Tracking control device, tracking control method, and program

Abstract

To provide a tracking control device that tracks an opposite station with high accuracy in optical space communication.SOLUTION: A tracking control device is mounted on a target device via an anti-vibration mechanism unit, and calculates a correction amount to keep optical axis directions of an optical receiving sensor and an image sensor in a fixed direction by referring to attitude information, calculates a target value by referring to light intensity information, position information, and the correction amount, and controls a gimbal unit to change at least one of the optical axis directions of the optical receiving sensor and the image sensor based on the target value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a tracking control device, a tracking control method, and a program. [Background technology]

[0002] 2. Description of the Related Art In optical space communications, a technique for tracking a target such as a remote station transmitting light is known.

[0003] For example, Patent Document 1 describes a tracking control device that controls a coarse tracking drive unit that orients the entire optical unit to coarsely track a target based on a predicted and estimated current position of the target. The tracking control device also calculates normal vectors of a drive mirror and a reflecting mirror arranged on the optical path, and controls a fine tracking drive unit that finely tracks the target by finely adjusting the angles of the drive mirror and the reflecting mirror based on the calculated normal vectors. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-161630 Summary of the Invention [Problem to be solved by the invention]

[0005] In optical space communications, there is a demand for technology that can track other stations with even higher accuracy, taking into account manufacturing errors in the equipment and the effects of disturbances such as vibrations when the equipment is mounted on a vehicle, ship, or aircraft.

[0006] The present disclosure has been made in view of the above-mentioned problems, and an exemplary purpose thereof is to provide a technology for tracking a remote station with high accuracy in free space optical communications. [Means for solving the problem]

[0007] A tracking control device according to an exemplary aspect of the present disclosure is a tracking control device that is mounted on a target device and tracks transmitted light from a remote station, the tracking control device being mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device, and includes: a light intensity information acquisition means that acquires light intensity information indicating the intensity of transmitted light from the remote station received by a light receiving sensor; a position information acquisition means that acquires position information indicating the position of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station; and an attitude information acquisition means that acquires attitude information regarding the attitude of the tracking control device. The system comprises: a spatial stability compensation means that refers to the attitude information and calculates a correction amount so that the optical axis directions of the optical receiving sensor and the image sensor are in a fixed direction; a cooperative control means that refers to the light intensity information, the position information, and the correction amount and calculates a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the optical axis direction of the optical receiving sensor and the image sensor so that the optical receiving sensor and the image sensor track the transmitted light from the remote station; and a tracking control means that controls the gimbal unit based on the target value.

[0008] A tracking control method according to an exemplary aspect of the present disclosure is a tracking control method including at least one processor, in which a tracking control device mounted on a target device tracks transmitted light from a remote station, the tracking control device being mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device, and the at least one processor includes a light intensity information acquisition process for acquiring light intensity information indicating an intensity of transmitted light from the remote station received by a light receiving sensor, a position information acquisition process for acquiring position information indicating a position of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station, and an attitude information acquisition process for acquiring attitude information regarding the attitude of the tracking control device. a spatial stability compensation process in which the at least one processor refers to the attitude information and calculates a correction amount so that the optical axis directions of the optical receiving sensor and the image sensor are in a constant direction; a cooperative control process in which the at least one processor refers to the light intensity information, the position information, and the correction amount and calculates a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the optical axis direction of the optical receiving sensor and the image sensor so that the optical receiving sensor and the image sensor track the transmitted light from the remote station; and a tracking control process in which the at least one processor controls the gimbal unit based on the target value.

[0009] A program according to an exemplary aspect of the present disclosure is a program that is mounted on a target device and causes a computer to function as a tracking control device that tracks transmitted light from a remote station, the tracking control device being mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device, and the computer includes a light intensity information acquisition means that acquires light intensity information indicating the intensity of transmitted light from the remote station received by a light receiving sensor, a position information acquisition means that acquires position information indicating the position of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station, and a position information acquisition means that acquires attitude information regarding the attitude of the tracking control device. a spatial stability compensation means that refers to the attitude information and calculates a correction amount so that the optical axis directions of the optical receiving sensor and the image sensor are in a fixed direction; a cooperative control means that refers to the light intensity information, the position information, and the correction amount and calculates a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the optical axis direction of the optical receiving sensor and the image sensor so that the optical receiving sensor and the image sensor track the transmitted light from the remote station; and a tracking control means that controls the gimbal unit based on the target value. [Effects of the Invention]

[0010] According to an exemplary aspect of the present disclosure, an exemplary effect is achieved in that a technology for tracking a remote station with high accuracy in free space optical communication can be provided. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of a tracking control device according to the present disclosure. [Figure 2] 1 is a flowchart showing the flow of a tracking control method according to the present disclosure. [Figure 3] 1 is a diagram illustrating an overview of a tracking control device according to the present disclosure. [Figure 4] 1 is a block diagram showing a configuration of a tracking control device according to the present disclosure. [Figure 5]1A and 1B are diagrams illustrating an example of the structure of an anti-vibration mechanism according to the present disclosure. [Figure 6] 1 is a flowchart showing a flow of processing executed by a tracking control device according to the present disclosure. [Figure 7] FIG. 2 is a block diagram showing the configuration of a computer that functions as a tracking control device according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following are examples of embodiments of the present invention. However, the present invention is not limited to the exemplary embodiments shown below, and various modifications are possible within the scope of the claims. For example, embodiments obtained by appropriately combining the technical means employed in the exemplary embodiments shown below may also be included in the scope of the present invention. Furthermore, embodiments obtained by appropriately omitting some of the technical means employed in the exemplary embodiments shown below may also be included in the scope of the present invention. Furthermore, the effects mentioned in the exemplary embodiments shown below are examples of effects expected in the exemplary embodiments, and do not define the scope of the present invention. In other words, embodiments that do not exhibit the effects mentioned in the exemplary embodiments shown below may also be included in the scope of the present invention.

[0013] First Exemplary Embodiment A first exemplary embodiment, which is one example of an embodiment of the present invention, will be described in detail with reference to the drawings. This exemplary embodiment is the basic form of each exemplary embodiment 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 also be employed in other exemplary embodiments included in the present disclosure to the extent that no particular technical obstacles arise. Furthermore, each technical means shown in the drawings referred to in describing this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure to the extent that no particular technical obstacles arise.

[0014] (Configuration of tracking control device 1) The configuration of the tracking control device 1 will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of the tracking control device 1. As shown in Fig. 1, the tracking control device 1 includes a light intensity information acquisition unit 11, a position information acquisition unit 12, an attitude information acquisition unit 13, a spatial stability compensation unit 14, a cooperative control unit 15, and a tracking control unit 16. In this exemplary embodiment, the light intensity information acquisition unit 11, the position information acquisition unit 12, the attitude information acquisition unit 13, the spatial stability compensation unit 14, the cooperative control unit 15, and the tracking control unit 16 function as a light intensity information acquisition means, a position information acquisition means, an attitude information acquisition means, a spatial stability compensation means, a cooperative control means, and a tracking control means, respectively.

[0015] The tracking control device 1 is a device that is mounted on the target device and tracks the light transmitted from the other station. The tracking control device 1 is also mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device.

[0016] The optical intensity information acquiring unit 11 acquires optical intensity information that indicates the intensity of the light transmitted from the remote station and is received by the optical receiving sensor. The optical intensity information acquiring unit 11 supplies the acquired optical intensity information to the cooperative control unit 15.

[0017] The position information acquisition unit 12 acquires position information indicating the position of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station. The position information acquisition unit 12 supplies the acquired position information to the cooperative control unit 15.

[0018] The attitude information acquisition unit 13 acquires attitude information relating to the attitude of the tracking control device, and supplies the acquired attitude information to the spatial stability compensation unit 14.

[0019] The spatial stability compensation unit 14 calculates a correction amount for aligning the optical axis directions of the light receiving sensor and the image sensor with a fixed direction, by referring to the attitude information acquired by the attitude information acquisition unit 13. The spatial stability compensation unit 14 supplies the calculated correction amount to the cooperative control unit 15.

[0020] Cooperative control unit 15 calculates a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, so that the optical receiving sensor and the image sensor track the light transmitted from the remote station, by referring to the light intensity information acquired by light intensity information acquisition unit 11, the position information acquired by position information acquisition unit 12, and the correction amount calculated by spatial stability compensation unit 14. Cooperative control unit 15 supplies the calculated target value to tracking control unit 16.

[0021] The tracking control unit 16 controls the gimbal unit based on the target value calculated by the cooperative control unit 15.

[0022] (Effects of tracking control device 1) As described above, the tracking control device 1 is mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device. The tracking control device 1 also employs a configuration including a light intensity information acquisition unit 11 that acquires light intensity information indicating the intensity of the transmitted light from the remote station received by the light receiving sensor; a position information acquisition unit 12 that acquires position information indicating the position of the remote station estimated based on an image captured by the image sensor of the transmitted light from the remote station; an attitude information acquisition unit 13 that acquires attitude information related to the attitude of the tracking control device; a spatial stability compensation unit 14 that, by referring to the attitude information acquired by the attitude information acquisition unit 13, calculates a correction amount so that the optical axis directions of the light receiving sensor and the image sensor are constant; a cooperative control unit 15 that, by referring to the light intensity information acquired by the light intensity information acquisition unit 11, the position information acquired by the position information acquisition unit 12, and the correction amount calculated by the spatial stability compensation unit 14, calculates a target value for driving a gimbal unit that changes at least one of the orientation of the light receiving sensor and the image sensor or the optical axis direction of the light receiving sensor and the image sensor so that the light receiving sensor and the image sensor track the transmitted light from the remote station; and a tracking control unit 16 that controls the gimbal unit based on the target value calculated by the cooperative control unit 15.

[0023] Therefore, the tracking control device 1 has the effect of being able to track the other station with high accuracy in optical space communication.

[0024] (Flow of tracking control method S1) The flow of the tracking control method S1 will be described with reference to Fig. 2. Fig. 2 is a flow diagram showing the flow of the tracking control method S1. As shown in Fig. 2, the tracking control method S1 includes a light intensity information acquisition process S11, a position information acquisition process S12, an attitude information acquisition process S13, a space stability compensation process S14, a cooperative control process S15, and a tracking control process S16.

[0025] (Light intensity information acquisition process S11) In the light intensity information acquisition process S11, the light intensity information acquisition unit 11 acquires light intensity information indicating the intensity of the light transmitted from the remote station, which is received by the light receiving sensor. The light intensity information acquisition unit 11 supplies the acquired light intensity information to the cooperative control unit 15.

[0026] (Location information acquisition process S12) In the location information acquisition process S12, the location information acquisition unit 12 acquires location information indicating the location of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station. The location information acquisition unit 12 supplies the acquired location information to the cooperative control unit 15.

[0027] (Posture information acquisition process S13) In the attitude information acquisition process S13, the attitude information acquisition unit 13 acquires attitude information relating to the attitude of the tracking control device. The attitude information acquisition unit 13 supplies the acquired attitude information to the spatial stability compensation unit .

[0028] (Spatial stability compensation process S14) In the spatial stability compensation process S14, the spatial stability compensation unit 14 refers to the attitude information acquired in the attitude information acquisition process S13 and calculates a correction amount for aligning the optical axes of the light receiving sensor and the image sensor in a fixed direction. The spatial stability compensation unit 14 supplies the calculated correction amount to the cooperative control unit 15.

[0029] (Cooperative control process S15) In the cooperative control process S15, the cooperative control unit 15 refers to the light intensity information acquired in the light intensity information acquisition process S11, the position information acquired in the position information acquisition process S12, and the correction amount calculated in the spatial stability compensation process S14, and calculates a target value for driving the gimbal unit that changes at least one of the orientation of the light receiving sensor and the image sensor and the direction of the optical axis of the light receiving sensor and the image sensor so that the light receiving sensor and the image sensor track the transmitted light from the remote station. The cooperative control unit 15 supplies the calculated target value to the tracking control unit 16.

[0030] (Tracking control process S16) In the tracking control process S16, the tracking control unit 16 controls the gimbal unit based on the target value calculated in the cooperative control process S15.

[0031] (Effect of tracking control method S1) As described above, the tracking control method S1 executed by the tracking control device 1 mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device includes a light intensity information acquisition process S11 in which the light intensity information acquisition unit 11 acquires light intensity information indicating the intensity of transmitted light from the target station received by the light receiving sensor, a position information acquisition process S12 in which the position information acquisition unit 12 acquires position information indicating the position of the target station estimated based on an image captured by the image sensor of the transmitted light from the target station, an attitude information acquisition process S13 in which the attitude information acquisition unit 13 acquires attitude information related to the attitude of the tracking control device, and a spatial stability compensation unit 14 adjusts the optical axes of the light receiving sensor and the image sensor by referring to the attitude information acquired in the attitude information acquisition process S13. The tracking control method S1 includes a spatial stability compensation process S14 that calculates a correction amount for keeping the direction constant, a cooperative control process S15 in which the cooperative control unit 15 calculates a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, by referring to the light intensity information acquired in the light intensity information acquisition process S11, the position information acquired in the position information acquisition process S12, and the correction amount calculated in the spatial stability compensation process S14, so that the optical receiving sensor and the image sensor track the transmitted light from the remote station, and a tracking control process S16 in which the tracking control unit 16 controls the gimbal unit based on the target value calculated in the cooperative control process S15. Therefore, the tracking control method S1 can achieve the same effects as the tracking control device 1 described above.

[0032] Second Exemplary Embodiment A second exemplary embodiment, which is one 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 exemplary embodiment will be assigned the same reference numerals, and their description will be omitted as appropriate. 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 also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical obstacles arise. Furthermore, each technical means shown in each drawing referenced to explain this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical obstacles arise.

[0033] (Overview of tracking control device 2) An overview of the tracking control device 2 will be described with reference to Fig. 3. Fig. 3 is a diagram showing an overview of the tracking control device 2.

[0034] As shown in Fig. 3, the tracking control device 2 is mounted on the target device 100, which is the device on which the tracking control device 2 is mounted, via an anti-vibration mechanism 50 that at least partially absorbs vibrations caused by the target device 100. The target device 100 is not particularly limited, and may be a moving body such as a vehicle, ship, or aircraft, or a stationary device installed in a predetermined location. In this exemplary embodiment, the target device 100 will be described as a moving body, and therefore the target device 100 will also be referred to as a moving body 100. The anti-vibration mechanism 50 will be described later.

[0035] The tracking control device 2 is a device that performs optical space communication by receiving transmission light emitted from a remote station. The tracking control device 2 controls at least one of the orientation and optical axis direction of the optical unit 320 that receives the transmission light emitted from the remote station by driving the gimbal unit 30 so as to track the remote station.

[0036] Furthermore, the tracking control device 2 detects its attitude using the attitude sensor 40 shown in Fig. 3, and drives the gimbal unit 30 so that the optical axis direction of the optical unit 320 remains constant. For example, when the moving object 100 moves in the direction of the dotted arrow in Fig. 3, the attitude sensor 40 detects that the tracking control device 2 has tilted in the direction of the dotted arrow in Fig. 3. Furthermore, the tracking control device 2 controls the optical unit 320 in the direction of the solid arrow in Fig. 3, by driving the gimbal unit 30 based on the attitude detected by the attitude sensor 40, so that the optical axis direction of the optical unit 320 remains constant. That is, based on the attitude detected by the attitude sensor 40, the tracking control device 2 drives the gimbal unit 30 so that the optical axis direction of the optical unit 320 remains constant (more specifically, remains constant with respect to the remote station being tracked) regardless of the attitude of the tracking control device 2.

[0037] The tracking control device 2 may emit a transmission light to the remote station. Even in this case, the tracking control device 2 controls at least one of the direction of the optical axis and the orientation of the optical unit that transmits the transmission light to the remote station so as to track the remote station.

[0038] (Configuration of tracking control device 2) The configuration of the tracking control device 2 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing the configuration of the tracking control device 2.

[0039] As shown in FIG. 4, the tracking control device 2 includes a control unit 20, a gimbal unit 30, an attitude sensor 40, an anti-shake mechanism unit 50, and a storage unit 60.

[0040] The attitude sensor 40 detects the attitude of the tracking control device 2 and outputs attitude information related to the detected attitude. As an example, the attitude sensor 40 outputs attitude information indicating the tilt of the tracking control device 2. An example of the attitude sensor 40 is a three-axis acceleration sensor, but is not limited to this.

[0041] The vibration isolation mechanism 50 isolates at least a portion of the vibrations caused by the moving body 100. As an example, the vibration isolation mechanism 50 isolates vibrations in a range equal to or greater than a predetermined frequency. The vibration isolation mechanism 50 may also be configured to be able to adjust the predetermined frequency. For example, the vibration isolation mechanism 50 may be configured to include an adjustment unit for adjusting the frequency of the vibrations to be isolated. An example of the structure of the vibration isolation mechanism 50 in this case will be described with reference to FIG. 5. FIG. 5 is a diagram showing an example of the structure of the vibration isolation mechanism 50.

[0042] The vibration isolation mechanism 50 shown in Fig. 5 includes a vibration isolator 501, a pulley 502, and a rail 503. In Fig. 5, the pulley 502 and the rail 503 function as an adjustment unit. The vibration isolator 501 is connected to the moving body 100 at one end of the vibration isolator, and the other end is connected to the pulley 502. The pulley 502 is installed so as to be movable along the rail 503. Both ends of the rail 503 are connected to the gimbal unit 30, respectively.

[0043] 5, the vibration frequency that is isolated by the vibration isolator 501 can be adjusted by changing the position of the pulley 502 and expanding or contracting the vibration isolator 501. In addition, the dynamic range of the vibration frequency that is isolated by the vibration isolator 501 can be adjusted by changing the inclination of the rail 503.

[0044] The storage unit 60 stores data referenced by the control unit 20. Examples of the storage unit 60 include, but are not limited to, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination thereof.

[0045] Examples of data stored in the storage unit 60 include information indicating the optical axis directions of the light receiving sensor 321 and the image sensor 322 (described later), the drive amount of the gimbal unit 30, attitude information, and a machine learning model. Storing a machine learning model in the storage unit 60 means that parameters defining the machine learning model are stored in the storage unit 60.

[0046] (Gimbal part 30) The gimbal unit 30 changes at least one of the orientation and optical axis direction of the optical unit 320 that receives the transmitted light. As shown in FIG. 4, the gimbal unit 30 includes a fine control driver 31 and a coarse control driver 32.

[0047] The precision control driver 31 finely adjusts the orientation and optical axis direction of the optical unit 320 with high precision based on instructions from the controller 20. As an example, the precision control driver 31 uses an FPM (Fine Pointing Mechanism) to drive at least two axes, AZ (Azimuth) and EL (Elevation), thereby finely adjusting the orientation and optical axis direction of the optical unit 320 with high precision. The precision control driver 31 supplies the controller 20 with information indicating the angle of the gimbal unit 30 after driving.

[0048] The coarse control driver 32 makes large adjustments to the orientation and optical axis direction of the optical unit 320 based on instructions from the controller 20. As an example, the coarse control driver 32 uses a large gimbal to drive at least two axes, AZ / EL, thereby making large adjustments to the orientation and optical axis direction of the optical unit 320. The coarse control driver 32 supplies the controller 20 with information indicating the angle of the gimbal unit 30 after driving.

[0049] The coarse control driver 32 also includes an optical unit 320 that receives transmitted light, as shown in Fig. 4. The optical unit 320 also includes a light receiving sensor 321 and an image sensor 322, as shown in Fig. 4.

[0050] The optical receiving sensor 321 converts the light transmitted from the remote station into an electrical signal. As an example, the optical receiving sensor 321 quickly detects the light transmitted from the remote station and generates light intensity information indicating the intensity of the light transmitted from the remote station. As an example, the optical receiving sensor 321 is configured with a PD (photodiode) or the like. The optical receiving sensor 321 supplies the generated light intensity information to the control unit 20.

[0051] The image sensor 322 includes an imaging device, and estimates the position of the remote station based on an image captured by the imaging device of light transmitted from the remote station. The image sensor 322 generates position information indicating the estimated position of the remote station. As an example, the image sensor 322 is capable of high-speed imaging, and has a wider viewing angle than the viewing angle of the light receiving sensor 321. The image sensor 322 supplies the generated position information to the control unit 20. The optical axis of the image sensor 322 may be an optical axis provided by the image sensor 322.

[0052] (Control unit 20) The control unit 20 controls each of the components included in the tracking control device 2. As shown in Fig. 4, the control unit 20 also includes a light intensity information acquisition unit 11, a position information acquisition unit 12, an attitude information acquisition unit 13, a spatial stability compensation unit 14, a cooperative control unit 15, and a tracking control unit 16. In this exemplary embodiment, the light intensity information acquisition unit 11, the position information acquisition unit 12, the attitude information acquisition unit 13, the spatial stability compensation unit 14, the cooperative control unit 15, and the tracking control unit 16 respectively realize a light intensity information acquisition means, a position information acquisition means, an attitude information acquisition means, a spatial stability compensation means, a cooperative control means, and a tracking control means.

[0053] The light intensity information acquisition unit 11 acquires light intensity information indicating the intensity of light transmitted from the remote station, which is received by the light receiving sensor 321. The light intensity information acquisition unit 11 supplies the acquired light intensity information to the cooperative control unit 15.

[0054] The position information acquisition unit 12 acquires position information indicating the position of the remote station estimated by the image sensor 322 based on an image of the light transmitted from the remote station captured by the imaging device. The position information acquisition unit 12 supplies the acquired position information to the cooperative control unit 15.

[0055] The attitude information acquisition unit 13 acquires attitude information relating to the attitude of the tracking control device 2 detected by the attitude sensor 40. The attitude information acquisition unit 13 supplies the acquired attitude information to the spatial stability compensation unit .

[0056] The spatial stability compensation unit 14 calculates a correction amount for stabilizing the tracking control device 2 in space. As an example, the spatial stability compensation unit 14 refers to the attitude information acquired by the attitude information acquisition unit 13 and calculates a correction amount for keeping the optical axis directions of the light receiving sensor 321 and the image sensor 322 in a constant direction. The spatial stability compensation unit 14 supplies the calculated correction amount to the cooperative control unit 15.

[0057] As an example of a method for calculating the correction amount, the spatial stability compensation unit 14 calculates the correction amount using a machine learning model stored in the storage unit 60, which is trained to input posture information and output a correction amount. With this configuration, the spatial stability compensation unit 14 can calculate an appropriate correction amount.

[0058] Furthermore, the spatial stability compensation unit 14 trains a machine learning model stored in the storage unit 60. An example of a configuration in which the spatial stability compensation unit 14 uses a machine learning model will be described later.

[0059] As shown in FIG. 4, the spatial stability compensation unit 14 includes an attitude determination unit 141 and a correction amount calculation unit 142.

[0060] The attitude determination unit 141 determines the tilt of the tracking control device 2 in the reference coordinate system by referring to the attitude information acquired by the attitude information acquisition unit 13. An example of the reference coordinate system is a coordinate system in which the tracking control device 2 is mounted on the moving body 100 and the direction of gravity is set as the x-axis, the horizontal direction as the y-axis, and the traveling direction of the moving body 100 as the z-axis when the moving body 100 is stationary, but is not limited to this. The attitude determination unit 141 supplies information indicating the determined tilt of the tracking control device 2 to the correction amount calculation unit 142. Note that the information indicating the tilt of the tracking control device 2 determined by the attitude determination unit 141 is also attitude information relating to the attitude of the tracking control device 2.

[0061] The correction amount calculation unit 142 refers to the tilt of the tracking control device 2 determined by the attitude determination unit 141 and calculates a correction amount for aligning the optical axis directions of the optical receiving sensor 321 and the image sensor 322 in a fixed direction. Examples of the correction amount include, but are not limited to, an angle and an angular velocity. For example, in the diagram shown in FIG. 3 described above, the correction amount calculation unit 142 calculates the size of the arrow indicated by the solid line as the correction amount. The correction amount calculation unit 142 supplies the calculated correction amount to the cooperative control unit 15.

[0062] The cooperative control unit 15 generates a target value indicating the amount by which the gimbal unit 30 is to be driven. As an example, the cooperative control unit 15 refers to the light intensity information acquired by the light intensity information acquisition unit 11, the position information acquired by the position information acquisition unit 12, and the correction amount calculated by the spatial stability compensation unit 14, and calculates the target value by which the gimbal unit 30 is driven so that the light receiving sensor 321 and the image sensor 322 track the light transmitted from the remote station. The cooperative control unit 15 supplies the calculated target value to the tracking control unit 16.

[0063] For example, the cooperative control unit 15 refers to the position information and calculates a first target value for orienting the optical axis directions of the optical receiving sensor 321 and the image sensor 322 relative to the position of the remote station.

[0064] Furthermore, the cooperative control unit 15 refers to the position information and the light intensity information and calculates a second target value for orienting the optical axis directions of the light receiving sensor 321 and the image sensor 322 in a direction where the intensity of the light transmitted from the remote station is high.

[0065] Furthermore, the cooperative control unit 15 refers to the correction amount and calculates a third target value for keeping the optical axis directions of the light receiving sensor 321 and the image sensor 322 in a fixed direction.

[0066] Furthermore, in a configuration in which the vibration isolation mechanism 50 is capable of adjusting the frequency of vibration to be isolated, the cooperative control unit 15 controls the frequency of vibration to be isolated by the vibration isolation mechanism 50. As an example, the cooperative control unit 15 supplies the vibration isolation mechanism 50 with a stiffness parameter for adjusting the frequency of vibration to be isolated by the vibration isolation mechanism 50. The vibration isolation mechanism 50 adjusts the frequency of vibration to be isolated based on the stiffness parameter supplied from the cooperative control unit 15.

[0067] For example, the storage unit 60 stores a table in which the type of the moving body 100 (for example, a vehicle, a ship, an aircraft, etc.) is associated with a stiffness parameter, and the cooperative control unit 15 determines the stiffness parameter by referring to the table.

[0068] With this configuration, the tracking control device 2 can control the vibration isolation mechanism 50 so that the vibration isolation mechanism 50 isolates vibrations of an appropriate frequency depending on the type of moving body 100 on which the tracking control device 2 is mounted.

[0069] As another example, the cooperative control unit 15 calculates the target value by further referring to 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. The cooperative control unit 15 also associates the error between the optical axis direction of the light receiving sensor 321 and the image sensor 322 after being driven based on the third target value (the correction amount calculated by the spatial stability compensation unit 14) and the optical axis direction targeted by the third target value (the correction amount calculated by the spatial stability compensation unit 14), with the attitude information used to calculate the target value, and stores these in the storage unit 60. Data associating the error with the attitude information is used for machine learning, which will be described later, and therefore the set of the error and the attitude information is also referred to as learning data.

[0070] The tracking control unit 16 controls the gimbal unit 30. As an example, the tracking control unit 16 controls the gimbal unit 30 based on the target value calculated by the cooperative control unit 15.

[0071] As shown in FIG. 4, the tracking control unit 16 includes a fine tracking control unit 161 and a coarse tracking control unit 162.

[0072] Based on the target value, fine tracking control unit 161 controls fine control drive unit 31 of gimbal unit 30. As an example, fine tracking control unit 161 controls fine control drive unit 31 of gimbal unit 30 based on the second target value and the third target value. Furthermore, fine tracking control unit 161 further controls fine control drive unit 31 based on information indicating the angle of gimbal unit 30 supplied from fine control drive unit 31.

[0073] The coarse tracking control unit 162 controls the coarse control drive unit 32 of the gimbal unit 30 based on the target value. As an example, the coarse tracking control unit 162 controls the coarse control drive unit 32 of the gimbal unit 30 based on the first target value and the third target value. The coarse tracking control unit 162 further controls the coarse control drive unit 32 based on information indicating the angle of the gimbal unit 30 supplied from the coarse control drive unit 32.

[0074] (Example of a configuration in which the spatial stability compensation unit 14 uses a machine learning model) An example of a configuration in which the spatial stability compensation unit 14 uses a machine learning model will be described.

[0075] First, the spatial stability compensation unit 14 trains a machine learning model that has been trained to take attitude information as input and output a correction amount, using training data that pairs the error and attitude information stored in the storage unit 60. As described above, the error is the error between the optical axis directions of the light receiving sensor 321 and the image sensor 322 after being driven based on the third target value (correction amount) and the optical axis directions targeted by the third target value (correction amount). In other words, the spatial stability compensation unit 14 trains the machine learning model so as to output correction amounts that result in a small error between the optical axis directions of the light receiving sensor 321 and the image sensor 322 and the targeted optical axis directions.

[0076] Furthermore, the spatial stability compensation unit 14 inputs the posture information acquired by the posture information acquisition unit 13 into a machine learning model that has already undergone machine learning, thereby calculating the amount of correction.

[0077] With this configuration, the tracking control device 2 can reduce the error between the optical axis direction of the target optical receiving sensor 321 and image sensor 322 and the optical axis direction of the optical receiving sensor 321 and image sensor 322 after they have been driven.

[0078] Furthermore, the learning data may be stored in the storage unit 60 for each type of moving body 100. For example, the storage unit 60 may store learning data that pairs the error and attitude information when the tracking control device 2 is mounted on a vehicle, learning data that pairs the error and attitude information when the tracking control device 2 is mounted on a ship, and learning data that pairs the error and attitude information when the tracking control device 2 is mounted on an aircraft. In this case, the spatial stability compensation unit 14 trains a machine learning model for each type of moving body 100.

[0079] With this configuration, the tracking control device 2 can calculate an appropriate correction amount depending on the moving object 100 on which it is mounted.

[0080] (Flow of processing executed by tracking control device 2) The flow of processing executed by the tracking control device 2 will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the flow of processing executed by the tracking control device 2.

[0081] (Step S21) In step S21, the cooperative control unit 15 determines a stiffness parameter for adjusting the frequency of vibrations that the vibration isolation mechanism unit 50 isolates.

[0082] (Step S22) In step S22, the cooperative control unit 15 controls the vibration isolation mechanism unit 50 based on the stiffness parameters determined in step S21.

[0083] (Step S23) In step S23, the light intensity information acquisition unit 11 acquires light intensity information indicating the intensity of the light transmitted from the remote station, which is received by the light receiving sensor 321. The light intensity information acquisition unit 11 supplies the acquired light intensity information to the cooperative control unit 15.

[0084] (Step S24) In step S24, the position information acquisition unit 12 acquires position information indicating the position of the remote station estimated by the image sensor 322 based on an image of the transmitted light from the remote station captured by the imaging device. The position information acquisition unit 12 supplies the acquired position information to the cooperative control unit 15.

[0085] (Step S25) In step S25, the attitude information acquisition unit 13 acquires attitude information relating to the attitude of the tracking control device 2 detected by the attitude sensor 40. The attitude information acquisition unit 13 supplies the acquired attitude information to the spatial stability compensation unit .

[0086] The order of the processes in steps S23 to S25 is not limited, and they may be executed in a different order.

[0087] (Step S26) The attitude determination unit 141 of the spatial stability compensation unit 14 determines the tilt of the tracking control device 2 in the reference coordinate system by referring to the attitude information acquired by the attitude information acquisition unit 13. The attitude determination unit 141 supplies information indicating the determined tilt of the tracking control device 2 to the correction amount calculation unit 142.

[0088] (Step S27) In step S27, the correction amount calculation unit 142 refers to the tilt of the tracking control device 2 determined by the attitude determination unit 141, and calculates a correction amount for aligning the optical axis directions of the light receiving sensor 321 and the image sensor 322 in a fixed direction. The correction amount calculation unit 142 supplies the calculated correction amount to the cooperative control unit 15.

[0089] (Step S28) In step S28, the cooperative control unit 15 refers to the light intensity information acquired by the light intensity information acquisition unit 11, the position information acquired by the position information acquisition unit 12, and the correction amount calculated by the spatial stability compensation unit 14, and calculates a target value for driving the gimbal unit 30 so that the light receiving sensor 321 and the image sensor 322 track the transmitted light from the remote station. The cooperative control unit 15 supplies the calculated target value to the tracking control unit 16.

[0090] (Step S29) In step S29, the tracking control unit 16 controls the gimbal unit 30 based on the target value calculated by the cooperative control unit 15.

[0091] (Effects of tracking control device 2) As described above, the tracking control device 2 is mounted on the moving object 100 via the vibration isolation mechanism 50 that isolates at least a portion of the vibrations caused by the moving object 100. The tracking control device 2 also calculates a correction amount for keeping the optical axis directions of the light receiving sensor 321 and the image sensor 322 in a fixed direction, with reference to attitude information related to the attitude of the tracking control device 2. The tracking control device 2 also drives the gimbal unit 30, which changes at least one of the optical axis directions of the light receiving sensor 321 and the image sensor 322, with reference to light intensity information indicating the intensity of the light transmitted from the remote station, position information indicating the position of the remote station, and the calculated correction amount.

[0092] In this way, by using both hardware and software, the tracking control device 2 can reduce the influence of manufacturing errors in the tracking control device 2 and disturbances such as shaking vibrations when the tracking control device 2 is mounted on a moving body 100 such as a vehicle, ship, or aircraft. Therefore, the tracking control device 2 can track a remote station with high accuracy in optical space communications.

[0093] [Software implementation example] Some or all of the functions of the tracking control devices 1 and 2 (hereinafter also referred to as "the above devices") may be realized by hardware such as an integrated circuit (IC chip), or by software.

[0094] In the latter case, each of the above devices is realized by, for example, 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 Figure 7. Figure 7 is a block diagram showing the hardware configuration of computer C that functions as each of the above devices.

[0095] The computer C includes at least one processor C1 and at least one memory C2. The memory C2 stores a program P for causing the computer C to operate as each of the above-mentioned devices. In the computer C, the processor C1 reads and executes the program P from the memory C2, thereby realizing the functions of each of the above-mentioned devices.

[0096] The processor C1 may be, for example, a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a tensor processing unit (TPU), a quantum processor, a microcontroller, or a combination thereof. The memory C2 may be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination thereof.

[0097] The computer C may further include a RAM (Random Access Memory) for expanding the program P during execution and for temporarily storing various data. The computer C may also include a communication interface for transmitting and receiving data to and from other devices. The computer C may also include an input / output interface for connecting input / output devices such as a keyboard, mouse, display, and printer.

[0098] Furthermore, the program P can be recorded on a non-transitory tangible recording medium M that can be read by the computer C. Such a recording medium M can be, for example, a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The computer C can acquire the program P via such a recording medium M. The program P can also be transmitted via a transmission medium. Such a transmission medium can be, for example, a communication network or broadcast waves. The computer C can also acquire the program P via such a transmission medium.

[0099] [Appendix A] This disclosure includes the techniques described in the following appendices. However, the present invention is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims.

[0100] (Appendix A1) A tracking control device mounted on a target device to track transmitted light from a remote station, The tracking control device includes: the vibration damping mechanism is mounted on the target device and damps at least a portion of the vibrations caused by the target device; a light intensity information acquiring means for acquiring light intensity information indicating the intensity of the light transmitted from the remote station, the light receiving sensor having received the light intensity information; a position information acquisition means for acquiring position information indicating the position of the remote station estimated by an image sensor based on an image captured by an imaging device of the transmitted light from the remote station; Attitude information acquisition means for acquiring attitude information relating to the attitude of the tracking control device; a spatial stability compensation means for calculating, by referring to the attitude information, a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control means for calculating a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, so that the optical receiving sensor and the image sensor track the light transmitted from the remote station, by referring to the light intensity information, the position information, and the correction amount; a tracking control means for controlling the gimbal unit based on the target value; A tracking control device comprising:

[0101] (Appendix A2) the vibration isolation mechanism includes an adjustment unit for adjusting the frequency of vibration to be isolated, the cooperative control means controls the frequency of vibrations that are isolated by the vibration isolation mechanism. 1. A tracking control device according to claim 1.

[0102] (Appendix A3) the spatial stability compensation means calculates a correction amount using a machine learning model that has been trained to input posture information and output a correction amount; 10. The tracking control device according to claim 1 or A2.

[0103] (Appendix A4) the spatial stability compensation means trains the machine learning model so as to output a correction amount that reduces an error between the optical axis directions of the light receiving sensor and the image sensor and a target optical axis direction; 1. A tracking control device according to claim A3.

[0104] [Appendix B] This disclosure includes the techniques described in the following appendices. However, the present invention is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims.

[0105] (Appendix B1) A tracking control method comprising at least one processor, the method being mounted in a target device, and tracking light transmitted from a remote station, the method comprising: the tracking control device is mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device; a light intensity information acquisition process in which the at least one processor acquires light intensity information indicating the intensity of the transmitted light from the remote station, the light intensity information being received by a light receiving sensor; a position information acquisition process in which the at least one processor acquires position information indicating the position of the remote station estimated by an image sensor based on an image captured by an imaging device of the transmitted light from the remote station; an attitude information acquisition process in which the at least one processor acquires attitude information regarding the attitude of the tracking control device; a spatial stability compensation process in which the at least one processor refers to the attitude information and calculates a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control process in which the at least one processor refers to the light intensity information, the position information, and the correction amount, and calculates a target value for driving a gimbal unit that changes at least one of the orientation of the light receiving sensor and the image sensor and the direction of the optical axis of the light receiving sensor and the image sensor so that the light receiving sensor and the image sensor track the transmitted light from the remote station; a tracking control process in which the at least one processor controls the gimbal unit based on the target value; A tracking control method including:

[0106] (Appendix B2) the vibration isolation mechanism includes an adjustment unit for adjusting the frequency of vibration to be isolated, In the cooperative control process, the at least one processor controls a frequency of vibrations to be isolated by the vibration isolation mechanism. A tracking control method according to appendix B1.

[0107] (Appendix B3) In the spatial stability compensation process, the at least one processor calculates a correction amount using a machine learning model that has been trained to input posture information and output a correction amount. A tracking control method according to appendix B1 or B2.

[0108] (Appendix B4) In the spatial stability compensation process, the at least one processor trains the machine learning model so as to output a correction amount that reduces an error between the optical axis directions of the light receiving sensor and the image sensor and a target optical axis direction. A tracking control method as described in Appendix B3.

[0109] [Appendix C] This disclosure includes the techniques described in the following appendices. However, the present invention is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims.

[0110] (Appendix C1) A program that is installed in a target device and causes a computer to function as a tracking control device that tracks transmitted light from a remote station, the tracking control device is mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device; The computer a light intensity information acquiring means for acquiring light intensity information indicating the intensity of the light transmitted from the remote station, the light receiving sensor having received the light intensity information; a position information acquisition means for acquiring position information indicating the position of the remote station estimated by an image sensor based on an image captured by an imaging device of the transmitted light from the remote station; Attitude information acquisition means for acquiring attitude information relating to the attitude of the tracking control device; a spatial stability compensation means for calculating, by referring to the attitude information, a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control means for calculating a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, so that the optical receiving sensor and the image sensor track the light transmitted from the remote station, by referring to the light intensity information, the position information, and the correction amount; a tracking control means for controlling the gimbal unit based on the target value; A program that functions as a

[0111] (Appendix C2) the vibration isolation mechanism includes an adjustment unit for adjusting the frequency of vibration to be isolated, the cooperative control means controls the frequency of vibrations that are isolated by the vibration isolation mechanism. The program described in Appendix C1.

[0112] (Appendix C3) the spatial stability compensation means calculates a correction amount using a machine learning model that has been trained to input posture information and output a correction amount; A program as described in Appendix C1 or C2.

[0113] (Appendix C4) the spatial stability compensation means trains the machine learning model so as to output a correction amount that reduces an error between the optical axis directions of the light receiving sensor and the image sensor and a target optical axis direction; The program described in Appendix C3.

[0114] [Appendix D] This disclosure includes the techniques described in the following appendices. However, the present invention is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims.

[0115] (Appendix D1) A tracking control device mounted on a target device to track transmitted light from a remote station, The tracking control device includes: the vibration damping mechanism is mounted on the target device and damps at least a portion of the vibrations caused by the target device; at least one processor, a light intensity information acquisition process for acquiring light intensity information indicating the intensity of the transmitted light from the remote station, the light receiving sensor having received the light intensity information; a position information acquisition process for acquiring position information indicating the position of the remote station estimated by an image sensor based on an image captured by an imaging device of the transmitted light from the remote station; an attitude information acquisition process for acquiring attitude information relating to the attitude of the tracking control device; a spatial stability compensation process that refers to the attitude information and calculates a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control process that calculates a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, by referring to the light intensity information, the position information, and the correction amount, so that the optical receiving sensor and the image sensor track the transmitted light from the remote station; a tracking control process for controlling the gimbal unit based on the target value; A tracking control device that performs the above.

[0116] The tracking control device may further include a memory, and the memory may store a program for causing the at least one processor to execute each of the processes.

[0117] (Appendix D2) the vibration isolation mechanism includes an adjustment unit for adjusting the frequency of vibration to be isolated, In the cooperative control process, the at least one processor controls a frequency of vibrations to be isolated by the vibration isolation mechanism. 10. The tracking control device according to claim D1.

[0118] (Appendix D3) In the spatial stability compensation process, the at least one processor calculates a correction amount using a machine learning model that has been trained to input posture information and output a correction amount. 10. The tracking control device according to claim 9, wherein said tracking control device is a tracking control device according to claim 1 or D2.

[0119] (Appendix D4) In the spatial stability compensation process, the at least one processor trains the machine learning model so as to output a correction amount that reduces an error between the optical axis directions of the light receiving sensor and the image sensor and a target optical axis direction. 10. The tracking control device according to claim D3.

[0120] [Appendix E] This disclosure includes the techniques described in the following appendices. However, the present invention is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims.

[0121] (Appendix E1) A non-transitory recording medium that is mounted on a target device and records a program that causes a computer to function as a tracking control device that tracks transmitted light from a remote station, the tracking control device is mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device; The computer, a light intensity information acquisition process for acquiring light intensity information indicating the intensity of the transmitted light from the remote station, the light receiving sensor having received the light intensity information; a position information acquisition process for acquiring position information indicating the position of the remote station estimated by an image sensor based on an image captured by an imaging device of the transmitted light from the remote station; an attitude information acquisition process for acquiring attitude information relating to the attitude of the tracking control device; a spatial stability compensation process that refers to the attitude information and calculates a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control process that calculates a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, by referring to the light intensity information, the position information, and the correction amount, so that the optical receiving sensor and the image sensor track the transmitted light from the remote station; a tracking control process for controlling the gimbal unit based on the target value; A non-transitory recording medium on which a control program for executing the program is recorded. [Explanation of symbols]

[0122] 1, 2 Tracking control device 11 Light intensity information acquisition unit 12 Location information acquisition unit 13 Posture information acquisition unit 14 Spatial stability compensation section 15 Cooperative control unit 16 Tracking control section 20 Control Unit 30 Gimbal section 31 Precision control drive unit 32 Coarse control drive unit 40 Attitude Sensor 50 Anti-vibration mechanism 100 Target device, mobile object 141 Posture determination section 142 Correction amount calculation unit 161 Fine tracking control unit 162 Coarse tracking control section 320 Optics Department 321 Optical receiving sensor 322 Image Sensor 501 Vibration isolator 502 Pulley 503 Rail

Claims

1. A tracking control device mounted on a target device to track transmitted light from a remote station, The tracking control device includes: the vibration damping mechanism is mounted on the target device and damps at least a portion of the vibrations caused by the target device; a light intensity information acquiring means for acquiring light intensity information indicating the intensity of the light transmitted from the remote station, the light receiving sensor having received the light intensity information; a position information acquiring means for acquiring position information indicating the position of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station; Attitude information acquisition means for acquiring attitude information relating to the attitude of the tracking control device; a spatial stability compensation means for calculating, by referring to the attitude information, a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control means for calculating a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, so that the optical receiving sensor and the image sensor track the light transmitted from the remote station, by referring to the light intensity information, the position information, and the correction amount; a tracking control means for controlling the gimbal unit based on the target value; A tracking control device comprising:

2. the vibration isolation mechanism includes an adjustment unit for adjusting the frequency of vibration to be isolated, the cooperative control means controls the frequency of vibrations that are isolated by the vibration isolation mechanism. The tracking control device according to claim 1 .

3. the spatial stability compensation means calculates a correction amount using a machine learning model that has been trained to input posture information and output a correction amount; The tracking control device according to claim 1 or 2.

4. the spatial stability compensation means trains the machine learning model so as to output a correction amount that reduces an error between the optical axis directions of the light receiving sensor and the image sensor and a target optical axis direction; The tracking control device according to claim 3 .

5. A tracking control method in which a tracking control device mounted on a target device includes at least one processor and tracks transmitted light from a remote station, the tracking control device is mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device; a light intensity information acquisition process in which the at least one processor acquires light intensity information indicating the intensity of the transmitted light from the remote station, the light intensity information being received by an optical receiving sensor; a position information acquisition process in which the at least one processor acquires position information indicating the position of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station; an attitude information acquisition process in which the at least one processor acquires attitude information regarding the attitude of the tracking control device; a spatial stability compensation process in which the at least one processor refers to the attitude information and calculates a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control process in which the at least one processor refers to the light intensity information, the position information, and the correction amount to calculate a target value for driving a gimbal unit that changes at least one of the orientation of the light receiving sensor and the image sensor and the direction of the optical axis of the light receiving sensor and the image sensor so that the light receiving sensor and the image sensor track the transmitted light from the remote station; a tracking control process in which the at least one processor controls the gimbal unit based on the target value; A tracking control method including:

6. A program that is installed in a target device and causes a computer to function as a tracking control device that tracks transmitted light from a remote station, the tracking control device is mounted on the target device via an anti-vibration mechanism that at least partially absorbs vibrations caused by the target device; The computer a light intensity information acquiring means for acquiring light intensity information indicating the intensity of the light transmitted from the remote station, the light receiving sensor having received the light intensity information; a position information acquiring means for acquiring position information indicating the position of the remote station estimated based on an image captured by an image sensor of the transmitted light from the remote station; Attitude information acquisition means for acquiring attitude information relating to the attitude of the tracking control device; a spatial stability compensation means for calculating, by referring to the attitude information, a correction amount for making the optical axis directions of the light receiving sensor and the image sensor constant; a cooperative control means for calculating a target value for driving a gimbal unit that changes at least one of the orientation of the optical receiving sensor and the image sensor and the direction of the optical axis of the optical receiving sensor and the image sensor, so that the optical receiving sensor and the image sensor track the light transmitted from the remote station, by referring to the light intensity information, the position information, and the correction amount; a tracking control means for controlling the gimbal unit based on the target value; A program that functions as a

Images