely adjusts the orientation of the optical unit 320 and the optical axis direction based on an instruction from the control unit 20. As an example, the coarse control drive unit 32 uses a large gimbal to drive at least two axes of AZ / EL or more, thereby largely adjusting the orientation of the optical unit 320 and the optical axis direction. The coarse control drive unit 32 supplies information indicating the angle of the gimbal unit 30 after driving to the control unit 20.

[0047] In addition, as shown in FIG. 4, the coarse control drive unit 32 includes an optical unit 320 that receives transmitted light. Further, as shown in FIG. 4, the optical unit 320 includes a light reception sensor 321 and an image sensor 322.

[0048] The light reception sensor 321 converts transmitted light from the counterpart station into an electrical signal. As an example, the light reception sensor 321 quickly detects transmitted light from the counterpart station and generates light intensity information indicating the intensity of the transmitted light from the counterpart station. As an example, the light reception sensor 321 is constituted by a PD (photodiode) or the like. The light reception sensor 321 supplies the generated light intensity information to the control unit 20.

[0049] The image sensor 322 includes an imaging device, and estimates the position of the counterpart station based on an image obtained by the imaging device capturing the transmitted light from the counterpart station. The image sensor 322 generates position information indicating the estimated position of the counterpart station. As an example, the image sensor 322 is capable of high-speed imaging, and the viewing angle is wider than the viewing angle of the light reception sensor 321. The image sensor 322 supplies the generated position information to the control unit 20.

[0050] (Control Unit 20) The control unit 20 controls each component included in the optical space communication device 2. Further, as shown in FIG. 4, the control unit 20 includes a light intensity information acquisition unit 11, a position information acquisition unit 12, a cooperative control unit 13, a tracking control unit 14, and a disturbance correction unit 15. The light intensity information acquisition unit 11, the position information acquisition unit 12, the cooperative control unit 13, the tracking control unit 14, and the disturbance correction unit 15 respectively realize light intensity information acquisition means, position information acquisition means, cooperative control means, tracking control means, and disturbance correction means in this exemplary embodiment.

[0051] The light intensity information acquisition unit 11 acquires the light intensity information supplied from the light reception sensor 321. The light intensity information acquisition unit 11 supplies the acquired light intensity information to the disturbance correction unit 15.

[0052] The position information acquisition unit 12 acquires the position information supplied from the image sensor 322. The position information acquisition unit 12 supplies the acquired position information to the cooperative control unit 13 and the disturbance correction unit 15.

[0053] The cooperative control unit 13 generates a target value indicating how to drive the gimbal unit 30. As an example, the cooperative control unit 13 calculates a first target value for driving the gimbal unit 30 so that the light reception sensor 321 and the image sensor 322 track the other party, with reference to the position information supplied from the position information acquisition unit 12. The cooperative control unit 13 supplies the calculated first target value to the tracking control unit 14.

[0054] As another example, the cooperative control unit 13 further refers to the information indicating the angle of the gimbal unit 30 supplied from at least one of the fine control drive unit 31 and the coarse control drive unit 32, and calculates the first target value.

[0055] Also, the cooperative control unit 13 calculates a target correction value for driving the gimbal unit 30 with reference to the first target value and a second target value described later. As an example, the cooperative control unit 13 calculates the target correction value by adding the second target value to the first target value. As another example, the cooperative control unit 13 calculates the target correction value by weighting each of the first target value and the second target value and then adding them.

[0056] The tracking control unit 14 controls the gimbal unit 30. As an example, the tracking control unit 14 controls the gimbal unit 30 based on the first target value supplied from the cooperative control unit 13 or the target correction value described later.

[0057] Also, as shown in FIG. 4, the tracking control unit 14 includes a fine tracking control unit 141 and a coarse tracking control unit 142.

[0058] Based on the first target value or the target correction value, the fine tracking control unit 141 controls the fine control drive unit 31 of the gimbal unit 30. Further, the fine tracking control unit 141 controls the fine control drive unit 31 based on the information indicating the angle of the gimbal unit 30 supplied from the fine control drive unit 31.

[0059] Based on the first target value or the target correction value, the coarse tracking control unit 142 controls the coarse control drive unit 32 of the gimbal unit 30. Further, the coarse tracking control unit 142 controls the coarse control drive unit 32 based on the information indicating the angle of the gimbal unit 30 supplied from the coarse control drive unit 32.

[0060] The disturbance correction unit 15 calculates the characteristics of the disturbance of the transmitted light from the counterpart station by referring to the light intensity information after the gimbal unit 30 is controlled based on the position information or the first target value. Further, the disturbance correction unit 15 calculates a second target value for driving the gimbal unit 30 so that the optical reception sensor 321 and the image sensor 322 track the transmitted light from the counterpart station based on the calculated characteristics. The disturbance correction unit 15 supplies the calculated second target value to the cooperative control unit 13.

[0061] Further, the disturbance correction unit 15 calculates a second target value for finely controlling the gimbal unit 30 by referring to the position information supplied from the position information acquisition unit 12 and the light intensity information supplied from the light intensity information acquisition unit 11 and the acquired light intensity information.

[0062] Further, as shown in FIG. 4, the disturbance correction unit 15 includes a disturbance correction determination unit 151 and a disturbance correction target value generation unit 152.

[0063] The disturbance correction determination unit 151 calculates the characteristics of the disturbance of the transmitted light from the counterpart station by referring to at least any one of the light intensity information after the gimbal unit 30 is controlled based on the position information and the first target value. Hereinafter, the process in which the disturbance correction determination unit 151 calculates the characteristics of the disturbance of the transmitted light from the counterpart station is also referred to as the disturbance search mode.

[0064] Based on the characteristics of the disturbance of the transmitted light from the counterpart station calculated by the disturbance correction determination unit 151, the disturbance correction target value generation unit 152 calculates a second target value for driving the gimbal unit 30 so that the optical reception sensor 321 and the image sensor 322 track the transmitted light from the counterpart station.

[0065] (Example 1 of the process executed by the disturbance correction unit 15) An example of the process executed by the disturbance correction unit 15 will be described. Hereinafter, the case of calculating the disturbance in the pan direction and tilt direction of the transmitted light from the counterpart station and the characteristics of the frequency of beam wandering will be taken as an example for description.

[0066] In this example, the disturbance correction target value generation unit 152 first generates a command value indicating that a sine sweep from 0.5 to several hundred Hz with an amplitude of about several hundred μrad is added for several tens of degrees steps at each angle of 0° to 180° in the pan direction and tilt direction. The disturbance correction target value generation unit 152 supplies the generated command value to the cooperative control unit 13.

[0067] Based on the command value supplied from the disturbance correction target value generation unit 152, the cooperative control unit 13 generates a target value. The cooperative control unit 13 supplies the target value to the tracking control unit 14. Based on the target value supplied from the cooperative control unit 13, the tracking control unit 14 drives the gimbal unit 30.

[0068] The disturbance correction determination unit 151 acquires the optical intensity information after driving based on the command value. Then, as the characteristics of the disturbance of the transmitted light from the counterpart station, the disturbance correction determination unit 151 calculates the angles and frequencies at which the intensity of the transmitted light from the counterpart station indicated by the optical intensity information is high in each of the pan direction and tilt direction. The disturbance correction determination unit 151 supplies the calculated pan angle, tilt angle, and frequency to the disturbance correction target value generation unit 152.

[0069] The disturbance correction target value generation unit 152 calculates a second target value for driving the gimbal unit 30 at the pan angle, tilt angle, and frequency calculated by the disturbance correction determination unit 151.

[0070] In this way, the disturbance correction unit 15 calculates, as characteristics of the disturbance of the transmitted light from the other station, the angles and frequencies at which the intensity of the transmitted light from the other station indicated by the optical intensity information is high, respectively, in the pan direction and the tilt direction. Therefore, the optical space communication device 2 can calculate the characteristics of the disturbance of the transmitted light from the other station and perform optical space communication according to the calculated characteristics.

[0071] (Example 2 of the process executed by the disturbance correction unit 15) Another example of the process executed by the disturbance correction unit 15 will be described with reference to FIG. 5. FIG. 5 is a diagram showing another example of the process executed by the disturbance correction unit 15.

[0072] The disturbance correction determination unit 151 refers to the position information supplied from the position information acquisition unit 12 and calculates the estimated position information obtained by estimating the position of the other station and the characteristics of the disturbance, as shown in FIG. 5. As an example, the disturbance correction determination unit 151 calculates the estimated position information by smoothing the position information by applying a prediction filter such as a Kalman filter. Further, the disturbance correction determination unit 151 calculates the vector direction and the resonance frequency of the transmitted light based on the difference between the calculated estimated position information and the position information as the characteristics of the disturbance. The disturbance correction determination unit 151 supplies the calculated vector direction and resonance frequency to the disturbance correction target value generation unit 152.

[0073] The disturbance correction target value generation unit 152 calculates a second target value for driving the gimbal unit 30 at the vector direction and frequency calculated by the disturbance correction determination unit 151.

[0074] In this way, the disturbance correction unit 15 calculates the vector direction and the resonance frequency of the transmitted light based on the difference between the estimated position information and the position information as the characteristics of the disturbance. Therefore, the optical space communication device 2 can calculate the characteristics of the disturbance of the transmitted light from the other station and perform optical space communication according to the calculated characteristics.

[0075] (Example 3 of the process executed by the disturbance correction unit 15) Still another example of the process executed by the disturbance correction unit 15 will be described.

[0076] Using the method of Example 1 described above, the interference correction determination unit 151 calculates, as characteristics of the interference, the angles and frequencies at which the intensity of the transmitted light from the communication partner indicated by the light intensity information is high in each of the pan direction and the tilt direction. Then, the interference correction target value generation unit 152 calculates a second target value for driving the gimbal unit 30 at the pan angle, tilt angle, and frequency calculated by the interference correction determination unit 151.

[0077] Also, using the method of Example 2 described above, the interference correction determination unit 151 calculates, as characteristics of the interference, the vector direction and resonance frequency of the transmitted light based on the difference between the estimated position information and the position information. Then, the interference correction target value generation unit 152 calculates a second target value for driving the gimbal unit 30 at the vector direction and frequency calculated by the interference correction determination unit 151.

[0078] Furthermore, the interference correction target value generation unit 152 calculates the second target value by comparing the two calculated second target values with each other. As an example, the interference correction target value generation unit 152 calculates the second target value using a weighting function.

[0079] In this way, the interference correction unit 15 calculates the second target value by comparing the plurality of calculated second target values with each other. Therefore, the optical space communication device 2 can perform optical space communication in accordance with the characteristics of the interference of the transmitted light from the communication partner.

[0080] (Processing executed by the optical space communication device 2) The flow of the process executed by the optical space communication device 2 will be described with reference to FIG. 6. FIG. 6 is a flowchart showing the flow of the process executed by the optical space communication device 2.

[0081] (Step S21) In step S21, the position information acquisition unit 12 acquires the position information supplied from the image sensor 322. The position information acquisition unit 12 supplies the acquired position information to the cooperative control unit 13 and the interference correction unit 15.

[0082] (Step S22) In step S22, the cooperation control unit 13 calculates a first target value for driving the gimbal unit 30 so that the optical reception sensor 321 and the image sensor 322 track the other party, with reference to the position information supplied from the position information acquisition unit 12 in step S21. The cooperation control unit 13 supplies the calculated first target value to the tracking control unit 14.

[0083] (Step S23) In step S23, the tracking control unit 14 controls the gimbal unit 30 based on the first target value supplied from the cooperation control unit 13 in step S22.

[0084] (Step S24) In step S24, the disturbance correction determination unit 151 starts the disturbance search mode.

[0085] (Step S25) In step S25, the light intensity information acquisition unit 11 acquires the light intensity information after the gimbal unit 30 is controlled based on the first target value. The light intensity information acquisition unit 11 supplies the acquired light intensity information to the disturbance correction determination unit 151.

[0086] (Step S26) In step S26, the disturbance correction determination unit 151 refers to the light intensity information supplied from the light intensity information acquisition unit 11 in step S25 and determines whether the light intensity is higher than the threshold value.

[0087] In step S26, when it is determined that the light intensity information is not higher than the threshold value (step S26: NO), the disturbance correction determination unit 151 returns to step S24 and starts the disturbance search mode.

[0088] (Step S27) In step S26, when it is determined that the optical intensity information is higher than the threshold value (step S26: YES), in step S27, the disturbance correction determination unit 151 calculates the angle and frequency at which the intensity of the transmitted light from the communication partner indicated by the optical intensity information is high. The disturbance correction determination unit 151 supplies the calculated pan angle, tilt angle, and frequency to the disturbance correction target value generation unit 152.

[0089] (Step S28) In step S28, the disturbance correction determination unit 151 calculates the vector direction and resonance frequency of the transmitted light based on the difference between the estimated position information and the position information. The disturbance correction determination unit 151 supplies the calculated vector direction and resonance frequency to the disturbance correction target value generation unit 152.

[0090] (Step S29) In step S29, the disturbance correction target value generation unit 152 calculates a second target value based on the values supplied from the disturbance correction determination unit 151 in steps S27 and S28. The disturbance correction target value generation unit 152 supplies the calculated second target value to the cooperative control unit 13.

[0091] (Step S30) In step S30, the cooperative control unit 13 calculates a target correction value for driving the gimbal unit 30 with reference to the second target value supplied from the disturbance correction target value generation unit 152 in step S29. The cooperative control unit 13 supplies the calculated target correction value to the tracking control unit 14.

[0092] (Step S31) In step S31, the tracking control unit 14 controls the gimbal unit 30 based on the target correction value supplied from the cooperative control unit 13 in step S30.

[0093] (Effect of the optical space communication device 2) In this way, the optical space communication device 2 drives the gimbal unit 30 that changes at least one of the orientation of the optical unit 320 that performs optical space communication and the optical axis direction according to the characteristics of the disturbance of the transmitted light from the counterpart station. Therefore, even when the transmitted light from the counterpart station is refracted or blurred by the atmosphere, for example, the optical space communication device 2 changes at least one of the orientation of the optical unit 320 and the optical axis direction according to the characteristics of the disturbance, so that optical space communication with reduced influence of the disturbance can be performed.

[0094] 〔Example of Realization by Software〕 Some or all of the functions of the optical space communication devices 1 and 2 (hereinafter also referred to as "each of the above devices") may be realized by hardware such as an integrated circuit (IC chip), or may be realized by software.

[0095] In the latter case, each of the above devices is realized by a computer that executes instructions of a program, which is software that realizes each function. An example of such a computer (hereinafter referred to as computer C) is shown in FIG. 7. FIG. 7 is a block diagram showing the hardware configuration of the computer C that functions as each of the above devices.

[0096] The computer C includes at least one processor C1 and at least one memory C2. A program P for operating the computer C as each of the above devices is recorded in the memory C2. In the computer C, the processor C1 reads and executes the program P from the memory C2, whereby each function of each of the above devices is realized.

[0097] As the processor C1, for example, a CPU (Central Processing Unit), GPU (Graphic Processing Unit), DSP (Digital Signal Processor), MPU (Micro Processing Unit), FPU (Floating point number Processing Unit), PPU (Physics Processing Unit), TPU (Tensor Processing Unit), quantum processor, microcontroller, or a combination thereof can be used. As the memory C2, for example, flash memory, HDD (Hard Disk Drive), SSD (Solid State Drive), or a combination thereof can be used.

[0098] Note that the computer C may further include a RAM (Random Access Memory) for expanding the program P during execution and temporarily storing various data. Also, the computer C may further include a communication interface for transmitting and receiving data to and from other devices. Further, the computer C may further include an input / output interface for connecting input / output devices such as a keyboard, mouse, display, and printer.

[0099] Also, the program P can be recorded on a non-transitory tangible recording medium M readable by the computer C. As such a recording medium M, for example, a tape, disk, card, semiconductor memory, or programmable logic circuit can be used. The computer C can acquire the program P via such a recording medium M. Also, the program P can be transmitted via a transmission medium. As such a transmission medium, for example, a communication network or broadcast wave can be used. The computer C can also acquire the program P via such a transmission medium.

[0100] 〔Supplementary Note A〕 The present disclosure includes the technologies described in the following appendices. However, the present invention is not limited to the technologies described in the following appendices, and various modifications are possible within the scope indicated in the claims.

[0101] (Appendix A1) Light intensity information acquisition means for acquiring light intensity information indicating the intensity of transmitted light from a counterpart station received by a light reception sensor; Position information acquisition means for acquiring position information indicating the position of the counterpart station estimated by an image sensor based on an image obtained by the imaging device imaging the transmitted light from the counterpart station; Cooperative control means for calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the light reception sensor and the image sensor and the optical axis directions of the light reception sensor and the image sensor so that the light reception sensor and the image sensor track the counterpart station, with reference to the position information; Tracking control means for controlling the gimbal unit based on the first target value; Disturbance correction means for calculating a second target value for driving the gimbal unit so that the light reception sensor and the image sensor track the transmitted light from the counterpart station, based on the characteristics of the disturbance of the transmitted light calculated by referring to the light intensity information after the gimbal unit is controlled based on the first target value by the position information or the tracking control means; The cooperative control means calculates a target correction value for driving the gimbal unit with reference to the first target value and the second target value; The tracking control means controls the gimbal unit based on the target correction value; Optical space communication device.

[0102] (Appendix A2) The disturbance correction means calculates, as the characteristics of the disturbance of the transmitted light, the angles and frequencies at which the intensity of the transmitted light from the counterpart station indicated by the light intensity information is high, respectively, in the pan direction and the tilt direction; The optical space communication device according to Appendix A1.

[0103] (Appendix A3) The disturbance correction means calculates the vector direction and resonance frequency of the transmitted light based on the difference between the estimated position information calculated from the position information and the position information as the characteristics of the disturbance of the transmitted light. The optical space communication device according to Addendum A1.

[0104] (Addendum A4) The disturbance correction means, as the characteristics of the disturbance of the transmitted light, In each of the pan direction and the tilt direction, the direction and frequency in which the intensity of the transmitted light from the other station indicated by the light intensity information is high, and As the characteristics of the disturbance of the transmitted light, the vector direction and frequency of the transmitted light based on the difference between the estimated position information calculated from the position information and the position information, and calculate them, and by comparing the calculated values with each other, calculate the second target value. The optical space communication device according to Addendum A1.

[0105] [Addendum Item B] The present disclosure includes the technologies described in the following appendices. However, the present invention is not limited to the technologies described in the following appendices, and various modifications are possible within the scope indicated in the claims.

[0106] (Addendum B1) At least one processor performs a position information acquisition process of acquiring position information indicating the position of the other station estimated by the image sensor based on an image obtained by the imaging device imaging the transmitted light from the other station, a first cooperative control process of calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor so that the optical reception sensor and the image sensor track the other station, with reference to the position information, a first tracking control process of controlling the gimbal unit based on the first target value, and In the first tracking control process, after the gimbal unit is controlled based on a first target value, an optical intensity information acquisition process of acquiring optical intensity information indicating the intensity of transmitted light from a counterpart station received by the optical reception sensor; A disturbance correction process of calculating a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the counterpart station based on the characteristics of the disturbance of the transmitted light calculated by referring to the position information or the optical intensity information; A second cooperative control process of calculating a target correction value for driving the gimbal unit by referring to the first target value and the second target value; A second tracking control process of controlling the gimbal unit based on the target correction value; An optical space communication method including the above.

[0107] (Appendix B2) The at least one processor In the disturbance correction process, as characteristics of the disturbance of the transmitted light, calculating an angle and a frequency at which the intensity of the transmitted light from the counterpart station indicated by the optical intensity information is high in each of the pan direction and the tilt direction; The optical space communication method according to Appendix B1.

[0108] (Appendix B3) The at least one processor In the disturbance correction process, as characteristics of the disturbance of the transmitted light, calculating a vector direction and a resonance frequency of the transmitted light based on a difference between estimated position information calculated from the position information and the position information; The optical space communication method according to Appendix B1.

[0109] (Appendix B4) The at least one processor In the disturbance correction process, as characteristics of the disturbance of the transmitted light In each of the pan direction and the tilt direction, a direction and a frequency at which the intensity of the transmitted light from the counterpart station indicated by the optical intensity information is high As characteristics of the disturbance of the transmitted light, based on the difference between the estimated position information calculated from the position information and the position information, the vector direction and frequency of the transmitted light, and calculate , and calculate the second target value by comparing the calculated values with each other. The optical space communication method according to Supplementary Note B1.

[0110] [Supplementary Note C] The present disclosure includes the technologies described in the following supplementary notes. However, the present invention is not limited to the technologies described in the following supplementary notes, and various modifications are possible within the scope shown in the claims.

[0111] (Supplementary Note C1) A program that causes a computer to function as an optical space communication device, wherein the computer performs a light intensity information acquisition process for acquiring light intensity information indicating the intensity of transmitted light from a counterpart station received by a light reception sensor, a position information acquisition process for acquiring position information indicating the position of the counterpart station estimated by an image sensor based on an image obtained by imaging the transmitted light from the counterpart station by an imaging device, a cooperative control process for calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the light reception sensor and the image sensor and the optical axis directions of the light reception sensor and the image sensor so that the light reception sensor and the image sensor track the counterpart station, with reference to the position information, a tracking control process for controlling the gimbal unit based on the first target value, a disturbance correction process for calculating a second target value for driving the gimbal unit so that the light reception sensor and the image sensor track the transmitted light from the counterpart station, based on the characteristics of the disturbance of the transmitted light calculated by referring to the light intensity information after the gimbal unit is controlled based on the first target value in the position information or the tracking control process, and in the cooperative control process, calculate a target correction value for driving the gimbal unit with reference to the first target value and the second target value. In the tracking control process, based on the target correction value, controlling the gimbal unit. Program.

[0112] (Appendix C2) To the computer, In the disturbance correction process, as characteristics of the disturbance of the transmitted light, in each of the pan direction and the tilt direction, calculating the angles and frequencies at which the intensity of the transmitted light from the other station indicated by the light intensity information is high. The program according to Appendix C1.

[0113] (Appendix C3) To the computer, In the disturbance correction process, as characteristics of the disturbance of the transmitted light, based on the difference between the estimated position information calculated from the position information and the position information, calculating the vector direction and the resonance frequency of the transmitted light. The program according to Appendix C1.

[0114] (Appendix C4) To the computer, In the disturbance correction process, as characteristics of the disturbance of the transmitted light, In each of the pan direction and the tilt direction, the directions and frequencies at which the intensity of the transmitted light from the other station indicated by the light intensity information is high, and As characteristics of the disturbance of the transmitted light, based on the difference between the estimated position information calculated from the position information and the position information, the vector direction and frequency of the transmitted light, Calculating them, and by comparing the calculated values with each other, calculating the second target value. The program according to Appendix C1.

[0115] [Appendix Item D] The present disclosure includes the technologies described in the following appendices. However, the present invention is not limited to the technologies described in the following appendices, and various modifications are possible within the scope shown in the claims.

[0116] (Appendix D1) comprising at least one processor, the at least one processor performs a light intensity information acquisition process of acquiring light intensity information indicating the intensity of transmitted light from a counterpart station received by a light reception sensor, a position information acquisition process of acquiring position information indicating the position of the counterpart station estimated by an image sensor based on an image obtained by the imaging device capturing the transmitted light from the counterpart station, a cooperative control process of calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the light reception sensor and the image sensor and the optical axis directions of the light reception sensor and the image sensor so that the light reception sensor and the image sensor track the counterpart station, with reference to the position information, a tracking control process of controlling the gimbal unit based on the first target value, a disturbance correction process of calculating a second target value for driving the gimbal unit so that the light reception sensor and the image sensor track the transmitted light from the counterpart station, based on the characteristics of the disturbance of the transmitted light calculated by referring to the light intensity information after the gimbal unit is controlled based on the position information or the first target value in the tracking control process, and executes in the cooperative control process, calculates a target correction value for driving the gimbal unit with reference to the first target value and the second target value, in the tracking control process, controls the gimbal unit based on the target correction value, an optical space communication device.

[0117] (Appendix D2) the at least one processor in the disturbance correction process, calculates, as characteristics of the disturbance of the transmitted light, the angles and frequencies at which the intensity of the transmitted light from the counterpart station indicated by the light intensity information is high, respectively, in the pan direction and the tilt direction, the optical space communication device according to Appendix D1.

[0118] (Appendix C3) the at least one processor In the disturbance correction process, as characteristics of the disturbance of the transmitted light, based on the difference between the estimated position information calculated from the position information and the position information, the vector direction and resonance frequency of the transmitted light are calculated. The optical space communication device according to Supplementary Note D1.

[0119] (Supplementary Note C4) The at least one processor In the disturbance correction process, as characteristics of the disturbance of the transmitted light, In each of the pan direction and the tilt direction, the direction and frequency at which the intensity of the transmitted light from the other station indicated by the light intensity information is high, and As characteristics of the disturbance of the transmitted light, based on the difference between the estimated position information calculated from the position information and the position information, the vector direction and frequency of the transmitted light, and calculate them, and by comparing the calculated values with each other, calculate the second target value. The optical space communication device according to Supplementary Note D1.

[0120] [Supplementary Note E] A non-transitory recording medium recording a program for causing a computer to function as an optical space communication device, In the computer, an optical intensity information acquisition process for acquiring optical intensity information indicating the intensity of transmitted light from the other station received by the optical reception sensor; a position information acquisition process for acquiring position information indicating the position of the other station estimated by the image sensor based on an image obtained by the imaging device imaging the transmitted light from the other station; a cooperative control process for calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor so that the optical reception sensor and the image sensor track the other station, with reference to the position information; a tracking control process for controlling the gimbal unit based on the first target value; Based on the characteristics of the disturbance of the transmitted light calculated by referring to the light intensity information after the gimbal unit is controlled based on the first target value in the position information or the tracking control process, a disturbance correction process for calculating a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the other party is executed. In the cooperative control process, a target correction value for driving the gimbal unit is calculated by referring to the first target value and the second target value. In the tracking control process, the gimbal unit is controlled based on the target correction value. A non-transitory recording medium recording a program.

Explanation of Signs

[0121] 1, 2 Optical space communication device 3 Other party 11 Light intensity information acquisition unit 12 Position information acquisition unit 13 Cooperative control unit 14 Tracking control unit 15 Disturbance correction unit 30 Gimbal unit 31 Fine control drive unit 32 Coarse control drive unit 141 Fine tracking control unit 142 Coarse tracking control unit 151 Disturbance correction determination unit 152 Disturbance correction target value generation unit 320 Optical unit 321 Optical reception sensor 322 Image sensor

Claims

1. Optical intensity information acquisition means for acquiring optical intensity information indicating the intensity of transmitted light from a counterpart station received by an optical reception sensor; Position information acquisition means for acquiring position information indicating the position of the counterpart station estimated by an image sensor based on an image obtained by imaging the transmitted light from the counterpart station by an imaging device; Cooperative control means for calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the optical reception sensor and the image sensor and the optical axis directions of the optical reception sensor and the image sensor so that the optical reception sensor and the image sensor track the counterpart station, with reference to the position information; Tracking control means for controlling the gimbal unit based on the first target value; Disturbance correction means for calculating a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the counterpart station, based on the characteristics of the disturbance of the transmitted light calculated by referring to the position information or the optical intensity information after the gimbal unit is controlled based on the first target value by the tracking control means; The cooperative control means calculates a target correction value for driving the gimbal unit with reference to the first target value and the second target value; The tracking control means controls the gimbal unit based on the target correction value; Optical space communication device.

2. The disturbance correction means calculates, as characteristics of the disturbance of the transmitted light, the angles and frequencies at which the intensity of the transmitted light from the counterpart station indicated by the optical intensity information is high, respectively, in the pan direction and the tilt direction; The optical space communication device according to claim 1.

3. The disturbance correction means calculates, as characteristics of the disturbance of the transmitted light, the vector direction and the resonance frequency of the transmitted light based on the difference between the estimated position information calculated from the position information and the position information; The optical space communication device according to claim 1.

4. The disturbance correction means, as characteristics of the disturbance of the transmitted light, in the pan direction and the tilt direction, the directions and frequencies at which the intensity of the transmitted light from the counterpart station indicated by the optical intensity information is high, and as characteristics of the disturbance of the transmitted light, the vector direction and frequency of the transmitted light based on the difference between the estimated position information calculated from the position information and the position information, are calculated, and the second target value is calculated by comparing the calculated values with each other; The optical space communication device according to claim 1.

5. At least one processor performs a position information acquisition process of acquiring position information indicating the position of the other party station estimated by the image sensor based on an image obtained by the imaging device capturing the transmission light from the other party station; a first cooperative control process of calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the light reception sensor and the image sensor and the optical axis directions of the light reception sensor and the image sensor so that the light reception sensor and the image sensor track the other party station, with reference to the position information; a first tracking control process of controlling the gimbal unit based on the first target value; in the first tracking control process, after the gimbal unit is controlled based on the first target value, a light intensity information acquisition process of acquiring light intensity information indicating the intensity of the transmission light from the other party station received by the light reception sensor; a disturbance correction process of calculating a second target value for driving the gimbal unit so that the light reception sensor and the image sensor track the transmission light from the other party station, based on the characteristics of the disturbance of the transmission light calculated by referring to the position information or the light intensity information; a second cooperative control process of calculating a target correction value for driving the gimbal unit, with reference to the first target value and the second target value; a second tracking control process of controlling the gimbal unit based on the target correction value; A free-space optical communication method including the above.

6. A program for causing a computer to function as a free-space optical communication device, wherein the computer is caused to perform a light intensity information acquisition process of acquiring light intensity information indicating the intensity of the transmission light from the other party station received by the light reception sensor; perform a position information acquisition process of acquiring position information indicating the position of the other party station estimated by the image sensor based on an image obtained by the imaging device capturing the transmission light from the other party station; perform a cooperative control process of calculating a first target value for driving a gimbal unit that changes at least one of the orientations of the light reception sensor and the image sensor and the optical axis directions of the light reception sensor and the image sensor so that the light reception sensor and the image sensor track the other party station, with reference to the position information; perform a tracking control process of controlling the gimbal unit based on the first target value; Based on the characteristics of the disturbance of the transmitted light calculated by referring to the light intensity information after the gimbal unit is controlled based on the first target value in the position information or the tracking control process, a disturbance correction process for calculating a second target value for driving the gimbal unit so that the optical reception sensor and the image sensor track the transmitted light from the other party is executed. In the cooperative control process, a target correction value for driving the gimbal unit is calculated by referring to the first target value and the second target value. In the tracking control process, the gimbal unit is controlled based on the target correction value. Program.

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