System, processing method, and program

Abstract

To provide a system capable of quickly and accurately grasping a situation in a target area.SOLUTION: The present invention is a system including: an aerial sensing data acquisition unit that acquires aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on an aircraft; a ground sensing data acquisition unit that acquires ground sensing data obtained by sensing a target area by a second measurement device provided on the target area or mounted on a mobile object in the target area; an abnormality determination unit that performs a first abnormality determination based on one of the aerial sensing data and the ground sensing data; and an action determination unit that determines or outputs an instruction as to which action to take, based on the results of the abnormality determination by the abnormality determination unit, to acquire or analyze the other of the aerial sensing data or the ground sensing data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a system, a processing method, and a program. [Background technology]

[0002] Patent Document 1 discloses a building damage estimation device that estimates disaster damage to buildings from color optical images taken from the air and building polygons acquired before the disaster occurs, as a technology for estimating disaster damage to buildings quickly and with high accuracy in relation to an area of ​​interest. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-95886 Summary of the Invention [Problem to be solved by the invention]

[0004] In the event of an emergency, such as a disaster or an attack from an enemy aircraft, it is necessary to make quick and accurate decisions regarding the various support activities required at the disaster site, such as rescue operations, firefighting, infrastructure restoration work, evacuation shelter support, etc. To do this, it is necessary for the crisis response headquarters, which directs the support activities, to quickly and accurately grasp the situation at the disaster site.

[0005] As a means of grasping the situation at disaster sites, a technology has been proposed that uses optical images taken from the air to estimate the damage status of buildings and other structures, as in Patent Document 1. However, it is difficult to estimate the damage status of locations that cannot be seen from the air, and there remains the problem that detailed situations cannot be grasped due to the resolution of the captured images.

[0006] In addition to Patent Document 1, an information provision system has been proposed that consolidates and provides information obtained from external systems, such as information released by the Japan Meteorological Agency, media news information, and transportation operation information, on a map. However, there remains the problem that it is not possible to confirm the latest situation over a wide area using images or video, and it is not possible to quickly grasp the overall situation at the disaster site.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and has as its object to grasp the situation in a target area more quickly or more accurately. [Means for solving the problem]

[0008] According to the present invention, a system is obtained which includes an aerial sensing data acquisition unit that acquires aerial sensing data obtained by sensing a target area on the ground using a first measuring device mounted on an aircraft, a ground sensing data acquisition unit that acquires ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area, an abnormality determination unit that makes a first abnormality determination based on one of the aerial sensing data and the ground sensing data, and an action determination unit that determines or commands an action to be taken to acquire or analyze the other of the aerial sensing data and the ground sensing data depending on the abnormality determination result by the abnormality determination unit. [Effects of the Invention]

[0009] According to the present invention, the situation in a target area can be grasped more quickly or more accurately. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating the overall configuration of a linkage system 1 according to an embodiment of the present invention. [Figure 2] FIG. 1 is a functional configuration diagram of an aircraft data acquisition system 1000. [Figure 3] FIG. 40 is a functional block diagram of a ground data acquisition system 4000. [Figure 4] FIG. 2 is a functional block diagram of a spatial information data utilization system 2000. [Figure 5] FIG. 3 is a functional block diagram of an information distribution system 3000. [Figure 6] FIG. 2 is a hardware configuration diagram of a spatial information data utilization system 2000, etc. [Figure 7] FIG. 3 is a sequence diagram showing a processing flow of the linkage system 1. [Figure 8] FIG. 2 is a flowchart showing a control flow of the linkage system 1. [Figure 9] FIG. 10 is a flowchart showing the processing flow of abnormality determination processing by the ground data abnormality determination unit 2220. [Figure 10] 10 is a diagram showing the results of abnormality determination by the ground data abnormality determination unit 2220. FIG. [Figure 11] FIG. 10 is a flowchart showing the processing flow when an aeronautical data acquisition and analysis request determination unit 2320 generates a request command for acquisition or analysis of aeronautical sensing data. [Figure 12] 10 is an example showing an abnormality determination result by the aviation data abnormality determination unit 2120 when checking for erroneous detection in the abnormality determination result based on ground sensing data. [Figure 13] 10 is an example showing an abnormality determination result by the aviation data abnormality determination unit 2120 when performing non-detection confirmation on the abnormality determination result based on ground sensing data. [Figure 14] 10 is an example showing the results of abnormality determination performed by the aeronautical data abnormality determination unit 2120 for a position where the abnormality determination result based on ground sensing data is "indeterminate." [Figure 15] FIG. 10 is a flowchart showing the processing flow when an integrated abnormality determination is performed by an integrated determination unit 2400. [Figure 16] 10 is a diagram showing an example of a determination result when an integrated determination unit 2400 performs integrated determination. FIG. [Figure 17] 10 is a diagram showing another example of the judgment result when the integrated judgment unit 2400 performs the integrated judgment. FIG. [Figure 18]FIG. 10 is a flowchart illustrating the processing flow when a remeasurement or the like is requested by a remeasurement analysis requesting unit 2500. [Figure 19] FIG. 10 is a flowchart showing the processing flow when the common situation diagram generating unit 2600 generates a common situation diagram. [Figure 20] FIG. 10 is a diagram showing an example of a common situation diagram generated by the common situation diagram generating unit 2600. [Figure 21] FIG. 10 is a flowchart showing a processing flow when information distribution is performed by the information distribution system 3000. [Figure 22] FIG. 10 is a sequence diagram showing a processing flow of a linkage system 1 according to a second embodiment. [Figure 23] FIG. 10 is a flowchart illustrating a processing flow of the linkage system 1 according to the second embodiment. [Figure 24] 10 is a diagram showing the results of abnormality determination by the flight data abnormality determination unit 2120. FIG. [Figure 25] 10 is an example showing an anomaly determination result by the ground data anomaly determination unit 2220 when checking for erroneous detection in an anomaly determination result based on aerial sensing data. [Figure 26] 10 is a diagram showing an example of a determination result when an integrated determination unit 2400 performs integrated determination. FIG. [Figure 27] 10 is an example showing an anomaly determination result by the ground data anomaly determination unit 2220 when performing non-detection confirmation on an anomaly determination result based on aerial sensing data. [Figure 28] 10 is a diagram showing an example of a determination result when an integrated determination unit 2400 performs integrated determination. FIG. [Figure 29] FIG. 11 is a sequence diagram showing a processing flow of a linkage system 1 according to a third embodiment. [Figure 30] FIG. 11 is a flowchart illustrating a processing flow of the linkage system 1 according to the third embodiment. [Figure 31] 10 is a diagram showing the results of abnormality determination by the flight data abnormality determination unit 2120. FIG. [Figure 32] 10 is an example showing the result of abnormality determination by the ground data abnormality determination unit 2220. [Figure 33] 10 is a diagram showing an example of a determination result when an integrated determination unit 2400 performs integrated determination. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below by listing the contents of the embodiments. The present invention has the following configuration. [Item 1] an aerial sensing data acquisition unit that acquires aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition unit that acquires ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an abnormality determination unit that performs a first abnormality determination based on one of the aerial sensing data and the ground sensing data; The system includes an action determination unit that determines or commands an action to be taken to acquire or analyze the other of the aerial sensing data and the ground sensing data, depending on the abnormality determination result by the abnormality determination unit. [Item 2] In the system according to item 1, When the abnormality determination unit determines that there is an abnormality in a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The system, wherein the action determination unit determines or outputs a command as an action to be taken to acquire or analyze the other of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area. [Item 3] In the system according to item 1 or 2, When the abnormality determination unit determines that there is an abnormality in a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The system, wherein the action determination unit determines or commands that the acquisition or analysis of the other of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area is an action to be performed in priority over the acquisition or analysis of data for other ground locations or ground areas. [Item 4] In the system described in items 1 to 3, When the abnormality determination unit determines that there is no abnormality for a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The system, wherein the action determination unit determines or outputs a command as an action to be taken to acquire or analyze the other of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area. [Item 5] In the system described in items 1 to 4, When the abnormality determination unit determines that there is no abnormality for a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The system, wherein the action determination unit determines or commands that the acquisition or analysis of the other of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area is an action to be performed in priority over the acquisition or analysis of data for other ground locations or ground areas. [Item 6] In the system described in items 1 to 5, When the abnormality determination unit determines that there is an abnormality at a plurality of ground positions within a predetermined area and determines that there is no abnormality at other plurality of ground positions within the predetermined area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, and when the number of the plurality of ground positions determined to have an abnormality is equal to or less than a predetermined number, The system, wherein the abnormality determination unit determines that there is no abnormality as a second abnormality determination for the plurality of ground positions determined to have an abnormality by the first abnormality determination. [Item 7] In the system described in items 1 to 6, When the abnormality determination unit determines that there is an abnormality in a part of the ground area within a predetermined area and determines that there is no abnormality in another part of the ground area within the predetermined area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, and the area of ​​the ground area determined to have an abnormality is equal to or less than a predetermined value, or the area ratio of the area determined to have no abnormality to the predetermined area is equal to or greater than a predetermined value, or the area ratio of the area determined to have an abnormality to the predetermined area is equal to or less than a predetermined value, or the ratio of the area of ​​the area determined to have an abnormality to the area determined to have no abnormality in the predetermined area is equal to or less than a predetermined value, The system wherein the abnormality determination unit determines that there is no abnormality as a second abnormality determination for the ground area determined to have an abnormality by the first abnormality determination. [Item 8] In the system according to items 1 to 7, When the anomaly determination unit determines that an anomaly exists at a plurality of ground positions within a predetermined area and determines that no anomaly exists at other plurality of ground positions within the predetermined area by the first anomaly determination based on one of the aerial sensing data and the ground sensing data, and when the number of the plurality of ground positions determined to have an anomaly is greater than a predetermined number and the density of the plurality of ground positions determined to have an anomaly is greater than a predetermined value, The system, wherein the abnormality determination unit determines that an abnormality exists as a second abnormality determination for an area including the plurality of ground locations determined to have an abnormality by the first abnormality determination. [Item 9] In the system according to items 1 to 8, The abnormality determination unit determines the area determined to have an abnormality in the second abnormality determination as an abnormality area, distinguishing it from other areas. [Item 10] In the system according to items 1 to 9, When the anomaly determination unit determines that an anomaly exists in at least a part of the ground area by the first anomaly determination based on one of the aerial sensing data and the ground sensing data, and the area of ​​the ground area determined to have an anomaly is larger than a predetermined value, or the ratio of the area of ​​the ground area determined to have an anomaly within the predetermined area to the area of ​​the predetermined area or the area of ​​the ground area determined to have no anomaly is larger than a predetermined value, The system, wherein the abnormality determination unit determines that an abnormality exists as a second abnormality determination for the ground area determined to have an abnormality by the first abnormality determination. [Item 11] In the system according to items 1 to 10, The abnormality determination unit determines the scale of the abnormal condition in the abnormality area determined to have an abnormality by the second abnormality determination, depending on the number of multiple ground locations determined to have an abnormality by the first abnormality determination, or the density of the multiple ground locations determined to have an abnormality by the first abnormality determination. [Item 12] In the system according to items 1 to 11, The abnormality determination unit determines the scale of the abnormal state of the abnormal area based on the area size of the abnormal area determined to have an abnormality by the second abnormality determination. [Item 13] In the system according to items 1 to 12, an integrated determination unit that performs integrated abnormality determination for each ground position or ground area based on both the aerial sensing data and the ground sensing data; a display information generation unit that generates display information that displays the result of the integrated abnormality determination by the integration determination unit in association with position information of at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; A system comprising a display information output unit that transmits or displays the display information on a terminal device capable of displaying the display information. [Item 14] In the system described in items 1 to 13, When the abnormality determination unit determines that there is an abnormality in the specific ground position or the ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, the integrated determination unit performs an abnormality determination based on both the aerial sensing data and the ground sensing data for the specific ground position or the ground area; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device. [Item 15] In the system according to items 1 to 14, When the abnormality determination unit determines that there is no abnormality in the specific ground position or the ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, the integrated determination unit performs the integrated abnormality determination based on both the aerial sensing data and the ground sensing data for the specific ground position or the ground area; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device. [Item 16] In the system according to items 1 to 15, When the integrated determination unit cannot perform the integrated abnormality determination for each ground position or ground area based on both the aerial sensing data and the ground sensing data, The system includes a measurement request unit that outputs a measurement command to measure at least one of the aerial sensing data and the ground sensing data, or a determination command to determine an abnormality. [Item 17] In the system according to items 1 to 16, When a predetermined time has elapsed since the integrated abnormality determination processing time for each ground position or ground area based on both the aerial sensing data and the ground sensing data performed by the integrated determination unit, The display information output unit transmits or displays the result of the first abnormality determination performed by the abnormality determination unit to the terminal device. [Item 18] In the system according to items 1 to 17, A system in which, when a predetermined time has elapsed since the integrated abnormality determination unit performed the integrated abnormality determination for each ground position or ground area based on both the aerial sensing data and the ground sensing data, the result of the first abnormality determination displayed on the terminal device by the display information output unit is displayed in a manner that is distinguishable from the result of the integrated abnormality determination by the integrated determination unit. [Item 19] In the system according to items 1 to 18, the integrated determination unit determines an abnormality type for a ground position or a ground area determined to have an abnormality by the integrated abnormality determination, the display information generation unit generates the display information that displays the information on the anomaly type in association with at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device. [Item 20] In the system according to items 1 to 19, the integrated determination unit determines the scale of the abnormality for the ground positions or ground areas determined to have an abnormality by the integrated abnormality determination, based on the number of ground positions determined to have an abnormality or the density of the ground positions; the display information generation unit generates the display information that displays the abnormal scale information in association with at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device. [Item 21] In the system according to items 1 to 20, the integrated determination unit determines the scale of the abnormality for a ground position or a ground area determined to have an abnormality by the integrated abnormality determination, in accordance with the size of the area of ​​the ground area determined to have an abnormality; the display information generation unit generates the display information that displays the abnormal scale information in association with at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device. [Item 22] In the system according to items 1 to 21, When the integrated determination unit cannot determine the type or scale of an abnormality for a ground position or a ground area determined to have an abnormality by the integrated abnormality determination, The system includes a measurement request unit that outputs a measurement command to measure at least one of the aerial sensing data and the ground sensing data, or a determination command to determine an abnormality, for a ground location or ground area where the type or scale of the abnormality cannot be determined. [Item 23] In the system according to items 1 to 22, The measurement request unit A system that determines the priority or frequency of measurement when measuring at least one of the aerial sensing data and the ground sensing data, or the priority or frequency of judgment when making an abnormality judgment based on at least one of the aerial sensing data and the ground sensing data, based on the result of the first abnormality judgment or the result of the integrated abnormality judgment. [Item 24] In the system according to items 1 to 23, The measurement request unit A system that lowers the priority or frequency of measurements or the priority or frequency of abnormality judgments for ground locations or ground areas that are determined to have no abnormality by the first abnormality judgment or the integrated abnormality judgment, compared to the priority or frequency of measurements or the priority or frequency of abnormality judgments for ground locations or ground areas that are determined to have an abnormality by the first abnormality judgment or the integrated abnormality judgment. [Item 25] In the system according to items 1 to 24, The measurement request unit A system that determines measurement conditions for measuring the aeronautical sensing data based on the determination result of the first abnormality determination or the determination result of the integrated abnormality determination. [Item 26] In the system according to items 1 to 25, The measurement request unit When more detailed data than the aerial sensing data measured last time is required based on the determination result of the first abnormality determination or the determination result of the integrated abnormality determination, the system determines that the measurement conditions are to acquire the aerial sensing data with a higher resolution than the last measurement, or to measure from a lower altitude than the last measurement, or to measure with a higher zoom amount than the last measurement, or to measure with a higher ground resolution than the last measurement. [Item 27] In the system according to items 1 to 26, The measurement request unit A system that determines a measurement means using at least one of a satellite, a fixed-wing aircraft, a multicopter aircraft, a balloon, or flying characteristics based on the determination result of the first abnormality determination or the determination result of the integrated abnormality determination. [Item 28] In the system according to items 1 to 27, The aerial sensing data acquisition unit acquires, as the aerial sensing data, a plurality of time series data acquired before and after the occurrence of a disaster, the ground sensing data acquisition unit acquires, as the ground sensing data, a plurality of time series data acquired before and after the occurrence of a disaster; The abnormality determination unit A system that uses time-series data of multiple images acquired before and after the disaster, which are included in either the aerial sensing data or the ground sensing data, to determine the locations of abnormalities that have been progressing since before the disaster occurred and the locations of abnormalities that have been progressing since after the disaster occurred, and determines the locations of abnormalities caused by the disaster based on the results of this determination. [Item 29] In the system according to items 1 to 28, the integrated determination unit determines a feature including at least one of a facility, equipment, or residence located at a ground position or ground area determined to have an abnormality by the integrated abnormality determination, The display information output unit transmits information regarding at least one of the determination result, the scale of the abnormality, and the type of the abnormality determined by the integrated abnormality determination to a terminal device of a person involved in the feature. [Item 30] an aerial sensing data acquisition unit that acquires aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition unit that acquires ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an aviation data abnormality determination unit that determines abnormalities based on the aviation sensing data; a ground data abnormality determination unit that determines an abnormality based on the ground sensing data; a system comprising an action determination unit that determines or commands an action to be taken to acquire or analyze at least one of the aeronautical sensing data and the ground sensing data, depending on the abnormality determination result by the aeronautical data abnormality determination unit and the abnormality determination result by the ground data abnormality determination unit. [Item 31] In the system according to item 30, When the determination result of the aeronautical data abnormality determination unit and the determination result of the ground data abnormality determination unit for a specific ground position or ground area are inconsistent, The action determination unit determines or outputs a command to perform an action to acquire or analyze at least one of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area. [Item 32] The computer an aerial sensing data acquisition step of acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition step of acquiring ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an abnormality determination step of performing a first abnormality determination based on one of the aerial sensing data and the ground sensing data; An action determination step of determining or issuing a command as an action to be taken to acquire or analyze the other of the aerial sensing data and the ground sensing data depending on the abnormality determination result by the abnormality determination step. [Item 33] The computer an aerial sensing data acquisition step of acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition step of acquiring ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an aviation data abnormality determination step of determining an abnormality based on the aviation sensing data; a ground data abnormality determination step of determining an abnormality based on the ground sensing data; an action determination step of determining or issuing a command to acquire or analyze at least one of the aeronautical sensing data and the ground sensing data as an action to be taken, depending on the abnormality determination result from the aeronautical data abnormality determination step and the abnormality determination result from the ground data abnormality determination step. [Item 34] On the computer, an aerial sensing data acquisition command for acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition command for acquiring ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an abnormality determination command for performing a first abnormality determination based on one of the aerial sensing data and the ground sensing data; and an action determination command that determines or commands the acquisition or analysis of the other of the aerial sensing data and the ground sensing data as an action to be taken depending on the abnormality determination result of the first abnormality determination. [Item 35] On the computer, an aerial sensing data acquisition command for acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; An on-ground sensing data acquisition command for acquiring on-ground sensing data obtained by sensing a target area with a second measurement device installed within the target area or mounted on a moving object within the target area, an aerial data abnormality determination command for performing an abnormality determination based on the aerial sensing data, an on-ground data abnormality determination command for performing an abnormality determination based on the on-ground sensing data, an action determination command for determining or outputting a command as an action to execute acquisition or analysis of at least one of the aerial sensing data and the on-ground sensing data according to the abnormality determination result by the aerial data abnormality determination command and the abnormality determination result by the on-ground data abnormality determination command. A program for executing these commands.

[0012] <A. First Embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. Also, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0013] [A-1. Configuration] (A-1-1. Overview) FIG. 1 is an overall configuration diagram of a cooperation system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the cooperation system 1 includes an aerial data acquisition system 1000, a spatial information data utilization system 2000, an information distribution system 3000, an on-ground data acquisition system 4000, and a crisis countermeasure site command system 5000. Each system constitutes a cooperation system 1 that operates in cooperation by communicating with each other via an Internet line or the like.

[0014] The aerial data acquisition system 1000 controls aircraft, satellites, and other flying objects equipped with sensors including optical cameras, infrared cameras, radar sensors such as SAR sensors, and laser sensors such as LiDAR to acquire aerial sensing data obtained by sensing information from the sky over a wide area, including a target area on the ground. Alternatively, the system acquires any aerial sensing data from flying objects such as satellites that continue sensing at preset intervals. The system may also be a base equipped with a remote control device that exchanges control information with the flying object, or may be composed of a mobile vehicle, ship, flying object, or the like, or may be composed of a stationary building (fixed type).

[0015] The ground data acquisition system 4000 acquires ground sensing data using a number of ground measurement devices (including optical cameras, infrared cameras, radar sensors, laser sensors such as LiDAR, etc.) installed on the ground. Alternatively, it acquires any ground sensing data from ground measurement devices that continue sensing at preset intervals. Furthermore, the ground measurement devices may be fixed devices whose measurement position and measurement direction are fixed, or may be mobile devices whose measurement position and / or measurement direction are changeable.

[0016] The spatial information data utilization system 2000 has a function of processing the aerial sensing data acquired by the aerial data acquisition system 1000 and determining whether there are any abnormalities. It also has a function of processing the terrestrial sensing data acquired by the terrestrial data acquisition system 4000 and determining whether there are any abnormalities. It may also have a function of generating map images, etc., by combining the aerial sensing data with orthoimages, three-dimensional spatial models, three-dimensional spatial data, polygon geographic information, etc. It may also have a function of generating a common situation map by integrating the generated map images, etc., with abnormality determination results and on-site disaster information acquired from the crisis response on-site command system 5000.

[0017] The crisis response on-site command system 5000 includes a commanding device 5100 and a plurality of on-site unit terminal devices 5300 that can communicate with the commanding device 5100. As shown in Fig. 1, the on-site unit terminal devices 5300 include, for example, a terminal for the Self-Defense Forces, a terminal for the police, a terminal for the fire brigade, a terminal for the rescue team, a terminal for a heavy equipment operator, a terminal for an evacuation center staff member, and a terminal for a local government staff member. The commanding device 5100 issues work instructions to the on-site unit terminal devices 5300, and receives on-site disaster information, responses to the work instructions, on-site unit information, etc. from the on-site unit terminal devices 5300.

[0018] The information distribution system 3000 acquires the latest common situation diagram (hereinafter also referred to as "integrated information") from the spatial information data utilization system 2000, and transmits the common situation diagram to the commanding device 5100 and each field unit terminal device 5300. Note that the functions of the spatial information data utilization system 2000 and the information distribution system 3000 can be implemented in a common device and configured as a single subsystem (disaster DX system 6000). On the other hand, the functions of the information distribution system 3000 and the commanding device 5100 can also be implemented in a common housing and configured as a single subsystem.

[0019] Furthermore, each subsystem constituting the linked system 1 shown in FIG. 1 has a user who uses a user interface unit (having a display unit, an input unit, etc.) provided in the subsystem. In the example shown in FIG. 1, the aerial data acquisition system 1000 is used by a data acquisition manager, the spatial information data utilization system 2000 is used by a common situation map generation manager, the ground data acquisition system 4000 is used by a data acquisition manager, the control device 5100 is used by a crisis management headquarters manager, the Self-Defense Forces terminal is used by the Self-Defense Forces, the police terminal is used by a police officer, the fire department terminal is used by a fire department, the rescue team terminal is used by a rescue team, the heavy equipment operator terminal is used by a heavy equipment operator, the evacuation shelter staff terminal is used by an evacuation shelter staff, and the local government staff terminal is used by a local government staff. Note that, in the example shown in FIG. 1, the information distribution system 3000 has a system configuration without a user interface unit, but this is not limited to this, and a user interface unit for a distribution manager may be provided as a user of the information distribution system 3000.

[0020] (A-1-2. Aviation Data Acquisition System 1000) 2 is a functional configuration diagram of the aviation data acquisition system 1000. The aviation data acquisition system 1000 includes an aircraft control system 1100, an aircraft flight operation system 1200, an acquired data management system 1300, a communication infrastructure management system 1400, a logistics support system 1500, a flight management system 1600, and an airspace surveillance and control system 1700.

[0021] The aircraft control system 1100 is a system implemented in an aircraft, satellite, or other flying object, and performs aircraft control, including flight control and measurement control of the flying object. The aircraft control system 1100 includes, for example, a flight unit having a flight function, a sensing unit that performs sensing using sensors (optical cameras, IR cameras, radar sensors such as SAR sensors, LiDAR, depth sensors (green lasers), other laser sensors, etc.), a communication unit that communicates with each system via a communication infrastructure management system (described later) via satellites, mobile phone communication networks, etc., a state determination unit that determines each state of flight, sensing, and positioning, a data recording unit that records aeronautical sensing data acquired by the sensing unit, etc., and a state determination result recording unit that records information related to flight control and measurement control, as well as state determination results.

[0022] In this specification, the term "aircraft" refers to any flying object capable of autonomous attitude control, regardless of the power source (electric power, prime mover, etc.), the control method (wireless or wired, fully autonomous flight or partially manual flight, etc.), and whether manned or unmanned. Aircraft may also be referred to as unmanned aerial vehicles (UAVs), multicopters, remote piloted aircraft systems (RPASs), or unmanned aircraft systems (UASs). Aircraft may be fixed-wing aircraft, multicopters with multiple propellers, or VTOL aircraft with both fixed wings and multiple propellers. The term "aircraft" also refers to any device that flies in the sky, such as balloons and artificial satellites (including low-earth orbit satellites and geostationary satellites), in addition to the aircraft mentioned above.

[0023] The aircraft flight operating system 1200 is a system that generates a flight mission for the aircraft controlled by the aircraft control system 1100 and controls the movement of the aircraft. The flight mission is, for example, a movement plan including the movement route and movement speed of the aircraft, and the movement route is generated, for example, in an airspace at an altitude of 100 to 6000 m. The aircraft flight operating system 1200 transmits control signals to the aircraft via the communication infrastructure management system 1400, which will be described later, in order to operate the aircraft automatically.

[0024] The acquired data management system 1300 has a data management function that acquires and records aerial sensing data (optical image data, IR image data, point cloud data acquired by laser sensors such as LiDAR, other spatial data, etc.) and status data of the target area sensed by the aircraft control system of the aircraft via communication infrastructure management.

[0025] The communication infrastructure management system 1400 is a system that manages the communication means for data (such as aeronautical sensing data) transmitted and received between the aircraft control system 1100 and other systems within the aviation data acquisition system 1000, as well as for control information related to the flight and measurement control of the aircraft. Furthermore, the communication infrastructure management system 1400 manages the communication means for data (such as aeronautical sensing data) transmitted and received between the aviation data acquisition system 1000 and the spatial information data utilization system 2000.

[0026] The logistics support system 1500 is a system that supports the rapid and smooth execution of each task required for acquiring sensing data executed by the aeronautical data acquisition system 1000 and the coordination between these tasks. Specifically, the logistics support system 1500 determines whether the data is appropriate based on the aeronautical sensing data and status data acquired by the acquired data management system 1300, and if the data is inappropriate, issues a request for remeasurement. The logistics support system 1500 may also have a function to determine whether the power and communication infrastructure at the aeronautical data acquisition site is available and provide alternative means. The logistics support system 1500 may also support each task at the site where an aircraft or other air vehicle is operated (pre-flight equipment preparation, equipment movement, equipment inspection, equipment adjustment, sensor calibration, in-flight operation, coordination, post-flight post-processing, equipment diagnosis, cleanup, etc.). The logistics support system 1500 also determines the equipment and facilities required for each task at the site where an aircraft or other air vehicle is operated, and manages and reserves the equipment and facilities.

[0027] The flight management system 1600 is a system that makes decisions and gives instructions for the operation of an aircraft. The flight management system 1600 prepares plans for operations of the aircraft, including, for example, sensing and flight, and transmits the plans to the aircraft control system 1100 that controls the aircraft via the communication infrastructure management system 1400. The flight management system 1600 may prepare plans for multiple aircraft and transmit information about the plans to the aircraft control systems 1100 that control each of the aircraft.

[0028] The airspace monitoring and control system 1700 is a system that monitors the airspace in which the target aircraft is flying. The airspace monitoring and control system 1700 acquires information on the position of the aircraft, etc. from an air traffic control system 9000 that controls the aircraft flying in the target airspace. The air traffic control system 9000 may be, for example, a drone traffic management system (UTM), an aircraft traffic management subsystem (UASSP), or an air traffic management system (ATM). That is, the airspace monitoring and control system 1700 measures or acquires information on the environment and other aircraft in the airspace in which the aircraft is flying, and transmits the information to the flight management system 1600. If there is a problem with the aircraft's work plan based on the information from the airspace monitoring and control system 1700, the flight management system 1600 changes the work plan.

[0029] (A-1-3. Ground Data Acquisition System 4000) 3 is a functional block diagram of the ground data acquisition system 4000. The ground data acquisition system 4000 is communicably connected to the spatial information data utilization system 2000 via an internet line or the like, and transmits ground sensing data to the spatial information data utilization system 2000. The ground data acquisition system 4000 includes a ground data acquisition device 4100, a ground data acquisition control unit 4200, and a ground sensing data management unit 4300.

[0030] (A-1-3-1. Ground data acquisition device 4100) The ground data acquisition device 4100 is composed of a plurality of measuring devices installed at a plurality of locations on the ground, which is the target area for anomaly detection, or mounted on a mobile body within the target area. The measuring devices can be composed of, for example, an optical camera that acquires optical images, an infrared camera that acquires infrared images, a radar sensor including SAR (Synthetic Aperture Radar), a laser sensor including LiDAR, a green laser that performs depth measurement, etc. The ground data acquisition device 4100 may be composed of the same type of measuring device from the above-mentioned multiple types of measuring devices, or may be composed of a combination of multiple types of measuring devices.

[0031] (A-1-3-2. Ground data acquisition control unit 4200) The ground data acquisition control unit 4200 is a functional unit that controls data acquisition by the ground data acquisition device 4100, and is made up of a ground data acquisition condition determination unit 4210 and a ground data acquisition command unit 4220.

[0032] The ground data acquisition condition determination unit 4210 determines the measurement device to perform sensing and the sensing conditions from among multiple measurement devices in accordance with the ground data acquisition request acquired from the spatial information data utilization system 2000. The measurement device is determined based on the type of sensing data requested in the ground data acquisition request and information on the location of the sensing request. In addition, the sensing conditions include resolution, sensing frequency, sensing direction, brightness of the sensing image, etc.

[0033] The ground data acquisition command unit 4220 outputs a command to the ground data acquisition device 4100 to cause the measuring device determined by the ground data acquisition condition determination unit 4210 to perform sensing under the above sensing conditions.

[0034] (A-1-3-3. Ground Sensing Data Management Unit 4300) The ground sensing data management unit 4300 is a functional unit that records and outputs the ground sensing data acquired by the ground data acquisition device 4100 , and is composed of a ground sensing data recording unit 4310 and a ground sensing data output unit 4320 .

[0035] The ground sensing data recording unit 4310 is a functional unit that records ground sensing data acquired by the ground data acquisition device 4100. Note that the ground sensing data recording unit 4310 records not only current ground sensing data but also ground sensing data acquired in the past. Furthermore, the information recorded in the ground sensing data recording unit 4310 is not limited to ground sensing data, but may also include the type, installation location, and identification information of the measuring device that acquired the ground sensing data, or sensing-related information including the sensing conditions of the ground sensing data and the weather, time, season, etc. at the time of sensing execution may also be recorded.

[0036] The ground sensing data output unit 4320 selects specific information from the information recorded in the ground sensing data recording unit 4310 and outputs it to the spatial information data utilization system 2000 in response to a ground data acquisition request received from the spatial information data utilization system 2000.

[0037] (A-1-4. Spatial Information Data Utilization System 2000) 4 is a functional block diagram of a spatial information data utilization system 2000. The spatial information data utilization system 2000 includes an aerial data acquisition and analysis unit 2100, a ground data acquisition and analysis unit 2200, an action determination unit 2300, an integrated determination unit 2400, a remeasurement analysis request unit 2500, a common situation diagram generation unit 2600, a recording unit 2700, and a communication unit 2800.

[0038] (A-1-4-1. Aviation Data Acquisition and Analysis Unit 2100) The aviation data acquisition and analysis unit 2100 is a functional unit that acquires aviation sensing data from the aviation data acquisition system 1000 and determines whether an abnormality exists based on the aviation sensing data. The aviation data acquisition and analysis unit 2100 includes an aviation data acquisition unit 2110 and an aviation data abnormality determination unit 2120.

[0039] The aviation data acquisition unit 2110 acquires aviation sensing data from the aviation data acquisition system 1000. Here, the aviation data acquisition unit 2110 can acquire aviation sensing data acquired by the aviation data acquisition system 1000 in real time, but can also specify desired aviation sensing data that satisfies any time, area, and other sensing conditions from previously acquired aviation sensing data recorded in the acquired data management system 1300 of the aviation data acquisition system 1000, and acquire the desired aviation sensing data from the aviation data acquisition system 1000.

[0040] The aviation data anomaly determination unit 2120 analyzes and processes the aerial sensing data acquired by the aviation data acquisition unit 2110 to determine whether an anomaly has occurred at the ground location or ground area corresponding to the aerial sensing data. Here, "anomaly" in this specification includes damage or disaster to roads, railways, power lines, revetments, levees, rivers, houses, buildings, farmland, trees, marine infrastructure, equipment, facilities, structures, and any other objects or terrain, as well as other abnormal changes. For example, abnormal road conditions include road damage, collapse, flooding, inundation, sediment volume, traffic congestion, and road closures. "Anomalous" also includes deformation of the terrain and the resulting changes in the positional relationships between multiple reference points.

[0041] For example, the aviation data anomaly determination unit 2120 can output three patterns of determination results for the ground position or ground area being determined as a result of the anomaly determination: "abnormal," "no abnormality," and "indeterminate." If the aviation data anomaly determination unit 2120 determines that there is an anomaly, it outputs the determination result of "abnormal," if it determines that there is no anomaly, it outputs the determination result of "no abnormality," and if it cannot determine whether there is an anomaly or not, it outputs "indeterminate."

[0042] Here, examples of cases where it is not possible to determine whether or not an abnormality exists and for which "indeterminate" is output include cases where, as a result of the abnormality determination, there is insufficient basis for determining that an abnormality exists and also insufficient basis for determining that no abnormality exists.However, there are also cases where there is basis for determining that an abnormality exists but insufficient basis for determining that no abnormality exists, or cases where there is basis for determining that no abnormality exists but insufficient basis for determining that an abnormality exists.

[0043] As an example of an anomaly determination process by the aviation data anomaly determination unit 2120, a difference between aviation sensing data sensed at different times in a time series is determined, and the presence or absence of an anomaly is determined depending on whether or not a difference is detected. Note that the difference between aviation sensing data includes the difference between the absolute coordinates of a pre-registered airworthiness beacon and a reference point (CORP), and the difference (including not only the presence or absence of a difference but also the amount and direction of movement) can be detected from images or point cloud data acquired as aviation sensing data. Furthermore, the aviation data anomaly determination unit 2120 can determine the scale of the anomaly, such as the anomaly detection area where the anomaly was detected, the type of anomaly, and the scale and level of damage caused, in addition to the presence or absence of an anomaly.

[0044] (A-1-4-2. Ground data acquisition and analysis unit 2200) The ground data acquisition and analysis unit 2200 is a functional unit that acquires ground sensing data from the ground data acquisition system 4000 and determines whether an abnormality exists based on the ground sensing data. The ground data acquisition and analysis unit 2200 includes a ground data acquisition unit 2210 and a ground data abnormality determination unit 2220.

[0045] The ground data acquisition unit 2210 acquires ground sensing data from a ground data acquisition system 4000 equipped with a number of measuring devices. Here, the ground data acquisition unit 2210 can acquire ground sensing data acquired by the ground data acquisition system 4000 in real time, but can also specify desired ground sensing data at any time and any location from previously acquired ground sensing data recorded in the ground sensing data recording unit 4310 of the ground data acquisition system 4000, and acquire the desired ground sensing data from the ground data acquisition system 4000.

[0046] The ground data abnormality determination unit 2220 analyzes the ground sensing data acquired by the ground data acquisition unit 2210 to determine whether or not an abnormality has occurred in the ground position or ground area corresponding to the ground sensing data.

[0047] The ground data anomaly determination unit 2220 can output, for example, three patterns of determination results for the ground position or ground area being determined as a result of the anomaly determination: "abnormal", "no abnormality", and "indeterminate". If the ground data anomaly determination unit 2220 determines that there is an anomaly, it outputs the determination result of "abnormal", if it determines that there is no anomaly, it outputs the determination result of "no abnormality", and if it cannot determine whether there is an anomaly or not, it outputs "indeterminate".

[0048] Here, examples of cases where it is not possible to determine whether or not an abnormality exists and for which "indeterminate" is output include cases where, as a result of the abnormality determination, there is insufficient basis for determining that an abnormality exists and also insufficient basis for determining that no abnormality exists.However, there are also cases where there is basis for determining that an abnormality exists but insufficient basis for determining that no abnormality exists, or cases where there is basis for determining that no abnormality exists but insufficient basis for determining that an abnormality exists.

[0049] As an example of an anomaly determination process by the ground data anomaly determination unit 2220, a difference between time-series ground sensing data sensed at different times is determined, and the presence or absence of an anomaly is determined depending on whether a difference is detected. In addition to the presence or absence of an anomaly, the ground data anomaly determination unit 2220 can also determine the anomaly detection area where the anomaly was detected, the anomaly type, and the scale of the anomaly, such as the scale and level of damage.

[0050] (A-1-4-3. Action Determination Unit 2300) The action determination unit 2300 is a functional unit that determines an action to be taken, such as data acquisition or analysis, to the other of the aerial data acquisition and analysis unit 2100 and the ground data acquisition and analysis unit 2200, depending on the abnormality determination result of either the aerial data acquisition and analysis unit 2100 or the ground data acquisition and analysis unit 2200, and outputs a command for the determined action. The action determination unit 2300 includes a ground data acquisition and analysis request determination unit 2310 and an aerial data acquisition and analysis request determination unit 2320.

[0051] When the ground data acquisition and analysis request determination unit 2310 acquires an abnormality determination result performed by the aerial data acquisition and analysis unit 2100 based on aerial sensing data, it determines that the other ground data acquisition and analysis unit 2200 should perform data acquisition or analysis in accordance with the abnormality determination result, and outputs a command for the action to the aerial data acquisition system 1000 and the ground data acquisition system 4000 via the communication unit 2800 described later.

[0052] As an example, when there is a ground position or ground area that is determined to be "abnormal" by the aerial data anomaly determination unit 2120 of the aerial data acquisition and analysis unit 2100, the ground data acquisition and analysis request determination unit 2310 determines an action to acquire or analyze other ground sensing data for that ground position or ground area. By taking such an action, it is possible to confirm whether the determination result of "abnormal" based on the aerial sensing data is a false positive.

[0053] Alternatively, if there is a ground location or ground area that has been determined to be "abnormal" by the aerial data abnormality determination unit 2120 of the aerial data acquisition and analysis unit 2100, the ground data acquisition and analysis request determination unit 2310 may determine that the response action to be taken is to acquire or analyze ground sensing data for that ground location or ground area with priority over other ground locations or ground areas.

[0054] Alternatively, when there is a ground location or ground area that has been determined to have an "abnormality" by the aerial data anomaly determination unit 2120 of the aerial data acquisition and analysis unit 2100, but the type and scale of the abnormality at that ground location or ground area cannot be determined due to a lack of information or other reasons, the ground data acquisition and analysis request determination unit 2310 determines an action to acquire or analyze other ground sensing data for that ground location or ground area. By taking such an action, when it is not possible to determine the type and scale of the abnormality at a location or area that has been determined to have an "abnormality" based on aerial sensing data, it is possible to determine the type and scale of the abnormality at that location or area.

[0055] As another example, when there is a ground position or ground area that has been determined to be "normal" by the aeronautical data anomaly determination unit 2120 of the aeronautical data acquisition and analysis unit 2100, the ground data acquisition and analysis request determination unit 2310 determines an action to acquire or analyze other ground sensing data for that ground position or ground area. By taking such an action, it is possible to check whether there is any undetected abnormality in the ground position or ground area that has been determined to be "normal" based on the aeronautical sensing data.

[0056] Alternatively, if there is a ground location or ground area that has been determined to be "normal" by the aeronautical data abnormality determination unit 2120 of the aeronautical data acquisition and analysis unit 2100, the ground data acquisition and analysis request determination unit 2310 may determine that the response action to be taken is to acquire or analyze ground sensing data for that ground location or ground area with priority over other ground locations or ground areas.

[0057] As another example, when there is a ground position or ground area that is determined to be "undefined" by the aerial data anomaly determination unit 2120 of the aerial data acquisition and analysis unit 2100, the ground data acquisition and analysis request determination unit 2310 determines an action to acquire or analyze other ground sensing data for that ground position or ground area. By taking such an action, it is possible to determine an anomaly for the ground position or ground area that is determined to be "undefined" based on the aerial sensing data.

[0058] As another example, the ground data acquisition and analysis request determination unit 2310 can determine the priority or frequency of acquiring aerial sensing data by the aerial data acquisition system 1000, or the priority or frequency of analyzing aerial sensing data by the aerial data acquisition and analysis unit 2100, depending on the determination result by the aerial data abnormality determination unit 2120 of the aerial data acquisition and analysis unit 2100.

[0059] As an example of determining the priority and frequency of data acquisition and analysis in this manner, the priority or frequency of data acquisition and analysis for ground locations or ground areas for which the aviation data anomaly determination unit 2120 has determined that there is no abnormality can be set lower than for ground locations or ground areas for which the aviation data anomaly determination unit 2120 has determined that there is an abnormality.

[0060] When the aeronautical data acquisition and analysis request determination unit 2320 acquires an abnormality determination result performed by the ground data acquisition and analysis unit 2200 based on ground sensing data, it determines that the other aeronautical data acquisition and analysis unit 2100 should perform data acquisition or analysis in accordance with the abnormality determination result, and outputs a command for the action to the aeronautical data acquisition system 1000 and the ground data acquisition system 4000 via the communication unit 2800 described later.

[0061] The aerial data acquisition and analysis request determination unit 2320 has the same functions as the above-mentioned ground data acquisition and analysis request determination unit 2310, and can perform acquisition or analysis of aerial sensing data for ground positions or ground areas that are determined to be ``abnormal'' by the ground data abnormality determination unit 2220, ground positions or ground areas that are determined to be ``no abnormality,'' and ground positions or ground areas that are determined to be ``undefined,'' or can perform this in priority over other ground positions or ground areas.

[0062] Furthermore, when the ground data anomaly determination unit 2220 is unable to determine the type or scale of anomaly in a determined location or area where an "anomaly has occurred," the unit 2220 can determine the type or scale of anomaly in that location or area.

[0063] In addition, as an example of determining the priority and frequency of data acquisition and analysis by the aerial data acquisition and analysis request determination unit 2320, the priority or frequency of data acquisition and analysis for ground locations or ground areas for which the determination result by the ground data abnormality determination unit 2220 is "no abnormality" can be set lower than that for ground locations or ground areas for which the determination result by the ground data abnormality determination unit 2220 is "abnormality present."

[0064] Furthermore, the aerial data acquisition and analysis request determination unit 2320 may have a function to determine the measurement conditions for measurement when the aerial data acquisition and analysis unit 2100 is made to acquire data, based on the determination result by the ground data abnormality determination unit 2220. Here, the determined measurement conditions may be, for example, acquisition of aerial sensing data with a higher resolution or ground resolution than the previous measurement, or measurement from a lower altitude than the previous measurement, when more detailed data than the previously measured aerial sensing data is requested.

[0065] Furthermore, the aeronautical data acquisition and analysis request determination unit 2320 may have a function to determine the measurement means to be used when the aeronautical data acquisition and analysis unit 2100 executes data acquisition, based on the determination result by the ground data abnormality determination unit 2220. Here, the measurement means refers to the type of flying object used for measurement, such as an artificial satellite, fixed-wing aircraft, multicopter aircraft, balloon, airship, or other flying object. For example, if the above-mentioned shooting conditions are set to measurement from a lower altitude than the previous measurement or measurement with higher ground resolution, a multicopter aircraft is set as the measurement means.

[0066] (A-1-4-4. Integrated Judgment Unit 2400) The integrated judgment unit 2400 has the function of making an abnormality judgment for each ground position and ground area based on both the aerial sensing data acquired by the aerial data acquisition unit 2110 and the ground sensing data acquired by the ground data acquisition unit 2210.

[0067] In other words, the integrated judgment unit 2400 performs an abnormality judgment based on both the aerial sensing data and the ground sensing data for a ground location or ground area that is judged to have an abnormality based on either the judgment result of the aerial data abnormality judgment unit 2120 based on aerial sensing data or the judgment result of the ground data abnormality judgment unit 2220 based on ground sensing data.

[0068] In addition, the integrated judgment unit 2400 may perform an abnormality judgment based on both the aerial sensing data and the ground sensing data for a ground location or ground area that is judged to be free of abnormalities based on either the judgment result of the aerial data abnormality judgment unit 2120 based on aerial sensing data or the judgment result of the ground data abnormality judgment unit 2220 based on ground sensing data.

[0069] The integrated determination unit 2400 performs an abnormality determination for each ground position or ground area based on both the aerial sensing data and the terrestrial sensing data, and confirms the abnormality determination. As an example of a method for confirming the abnormality determination, the integrated determination unit 2400 compares, for a certain ground position or ground area, the abnormality determination result based on the aerial sensing data with the abnormality determination result based on the terrestrial sensing data, and if both abnormality determination results match, confirms the abnormality determination result for the ground position or ground area as the matching determination result.

[0070] On the other hand, if the abnormality determination result based on the aerial sensing data and the abnormality determination result based on the ground sensing data for the same ground location or ground area are contradictory, or if both abnormality determination results do not provide sufficient basis for confirming the abnormality determination, the integrated determination unit 2400 outputs a determination result that the abnormality determination cannot be confirmed, and causes the measurement and analysis request unit described later to output a request for measurement or analysis for the above-mentioned ground location or ground area.

[0071] Furthermore, for a ground position or ground area determined to be "abnormal" by the integrated abnormality determination, the integrated determination unit 2400 can determine the scale of the abnormality according to the size of the area determined to be abnormal. In other words, the larger the area, the larger the abnormality scale is determined to be.

[0072] The integrated determination unit 2400 also has a function of determining features including at least one of facilities, equipment, and residences included in an abnormal area determined to have an abnormality.

[0073] (A-1-4-5. Remeasurement analysis request unit 2500) The remeasurement analysis request unit 2500 is a functional unit that generates a command requesting re-acquisition or re-analysis of either or both of the airborne sensing data and the ground sensing data, depending on the abnormality determination result by the integrated determination unit 2400 .

[0074] As an example of a method for generating a request command by the remeasurement analysis request unit 2500, when the integrated judgment unit 2400 is unable to confirm an abnormality judgment for a certain ground position or ground area in its abnormality judgment, the remeasurement analysis request unit 2500 generates a re-execution request command to re-acquire or analyze at least one of the aerial sensing data and the ground sensing data, and sends the request command to the aerial data acquisition and analysis unit 2100 and the ground data acquisition and analysis unit 2200, and also sends the request command to the aerial data acquisition system 1000 and the ground data acquisition system 4000 via the communication unit 2800 described below.

[0075] As another example of a method for generating a request command by the remeasurement analysis request unit 2500, when the type or scale of the abnormality cannot be determined for a ground location or ground area that has been determined to have an abnormality in the abnormality judgment by the integrated judgment unit 2400, the remeasurement analysis request unit 2500 generates a re-execution request command to re-acquire or re-analyze at least one of the aerial sensing data and the ground sensing data, and transmits the request command.

[0076] The remeasurement analysis request unit 2500 may have the function of determining the measurement conditions and measurement means for measuring the aerial sensing data, similar to the action determination unit 2300 described above, when requesting remeasurement of the aerial sensing data based on the abnormality determination result by the integrated determination unit 2400.

[0077] (A-1-4-6. Common situation diagram generation unit 2600) The common situation map generation unit 2600 is a functional unit that generates a common situation map (also referred to as display information) that associates the judgment results by the integration judgment unit 2400 with position information of at least one of a map, aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image integrating an orthoimage and a map, three-dimensional spatial data, and a three-dimensional spatial model (hereinafter referred to as a map image, etc.).

[0078] The common situation map generated by the common situation map generation unit 2600 is recorded, for example, by the integrated judgment unit 2400, in which the abnormality judgment results (abnormal, no abnormality, indeterminate), the abnormality type, and the abnormality scale judged for each ground position or ground area are recorded in association with location information, and further associated with a map image or the like based on the location information.

[0079] Furthermore, depending on the judgment status by the integrated judgment unit 2400, the remeasurement analysis request unit 2500 can generate a common situation diagram in which the abnormality judgment results by the aviation data abnormality judgment unit 2120 or the ground data abnormality judgment unit 2220 are associated with a map image or the like, instead of or in addition to the judgment results by the integrated judgment unit 2400.

[0080] As an example of generating a common situation diagram in which the abnormality determination result by the aviation data abnormality determination unit 2120 or the ground data abnormality determination unit 2220 is associated with a map image or the like, for example, when the processing time for the abnormality determination by the integrated determination unit 2400 has elapsed a predetermined time, a common situation diagram in which the abnormality determination result by the aviation data abnormality determination unit 2120 or the ground data abnormality determination unit 2220 is associated with a map image or the like is generated in place of the abnormality determination result by the integrated determination unit 2400.

[0081] Here, the abnormality determination result by the air data abnormality determination unit 2120 or the ground data abnormality determination unit 2220 associated with the common situation diagram is, for example, information such as "abnormal," "no abnormality," "indeterminate," etc. The abnormality determination result by the air data abnormality determination unit 2120 or the ground data abnormality determination unit 2220 associated with the common situation diagram is displayed in a distinguishable manner different from the abnormality determination result by the integrated determination unit 2400 associated with the common situation diagram.

[0082] The common situation map generated by the common situation map generating unit 2600 may display a ground position or ground area where an abnormality has been determined as a result of the abnormality determination by the integrated determination unit 2400, as a warning area, in a more emphasized manner than other positions or areas. Furthermore, the common situation map may also represent the scale of the abnormality (the level of abnormality detected by the magnitude of change over time, the size of the abnormal area, etc.) in correspondence with a map image or the like, using numerical values ​​or color shading.

[0083] (A-1-4-7. Recording unit 2700) The recording unit 2700 has a function of recording information acquired or generated by each functional unit in the spatial information data utilization system 2000. For example, the recording unit 2700 records in the recording unit the aerial sensing data and ground sensing data acquired by the aerial data acquisition unit 2110 and ground data acquisition unit 2210, information on the abnormality determination results by the aerial data abnormality determination unit 2120 and ground data abnormality determination unit 2220, the action determination result determined by the action determination unit 2300, information on the abnormality determination result determined by the integrated determination unit 2400, a request command generated by the remeasurement analysis request unit 2500, a common situation diagram generated by the common situation diagram generation unit 2600, and the like.

[0084] (A-1-4-8. Communications Department 2800) The communication unit 2800 has the function of acquiring information acquired by each functional unit within the spatial information data utilization system 2000 from the outside, and the function of transmitting information and commands generated by each functional unit within the spatial information data utilization system 2000 to the outside.

[0085] For example, the communication unit 2800 acquires aerial sensing data from the aerial data acquisition system 1000 and provides the aerial sensing data to the aerial data acquisition unit 2110, and acquires ground sensing data from the ground data acquisition system 4000 and provides the ground sensing data to the ground data acquisition unit 2210.

[0086] The communication unit 2800 also transmits information such as a common situation diagram generated by each functional unit in the spatial information data utilization system 2000 and various information recorded in the recording unit 2700 to the information distribution system 3000. The communication unit 2800 also transmits measurement commands generated by the action determination unit 2300 and the remeasurement analysis request unit 2500 to the aerial data acquisition system 1000 and the ground data acquisition system 4000.

[0087] (A-1-5. Information distribution system 3000) 5 is a functional block diagram of the information distribution system 3000. The information distribution system 3000 includes a common situation diagram acquisition unit 3100, a distribution information control unit 3200, a display control unit 3300, and a communication unit 3400.

[0088] The common situation diagram acquisition unit 3100 is a functional unit that acquires various information such as a common situation diagram from the spatial information data utilization system 2000 via the communication unit 3400 .

[0089] The distribution information control unit 3200 is a functional unit that distributes or transmits various information, such as a common situation map obtained from the spatial information data utilization system 2000, to the control device 5100 that constitutes the crisis response field command system 5000, multiple field unit terminal devices 5300, or terminal devices of other related parties, via the communication unit 3400.

[0090] Furthermore, the distribution information control unit 3200 can select a destination according to the content of the information to be transmitted, or can have a function of selecting the content to be transmitted according to the attributes of the destination. As an example, the distribution information control unit 3200 obtains determination information of a feature (facility, equipment, residence, infrastructure equipment, other buildings, etc.) that exists in an abnormal area that is included in the common situation map and that has been determined to have an abnormality from the integrated determination unit 2400, and notifies a terminal device of a person involved with the feature (infrastructure equipment business operator, resident, etc.) of information such as the fact that the building is included in the abnormal area, the abnormality determination result, the determined type of abnormality, or the scale of the abnormality, instead of or in addition to transmitting the common situation map.

[0091] In addition, in order to control the destination and transmission information as described above, the distribution information control unit 3200 can determine whether the above-mentioned notification is necessary for each destination terminal device by obtaining current location information from the terminal device that is transmitting the common situation diagram or is a candidate for transmission, and comparing it with the location information of the abnormal area contained in the information on the common situation diagram.

[0092] The display control unit 3300 has a function of controlling the display content displayed on a destination terminal device to which information such as a common situation map is distributed. As an example, a user can select and input an information type to be displayed as a common situation map on the destination terminal device from multiple information types, and the selected information type can be displayed as the common situation map in accordance with the user input. Furthermore, on the display screen of the destination terminal device, the user can change or switch between a display area displaying a common situation map generated based on aerial sensing data or ground sensing data acquired when an abnormality occurred and a display area displaying a common situation map generated based on aerial sensing data or ground sensing data acquired after the abnormality occurred, by operating a slide bar or the like.

[0093] The communication unit 3400 is communicatively connected to the spatial information data utilization system 2000, the coordinating device 5100, and multiple field unit terminal devices 5300, and receives a common situation diagram from the spatial information data utilization system 2000 and transmits the common situation diagram to the coordinating device 5100 and multiple field unit terminal devices 5300.

[0094] (A-1-6. Hardware Configuration) 6 is a hardware configuration diagram of the spatial information data utilization system 2000, etc. Here, the aerial data acquisition system 1000, spatial information data utilization system 2000, information distribution system 3000, control device 5100, field unit terminal device 5300, and ground data acquisition system 4000, which constitute the linkage system 1 of the present invention, are information processing devices such as a server device, a PC, or other computer. As shown in the figure, the aerial data acquisition system 1000, spatial information data utilization system 2000, information distribution system 3000, control device 5100, field unit terminal device 5300, and ground data acquisition system 4000 each include an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects each of these devices.

[0095] The input device 100 is a device that allows a user to input information and instructions to the linkage system 1. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0096] The output device 200 is a device that outputs information generated by the linked system 1. Specifically, the output device 200 is a display device (including eyewear, AR, VR display devices, etc.), a printer, or a speaker.

[0097] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing calculations.

[0098] The main storage device 400 is a memory device such as a RAM that temporarily stores various types of read information and a ROM that stores programs, application programs, and other various information executed by the processing device 300. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

[0099] The communication device 600 is a device that performs wireless or wired information communication with an external device.

[0100] (A-1-7. Overview of the processing flow of the linked system) Next, the flow of various processes executed in the entire linkage system 1 will be described with reference to FIGS.

[0101] (A-1-7-1. Sequence diagram of the linked system) 7 is a sequence diagram showing the processing flow of the linkage system 1. This diagram shows the processing flow for transmitting and receiving information between the terrestrial data acquisition system 4000, the aerial data acquisition system 1000, the spatial information data utilization system 2000, the information distribution system 3000, and the control device 5100, and in particular shows an example of the processing flow when terrestrial sensing data is acquired for the first time.

[0102] First, the spatial information data utilization system 2000 transmits a data acquisition command to the terrestrial data acquisition system 4000 via the terrestrial data acquisition and analysis unit 2200. In response to this, the terrestrial data acquisition system 4000 performs measurements using the terrestrial data acquisition device 4100 to acquire terrestrial sensing data, or reads out already measured terrestrial sensing data from the terrestrial sensing data management unit 4300, and transmits the terrestrial sensing data to the spatial information data utilization system 2000.

[0103] Next, the spatial information data utilization system 2000 transmits a data acquisition command to the aeronautical data acquisition system 1000 via the aeronautical data acquisition and analysis request determination unit 2320. In response, the aeronautical data acquisition system 1000 performs measurements using the aircraft to acquire aeronautical sensing data, or reads out aeronautical sensing data that has already been measured from the acquisition data management system 1300, and transmits the aeronautical sensing data to the spatial information data utilization system 2000.

[0104] Next, the spatial information data utilization system 2000 performs an abnormality determination in the integrated determination unit 2400, determines a data re-acquisition request in the re-measurement analysis request unit 2500, and transmits a data re-acquisition command to the aeronautical data acquisition system 1000. In response to this, the aeronautical data acquisition system 1000 performs re-measurement using the aircraft to acquire aeronautical sensing data, and transmits the aeronautical sensing data to the spatial information data utilization system 2000.

[0105] Next, the spatial information data utilization system 2000 performs an abnormality determination again using the integrated determination unit 2400, generates display information (common situation diagram) including information on the abnormality determination result, and transmits the display information to the information distribution system 3000.

[0106] Next, the information distribution system 3000 acquires the display information through the common situation diagram acquisition unit 3100, and transmits the display information to the commanding device 5100 through the distribution information control unit 3200.

[0107] (A-1-7-2. Flowchart of the collaboration system) 8 is a flowchart showing the processing flow of the linkage system 1. This diagram particularly shows an example of the processing flow when terrestrial sensing data is acquired for the first time.

[0108] First, the ground data acquisition system 4000 acquires ground sensing data (step 101).

[0109] Next, the ground data acquisition and analysis unit 2200 analyzes and processes the ground sensing data, and determines whether there is an abnormality based on the ground sensing data (step 102).

[0110] Next, the aeronautical data acquisition and analysis request determination unit 2320 outputs a request command to acquire aeronautical sensing data (step 103). Note that if the desired aeronautical sensing data has already been acquired by the aeronautical data acquisition system 1000, a request command to analyze the aeronautical sensing data is output.

[0111] Next, the aerial data acquisition system 1000 acquires aerial sensing data (step 104).

[0112] Next, the aeronautical data acquisition and analysis unit 2100 analyzes and processes the aeronautical sensing data, and determines whether there is an abnormality based on the aeronautical sensing data (step 105).

[0113] Next, the integrated determination unit 2400 performs an integrated abnormality determination based on the abnormality determination result based on the ground sensing data obtained in step 102 and the abnormality determination result based on the aerial sensing data obtained in step 105 (step 106).

[0114] Next, if the result of the anomaly determination by the integrated determination unit 2400 in step 106 is inconclusive, or if the integrated determination unit 2400 is unable to determine the type or scale of the anomaly, the remeasurement analysis request unit 2500 outputs a command to request reacquisition of the aerial sensing data or ground sensing data (step 107). In this step, if aerial sensing data is requested to be reacquired, the process proceeds to step 101, whereas if ground sensing data is requested to be reacquired, the process proceeds to step 104.

[0115] In addition, if the aerial sensing data or ground sensing data requested by the remeasurement analysis request unit 2500 has already been acquired, the remeasurement analysis request unit 2500 outputs an analysis request command instead of a command requesting acquisition of the aerial sensing data or ground sensing data.

[0116] Next, when the abnormality determination result of the integrated determination unit 2400 in step 106 is confirmed, the common situation diagram generation unit 2600 generates a common situation diagram including the abnormality determination result (step 108).

[0117] Next, the information distribution system 3000 distributes or transmits the common situation diagram to the supervisory device 5100 in the crisis response on-site command system 5000, to a plurality of on-site unit terminal devices 5300, and to the terminal devices of other related parties.

[0118] (A-1-8. Method for determining abnormalities based on ground sensing data) Next, an abnormality determination method executed by the ground data abnormality determination unit 2220 of the ground data acquisition and analysis unit 2200 will be described with reference to Figures 9 and 10. In the example shown in Figures 9 and 10, an example will be described in which optical images acquired as ground sensing data from ground cameras installed at multiple locations are analyzed.

[0119] (A-1-8-1. Processing flow for determining abnormalities based on ground sensing data) FIG. 9 is a flowchart showing the processing flow of the abnormality determination process by the ground data abnormality determination unit 2220.

[0120] First, the ground data anomaly determination unit 2220 makes a primary determination of whether or not there is an anomaly for each camera image acquired from a plurality of ground cameras within the target area for which anomaly determination is to be performed (step 201). In this step, for example, based on the time-series data of camera-acquired images acquired at different times, the presence or absence of an anomaly can be determined primarily according to the magnitude of the difference between the acquired images.

[0121] Next, the next process to be performed is determined depending on whether or not there is an abnormality in the multiple camera images acquired from multiple ground cameras within the target area as a result of the primary determination of the presence or absence of an abnormality in step 201 (step 202). If it is determined that there is no abnormality in the determination of this step, the process proceeds to the process of step 207, and if it is determined that there is an abnormality, the process proceeds to step 203.

[0122] Next, in step 202, if the primary determination determines that an abnormality exists at a plurality of localized locations within the target area, and determines that no abnormality exists at other localized locations, the next process to be performed is determined depending on whether the number of camera installation locations determined to have an abnormality or the density of those installation locations is equal to or less than a predetermined value (step 203). In the determination of this step, if the number of locations or the density is equal to or less than a predetermined value, the process proceeds to step 207, and if the number of locations or the density is greater than a predetermined value, the process proceeds to step 203. Note that in the determination of this step, in addition to the number of locations determined to have an abnormality or the density being equal to or less than a predetermined value, the determination condition may also be that the locations determined to have no abnormality are densely packed within a predetermined distance.

[0123] In this step, the next process may be determined based on criteria other than the number of installation locations of cameras determined to have an abnormality or the density of their installation locations. For example, the next process may be determined based on whether the total area of ​​the areas photographed by the cameras determined to have an abnormality is equal to or less than a predetermined area, whether the area ratio of the areas determined to have no abnormality to the predetermined area is equal to or greater than a predetermined value, whether the area ratio of the areas determined to have an abnormality to the predetermined area is equal to or less than a predetermined value, or whether the area ratio of the areas determined to have an abnormality to the predetermined area is equal to or less than a predetermined value. In this case, if the area is equal to or less than the predetermined value, or if the area ratio of the areas determined to have an abnormality to the predetermined area is equal to or greater than a predetermined value, or if the area ratio of the areas determined to have an abnormality to the predetermined area is equal to or less than a predetermined value, or if the ratio of the areas determined to have an abnormality to the areas determined to have no abnormality to the predetermined area is equal to or less than a predetermined value, the process proceeds to step 207. If the area is greater than the predetermined value, the process proceeds to step 203.

[0124] Next, in step 203, if it is determined that the number of points, the density, or the total area, or the ratio of the area of ​​the ground area determined to have an abnormality within a specified area to the area of ​​the specified area or the ground area determined to have no abnormality, is greater than a specified value, the secondary determination result by the ground data abnormality determination unit 2220 is determined to be "abnormal" (step 204).

[0125] Next, the abnormal area and the scale of the abnormality to be determined to be abnormal are determined according to the number of installation locations of cameras determined to be abnormal in the primary determination or the density of the installation locations (step 205). Here, the scale of the abnormal area to be determined to be abnormal can also be determined according to the total area of ​​the photographed areas photographed by the cameras determined to be abnormal, as well as the number of installation locations and density of the installation locations of cameras determined to be abnormal.

[0126] Next, the type of anomaly is determined for each image acquired by the camera that has been determined to have an anomaly in the primary determination (step 206). After this step, the processing flow of the anomaly determination process by the ground data anomaly determination unit 2220 ends.

[0127] Furthermore, if it is determined in step 202 that there is no abnormality in the target area in the primary determination, or if it is determined in step 203 that the number of points or the density is equal to or less than a predetermined value, the ground data abnormality determination unit 2220 determines the secondary determination result as "no abnormality" (step 207). After this step, the processing flow of the abnormality determination process by the ground data abnormality determination unit 2220 ends.

[0128] (A-1-8-2. Results of abnormality determination based on ground sensing data) 10 is a diagram showing the results of anomaly determination by the ground data anomaly determination unit 2220. In the example shown in this figure, an anomaly determination result when a building such as a house has been damaged by an earthquake will be described.

[0129] This diagram shows the map information of the target area where anomaly detection is performed, and the installation locations of ground cameras installed within the target area or taking pictures of the target area, integrated based on location information. The map information also displays the results of the initial anomaly detection for each camera. As shown in this diagram, the results of the initial detection are displayed in three ways: "abnormal," "no abnormality," and "undefined."

[0130] In the embodiment shown in this figure, the initial determination of an abnormality is made by performing a differential analysis between camera images taken by multiple ground cameras before and after a disaster occurs, and if a difference of a predetermined value or more is detected in the images of a house, an initial determination is made that there is an abnormality in the house.

[0131] The example shown in this figure shows the result of the primary judgment when there are two houses judged as "abnormal" in the target area and one house judged as "indeterminate". In the primary judgment, the number of houses judged as "abnormal" is less than a predetermined value (for example, 5 houses), and the density is also less than a predetermined value (for example, 1 house / 90m 2 ), a secondary judgment is made that there is no abnormality.

[0132] As described above, even if the primary determination results in a determination of "abnormality" at a local location, if the number of points determined to be abnormal, the density, and the total area of ​​the area do not meet predetermined values, the secondary determination will determine that "no abnormality" exists. The result of the secondary determination is displayed as an abnormality determination result superimposed on a map image or the like. In this case, if there is an abnormal area determined to be "abnormal" in the secondary determination, the abnormal area is determined to be an abnormal area that is distinguished from other areas, and the abnormal area is displayed distinguished from other areas.

[0133] 9 and 10, when determining whether or not an abnormality exists based on a difference analysis of images, point clouds, etc. as aerial sensing data or ground sensing data, differences are likely to occur in images and point clouds over time in wooded areas, ocean areas, etc., and therefore there is a high possibility that an abnormality will be erroneously determined in the primary determination. For this reason, it is possible to identify the areas to be subjected to the difference analysis in advance by determining the area attributes from pre-acquired geographic information or by analyzing acquired camera images and excluding specific types of areas such as wooded areas and ocean areas from the target of the difference analysis.

[0134] Furthermore, because the characteristics of differences that occur differ for each area type, such as road areas, river areas, tree areas, marine areas, and building areas, it is possible to perform difference analysis using different methods for each of these area types that are identified in advance based on geographic information. For example, in road areas, a traffic jam of vehicles can be detected as an abnormality, in river areas, an increase in river width can be detected as an abnormality, and in building areas, changes in buildings can be detected as an abnormality.

[0135] 9 and 10, even if an abnormality is detected by comparing ground sensing data measured before the disaster and ground sensing data measured after the disaster, it is not possible to determine whether the abnormality is necessarily caused by the disaster. Therefore, by determining the presence or absence of an abnormality using the time-series data of ground sensing data before the disaster and the time-series data of ground sensing data after the disaster, it is possible to determine the locations where abnormalities have occurred that have been progressing since before the disaster and the locations where abnormalities have been progressing since the disaster, and to determine the locations where abnormalities caused by the disaster have occurred based on the determination results.

[0136] (A-1-9. Determining whether to request acquisition or analysis of aerial sensing data) Next, a description will be given of an example of an action determination method including the acquisition or analysis of aeronautical sensing data executed by the aeronautical data acquisition and analysis request determination unit 2320. Fig. 11 is a flowchart showing the processing flow when a request command for the acquisition or analysis of aeronautical sensing data is generated by the aeronautical data acquisition and analysis request determination unit 2320. The example shown in Fig. 11 particularly shows the detailed processing flow of step 103 in Fig. 8.

[0137] First, a user request regarding the acquisition of aerial sensing data, etc., is accepted (step 301). Specifically, in the primary anomaly determination based on ground sensing data shown in Fig. 9, a specification is accepted from the user as to whether the determination result of "abnormality present" is a false positive or whether the determination result of "no abnormality" is a false positive.

[0138] Next, the process to be transitioned is determined depending on whether or not confirmation of an erroneous detection has been received as a user request (step 302). In this step, if it is determined that confirmation of an erroneous detection has been received, the process transitions to step 309, and if it is determined that confirmation of an erroneous detection has not been received, the process transitions to step 303.

[0139] Next, if it is determined in step 302 that confirmation of erroneous detection has not been received, a determination is made as to whether or not confirmation of non-detection has been received as a user request (step 303). If it is determined in this step that confirmation of non-detection has been received, the process transitions to step 307, and if it is determined that confirmation of non-detection has not been received, the process transitions to step 304.

[0140] Next, if it is determined in step 303 that the non-detection confirmation has not been received, the system 1 automatically determines whether to perform an erroneous detection confirmation or a non-detection confirmation (step 304).

[0141] Next, if the system automatically determines in step 304 that a false positive check will be performed, the process proceeds to step 309; if the system does not automatically determine that a false positive check will be performed, the process proceeds to step 306 (step 305).

[0142] Next, if the system automatically determines in step 304 that a non-detection check will be performed, the process proceeds to step 307; if the system does not automatically determine that a non-detection check will be performed, the process proceeds to step 308 (step 306).

[0143] Next, if it is determined in step 303 that a non-detection confirmation has been received as a user request, or if the system automatically determines in step 306 that a non-detection confirmation will be performed, a command to request acquisition of aerial sensing data for the location or area determined as "no abnormality" in the primary determination, or a command to request analysis of that aerial sensing data, is generated (step 307). Here, examples of situations in which the primary determination is "no abnormality" include a case where there are many localized points determined as "no abnormality" in the primary determination within a wide area determined as "no abnormality" in the secondary determination, and a case where there are a few localized points determined as "no abnormality" in the primary determination within a wide area determined as "abnormality present" in the secondary determination.

[0144] Next, if the system does not automatically determine in step 306 that it will perform non-detection confirmation, it generates a command to request acquisition of aerial sensing data or a command to request analysis of the aerial sensing data for the ground location or ground area that has been determined as a primary determination of "indeterminate," "indeterminate (no abnormality present, but insufficient evidence that there is no abnormality)," or "indeterminate (no abnormality present, but insufficient evidence that there is an abnormality)" (step 308).

[0145] Next, if it is determined in step 302 that confirmation of a false detection has been received as a user request, or if the system automatically determines in step 305 that it will perform a false detection confirmation, a command to request acquisition of aerial sensing data for the location determined as "abnormal" in the primary determination, or a command to request analysis of that aerial sensing data, is generated (step 309). Here, examples of situations in which the primary determination is "abnormal" include a case where there are many localized locations determined as "abnormal" in the primary determination within a wide area determined as "abnormal" in the secondary determination, and a case where there are a few localized locations determined as "abnormal" in the primary determination within a wide area determined as "no abnormality" in the secondary determination.

[0146] Next, if a command requesting acquisition of aerial sensing data is generated in any of steps 307, 308, and 309, the acquisition conditions for aerial sensing data are determined (step 310). After this step is executed, the processing flow in this figure ends.

[0147] (A-1-10. Results of abnormality determination based on aerial sensing data) 12 to 14, an abnormality determination method executed by the aviation data abnormality determination unit 2120 of the aviation data acquisition and analysis unit 2100 will be described. The examples shown in Fig. 12 to 14 particularly show the results of abnormality determination based on aviation sensing data executed in step 105 of Fig. 8.

[0148] (A-1-10-1. Confirmation of false positives based on aerial sensing data) First, the abnormality determination results obtained by acquiring and analyzing aerial sensing data performed in step 309 of Fig. 11 will be described with reference to Fig. 12. Fig. 12 shows an example of the results of abnormality determination performed by the aerial data abnormality determination unit 2120 for a location where the abnormality determination result based on ground sensing data is "abnormal."

[0149] This figure shows the results of anomaly determination made by acquiring and analyzing aerial sensing data for two areas that include the locations of two buildings that were determined to have anomalies in the anomaly determination using ground sensing data shown in Figure 10. The primary anomaly determination based on the aerial sensing data shown in this figure resulted in a determination of "no anomalies" in both of the two areas where anomaly determination was made.

[0150] As shown in this figure, if a point is judged as "abnormal" based on ground sensing data, but is judged as "no abnormality" based on aerial sensing data, the judgment results are inconsistent, and it can be determined that the previous judgment result of "abnormality" based on ground sensing data may have been a false positive.

[0151] (A-1-10-2. Confirmation of non-detection based on aerial sensing data) First, the abnormality determination results obtained by acquiring and analyzing aerial sensing data performed in step 307 of Fig. 11 will be described with reference to Fig. 13. Fig. 13 shows an example of the results of abnormality determination performed by the aeronautical data abnormality determination unit 2120 for a location where the abnormality determination result based on ground sensing data is "no abnormality."

[0152] This figure shows the results of anomaly determination performed by acquiring and analyzing aerial sensing data for each area where buildings were determined to be "normal" in the anomaly determination using ground sensing data shown in Figure 10. In the primary anomaly determination based on the aerial sensing data shown in this figure, seven buildings within the area where anomaly determination was performed were determined to be "abnormal."

[0153] As shown in this figure, when performing an abnormality determination based on aerial sensing data for a wide area that includes points that have been determined to be "normal" based on ground sensing data, it is possible to perform an abnormality determination for areas that have not been measured using ground sensing data, and therefore it is possible that multiple buildings will be detected that are determined to be "abnormal."

[0154] (A-1-10-3. Determination based on aerial sensing data) First, the abnormality determination results obtained by acquiring and analyzing aerial sensing data performed in step 308 of Fig. 11 will be described with reference to Fig. 14. Fig. 14 shows an example of the results of abnormality determination performed by the aerial data abnormality determination unit 2120 for a position where the abnormality determination result based on ground sensing data is "indeterminate."

[0155] This figure shows the results of anomaly determination performed by acquiring and analyzing aerial sensing data for each area where buildings were determined to be "indeterminate" in the anomaly determination using ground sensing data shown in Figure 10. In the anomaly determination based on the aerial sensing data shown in this figure, multiple buildings in the area where an anomaly was determined were determined to be "no anomaly."

[0156] As shown in this figure, if a point is judged as "indeterminate" by an abnormality judgment using ground sensing data, but is judged as "no abnormality" by an abnormality judgment based on aerial sensing data, the judgment result that could not be determined by the previous abnormality judgment using ground sensing data can be confirmed based on the abnormality judgment based on aerial sensing data.

[0157] 11 to 14, even if an abnormality is detected by comparing aerial sensing data measured before the disaster and aerial sensing data measured after the disaster, it is not possible to determine whether the abnormality is necessarily caused by the disaster. Therefore, by determining the presence or absence of an abnormality using the time-series data of aerial sensing data before the disaster and the time-series data of aerial sensing data after the disaster, it is possible to determine the locations where abnormalities have occurred that have been progressing since before the disaster and the locations where abnormalities have been progressing since the disaster, and to determine the locations where abnormalities caused by the disaster have occurred based on the determination results.

[0158] (A-1-11. Integrated Abnormality Judgment by the Integrated Judgment Unit 2400) Next, a determination method when the integrated determination unit 2400 performs integrated abnormality determination based on ground sensing data and aerial sensing data will be described with reference to FIGS.

[0159] (A-1-11-1. Integrated abnormality determination processing flow) FIG. 15 is a flowchart showing the processing flow when the integrated determination unit 2400 performs integrated abnormality determination.

[0160] First, the integrated determination unit 2400 compares the anomaly determination result based on the ground sensing data with the anomaly determination result based on the aerial sensing data (step 401). If the comparison result of the determination results for the same location or area does not match, the integrated determination result for that location or area is considered to be indeterminable and processing is performed. However, the following patterns are possible examples of patterns in which the integrated determination result cannot be determined. - One result is "abnormal" and the other result is "normal" One result is "abnormal" and the other result is "indeterminate (not abnormal, but lack of evidence to support normal)" One result is "No abnormality" and the other result is "Indeterminate (not abnormality, but lack of evidence for abnormality)" One result is "indeterminate (not abnormal, but insufficient evidence to support that)" and the other result is "indeterminate (not abnormal, but insufficient evidence to support that)" -All judgment results are "indeterminate" - All judgment results are "indeterminate (no abnormality detected, but lack of evidence to support the claim)" - All judgment results are "indeterminate (not abnormal, but lack of evidence to support abnormality)"

[0161] In addition, if the comparison results of the judgment results at the same location or area match, the processing is performed assuming that the integrated judgment result at that location or area is confirmed. However, the following patterns, for example, are possible as patterns in which the integrated judgment result can be confirmed. - One judgment result is "abnormal" and the other judgment result is also "abnormal", so they match - One result is "No abnormality" and the other result is also "No abnormality", so they match One result is "abnormal" and the other result is "indeterminate (not abnormal, but lack of evidence to support abnormality)" One result is "No abnormality" and the other result is "Indeterminate (not abnormality detected, but lack of evidence for no abnormality)" One judgment result is "indeterminate" and the other judgment result is "abnormal" - One result is "indeterminate" and the other result is "normal"

[0162] Next, the process step to transition to is determined depending on whether the integrated judgment result by the integrated judgment unit 2400 can be determined (step 402). If the integrated judgment result can be determined, the process transitions to step 403, and if the integrated judgment result cannot be determined, the process transitions to step 406.

[0163] Next, if the integrated judgment result can be confirmed in step 402, the integrated judgment section 2400 confirms the integrated judgment result (step 403). Next, the integrated judgment section 2400 judges the type of abnormality (step 404).

[0164] Next, the integrated determination unit 2400 determines the scale of the abnormality (step 405). Here, the determination of the scale of the abnormality can be made based on the number of points determined to be "abnormal", the density of those points, the area of ​​the abnormal area determined to be "abnormal", etc. After this step, the processing of this flowchart ends.

[0165] Next, if the integrated judgment result cannot be determined in step 402, the integrated judgment unit 2400 sets the integrated judgment result to "indeterminate" (step 406).

[0166] (A-1-11-2. Example of the integrated abnormality determination processing result) Fig. 16 is a diagram showing an example of the determination result when the integrated determination unit 2400 performs the integrated determination. In particular, this diagram shows the result of the integrated determination performed by the integrated determination unit 2400 when the abnormality determination result based on the ground sensing data is the determination result shown in Fig. 10 and the abnormality determination result based on the aerial sensing data is the determination result shown in Fig. 12.

[0167] The results of acquiring and analyzing aerial sensing data for an area including two residential locations that were determined to be "abnormal" in the anomaly determination results shown in Figure 10 show that both residential locations are determined to be "normal," as shown in Figure 12. In other words, the anomaly determination results for the same residential location do not match. Therefore, in the integrated anomaly determination shown in this figure, locations for which the anomaly determination results do not match are determined to be "indeterminate."

[0168] The integrated anomaly determination shown in this figure shows an example in which an anomaly determination is performed for a local position and an anomaly determination for a wide area. As an example, if detecting an anomaly at two or more local positions is set as a condition for determining that an "anomaly exists" for the wide area, the integrated determination unit 2400 determines that there is "no anomaly" for the wide area as a result of the integrated anomaly determination shown in this figure.

[0169] (A-1-11-3. Another example of the processing result of the integrated abnormality judgment) Next, Fig. 17 is a diagram showing another example of the determination result when the integrated determination is performed by the integrated determination unit 2400. In particular, this diagram shows the result of the integrated determination performed by the integrated determination unit 2400 when the abnormality determination result based on the ground sensing data is the determination result shown in Fig. 10 and the abnormality determination result based on the aerial sensing data is the determination result shown in Fig. 13.

[0170] The results of acquiring and analyzing aerial sensing data for a wide area that includes multiple residential locations that were determined to be "no abnormalities" in the anomaly determination results shown in Figure 10 showed that seven buildings within the area where multiple abnormalities were determined to be "abnormal" were determined to be "abnormal," as shown in Figure 13.

[0171] The integrated anomaly determination shown in this figure shows an example in which an anomaly determination is performed for a local location and an anomaly determination for a wide area. As an example, if detecting an anomaly at two or more local locations is set as a condition for determining an "anomaly" for a wide area, the integrated determination unit 2400 determines that seven buildings have an "anomaly" and therefore determines the wide area as an "anomaly" area as a result of the integrated anomaly determination shown in this figure. Note that the area on the right side of this figure is an area in which no anomaly was detected even in the analysis of the aerial sensing data, and therefore this area is determined to be an "anomaly-free" area.

[0172] In addition, the integrated judgment unit 2400 can also judge areas that are judged to be "abnormal areas" in both the abnormality judgment results based on ground sensing data and the abnormality judgment results based on aerial sensing data, or areas with large abnormalities, as alert areas that require particular vigilance.

[0173] (A-1-12. Processing flow of remeasurement analysis request unit 2500) FIG. 18 is a flowchart illustrating the processing flow when the remeasurement analysis request unit 2500 requests remeasurement or the like.

[0174] First, the processing step to be executed is determined depending on whether there is a location or area determined to be "indeterminate" in the integrated abnormality determination by the integrated determination unit 2400 (step 501). Specifically, if there is a location or area determined to be "indeterminate", the processing transitions to step 503, and if there is no location or area determined to be "indeterminate", the processing transitions to step 502.

[0175] Next, if there are no points or areas determined to be "indeterminate" in step 501, the processing step to be executed is determined depending on whether there are points or areas determined to be "indeterminate" as the abnormality type or abnormality scale by the integrated determination unit 2400 (step 502). Specifically, if there are points or areas determined to be "indeterminate", the processing proceeds to step 503, and if there are no points or areas determined to be "indeterminate", the processing of this flowchart is terminated.

[0176] Next, for locations or areas where the integrated abnormality judgment, abnormality type judgment, or abnormality scale judgment is determined to be "indeterminate," a request command is generated to re-acquire and analyze at least one of aerial sensing data and ground sensing data (step 503).

[0177] Next, the measurement conditions, measurement means, or analysis conditions for reacquiring aerial sensing data or ground sensing data in response to the generated request command are determined (step 504). Here, the measurement conditions to be determined may be, for example, acquisition of aerial sensing data with higher resolution or ground resolution than the previous measurement, or measurement from a lower altitude than the previous measurement, if more detailed data than the previously measured aerial sensing data is requested. The measurement means may be, for example, a satellite, fixed-wing aircraft, multicopter aircraft, or other type of flying vehicle used for the measurement. If the above-mentioned imaging conditions are measurement from a lower altitude than the previous measurement, measurement with a higher zoom amount than the previous measurement, or measurement with a higher ground resolution, a multicopter aircraft may be set as the measurement means. After this step is executed, the processing of this flowchart ends.

[0178] (A-1-13. Common situation diagram generation process flow) Next, a processing flow when the common situation diagram generating unit 2600 generates a common situation diagram and an example of the generated common situation diagram will be described with reference to FIGS.

[0179] (A-1-13-1. Common situation diagram generation process flow) FIG. 19 is a flowchart showing the processing flow when the common situation diagram generating unit 2600 generates a common situation diagram.

[0180] First, the common situation diagram generating unit 2600 generates a common situation diagram (display information) by integrating information on the integrated abnormality determination result determined by the integration determination unit 2400 with map information on the target area for abnormality determination (step 601). Here, the information on the integrated abnormality determination result is not limited to the presence or absence of an abnormality, but may also include the magnitude of the difference between time-series data, the type of abnormality, the scale of the abnormality, or a predicted value for the probability of future disaster occurrence, and this information may be expressed using color or shading.

[0181] Next, the common situation map generating unit 2600 generates a common situation map by integrating aerial sensing data (other than aerial sensing data, it may be an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage with a map, three-dimensional spatial data, or a three-dimensional spatial model) into the common situation map generated in step 601 (step 602). Alternatively, instead of the map information integrated in step 601, the common situation map may be generated by integrating the aerial sensing data etc. described above with information related to the integrated abnormality determination result.

[0182] Next, the common situation diagram generator 2600 generates a common situation diagram that further integrates the ground sensing data (step 603).

[0183] Next, the common situation diagram generation unit 2600 generates a common situation diagram that further integrates information regarding areas determined to be "alert areas" based on the abnormality determination results by the ground data abnormality determination unit 2220 and the abnormality determination results by the aeronautical data abnormality determination unit 2120 (step 604).

[0184] Next, when the processing time for the integrated abnormality determination by the integration determination unit 2400 exceeds a predetermined time and it takes a long time to obtain the result information of the integrated abnormality determination, the common situation diagram generation unit 2600 generates a common situation diagram that further integrates the abnormality determination results by the ground data abnormality determination unit 2220 and the abnormality determination results by the air data abnormality determination unit 2120 (step 605). When the abnormality determination results by the ground data abnormality determination unit 2220 and the air data abnormality determination unit 2120 are displayed on the common situation diagram, a common situation diagram is generated that displays the integrated abnormality determination result in a distinguishable manner different from that when the result information of the integrated abnormality determination is displayed.

[0185] (A-1-13-2. Common situation diagram generation process flow) 20 is a diagram showing an example of a common situation diagram generated by the common situation diagram generation unit 2600. In the example shown in this figure, information about the integrated abnormality determination result determined by the integrated determination unit 2400 is displayed in association with map information of the target area for abnormality determination.

[0186] The integrated anomaly determination results by the integrated determination unit 2400 show areas with anomalies (on the left side of the figure) and areas without anomalies (on the right side of the figure) for each area. The type of anomaly (flooding) and the scale of the anomaly (500 damaged homes) are also displayed. Furthermore, information on the anomaly determination results based on ground sensing data and aerial sensing data is also displayed.

[0187] (A-1-14. Distribution processing flow by information distribution system) FIG. 21 is a flowchart showing a processing flow when information distribution system 3000 distributes information.

[0188] First, the distribution information control unit 3200 acquires the current location information of the terminal device of the distribution destination (step 701).

[0189] Next, the distribution information control unit 3200 compares the abnormal area in the integrated abnormality determination result with the current location of the distribution destination terminal device acquired in step 701 (step 702).

[0190] Next, the distribution information control unit 3200 determines the distribution information according to the positional relationship between the abnormal area of the integrated abnormality determination result and the current position of the terminal device of the distribution destination acquired in step 701 (step 703).

[0191] Next, the display control unit 3300 changes the distribution information displayed on the terminal device according to the user input information of the terminal device of the distribution destination (step 704).

[0192] In each of the above-described embodiments, the form in which the spatial information data utilization system 2000 and the information distribution system 3000 are implemented as different systems has been described. However, all or some of the functions of the spatial information data utilization system 2000 and the information distribution system 3000 can also be implemented in a common system. Also, although it has been described that a plurality of functional units are provided in the spatial information data utilization system 2000, the plurality of functional units may be integrated.

[0193] The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. It goes without saying that the present invention can be changed and improved without departing from its gist, and equivalents thereof are included in the present invention.

[0194] [A-2. Effects of this embodiment] According to the above-described embodiment, the situation of the target area can be grasped more quickly or more accurately. Specifically, it is possible to link the grasping of the target area situation based on the aerial sensing data acquired from above and the grasping of the target area situation based on the ground sensing data, and it becomes possible to grasp more quickly or more accurately the situation that was difficult to grasp from one of the pieces of information. <E

[0195] <B. Second embodiment> The second embodiment will be described below with reference to FIGS. 22 to 28. In the first embodiment, an embodiment was described in which the location for measuring and analyzing aerial sensing data was determined based on the results of an anomaly determination performed first based on terrestrial sensing data. In this embodiment, an embodiment will be described in which the location for measuring and analyzing terrestrial sensing data is determined based on the results of an anomaly determination performed first based on aerial sensing data. In this embodiment, components having substantially the same functional configuration as those in the first embodiment are assigned the same reference numerals, and redundant description will be omitted. Furthermore, the second embodiment described below is merely an example, and other known elements or alternative means can be adopted depending on the application, purpose, scale, etc.

[0196] [B-1. Configuration] (B-1-1. Overview of the processing flow of the linked system) Next, the flow of various processes executed in the entire linkage system 1 according to the second embodiment will be described with reference to FIGS.

[0197] (B-1-1-1. Sequence diagram of the linked system) 22 is a sequence diagram showing the processing flow of the linkage system 1 according to the second embodiment. This diagram shows the processing flow for transmitting and receiving information between the ground data acquisition system 4000, the aerial data acquisition system 1000, the spatial information data utilization system 2000, the information distribution system 3000, and the control device 5100, and in particular shows an example of the processing flow when aerial sensing data is acquired for the first time.

[0198] First, the spatial information data utilization system 2000 transmits a data acquisition command to the aeronautical data acquisition system 1000 via the aeronautical data acquisition and analysis unit 2100. In response, the aeronautical data acquisition system 1000 acquires aeronautical sensing data by performing measurements using an aircraft, or reads out aeronautical sensing data that has already been measured from the acquisition data management system 1300, and transmits the aeronautical sensing data to the spatial information data utilization system 2000.

[0199] Next, the spatial information data utilization system 2000 transmits a data acquisition command to the ground data acquisition system 4000 via the ground data acquisition and analysis unit 2200. In response to this, the ground data acquisition system 4000 performs measurements using the ground data acquisition device 4100 to acquire ground sensing data, or reads out ground sensing data that has already been measured from the ground sensing data management unit 4300, and transmits the ground sensing data to the spatial information data utilization system 2000.

[0200] Next, the spatial information data utilization system 2000 performs an abnormality determination in the integrated determination unit 2400, determines a data re-acquisition request in the re-measurement analysis request unit 2500, and transmits a data re-acquisition command to the aeronautical data acquisition system 1000. In response to this, the aeronautical data acquisition system 1000 performs re-measurement using the aircraft to acquire aeronautical sensing data, and transmits the aeronautical sensing data to the spatial information data utilization system 2000.

[0201] Next, the spatial information data utilization system 2000 performs an abnormality determination again using the integrated determination unit 2400, generates display information (common situation diagram) including information on the abnormality determination result, and transmits the display information to the information distribution system 3000.

[0202] Next, the information distribution system 3000 acquires the display information through the common situation diagram acquisition unit 3100, and transmits the display information to the commanding device 5100 through the distribution information control unit 3200.

[0203] (B-1-1-2. Flowchart of the collaboration system) 23 is a flowchart showing the processing flow of the linkage system 1 according to the second embodiment. This diagram particularly shows an example of the processing flow when aerial sensing data is acquired for the first time.

[0204] First, the aeronautical data acquisition system 1000 acquires aeronautical sensing data (step 801).

[0205] Next, the aeronautical data acquisition and analysis unit 2100 analyzes and processes the aeronautical sensing data, and determines whether there is an abnormality based on the aeronautical sensing data (step 802).

[0206] Next, the ground data acquisition and analysis request determination unit 2310 outputs a command requesting acquisition of ground sensing data (step 803). Note that if the desired ground sensing data has already been acquired by the ground data acquisition system 4000, a command requesting analysis of the ground sensing data is output. Furthermore, in this step, the ground data acquisition and analysis request determination unit 2310 may issue a request to acquire ground sensing data for a position or area where the abnormality determination based on the aerial sensing data in step 802 is "abnormal," or may issue a request to acquire ground sensing data for a position or area where the abnormality determination based on the aerial sensing data is "no abnormality."

[0207] Next, the ground data acquisition system 4000 acquires ground sensing data (step 804).

[0208] Next, the ground data acquisition and analysis unit 2200 analyzes and processes the ground sensing data, and determines whether there is an abnormality based on the ground sensing data (step 805).

[0209] Hereinafter, steps 806 to 809 in this figure are the same as steps 106 to 109 shown in FIG. 8, so the explanation will be omitted.

[0210] (B-1-2. Method of determining abnormality) An example of the results of the abnormality determinations executed in the processing steps 802, 805, and 806 in the flowchart shown in FIG. 23 will be described below.

[0211] (B-1-2-1. Abnormality Determination by the Aviation Data Abnormality Determination Unit 2120) 24 is a diagram showing the results of abnormality determination by the flight data abnormality determination unit 2120. In the example shown in this figure, the abnormality determination results when abnormality determination is performed by the flight data abnormality determination unit 2120 in processing step 802 will be described.

[0212] As an example, the aerial data anomaly determination unit 2120 performs a differential analysis of aerial sensing data acquired by the aerial data acquisition system 1000 before and after the disaster, and determines that a home where a difference is detected is an abnormal home. The example shown in the figure shows an anomaly determination result in which two homes were determined to have an abnormality locally within the area targeted for anomaly determination. Furthermore, since the number of homes determined to have an abnormality locally is small, the homes are not densely packed, and the density of abnormal locations is low, the wide area is determined to have no abnormalities.

[0213] (B-1-2-2. Abnormality Determination by the Ground Data Abnormality Determination Unit 2220 (Confirmation of False Detection)) 25 is an example showing an anomaly determination result by the ground data anomaly determination unit 2220 when checking for erroneous detection of an anomaly determination result based on aerial sensing data. The example shown in this figure particularly shows the processing of processing step 805, in which an image captured by a ground camera capturing an image of a residential location determined to have an anomaly in the anomaly determination by the aerial data anomaly determination unit 2120 shown in FIG. 24 is analyzed.

[0214] In the example shown in this figure, the ground data anomaly determining unit 2220 determines that there is no anomaly for both of the two residences that were determined to have an anomaly by the air data anomaly determining unit 2120 shown in FIG.

[0215] (B-1-2-3. Integrated Abnormality Judgment by the Integrated Judgment Unit 2400 (Confirmation of False Detection)) Fig. 26 is a diagram showing an example of the determination result when an integrated determination is made by the integrated determination unit 2400. In the example shown in this figure, in the processing of processing step 806, the ground data anomaly determination unit 2220 determines that there is no anomaly for two residences that were determined to have an anomaly by the aeronautical data anomaly determination unit 2120 shown in Fig. 24, and the respective anomaly determination results do not match. Therefore, the integrated determination unit 2400 determines that these local residential positions are "undefined."

[0216] However, in determining whether there is an abnormality in a wide area, there are no homes that are locally determined to have an abnormality, and the density of abnormal points is low, so the wide area is determined to have no abnormalities.

[0217] (B-1-2-4. Abnormality Determination by Ground Data Abnormality Determination Unit 2220 (Non-Detection Confirmation)) 27 shows an example of an anomaly determination result by the ground data anomaly determination unit 2220 when performing non-detection confirmation for the anomaly determination result based on aerial sensing data. The example shown in this figure particularly shows an example of processing step 805, in which an image captured by a ground camera capturing an area determined to be free of anomalies in the anomaly determination by the aerial data anomaly determination unit 2120 shown in FIG. 24 is analyzed.

[0218] In the example shown in this figure, in the area determined as "no abnormality" by the aeronautical data abnormality determination unit 2120 shown in FIG. 24, the ground data abnormality determination unit 2220 determines that "anomalies exist" for four houses.

[0219] (B-1-2-5. Integrated Abnormality Judgment by the Integrated Judgment Unit 2400 (Non-Detection Confirmation)) Fig. 28 is a diagram showing an example of the determination result when an integrated determination is made by the integrated determination unit 2400. In the example shown in this figure, in the processing of processing step 806, in the area determined to be "no abnormality" by the aeronautical data abnormality determination unit 2120 shown in Fig. 24, the ground data abnormality determination unit 2220 determines that "anomalies exist" for four houses.

[0220] Here, at a local location, four anomalies are detected by the ground data anomaly determination unit 2220, and two anomalies are detected by the aerial data anomaly determination unit 2120. Therefore, the number of houses locally determined to have "anomaly" is as many as six, and the density of the locations locally determined to have "anomaly" is also high. Thus, it is determined that there is "anomaly" as the anomaly determination for the wide area on the left side of the drawing.

[0221] On the other hand, in the wide area on the right side of the drawing, since no local anomaly is detected by either the ground data anomaly determination unit 2220 or the aerial data anomaly determination unit 2120, it is determined that there is "no anomaly" even for the wide area.

[0222] [B-2. Effects of this Embodiment] According to the above-described embodiment, as in the first embodiment, the situation of the target area can be grasped more quickly or accurately. Specifically, it is possible to link the grasping of the target area situation based on aerial sensing data acquired from above and the grasping of the target area situation based on ground sensing data, and it becomes possible to grasp more quickly or accurately the situation that was difficult to grasp from one of the pieces of information.

[0223] <C. Third Embodiment> Hereinafter, the third embodiment will be described with reference to FIGS. 29 to 33. In the first embodiment, an embodiment in which the measurement and analysis positions of aerial sensing data are determined according to the result of anomaly determination based on ground sensing data first was described. In this embodiment, an embodiment in which anomaly determination based on aerial sensing data and ground sensing data is executed in parallel will be described. In this embodiment, for components having substantially the same functional configuration as those in the first embodiment, duplicate description will be omitted by assigning the same reference numerals. Also, the second embodiment shown below is merely an example, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0224] [C-1. Configuration] (C-1-1. Outline of the processing flow of the cooperation system) First, the flow of various processes executed in the entire linkage system 1 according to the third embodiment will be described with reference to FIGS.

[0225] (C-1-1-1. Sequence diagram of the linked system) 29 is a sequence diagram showing the processing flow of the linkage system 1 according to the third embodiment. This diagram shows the processing flow for transmitting and receiving information between the terrestrial data acquisition system 4000, the aerial data acquisition system 1000, the spatial information data utilization system 2000, the information distribution system 3000, and the control device 5100, and in particular shows the processing flow when the acquisition and analysis of aerial sensing data and terrestrial sensing data are performed in parallel.

[0226] First, the spatial information data utilization system 2000 transmits a data acquisition command to the aerial data acquisition system 1000 via the aerial data acquisition and analysis unit 2100, and in parallel, transmits a data acquisition command to the ground data acquisition system 4000 via the ground data acquisition and analysis unit 2200.

[0227] In contrast, the aerial data acquisition system 1000 acquires aerial sensing data by performing measurements using an aircraft, or reads out already measured aerial sensing data from the acquisition data management system 1300, and transmits the aerial sensing data to the spatial information data utilization system 2000. In addition, the ground data acquisition system 4000 acquires ground sensing data by performing measurements using the ground data acquisition device 4100, or reads out already measured ground sensing data from the ground sensing data management unit 4300, and transmits the ground sensing data to the spatial information data utilization system 2000.

[0228] Next, the spatial information data utilization system 2000 performs an abnormality determination in the integrated determination unit 2400, determines a data re-acquisition request in the re-measurement analysis request unit 2500, and transmits a data re-acquisition command to the aeronautical data acquisition system 1000. In response to this, the aeronautical data acquisition system 1000 performs re-measurement using the aircraft to acquire aeronautical sensing data, and transmits the aeronautical sensing data to the spatial information data utilization system 2000.

[0229] Next, the spatial information data utilization system 2000 performs an abnormality determination again using the integrated determination unit 2400, generates display information (common situation diagram) including information on the abnormality determination result, and transmits the display information to the information distribution system 3000.

[0230] Next, the information distribution system 3000 acquires the display information through the common situation diagram acquisition unit 3100, and transmits the display information to the commanding device 5100 through the distribution information control unit 3200.

[0231] (C-1-1-2. Flowchart of the collaboration system) 30 is a flowchart showing the processing flow of the linkage system 1 according to the third embodiment. This diagram particularly shows an example of the processing flow when aerial sensing data is acquired for the first time.

[0232] First, the aeronautical data acquisition system 1000 acquires aeronautical sensing data (step 901).

[0233] Next, the aeronautical data acquisition and analysis unit 2100 analyzes and processes the aeronautical sensing data, and determines whether there is an abnormality based on the aeronautical sensing data (step 902).

[0234] Next, the ground data acquisition system 4000 acquires ground sensing data (step 903).

[0235] Next, the ground data acquisition and analysis unit 2200 analyzes and processes the ground sensing data, and determines whether there is an abnormality based on the ground sensing data (step 904).

[0236] Hereinafter, steps 905 to 908 in this figure are the same as steps 106 to 109 shown in FIG. 8, and therefore the explanation will be omitted.

[0237] In this flowchart, steps 901 and 903 can be executed in parallel without waiting for the completion of either process.

[0238] (C-1-2. Method of determining abnormality) An example of the results of the abnormality determinations executed in the processing steps 902, 904, and 905 in the flowchart shown in FIG. 30 will be described below.

[0239] (C-1-2-1. Abnormality Determination by the Aviation Data Abnormality Determination Unit 2120) 31 is a diagram showing the results of abnormality determination by the flight data abnormality determination unit 2120. In the example shown in this figure, the abnormality determination results when abnormality determination is performed by the flight data abnormality determination unit 2120 in processing step 902 will be described.

[0240] As an example, the aviation data anomaly determination unit 2120 performs a differential analysis of the aerial sensing data acquired by the aviation data acquisition system 1000 before and after the disaster, and determines that a home that detects a difference is an abnormal home. The example shown in this figure shows an anomaly determination result in which three homes in the area on the right side of the drawing were initially determined to have an abnormality. Furthermore, since the number of homes locally determined to have an abnormality is greater than the threshold of two, and the homes are denser than the specified value, a secondary determination is made that there is no abnormality in the wider area.

[0241] (C-1-2-2. Abnormality Determination by Ground Data Abnormality Determination Unit 2220) 32 is an example showing the result of abnormality determination by the ground data abnormality determination unit 2220. In the example shown in this figure, the abnormality determination result when abnormality determination is performed by the ground data abnormality determination unit 2220 in the processing of processing step 904 will be described in particular.

[0242] As an example, in the initial determination of an abnormality, a differential analysis is performed between camera images taken by multiple ground cameras before and after a disaster occurs, and if a difference of a predetermined value or more is detected in the images of a house, an initial determination is made that there is an abnormality in the house.

[0243] In the example shown in this figure, there are no residences in the target area where abnormality determination is performed that are initially determined to be abnormal, and the secondary determination for the wide area also results in a secondary determination of "no abnormality."

[0244] (C-1-2-3. Integrated Abnormality Judgment by the Integrated Judgment Unit 2400) 33 is a diagram showing an example of the determination result when an integrated determination is made by the integrated determination unit 2400. The example shown in this figure is the processing of processing step 905, and shows the result of integrated abnormality determination made by the integrated determination unit 2400 based on ground sensing data and aerial sensing data.

[0245] In the example shown in this figure, the area on the left side of the drawing is judged to be free of abnormalities in both the abnormality judgment based on aerial sensing data shown in Figure 31 and the abnormality judgment based on ground sensing data shown in Figure 32, and therefore is also judged to be a "free of abnormalities" area in the integrated abnormality judgment of this figure.

[0246] On the other hand, in the area on the right side of the drawing, the abnormality determination based on the aerial sensing data shown in Figure 31 determines that there is an abnormality, while the abnormality determination based on the ground sensing data shown in Figure 32 determines that there is no abnormality.Since the determination results are inconsistent, the area is determined to be "indeterminate."

[0247] For the area on the right side of the drawing that is determined to be "indefinite," a request for reacquisition of data is generated in step 906, and aerial sensing data or ground sensing data for the area on the right side of the drawing is acquired.

[0248] [C-2. Effects of this embodiment] According to the above-described embodiment, the situation in a target area can be grasped more quickly or more accurately, as in the first embodiment. Specifically, it is possible to link the situation understanding of the target area based on aerial sensing data acquired from the sky and the situation understanding of the target area based on ground sensing data, and it becomes possible to grasp the situation more quickly or more accurately, which would be difficult to grasp from one piece of information alone. [Explanation of symbols]

[0249] 1... Collaboration system (system) 100...input device 200...output device 300...Processing device 400...Main storage device 500...Auxiliary storage device 600...Communication device 700...bus 1000...Aeronautical Data Acquisition System 1100...Aircraft control system 1200...Aircraft operation system 1300...Acquisition data management system 1400...Communication Infrastructure Management System 1500...Logistics support system 1600...Flight management system 1700...Airspace Surveillance and Control System 2000: Spatial information data utilization system 2100: Aviation data acquisition and analysis unit 2110: Aviation data acquisition unit 2120…Aviation data abnormality detection unit 2200: Ground data acquisition and analysis section 2210...Ground data acquisition unit 2220...Ground data abnormality determination unit 2300...Action determination unit 2310...Ground data acquisition and analysis request determination unit 2320…Aerial Data Acquisition and Analysis Request Judgment Unit 2400...Integrated judgment unit 2500...Remeasurement analysis request unit 2600...Common situation diagram generation unit 2700...Recording unit 2800…Communications Department 3000...Information distribution system 3100... Common situation diagram acquisition unit 3200... Distribution information control unit 3300...Display control unit 3400...Communication unit 4000...Ground data acquisition system 4100...Ground data acquisition device 4200...Ground data acquisition control unit 4210: Ground data acquisition condition determination unit 4220: Ground data acquisition command unit 4300: Ground Sensing Data Management Department 4310: Ground sensing data recording unit 4320: Ground sensing data output unit 5000...Crisis response on-site command system 5100... Control device 5300... Field unit terminal device 9000...Air traffic control system

Claims

1. an aerial sensing data acquisition unit that acquires aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition unit that acquires ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an abnormality determination unit that performs a first abnormality determination based on one of the aerial sensing data and the ground sensing data; The system includes an action determination unit that determines or commands an action to be taken to acquire or analyze the other of the aerial sensing data and the ground sensing data, depending on the abnormality determination result by the abnormality determination unit.

2. 10. The system of claim 1, When the abnormality determination unit determines that there is an abnormality in a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The system, wherein the action determination unit determines or outputs a command as an action to be taken to acquire or analyze the other of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area.

3. 10. The system of claim 1, When the abnormality determination unit determines that there is an abnormality in a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The action determination unit determines or commands that the acquisition or analysis of the other of the aerial sensing data and the ground sensing data for the specific ground location or ground area is an action that should be performed in priority over the acquisition or analysis of data for other ground locations or other ground areas.

4. 10. The system of claim 1, When the abnormality determination unit determines that there is no abnormality for a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The system, wherein the action determination unit determines or outputs a command as an action to be taken to acquire or analyze the other of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area.

5. 10. The system of claim 1, When the abnormality determination unit determines that there is no abnormality for a specific ground position or ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, The action determination unit determines or commands that the acquisition or analysis of the other of the aerial sensing data and the ground sensing data for the specific ground location or ground area is an action that should be performed in priority over the acquisition or analysis of data for other ground locations or other ground areas.

6. 10. The system of claim 1, When the abnormality determination unit determines that there is an abnormality at a plurality of ground positions within a predetermined area and determines that there is no abnormality at other plurality of ground positions within the predetermined area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, and when the number of the plurality of ground positions determined to have an abnormality is equal to or less than a predetermined number, The system, wherein the abnormality determination unit determines that there is no abnormality as a second abnormality determination for the plurality of ground positions determined to have an abnormality by the first abnormality determination.

7. 10. The system of claim 1, When the abnormality determination unit determines that there is an abnormality in a part of the ground area within a predetermined area and determines that there is no abnormality in another part of the ground area within the predetermined area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, and the area of ​​the ground area determined to have an abnormality is equal to or less than a predetermined value, or the area ratio of the area determined to have no abnormality to the predetermined area is equal to or greater than a predetermined value, or the area ratio of the area determined to have an abnormality to the predetermined area is equal to or less than a predetermined value, or the ratio of the area of ​​the area determined to have an abnormality to the area determined to have no abnormality in the predetermined area is equal to or less than a predetermined value, The system wherein the abnormality determination unit determines that there is no abnormality as a second abnormality determination for the ground area determined to have an abnormality by the first abnormality determination.

8. 10. The system of claim 1, When the anomaly determination unit determines that an anomaly exists at a plurality of ground positions within a predetermined area and determines that no anomaly exists at other plurality of ground positions within the predetermined area by the first anomaly determination based on one of the aerial sensing data and the ground sensing data, and when the number of the plurality of ground positions determined to have an anomaly is greater than a predetermined number and the density of the plurality of ground positions determined to have an anomaly is greater than a predetermined value, The system, wherein the abnormality determination unit determines that an abnormality exists as a second abnormality determination for an area including the plurality of ground locations determined to have an abnormality by the first abnormality determination.

9. 9. The system of claim 8, The abnormality determination unit determines the area determined to have an abnormality in the second abnormality determination as an abnormality area, distinguishing it from other areas.

10. 10. The system of claim 1, When the anomaly determination unit determines that an anomaly exists in at least a part of the ground area by the first anomaly determination based on one of the aerial sensing data and the ground sensing data, and the area of ​​the ground area determined to have an anomaly is larger than a predetermined value, or the ratio of the area of ​​the ground area determined to have an anomaly within the predetermined area to the area of ​​the predetermined area or the ground area determined to have no anomaly is larger than a predetermined value, The system, wherein the abnormality determination unit determines that an abnormality exists as a second abnormality determination for the ground area determined to have an abnormality by the first abnormality determination.

11. 10. The system of claim 9, The abnormality determination unit determines the scale of the abnormal condition in the abnormality area determined to have an abnormality by the second abnormality determination, depending on the number of multiple ground locations determined to have an abnormality by the first abnormality determination, or the density of the multiple ground locations determined to have an abnormality by the first abnormality determination.

12. 11. The system according to claim 9 or 10, The abnormality determination unit determines the scale of the abnormal state of the abnormal area based on the area size of the abnormal area determined to have an abnormality by the second abnormality determination.

13. 10. The system of claim 1, an integrated determination unit that performs integrated abnormality determination for each ground position or ground area based on both the aerial sensing data and the ground sensing data; a display information generation unit that generates display information that displays the result of the integrated abnormality determination by the integration determination unit in association with position information of at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; A system comprising a display information output unit that transmits or displays the display information on a terminal device capable of displaying the display information.

14. 14. The system of claim 13, When the abnormality determination unit determines that there is an abnormality in the specific ground position or the ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, the integrated determination unit performs an abnormality determination based on both the aerial sensing data and the ground sensing data for the specific ground position or the ground area; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device.

15. 14. The system of claim 13, When the abnormality determination unit determines that there is no abnormality in the specific ground position or the ground area by the first abnormality determination based on one of the aerial sensing data and the ground sensing data, the integrated determination unit performs the integrated abnormality determination based on both the aerial sensing data and the ground sensing data for the specific ground position or the ground area; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device.

16. 14. The system of claim 13, When the integrated determination unit cannot perform the integrated abnormality determination for each ground position or ground area based on both the aerial sensing data and the ground sensing data, The system includes a measurement request unit that outputs a measurement command to measure at least one of the aerial sensing data and the ground sensing data, or a determination command to determine an abnormality.

17. 14. The system of claim 13, When a predetermined time has elapsed since the integrated abnormality determination processing time for each ground position or ground area based on both the aerial sensing data and the ground sensing data performed by the integrated determination unit, The display information output unit transmits or displays the result of the first abnormality determination performed by the abnormality determination unit to the terminal device.

18. 18. The system of claim 17, A system in which, when a predetermined time has elapsed since the integrated abnormality determination unit performed the integrated abnormality determination for each ground position or ground area based on both the aerial sensing data and the ground sensing data, the result of the first abnormality determination displayed on the terminal device by the display information output unit is displayed in a manner that is distinguishable from the result of the integrated abnormality determination by the integrated determination unit.

19. 14. The system of claim 13, the integrated determination unit determines an abnormality type for a ground position or a ground area determined to have an abnormality by the integrated abnormality determination, the display information generation unit generates the display information that displays the information on the anomaly type in association with at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device.

20. 14. The system of claim 13, the integrated determination unit determines the scale of the abnormality for the ground positions or ground areas determined to have an abnormality by the integrated abnormality determination, based on the number of ground positions determined to have an abnormality or the density of the ground positions; the display information generation unit generates the display information that displays the abnormal scale information in association with at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device.

21. 14. The system of claim 13, the integrated determination unit determines the scale of the abnormality for a ground position or a ground area determined to have an abnormality by the integrated abnormality determination, in accordance with the size of the area of ​​the ground area determined to have an abnormality; the display information generation unit generates the display information that displays the abnormal scale information in association with at least one of a map, the aerial sensing data, an orthoimage generated by processing the aerial sensing data, a map image obtained by integrating the orthoimage and a map, three-dimensional space data, and a three-dimensional space model; The display information output unit transmits or displays the display information generated by the display information generation unit on the terminal device.

22. 14. The system of claim 13, When the integrated determination unit cannot determine the type or scale of an abnormality for a ground position or a ground area determined to have an abnormality by the integrated abnormality determination, The system includes a measurement request unit that outputs a measurement command to measure at least one of the aerial sensing data and the ground sensing data, or a determination command to determine an abnormality, for a ground location or ground area where the type or scale of the abnormality cannot be determined.

23. 23. The system of claim 16 or 22, The measurement request unit A system that determines the priority or frequency of measurement when measuring at least one of the aerial sensing data and the ground sensing data, or the priority or frequency of judgment when making an abnormality judgment based on at least one of the aerial sensing data and the ground sensing data, based on the result of the first abnormality judgment or the result of the integrated abnormality judgment.

24. 24. The system of claim 23, The measurement request unit A system that lowers the priority or frequency of measurements or the priority or frequency of abnormality judgments for ground locations or ground areas that are determined to have no abnormality by the first abnormality judgment or the integrated abnormality judgment, compared to the priority or frequency of measurements or the priority or frequency of abnormality judgments for ground locations or ground areas that are determined to have an abnormality by the first abnormality judgment or the integrated abnormality judgment.

25. 23. The system of claim 16 or 22, The measurement request unit A system that determines measurement conditions for measuring the aeronautical sensing data based on the determination result of the first abnormality determination or the determination result of the integrated abnormality determination.

26. 26. The system of claim 25, The measurement request unit When more detailed data than the aerial sensing data measured last time is required based on the determination result of the first abnormality determination or the determination result of the integrated abnormality determination, the system determines that the measurement conditions are to acquire the aerial sensing data with a higher resolution than the last measurement, or to measure from a lower altitude than the last measurement, or to measure with a higher zoom amount than the last measurement, or to measure with a higher ground resolution than the last measurement.

27. 23. The system of claim 16 or 22, The measurement request unit A system that determines the measurement means using at least one of a satellite, a fixed-wing aircraft, a multicopter aircraft, a balloon, or an airship based on the result of the first abnormality determination or the result of the integrated abnormality determination.

28. 10. The system of claim 1, The aerial sensing data acquisition unit acquires, as the aerial sensing data, a plurality of time series data acquired before and after the occurrence of a disaster, the ground sensing data acquisition unit acquires, as the ground sensing data, a plurality of time series data acquired before and after the occurrence of a disaster; The abnormality determination unit A system that uses time-series data of multiple images acquired before and after the disaster, which are included in either the aerial sensing data or the ground sensing data, to determine the locations of abnormalities that have been progressing since before the disaster occurred and the locations of abnormalities that have been progressing since after the disaster occurred, and determines the locations of abnormalities caused by the disaster based on the results of this determination.

29. 14. The system of claim 13, the integrated determination unit determines a feature including at least one of a facility, equipment, or residence located at a ground position or ground area determined to have an abnormality by the integrated abnormality determination, The display information output unit transmits information regarding at least one of the determination result, the scale of the abnormality, and the type of the abnormality determined by the integrated abnormality determination to a terminal device of a person involved in the feature.

30. an aerial sensing data acquisition unit that acquires aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition unit that acquires ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an aviation data abnormality determination unit that determines abnormalities based on the aviation sensing data; a ground data abnormality determination unit that determines an abnormality based on the ground sensing data; a system comprising an action determination unit that determines or commands an action to be taken to acquire or analyze at least one of the aeronautical sensing data and the ground sensing data, depending on the abnormality determination result by the aeronautical data abnormality determination unit and the abnormality determination result by the ground data abnormality determination unit.

31. 31. The system of claim 30, When the determination result of the aeronautical data abnormality determination unit and the determination result of the ground data abnormality determination unit for a specific ground position or ground area are inconsistent, The action determination unit determines or outputs a command to perform an action to acquire or analyze at least one of the aerial sensing data and the terrestrial sensing data for the specific ground location or ground area.

32. The computer an aerial sensing data acquisition step of acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition step of acquiring ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an abnormality determination step of performing a first abnormality determination based on one of the aerial sensing data and the ground sensing data; An action determination step of determining or issuing a command as an action to be taken to acquire or analyze the other of the aerial sensing data and the ground sensing data depending on the abnormality determination result by the abnormality determination step.

33. The computer an aerial sensing data acquisition step of acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition step of acquiring ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an aviation data abnormality determination step of determining an abnormality based on the aviation sensing data; a ground data abnormality determination step of determining an abnormality based on the ground sensing data; an action determination step of determining or issuing a command to acquire or analyze at least one of the aeronautical sensing data and the ground sensing data as an action to be taken, depending on the abnormality determination result from the aeronautical data abnormality determination step and the abnormality determination result from the ground data abnormality determination step.

34. On the computer, an aerial sensing data acquisition command for acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition command for acquiring ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an abnormality determination command for performing a first abnormality determination based on one of the aerial sensing data and the ground sensing data; and an action determination command that determines or commands the acquisition or analysis of the other of the aerial sensing data and the ground sensing data as an action to be taken depending on the abnormality determination result of the first abnormality determination.

35. On the computer, an aerial sensing data acquisition command for acquiring aerial sensing data obtained by sensing a target area on the ground using a first measurement device mounted on the aircraft; a ground sensing data acquisition command for acquiring ground sensing data obtained by sensing the target area using a second measuring device installed within the target area or mounted on a mobile body within the target area; an aviation data abnormality determination command for determining an abnormality based on the aviation sensing data; a ground data abnormality determination command for determining an abnormality based on the ground sensing data; and an action determination command that determines or commands an action to be taken to acquire or analyze at least one of the aeronautical sensing data and the ground sensing data, depending on the abnormality determination result of the aeronautical data abnormality determination command and the abnormality determination result of the ground data abnormality determination command.

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