Control system, control method, and program

Abstract

According to the present invention, it is possible to provide a system, a method, or the like capable of taking an appropriate countermeasure action when a failure occurs in measurement using a flying object.SOLUTION: The present invention is a control system for measuring a measurement-target area using a measuring sensor mounted on a flight vehicle, the control system including a blind spot occurrence determination unit configured to detect a blind spot in measurement of the measurement-target area by the measuring sensor, a blind spot cause determination unit configured to determine a state related to a cause of occurrence of the blind spot when the blind spot occurrence determination unit detects the blind spot, and a blind spot avoidance action determination unit configured to determine a blind spot avoidance action for avoiding the blind spot in accordance with a determination result by the blind spot cause determination unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technology for generating a flight route for an unmanned aerial vehicle that is less affected by cloud cover in a device that measures forests using a sensor mounted on the unmanned aerial vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-119449 Summary of the Invention [Problem to be solved by the invention]

[0004] To monitor illegal activities or to contribute to the rescue of lives, there is a demand for technology to monitor sea areas or airspace using aircraft or other devices to find suspicious objects such as suspicious ships or aircraft, or search targets such as ships in distress. There is also a demand for technology to measure forests, plant areas, etc., or to confirm on-site conditions in the event of an emergency such as a disaster, by measuring the ground from the air using aircraft or other devices.

[0005] The method described in Patent Document 1 discloses a technology for generating a flight route for an unmanned aerial vehicle that is less affected by cloud cover in an apparatus that measures forests using a sensor mounted on the unmanned aerial vehicle. However, when actually performing measurements using an aerial vehicle, obstacles other than clouds can include airborne substances such as fog, rain, and snow, objects flying in the air such as other aerial vehicles, and objects on the ground such as buildings and terrain. Furthermore, sunlight and reflected sunlight can also interfere with measurements using optical cameras, but Patent Document 1 does not consider the types of obstacles that interfere with measurements, the obstacles, or methods for dealing with measurement interference depending on their locations.

[0006] However, Patent Document 1 does not consider the types of causes that impede measurement, obstacles, or methods for dealing with measurement obstacles depending on their positions.Furthermore, it does not consider a specific method for grasping the types of causes that impede measurement and the positions of obstacle particles.

[0007] Therefore, the present invention has been made taking into consideration at least one of the above points, and one of its objectives is to provide a system or method, etc., that can take appropriate response action when a malfunction occurs in measurements using an aircraft. [Means for solving the problem]

[0008] According to the present invention, there is provided a control system that measures a measurement target area using a measurement sensor mounted on an aircraft, the control system comprising: a blind spot occurrence determination unit that detects blind spots in the measurement of the measurement target area by the measurement sensor; a blind spot cause determination unit that determines a condition related to the cause of the occurrence of the blind spot when the blind spot is detected by the blind spot occurrence determination unit; and a blind spot avoidance action determination unit that determines a blind spot avoidance action to avoid the blind spot depending on the determination result by the blind spot cause determination unit. [Effects of the Invention]

[0009] According to the present invention, a system or method can be provided that can take appropriate countermeasures when a problem occurs in measurements using an aircraft. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is an overall configuration diagram of a control system 1 according to one embodiment of the present invention. [Figure 2] 1 is a conceptual diagram showing how a measurement target area is measured by an air vehicle 1000. FIG. [Figure 3] FIG. 1 is a functional block diagram showing the functional configuration of an aircraft 1000. [Figure 4]FIG. 5 is a functional block diagram showing the functional configuration of a satellite management system 5000. [Figure 5] FIG. 4 is a functional block diagram showing the functional configuration of an external system 4000. [Figure 6] FIG. 2 is a system configuration diagram of a data acquisition site system 2000. [Figure 7] FIG. 2 is a functional block diagram showing the functional configuration of an operation management system 2400. [Figure 8] FIG. 2 is a functional block diagram showing the functional configuration of an aircraft flight operating system 2200. [Figure 9] FIG. 3 is a functional block diagram showing the functional configuration of a spatial information data utilization system 3000. [Figure 10] This is a hardware configuration diagram of the operation management system 2400, etc. [Figure 11] FIG. 2 is a flowchart showing the processing flow of the control system 1. [Figure 12] 10 is a diagram showing an example of correspondence information acquired by a correspondence information acquisition unit 2415. FIG. [Figure 13] 10 is a diagram showing an example of measurement request information acquired by a user information acquisition unit 2420. FIG. [Figure 14] 10 is a diagram illustrating the contents of a determination made by a blind spot occurrence determination unit 2441 when determining whether a blind spot occurs. FIG. [Figure 15] FIG. 15 is a flowchart showing the process flow of the blind spot detailed determination performed by the blind spot cause determination unit 2442. [Figure 16] FIG. 24 is a diagram showing a method for determining a physical object causing a blind spot by the blind spot cause determining unit 2442 while flying inside a cloud or the like. [Figure 17] FIG. 10 is a flowchart showing a processing flow for determining a blind spot avoidance method by a blind spot avoidance method determination unit 2451. [Figure 18] FIG. 10 is a flowchart showing the processing flow for changing the flight mission by the flight mission change unit 2452. [Figure 19]10 is a diagram showing a planned flight path of the flying object 1000 at time t1 before the blind spot avoidance action is determined by the blind spot avoidance action determination unit 2450. FIG. [Figure 20] FIG. 10 is a diagram showing an example of measurement data obtained by measuring a ground area at time t1 before the blind spot avoidance action determination unit 2450 determines the blind spot avoidance action. [Figure 21] FIG. 10 is a diagram showing an example of a changed planned flight path of the flying body 1000 at time t2 after the blind spot avoidance action determination unit 2450 has determined a blind spot avoidance action. [Figure 22] FIG. 10 is a diagram showing another example of a changed planned flight path of the flying body 1000 at time t2 after the blind spot avoidance action determination unit 2450 has determined a blind spot avoidance action. [Figure 23] FIG. 10 is a diagram showing the state of measurement flight by another flying object at time t2 after the blind spot avoidance action determination unit 2450 has determined the blind spot avoidance action. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the following embodiments. [Item 1] A control system for measuring a measurement target area using a measurement sensor mounted on an aircraft, a blind spot occurrence determination unit that detects a blind spot in the measurement of the measurement target area by the measurement sensor; a blind spot cause determination unit that determines a state related to a cause of the blind spot when the blind spot is detected by the blind spot occurrence determination unit; a blind spot avoidance action determination unit that determines a blind spot avoidance action to avoid the blind spot in accordance with a determination result by the blind spot cause determination unit. [Item 2] In the control system according to item 1, A control system in which the blind spot occurrence determination unit detects as the blind spot at least one of a physical blind spot caused by an object existing between the aircraft and the measurement target area, a physical blind spot that exceeds a preset tolerance, an optical blind spot caused by a light beam hitting the measurement sensor, and an optical blind spot that exceeds a preset tolerance. [Item 3] In the control system according to item 1 or 2, The blind spot cause determination unit determines the type of the blind spot, which includes at least one of the physical blind spot and the optical blind spot. [Item 4] In the control system according to any one of items 1 to 3, When the blind spot occurrence determination unit detects the physical blind spot or the physical blind spot exceeding the tolerance value, The blind spot cause determination unit determines the type of the object that causes the physical blind spot. [Item 5] In the control system according to any one of items 1 to 4, A control system, wherein the type of object causing the physical blind spot determined by the blind spot cause determination unit includes at least one of clouds, fog, rain, snow, buildings on the ground, terrain, trees, or other flying objects in the air. [Item 6] In the control system according to any one of items 1 to 5, When the blind spot occurrence determination unit detects the physical blind spot caused by the object or the physical blind spot exceeding the tolerance, The blind spot cause determination unit determines at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft of the position or area where the object exists. [Item 7] In the control system according to any one of items 1 to 6, The blind spot cause determination unit A control system that determines at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft of the location or area where at least one of the objects that cause the physical blind spot, namely clouds, fog, rain, or snow, exists, based on at least one of measurement data measured by the measurement sensor, which is a laser sensor or optical camera, mounted on the aircraft, satellite measurement data measured by a measurement satellite, ground measurement data measured by a ground measurement device installed on the ground or at sea, and weather information obtained from an external source. [Item 8] In the control system according to any one of items 1 to 7, The blind spot cause determination unit A control system that determines whether the aircraft is located inside an area containing at least one of the objects that cause the physical blind spot, such as clouds, fog, rain, or snow, based on at least one of measurement data measured by the measurement sensor, which is a laser sensor or optical camera, mounted on the aircraft, satellite measurement data measured by a measurement satellite, and ground measurement data measured by a ground measurement device installed on the ground or sea. [Item 9] In the control system according to any one of items 1 to 8, The blind spot cause determination unit When it is determined that the flying object is located inside an area where at least one of clouds, fog, rain, and snow exists, which are the objects causing the physical blind spot, A control system that determines whether the aircraft has moved from inside to outside the object's presence area based on measurement data measured by the measurement sensor, which is a laser sensor or optical camera, mounted on the aircraft. [Item 10] In the control system according to any one of items 1 to 9, The blind spot cause determination unit Based on at least one of measurement data measured by a laser sensor or an optical camera, which is the measurement sensor mounted on the aircraft, satellite measurement data measured by a measurement satellite, ground measurement data measured by a ground measurement device installed on the ground or at sea, and navigation information related to the navigation of the aircraft obtained from an external navigation information providing system, A control system that determines at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the airborne other flying object that is the object causing the physical blind spot, or the location or area of ​​the other flying object. [Item 11] In the control system according to any one of items 1 to 10, The blind spot cause determination unit Based on at least one of measurement data measured by a laser sensor or an optical camera, which is the measurement sensor mounted on the aircraft, satellite measurement data measured by a measurement satellite, and geographic information acquired from an external geographic information providing system, A control system that determines at least one of the height, two-dimensional position, three-dimensional position, or relative distance from the aircraft of the objects on the ground, such as buildings, terrain, or trees, that cause the physical blind spot. [Item 12] In the control system according to any one of items 1 to 11, When the blind spot occurrence determination unit detects the optical blind spot or the optical blind spot exceeding the tolerance, The blind spot cause determination unit determines at least one of the relative direction from the aircraft of the sun, which generates the sunlight that causes the optical blind spot, or the position, relative distance from the aircraft, or relative direction from the aircraft of an object that reflects the sunlight. [Item 13] In the control system according to any one of items 1 to 12, The blind spot avoidance action determination unit determines a blind spot avoidance action including at least one of a change in the flight path of the aircraft, a measurement command by another aircraft, a command to acquire satellite measurement data measured by a measurement satellite, and a measurement command by a ground measurement device. [Item 14] In the control system according to any one of items 1 to 13, When the blind spot cause determination unit determines that the type of the object causing the blind spot is at least one of clouds, fog, rain, snow, other flying objects, and other airborne substances present in the air, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a flight path change that changes the flight path of the aircraft to a path that can measure the measurement target area without interfering with the object, based on information regarding the location or area where the object is located. [Item 15] In the control system according to any one of items 1 to 14, When the measurement target area is an airspace area having an altitude higher than the flight altitude of the aircraft, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a flight path change that changes the flight path of the aircraft to a flight path that avoids the position or area where the object exists on a plane defined by latitude and longitude, or a flight path that passes through an altitude higher than the altitude at which the object exists, based on information regarding the position or area where the object exists in the air that causes the blind spot. [Item 16] In the control system according to any one of items 1 to 15, When an airspace area at an altitude similar to the flight altitude of the aircraft is set as the measurement target area and the altitude of the object in the air is similar to the flight altitude of the aircraft, The blind spot avoidance action determination unit determines, based on information regarding the location or area of ​​the object in the air that causes the blind spot, a flight path change that changes the flight path of the aircraft to a flight path that avoids the object on a plane defined by latitude and longitude, or a flight path that passes through an altitude higher than the altitude at which the substance or object is located, or a flight path that passes through an altitude lower than the altitude at which the object is located, as the blind spot avoidance action. [Item 17] In the control system according to any one of items 1 to 16, When the measurement target area is an airspace area at an altitude lower than the flight altitude of the aircraft, or the ground or sea surface, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a flight path change that changes the flight path of the aircraft to a flight path that avoids the object on a plane defined by latitude and longitude, or a flight path that passes through an altitude lower than the altitude at which the object exists, based on information regarding the location or area of ​​the object in the air that causes the blind spot. [Item 18] In the control system according to any one of items 1 to 17, The blind spot cause determination unit determines that the type of object causing the blind spot is at least one of clouds and fog in the air, and when an airspace area at an altitude lower than the flight altitude of the aircraft, or the ground or sea surface is set as the measurement target area, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a measurement command to cause another flying object to fly for measurement on a flight path that passes through an altitude lower than the altitude at which the object exists. [Item 19] In the control system according to any one of items 1 to 18, When the blind spot cause determination unit determines that the type of the object causing the blind spot is a building, a terrain, a tree, or another ground object, A control system in which the blind spot avoidance action determination unit determines a measurement command from another aircraft as the blind spot avoidance action. [Item 20] In the control system according to any one of items 1 to 19, A control system comprising a user input receiving unit that receives input information from a user that can identify the position or area of ​​the measurement target area, which includes at least one of a ground area, an offshore area, and an airspace area at a higher altitude than the ground area or the offshore area. [Item 21] A control method for measuring a measurement target area using a measurement sensor mounted on a flying object, comprising: a computer performs a dead angle generation determination step of detecting a dead angle in the measurement of the measurement target area by the measurement sensor; a dead angle cause determination step of determining a state related to the cause of the dead angle when the dead angle is detected by the dead angle generation determination step; a dead angle avoidance action determination step of determining a dead angle avoidance action for avoiding the dead angle according to the determination result of the dead angle cause determination step, and executes the control method. [Item 22] A program used in a control system for measuring a measurement target area using a measurement sensor mounted on a flying object, comprising: causes a computer to execute a dead angle generation determination command for detecting a dead angle in the measurement of the measurement target area by the measurement sensor; a dead angle cause determination command for determining a state related to the cause of the dead angle when the dead angle is detected by the dead angle generation determination step; a dead angle avoidance action determination command for determining a dead angle avoidance action for avoiding the dead angle according to the determination result of the dead angle cause determination step; and executes the program.

[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. Further, 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) 1 is a diagram illustrating the overall configuration of a control system 1 (hereinafter also referred to as "system 1") according to one embodiment of the present invention. As shown in FIG. 1, the control system 1 includes an aircraft 1000, a data acquisition base system 2000, a spatial information data utilization system 3000, an external system 4000, a measurement satellite 8000, a satellite management system 5000, a navigation information provision system 6000, and a user terminal 7000.

[0014] The flying object 1000 is an aircraft or other flying object. The flying object 1000 has a function of performing aircraft control, including flight control and measurement control, in response to control commands transmitted from the data acquisition base system 2000. The flying object 1000 includes, for example, a measurement unit that performs sensing using measurement sensors (optical cameras, IR cameras, sensors including radar sensors such as SAR sensors, laser sensors such as LiDAR, etc.), a flight unit with flight capabilities, an aircraft state determination unit that determines the aircraft state, such as the aircraft's position and attitude, a data recording unit that records measurement data, etc., and a communication unit that communicates with the data acquisition base system 2000 via a communication infrastructure management system 2100, which will be described later.

[0015] The flying object 1000 is equipped with measurement sensors such as optical cameras, infrared cameras, sensors including radar sensors such as SAR sensors, and laser sensors including LiDAR, and uses these measurement sensors to acquire information on the measurement target area (airspace at a higher altitude than the flying object 1000, airspace at a lower altitude, and areas on land or sea) as measurement data from the flight airspace above. The flying object 1000 can also wirelessly transmit the measurement data to the data acquisition base system 2000 while flying. Note that the flying object 1000 may have functions not only to acquire measurement data on the measurement target area, but also to acquire meteorological and environmental data on the flight airspace, track suspicious ships, and perform other tasks.

[0016] Here, the term "air vehicle 1000" refers to any aircraft, including aircraft 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 the aircraft is manned or unmanned. The term "air vehicle 1000" also refers to aircraft referred to as unmanned aerial vehicles (UAVs), multicopters, remote piloted aircraft systems (RPASs), or unmanned aircraft systems (UASs). The term "air vehicle 1000" may be a fixed-wing aircraft equipped with fixed wings and capable of taxiing takeoff and landing using the fixed wings, a vertical takeoff and landing aircraft (including multicopters) capable of vertical takeoff and landing by generating upward thrust from a thrust generating unit composed of multiple propellers, or a fixed-wing vertical takeoff and landing aircraft capable of taxiing takeoff and landing using fixed wings and vertical takeoff and landing by using lift generated by the thrust generating unit. Furthermore, the flying object 1000 may be any type of flying object that flies in the sky, such as a balloon or an airship, in addition to the above-mentioned aircraft.

[0017] The measurement satellite 8000 can be composed of any artificial satellite, including a geostationary satellite located in a high-altitude geostationary orbit and a low-earth orbit satellite moving in a low-earth orbit. The measurement satellite 8000 includes a measurement unit that performs sensing using measurement sensors (optical cameras, IR cameras, sensors including radar sensors such as SAR sensors, and laser sensors including LiDAR), an aircraft status determination unit that determines the aircraft's status, such as its position and attitude, a measurement target area estimation unit that estimates the surface area measurable by the measurement sensors, a data recording unit that records measurement data, and a communication unit that communicates with the satellite management system 5000 (described below). The measurement satellite 8000 has the function of transmitting measurement data obtained by measuring a specified surface area or ocean area using the measurement sensors to the satellite management system 5000. The measurement satellite 8000 may also have the function of receiving data acquisition commands from the data acquisition base system 2000 via the satellite management system 5000 and controlling measurement and measurement data transmission. Furthermore, the measurement satellite 8000 is not intended to be a satellite dedicated to measurement, but may also be used for other purposes, such as communication relay.

[0018] The satellite management system 5000 communicates with the data acquisition base system 2000 and the measurement satellite 8000 to exchange various information. The satellite management system 5000 has the function of providing the data acquisition base system 2000 with satellite-related information, such as the orbital information of the measurement satellite 8000, and measurement data measured by the measurement satellite 8000. The satellite management system 5000 records the measurement data acquired from the measurement satellite 8000 in a data recording unit, and when a data acquisition command is received from the data acquisition base system 2000, the satellite management system 5000 selects desired measurement data from the measurement data recorded in the data recording unit in accordance with the data acquisition command and transmits the selected measurement data to the data acquisition base system 2000. Furthermore, if the data acquisition command is for measurement data to be acquired in the future, the satellite management system 5000 can also send a control command to the measurement satellite 8000 in accordance with the data acquisition command and acquire the measurement data acquired by the measurement satellite 8000 in accordance with the control command. The satellite management system 5000 can also transmit satellite-related information to the data acquisition base system 2000.

[0019] The external system 4000 includes a weather information providing system 4100 that provides weather information for the airspace in which the flying object 1000 flies, the measurement target area, and the surrounding areas, a geographic information providing system 4200 that provides geographic information for the ground area and sea area where measurements are taken by the flying object 1000 and the measurement satellite 8000, and a ground measurement system 4300 that measures clouds and flying objects in the airspace area above using Doppler radar and ceilometers installed on ships on the ground and at sea.

[0020] The data acquisition base system 2000 communicates with the aircraft 1000 and the measurement satellite 8000, and acquires measurement data acquired by the aircraft 1000 and the measurement satellite 8000. The data acquisition base system 2000 also communicates with the external system 4000, and acquires meteorological information, geographic information, and ground measurement data acquired by the ground measurement system 4300. The data acquisition base system 2000 also transmits the acquired measurement data to the spatial information data utilization system 3000. The data acquisition base system 2000 also has a remote control function that remotely controls the operation of the aircraft 1000 and the measurement satellite 8000 by sending control commands to the aircraft 1000 and the measurement satellite 8000.

[0021] The measurement data acquired by the data acquisition base system 2000 from the flying object 1000 or the measurement satellite 8000 is not limited to image information acquired by a measurement sensor such as a camera or SAR, but may also be point cloud data acquired by other sensors. Furthermore, the data acquisition base system 2000 may be configured as a mobile vehicle, ship, flying object, or the like, or may be configured as an immovable building (fixed). The data acquisition base system 2000 may be provided with a user interface for communication with users such as a data acquisition manager.

[0022] The navigation information providing system 6000 can acquire information about aircraft navigation, such as flight number, departure point, destination, aircraft type information, transponder code, flight altitude, vertical speed (ascent and descent rate), own position (latitude and longitude), speed, flight direction, name of radar receiving information, and flight track, which are periodically transmitted from the aircraft 1000 flying in the airspace or other aircraft, and transmit the acquired aircraft navigation information to the data acquisition base system 2000. The navigation information providing system 6000 is configured, for example, with Automatic Dependent Surveillance-Broadcast (ADS-B) or an information providing system that provides aircraft navigation information acquired via the aforementioned ADS-B to other systems.

[0023] The spatial information data utilization system 3000 is connected to the data acquisition base system 2000 via wired or wireless communication and receives measurement data acquired by the aircraft 1000 or the measurement satellite 8000 from the data acquisition base system 2000. The spatial information data utilization system 3000 processes the received measurement data to convert it into data that makes it easier for the user to understand the condition of the measurement area, and provides the processed data to a user terminal, etc. For example, if the measurement data is images measured with an optical camera, an infrared camera, or an SAR sensor, the system generates a wide-area image stitched together from multiple images, a wide-area orthoimage stitched together from multiple images after orthogonal transformation, three-dimensional spatial data obtained by processing multiple images using Structure from Motion (SfM), a map image integrating wide-area images, wide-area orthoimages, or three-dimensional spatial data with geographic information, or a common situation map integrating information such as disaster status into a map image. In addition, if the measurement data is point cloud data obtained by a laser sensor, the point cloud data is processed to generate three-dimensional spatial data expressed in a Digital Surface Model (DSM) or Digital Elevation Model (DEM), or a map image that integrates the three-dimensional spatial data with geographic information, or a common situation diagram that integrates information such as the disaster status into the map image.

[0024] The user terminal 7000 has a function of receiving integrated information such as wide-area images, wide-area orthoimages, three-dimensional spatial data, map images, and common situation maps generated by the spatial information data utilization system 3000 based on measurement data, and displaying and outputting the information on a display unit. It also has a function of accepting user input information such as a measurement request from a user using the user terminal, and transmitting the user input information to the spatial information data utilization system 3000 and the data acquisition base system 2000. The user terminal 7000 is a terminal device operated by, for example, rescue teams, fire brigades, Self-Defense Forces, evacuation shelter staff, heavy equipment operators, and other team members working at the site when an emergency such as a disaster occurs, a crisis management headquarters manager who commands these team members, a data acquisition field team that performs flight operations of the aircraft 1000 at the measurement site, a data acquisition manager who commands the field team, or a general user who receives the integrated information.

[0025] (A-1-2. Acquisition of measurement data using aircraft 1000) FIG. 2 is a conceptual diagram showing how a ground surface area is measured by a measurement satellite 8000 and an aircraft 1000. FIG. 2 particularly shows an example in which the aircraft 1000 acquires measurement data of an airspace area, which is a measurement target area, as well as a ground or sea area. As shown in FIG. 2, the aircraft 1000 flies at an altitude of approximately 100 m to 6000 m in the sky and can measure airspace at higher altitudes, airspace at a similar altitude, airspace at a lower altitude, or a ground or sea area at an altitude of approximately zero. The aircraft 1000 can be, for example, a multicopter VTOL aircraft or fixed-wing aircraft that flies at a relatively low altitude of 100 m to several hundred meters, or a VTOL aircraft or fixed-wing aircraft that can fly at a relatively high altitude of several hundred meters to 6000 m. Furthermore, the measurement range of an aircraft 1000 flying at a low altitude is narrower than that of an aircraft 1000 flying at a high altitude, and the ground sampling distance (GSD) of measurement data by an aircraft 1000 flying at a low altitude is higher than that of measurement data at a low altitude. Although it depends on the flight altitude, as an example, an aircraft 1000 flying at a low altitude can acquire measurement data with a GSD of about 5 cm, and an aircraft 1000 flying at a high altitude can acquire measurement data with a GSD of about 20 cm.

[0026] When measuring a measurement target area using the flying object 1000, blind spots that prevent sufficient measurement data from being acquired may occur in the measurement target area due to obstacles that impede measurement, such as clouds, rain, snow, and fog, between the measurement sensor mounted on the flying object 1000 and the measurement target area. Similarly, blind spots may occur in the measurement target area when another flying object is flying between the measurement sensor and the measurement target area. Furthermore, when the measurement target area is the ground, blind spots may occur in the measurement target area due to buildings, trees, and topography on the ground in addition to the clouds and other flying objects mentioned above.

[0027] In addition to the problem of blind spots caused by obstacles described above, for example, when the measurement target area is an airspace at a higher altitude than the flying object 1000 or an airspace at a similar altitude, blind spots (hereinafter referred to as "optical blind spots") may occur where appropriate measurement data cannot be acquired due to sunlight from the sun. Furthermore, when the measurement target area is an area on land or sea, optical blind spots may occur where appropriate measurement data cannot be acquired due to sunlight reflected from objects on the ground or the sea surface, depending on the positional relationship with the sun. Therefore, the control system 1 of this embodiment acquires more appropriate measurement data by performing blind spot avoidance actions to avoid blind spots caused by obstacles or optical blind spots caused by sunlight.

[0028] (A-1-3. Configuration of Aircraft 1000) 3 is a functional block diagram showing the functional configuration of the flying object 1000. The flying object 1000 includes a measurement unit 1100, an aircraft state determination unit 1200, a flying unit 1300, a recording unit 1400, and a communication unit 1500.

[0029] The measurement unit 1100 is a functional unit that acquires information on a measurement target area in the air, on land, or on the sea using a measurement sensor 1110. The measurement unit 1100 includes the measurement sensor 1110 and a measurement control unit 1120.

[0030] The measurement sensor 1110 is composed of, for example, an optical camera, an infrared camera, a sensor including a radar sensor such as an SAR sensor, a laser sensor including a LiDAR, and other sensors. The measurement sensor 1110 acquires measurement data such as optical images, infrared images, point cloud data, and radar measurement images of the measurement target area from the flying object 1000. The measurement sensor 1110 may also include an optical camera that acquires live video for remote control.

[0031] The measurement control unit 1120 can control the measurement operation of the measurement sensor 1110, such as the timing of data acquisition and the zoom amount of the measurement sensor 1110. The measurement control unit 1120 can control the measurement sensor 1110 so that an image is captured according to measurement conditions such as the timing of data acquisition and the zoom amount that are set in advance, but when a measurement control command is received from the data acquisition site system 2000, the measurement control unit 1120 controls the measurement operation of the measurement sensor 1110, such as the timing of data acquisition and the zoom amount, according to the measurement control command. For example, when the measurement sensor 1110 is an optical camera, the measurement control unit 1120 can control the timing of image acquisition, shutter speed, resolution, etc.

[0032] Next, the aircraft state determination unit 1200 includes a self-position determination unit 1210 and an attitude determination unit 1220. The self-position determination unit 1210 determines the aircraft's own position in three-dimensional space, such as its position, speed, and acceleration, as well as the state related to changes in position over time. The attitude determination unit 1220 determines the aircraft's own attitude, such as its own attitude, angular velocity, and angular acceleration, as well as the state related to changes in attitude over time. The aircraft state determination unit 1200 also has the function of acquiring temporary abnormal states (temperature abnormalities, vibration abnormalities, etc.) of equipment mounted on the aircraft, equipment failure states, and the state of remaining energy such as batteries and fuel.

[0033] The method for measuring the position and speed of the aircraft is not particularly limited, but for example, the current position and speed of the aircraft may be measured using a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), or a Real Time Kinematic - Global Navigation Satellite System (RTK-GNSS). The position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Furthermore, acceleration can be calculated based on the amount of change in the measured speed over time.

[0034] The method for measuring the attitude (orientation) of the aircraft is to measure the current attitude of the aircraft using, for example, a geomagnetic sensor, a GNSS compass, etc. Attitude information includes at least the attitude angle (orientation) in a planar view around the Z axis, and preferably includes attitude information around three axes: the X axis, the Y axis, and the Z axis. In addition, angular velocity and angular acceleration can be calculated based on the amount of change over time in the measured attitude information.

[0035] Next, flight unit 1300 is a functional unit for flying the aircraft, and is a functional unit that performs flight control and takeoff and landing control in accordance with flight mission commands. Flight unit 1300 includes thrust generation unit 1310 and flight control unit 1320. Thrust generation unit 1310 is a functional unit composed of multiple propellers, rocket engines, and other devices capable of generating thrust.

[0036] The flight control unit 1320 is a functional unit that controls the output from the thrust generation unit 1310 to control the flight operations of the air vehicle 1000. The flight control unit 1320 has a processing unit, also called a flight controller. The processing unit may have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), an MPU, or a DSP). The processing unit has access to the recording unit 1400, which will be described later. The recording unit 1400 stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.

[0037] The processing unit is configured to control the flight state of the air vehicle 1000. For example, the processing unit adjusts the spatial position, velocity, acceleration, attitude angle, angular velocity, and angular acceleration of the air vehicle 1000, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). In other words, the flight control unit 1320 controls the flight operations of the air vehicle 1000, such as takeoff, liftoff, forward movement, turning, and landing, and controls the flight operations of the air vehicle 1000 from takeoff to flight and landing.

[0038] The flight control unit 1320 can control the flight of the aircraft 1000 based on a flight mission included in a control command acquired from the aircraft flight operating system 2200 via the communication unit 1500, which will be described later, for example. The flight control unit 1320 can also control the flight of the aircraft 1000 by controlling the output of the thrust generation unit 1310 based on flight geofence information corresponding to flight-permitted / prohibited airspace areas, various information such as the current position information, attitude information (orientation), speed information, acceleration information, angular velocity information, and angular acceleration information of the aircraft 1000 acquired by the aircraft state determination unit 1200, and any combination thereof. Note that if the aircraft 1000 is a fixed-wing aircraft or a VTOL aircraft having fixed wings, the flight control unit 1320 can control the operation of ailerons and flaps mounted on the fixed wings in addition to controlling the thrust generation unit 1310.

[0039] Next, the recording unit 1400 has a function of recording the measurement data measured by the measurement unit 1100, the aircraft's state, flight control logic, etc. The recording unit 1400 includes a measurement data recording unit 1410, an aircraft's state recording unit 1420, and a flight control logic recording unit 1430.

[0040] The measurement data recording unit 1410 is a functional unit that records measurement data measured by the measurement sensor 1110. The aircraft state recording unit 1420 is a functional unit that records data related to the aircraft state of the aircraft 1000 measured by the aircraft state determination unit 1200. In addition, the flight control logic recording unit 1430 is a functional unit that stores logic, code, and / or program instructions that the processing unit of the flight control unit 1320 executes when controlling the flight state of the aircraft 1000.

[0041] Next, the communication unit 1500 is a functional unit that transmits and receives control-related information regarding the aircraft status and control commands related to flight, as well as measurement data acquired by the measurement unit 1100 and other measurement-related information, between the aircraft 1000 and the aircraft operation system 2200.

[0042] The communication unit 1500 transmits the measurement data measured by the measurement sensor 1110 and the measurement data recorded in the measurement data recording unit 1410 to the data acquisition base system 2000, particularly to the acquired data management system 2300. The communication unit 1500 also transmits various information related to the aircraft's own airframe status measured by the aircraft status determination unit 1200 from the flying object 1000 to the data acquisition base system 2000, particularly to the aircraft operation operating system 2200. The communication unit 1500 also receives control commands including flight missions and measurement commands from the aircraft operation operating system 2200.

[0043] (A-1-4. Satellite Management System 5000) Next, we will explain the satellite management system 5000. Figure 4 is a functional block diagram showing the functional configuration of the satellite management system 5000. The satellite management system 5000 includes a satellite information providing unit 5100, a measurement data management unit 5200, and a measurement control command unit 5300.

[0044] The satellite information providing unit 5100 is a system that provides information on the orbits to which the multiple measurement satellites 8000 belong and future movement schedule information, and includes an orbit information providing unit 5110 and a movement prediction information providing unit 5120 .

[0045] The orbit information providing unit 5110 is a functional unit that provides information on the orbit to which each of the multiple measurement satellites 8000 belongs. The movement prediction information providing unit 5120 is a functional unit that calculates a predicted position on the orbit of the measurement satellite 8000 at a future date and time based on orbit information to which the multiple measurement satellites 8000 belong, and provides information on the predicted position. The movement prediction information providing unit 5120 may be configured to determine a measurable area that can be measured by the measurement satellite 8000 and a measurable date and time for measuring the measurable area based on orbit information to which the multiple measurement satellites 8000 belong, and provide the determination information to the data acquisition base system 2000.

[0046] The measurement data management unit 5200 has a function of recording measurement data received from a plurality of measurement satellites 8000 and transmitting the corresponding measurement data in response to a data acquisition command received from an external source including the data acquisition base system 2000. The measurement data management unit 5200 includes a data recording unit 5210 and a data transmission unit 5220.

[0047] The data recording unit 5210 has a function of constantly or periodically downloading and recording measurement data measured by the measurement satellite 8000 from the measurement satellite 8000, regardless of whether a data acquisition command has been received from the data acquisition base system 2000, and when a data acquisition command is received from the data acquisition base system 2000, it extracts data that matches the specified conditions, such as the measurement target area, desired acquisition period, and data type, specified in the data acquisition command from the recorded data, and provides it to the data acquisition base system 2000. Furthermore, if the desired acquisition period specified in the data acquisition command is after the current time, it will provide the data acquisition base system 2000 with data that matches the specified conditions from the measurement data downloaded from the measurement satellite 8000 in the future.

[0048] The measurement control command unit 5300 has a control command generation unit 5310 and a control command transmission unit 5320, and has the function of transmitting a control command to the measurement satellite 8000 to acquire measurement data in accordance with the data acquisition command acquired from the data acquisition base system 2000.

[0049] The control command generation unit 5310 is a functional unit that generates a control command for the measurement satellite 8000 based on a data acquisition command acquired from the data acquisition base system 2000. The control command transmission unit 5320 has a function of transmitting the control command generated by the control command generation unit 5310 to the measurement satellite 8000.

[0050] (A-1-5. External System 4000) Next, a description will be given of the external system 4000. Fig. 5 is a functional block diagram showing the functional configuration of the external system 4000. The external system 4000 includes a weather information providing system 4100, a geographic information providing system 4200, and a ground measurement system 4300.

[0051] The weather information providing system 4100 is a system that provides weather information about the airspace in which the flying object 1000 flies, the measurement target area, and the surrounding areas to the data acquisition base system 2000. The weather information provided by the weather information providing system 4100 may include weather forecast information such as sunny, cloudy, rainy, and snowy, as well as predicted locations of clouds and fog, and predicted locations of precipitation such as rain, snow, and hail. The weather information providing system 4100 is, for example, a system managed by the Japan Meteorological Agency or another weather information providing organization.

[0052] The geographic information providing system 4200 is a system that provides terrestrial GIS geographic information, marine geographic information related to the ocean, and the like to the data acquisition base system 2000. Terrestrial GIS geographic information includes, for example, base maps, polygon geographic information, elevation information, transportation network information such as roads and railway tracks, facility information, land use information (farmland, housing, commercial facilities, factories, etc.), administrative division information (prefectures, cities, towns, villages, etc.), population information, etc. Marine geographic information may include, for example, information on marine areas including territorial waters, contiguous zones, exclusive economic zones (EEZs), and high seas, areas of activity for the Japan Maritime Self-Defense Force, areas of activity for the Japan Coast Guard, fishing areas for fishing boats, navigation areas such as regular routes for civilian ships, leisure areas for swimming, diving, etc., and sea route area information such as regular shipping routes.

[0053] The ground measurement system 4300 is a system that measures clouds and flying objects in an airspace area in the sky using a Doppler radar or a ceilometer installed on land or a ship at sea, and provides the measurement information to the data acquisition base system 2000. Doppler radar is a measurement device that can measure the location and intensity of precipitation using the Doppler effect of radio waves reflected from precipitation particles such as rain, snow, and hail. A ceilometer is a measurement device that can measure the height of a cloud base by emitting a laser beam into the sky and measuring the time it takes for the laser beam to reflect off the cloud and return. The ground measurement system 4300 may also include a radar device that can detect the position and speed of flying objects. The ground measurement system 4300 may be configured with a measurement device other than those described above, and any measurement device that can measure clouds, precipitation, and flying objects can be applied.

[0054] (A-1-6. Data Acquisition Center System 2000) 6 is a system configuration diagram of the data acquisition base system 2000. The data acquisition base system 2000 includes a communication infrastructure management system 2100, an aircraft flight operation system 2200, an acquired data management system 2300, an flight management system 2400, and an airspace monitoring system 2500.

[0055] The communication infrastructure management system 2100 has the function of managing the transmission and reception of various data and communication means between each system within the data acquisition base system 2000 (aircraft operation operation system 2200, acquired data management system 2300, operation management system 2400, airspace monitoring system 2500) and the aircraft 1000, satellite management system 5000, navigation information provision system 6000, spatial information data utilization system 3000, and external system 4000 outside the data acquisition base system 2000.

[0056] For example, the communication infrastructure management system 2100 can transmit control commands generated by the aircraft flight operation system 2200 and the flight management system 2400 to the aircraft 1000 and the satellite management system 5000. The communication infrastructure management system 2100 can receive information such as aircraft status information and measurement data from the aircraft 1000 and the satellite management system 5000, provide the aircraft status information to the aircraft flight operation system 2200, and provide the measurement data to the aircraft flight operation system 2200 and the acquired data management system 2300. The communication infrastructure management system 2100 can receive aircraft navigation information, weather information, geographic information, ground measurement information, etc. from the navigation information providing system 6000 and the external system 4000, and provide the received information to the flight management system 2400, etc. The communication infrastructure management system 2100 can transmit control commands generated by the flight management system 2400 and measurement data recorded in the acquired data management system 2300 to the spatial information data utilization system 3000.

[0057] The aircraft flight operation system 2200 acquires the flight mission of the aircraft 1000 from the flight management system 2400, and acquires information regarding the status of the aircraft from the aircraft 1000. The aircraft flight operation system 2200 generates control commands based on the acquired flight mission and information regarding the status of the aircraft, and transmits the control commands to the aircraft 1000 via the communication infrastructure management system 2100, thereby controlling various operations such as flight and measurement of the aircraft 1000, which is the target of flight. The flight mission is, for example, a movement plan including the movement route of the aircraft 1000, its flight position at each time, and its movement speed, and the movement route is generated in an airspace at an altitude of approximately 100 m to 6000 m above the ground, where the aircraft 1000 can fly. Detailed functions of the aircraft flight operation system 2200 will be described later.

[0058] The acquired data management system 2300 has a data management function of acquiring and recording various information including measurement data (optical image data, IR image data, SAR image data, point cloud data acquired by laser sensors such as LiDAR, other spatial data, etc.) of the measurement target area sensed by the aircraft 1000 and the measurement satellite 8000 via the communication infrastructure management system 2100. The acquired data management system 2300 also has a function of transmitting the measurement data recorded via the communication infrastructure management system 2100 to an external spatial information data utilization system 3000.

[0059] The flight management system 2400 is a system that generates measurement plans and flight missions for the flying object 1000, and sends measurement requests to external parties. For example, the flight management system 2400 generates measurement plans and flight missions related to the acquisition of measurement data by the flying object 1000, and transmits them to the aircraft flight operating system 2200. The flight management system 2400 may also have a function to generate a plan for acquiring measurement data by the measurement satellite 8000, and transmit a command to acquire the measurement data to the satellite management system 5000. The detailed functions of the flight management system 2400 will be described later.

[0060] The airspace monitoring system 2500 is a system that monitors the airspace in which the target aircraft 1000 is flying. The airspace monitoring system 2500 acquires information about aircraft navigation, such as the position, speed, direction of movement, and model of the aircraft 1000 and other aircraft flying in the sky, from the navigation information providing system 6000. The navigation information providing system 6000 can be configured, for example, by Automatic Dependent Surveillance-Broadcast (ADS-B) or an information providing system that provides aircraft navigation information acquired via the aforementioned ADS-B to other systems. That is, the airspace monitoring system 2500 acquires navigation information about other aircraft, etc., currently flying, and transmits the information to the flight management system 2400. Based on the information from the airspace monitoring system 2500, the flight management system 2400 can generate a measurement data acquisition plan so that the aircraft 1000 does not interfere with other aircraft.

[0061] (A-1-7. Flight Management System 2400) 7 is a functional block diagram showing the functional configuration of the flight management system 2400. The flight management system 2400 includes an information import unit 2410, a user information acquisition unit 2420, a measurement condition determination unit 2430, a blind spot determination unit 2440, a blind spot avoidance action determination unit 2450, an external measurement request unit 2460, and a user interface unit 2470.

[0062] (A-1-7-1. Information import unit 2410) The information import unit 2410 is a functional unit that acquires information from outside the data acquisition base system 2000, and includes a measurement data acquisition unit 2411, a satellite information acquisition unit 2412, an external system information acquisition unit 2413, an aircraft navigation information acquisition unit 2414, and a corresponding information acquisition unit 2415.

[0063] The measurement data acquisition unit 2411 is a functional unit that acquires measurement data measured by the measurement sensor 1110 of the flying object 1000.

[0064] The satellite information acquisition unit 2412 has a function of acquiring orbit information of the measurement satellite 8000, future movement schedule information of the measurement satellite 8000 (predicted position for each date and time), and measurement data by the measurement satellite 8000 from the satellite management system 5000.

[0065] The external system information acquisition unit 2413 is a functional unit that acquires various information from the external system 4000. The external system information acquisition unit 2413 has a function of acquiring weather information from the weather information providing system 4100, acquiring terrestrial GIS geographic information and marine geographic information related to the ocean from the geographic information providing system 4200, and acquiring measurement information related to clouds in the airspace and other flying objects from the ground measurement system 4300.

[0066] The aircraft navigation information acquisition unit 2414 has the function of acquiring information regarding aircraft navigation, such as its own position, speed, direction of movement, and model of aircraft, which is periodically transmitted from the navigation information providing system 6000 by the aircraft 1000 flying in the airspace or other aircraft.

[0067] The corresponding information acquisition unit 2415 is a functional unit that acquires in advance corresponding information for determining corresponding conditions corresponding to the measurement request when information related to the measurement request is acquired from the user by the user information acquisition unit 2420, which will be described later. The corresponding information will be described with reference to FIG.

[0068] Fig. 12 is a diagram showing an example of correspondence information acquired by the correspondence information acquisition unit 2415. As shown in Fig. 12, request information and correspondence information are recorded in association with each other in the correspondence information.

[0069] The requested information includes user attributes, usage attributes, target features, data content (image quality, etc.), acquisition equipment, and acquisition aircraft. Corresponding conditions include usage attributes, target features, data content (image quality, etc.), acquisition equipment, acquisition aircraft, and acquisition conditions (flight path of the aircraft, etc.).

[0070] Correspondence relationships contained in the correspondence information include, for example, correspondence relationships between user attributes and usage attributes, correspondence relationships between user attributes and target features, correspondence relationships between usage attributes and target features, correspondence relationships between usage attributes and data content (image quality, etc.), correspondence relationships between target features and data content, correspondence relationships between data content and acquisition equipment (measurement sensors, etc.), correspondence relationships between data content and acquisition aircraft (artificial satellites, fixed-wing aircraft, multicopters, etc.), correspondence relationships between data content and acquisition conditions (flight path of aircraft, etc.), correspondence relationships between acquisition equipment and acquisition aircraft, correspondence relationships between acquisition equipment and acquisition conditions, and correspondence relationships between acquisition aircraft and acquisition conditions.

[0071] As an example of the correspondence between the user attribute and the usage attribute, when the user attribute is "forest management company", the usage attribute can be "forest measurement". As an example of the correspondence between the user attribute and the target feature, when the user attribute is "forest management company", the target feature can be "forest". As an example of the correspondence between the use purpose attribute and the target feature, when the use purpose attribute is "forest measurement", the target feature can be "forest". As an example of the correspondence between the use attribute and the data content (image quality, etc.), when the use attribute is "forest measurement", the data content (image quality, etc.) can be "ground resolution (0.5 m)". As an example of the correspondence between target features and data content, when the target feature is a "forest," the data content (image quality, etc.) can be "ground resolution (0.5 m)." As an example of the correspondence between data content and acquisition equipment (such as a measurement sensor), if the data content is "point cloud data," the acquisition equipment can be "LiDAR." As an example of the correspondence between data content and acquiring aircraft (artificial satellite, fixed-wing aircraft, multicopter, etc.), if the data content is "point cloud data", the acquiring equipment can be "aircraft such as fixed-wing aircraft, multicopter, etc." As another example, if the data content is "ground resolution (0.5 m)", the acquiring equipment can be "aircraft such as fixed-wing aircraft, multicopter, etc." As an example of the correspondence between data content and acquisition conditions (such as the flight path of an aircraft), if the data content is "ground resolution (0.5 m)", the acquisition condition can be "altitude 3000 m or less". As an example of the correspondence between the acquisition equipment and the acquisition aircraft, when the acquisition equipment is "LiDAR", the acquisition equipment can be "a fixed-wing aircraft, a multicopter, or other aircraft." As an example of the correspondence between the acquisition equipment and the acquisition conditions, when the acquisition equipment is "LiDAR", the acquisition condition can be "altitude XX m or less". As an example of the correspondence between the acquisition aircraft and the acquisition conditions, when the acquisition equipment is a "multicopter", the acquisition condition can be "altitude XX m or less".

[0072] 12 does not need to include all of these correspondence relationships, but only needs to include at least one correspondence relationship between desired information and corresponding conditions. By acquiring or recording such correspondence information in advance, even if the user inputs only a small amount of desired information, it is possible to appropriately set the conditions for the measurement plan proposed to the user, and the user can more easily determine a measurement plan without having to input detailed condition information related to the acquisition of measurement data.

[0073] (A-1-7-2. User information acquisition unit 2420) The user information acquisition unit 2420 is a functional unit that acquires user input information input by a user. The user information acquisition unit 2420 acquires user input information acquired via a user input acceptance unit 2472 of the flight operation management system 2400, which will be described later, or a pilot input acceptance unit 2222 of the aircraft flight operation system 2200, or a user terminal 7000.

[0074] The user information acquisition unit 2420 receives measurement request information from the user, including the measurement target area where measurement is to be performed using the flying object 1000. A specific example of the measurement request acquired by the user information acquisition unit 2420 will be described below.

[0075] 13 is a diagram showing an example of measurement request information acquired by the user information acquisition unit 2420. As shown in FIG. 13, the user information acquisition unit 2420 acquires, as designation information for the measurement target area, information capable of identifying the position or area of ​​a ground area, an ocean area, or an airspace area at a higher altitude than the ground area or ocean area (including higher, lower, or similar altitudes to the flight path of the flying body 1000). For example, location information including the altitude (e.g., above sea level) and latitude and longitude of the measurement target area is acquired as the designation information. Here, when accepting designation input for the area for which measurement is requested, measurement data that has already been measured may be displayed on a map, and designation input for the area for which measurement is requested may be accepted on the map.

[0076] Furthermore, the user information acquisition unit 2420 can acquire, for example, information on the end date and time and start date and time of a desired acquisition period as information on the data acquisition date and time for acquiring measurement data. In other words, the user information acquisition unit 2420 can accept from the user the desired deadline date and time for acquiring measurement data from the flying body 1000 (the end date and time of the desired acquisition period), and can also accept a command for the start date and time of a period for which measurement data is desired to be acquired. In this way, by specifying and inputting the start date and time and end date and time of the desired acquisition period, the user can obtain measurement data acquired within this desired acquisition period.

[0077] Furthermore, the user information acquisition unit 2420 can accept a designation of the data type of the measurement data (for example, optical camera image, IR image, SAR image, point cloud data, etc.).

[0078] In addition, the attributes of the request information may include user attributes related to the user's attributes, the intended use of the measurement data, the target feature for which measurement data is requested to be acquired, image quality information such as resolution and ground resolution related to the data content of the measurement data, the equipment used to acquire the measurement data, the acquisition aircraft used to acquire the measurement data, and the conditions for acquiring the measurement data.

[0079] Here, the information on the data content includes at least one of the data type of the measurement data, the ground resolution of the measurement data, and the resolution of the image. The ground resolution can be defined in units such as meters, and the resolution can be defined in units such as dpi or pip. For example, 0.1 m, 0.2 m, etc. can be input as the ground resolution.

[0080] The information on the data acquisition equipment may include information on the type of the measurement sensor that acquires the measurement data (optical camera, panoramic camera, IR camera, sensor including radar sensor such as SAR sensor, LiDAR, other laser sensor, etc.), or may include information on the sensor performance of the measurement sensor. In this case, the sensor performance of the measurement sensor may include shutter speed, frame rate, and maximum shooting altitude.

[0081] Furthermore, the information on the data acquisition aircraft may include information on the type of acquisition aircraft, which may include at least one of an artificial satellite, a fixed-wing aircraft, a multicopter, a vertical takeoff and landing aircraft, and other flying vehicles. Note that the various aircraft described above are not limited to being manned or unmanned. Furthermore, the information input as the acquisition aircraft is not limited to these, and may also include more detailed aircraft types, such as a low-orbit satellite, a geostationary satellite, a fixed-wing VTOL, and an unmanned multicopter.

[0082] The information on the acquisition conditions may include at least one of the flight conditions of the aircraft, such as the flight path, flight altitude, flight speed, and flight attitude angle, when acquiring measurement data using the aircraft, as well as information on the measurement conditions of the measurement sensor. Examples of measurement conditions include capturing images in the direction normal to the slope of the measurement target. Furthermore, the measurement conditions may also be condition information such as a flight path generation method for generating a flight path according to the size and shape of the specified measurement target area.

[0083] Furthermore, the attributes of the request information may include priority items to be prioritized when acquiring measurement data, including at least one of time priority, image quality priority, and cost priority. In addition to these priority items, the request information may also include information regarding the priority ranking of the priority items.

[0084] The attributes of the request information may also include whether a live video request is required. In other words, this is information specifying whether or not to request the distribution of live video of measurement data in real time during measurement. The information regarding whether or not a live video request is required may also include input conditions for starting live video, such as when a specific object is detected or an area for which live video is desired. Furthermore, if the measurement conditions when live video starts are different from normal, it may be possible to set and input special request information (aircraft, resolution, flight mission, etc.) during live video distribution.

[0085] Furthermore, as the request information, when measuring the monitored area, information on the object to be monitored can be specified and input. For example, if the monitored area is an airspace area, the monitored object can be a suspicious flying object, and if the monitored area is a sea area, the monitored object can be a suspicious ship or a person in distress.

[0086] Furthermore, the request information may include input of a designation of an object (including clouds, fog, rain, snow, other aircraft, buildings on the ground, topography, trees, etc.) that causes a blind spot to be detected by the blind spot determination unit 2440 described later, and information on a blind spot tolerance value, which is a determination criterion for detecting a blind spot. The determination criterion value for blind spot detection is, for example, a tolerance value such as a tolerance value for the allowable transparency or allowable area of ​​a physical blind spot, and if these tolerance values ​​are exceeded, a determination can be made that a physical blind spot has been detected.

[0087] The user information acquisition unit 3200 can also receive request information for adding or updating measurement data, in addition to request information for acquiring new measurement data. In this case, a request can be made for acquisition of measurement data by the flying object 1000 in order to update data for all or part of an area for which measurement data has already been acquired by the measurement satellite 8000.

[0088] 13 shows a list of information that can be acquired as the request information, and is not intended for the user to specify request information that includes all of this information. Also, the information acquired from the user as the request information only needs to include some of the information shown in FIG. 13, and other information can be automatically determined by the measurement condition determination unit 2430, which will be described later.

[0089] (A-1-7-3. Measurement condition determination unit 2430) The measurement condition determination unit 2430 is a functional unit that determines the measurement conditions for acquiring measurement data based on the user input information acquired by the user information acquisition unit 2420 and the correspondence information acquired by the correspondence information acquisition unit 2415.

[0090] As an example, the measurement condition determination unit 2430 can determine the measurement conditions in accordance with the corresponding conditions corresponding to the request information acquired from the user (for example, the information shown in Fig. 13) based on the corresponding information (for example, the information shown in Fig. 12) acquired by the corresponding information acquisition unit 2415. As an example of determining the corresponding conditions corresponding to the request information based on the corresponding information as shown in Fig. 12, if the user attribute acquired as the request information is "forest management company," the usage attribute of the corresponding conditions may be, for example, "forest measurement."

[0091] Here, the information on "forest measurement" determined as the usage attribute of the corresponding condition can be further used as request information, in which case the target feature of the corresponding condition can be determined to be "forest." Furthermore, the data content (image quality) of the corresponding condition when the target feature is "forest" can be determined to be, for example, "ground resolution (0.5 m)." Furthermore, when "ground resolution (0.5 m)" is used, the acquisition aircraft for the corresponding condition can be determined to be "fixed-wing aircraft." In this way, the measurement conditions for acquiring measurement data can be determined using not only the request information obtained directly from the user but also the information on the corresponding conditions determined based on the correspondence information.

[0092] (A-1-7-4.Blind spot determination section 2440) The blind spot determination unit 2440 is a functional unit that detects blind spots in measurements of a measurement target area by a measurement sensor based on the measurement data acquired by the information import unit 2410 and other various information, and when a blind spot is detected, determines a state related to the cause of the blind spot. The blind spot determination unit 2440 includes a blind spot occurrence determination unit 2441 and a blind spot cause determination unit 2442.

[0093] The blind spot occurrence determination unit 2441 detects physical blind spots that occur when at least a portion of the measurement target area is blocked by a substance or object due to an object (including clouds, fog, rain, snow, other aircraft, buildings on the ground, topography, trees, etc.) that exists between the aircraft 1000 and the measurement target area. Furthermore, the blind spot occurrence determination unit 2441 may be configured to detect physical blind spots that exceed a predetermined tolerance based on the allowable transparency or allowable area of ​​the physical blind spot.

[0094] The blind spot occurrence determination unit 2441 may also have a function to detect not only physical blind spots caused by at least a portion of the measurement target area being blocked by a substance or object as described above, but also a state in which overexposure occurs in at least a portion of the measurement target area due to light rays including sunlight hitting the measurement sensor and the amount of light exceeding the dynamic range of the optical camera serving as the measurement sensor (hereinafter referred to as optical blind spots).The blind spot occurrence determination unit 2441 may also detect optical blind spots that exceed a predetermined tolerance based on a tolerance for data loss in the optical blind spots, a tolerance area, etc.

[0095] The blind spot cause determination unit 2442 is a functional unit that determines the state related to the cause of the occurrence of a blind spot, such as the type of blind spot detected by the blind spot occurrence determination unit 2441 and the position of an object that causes the blind spot. In addition, the blind spot cause determination unit 2442 can have a function to determine the type of blind spot, which includes at least one of the above-mentioned physical blind spot and optical blind spot, for example.

[0096] The blind spot cause determination unit 2442 may have a function of determining the type of object causing the physical blind spot when the blind spot occurrence determination unit 2441 detects a physical blind spot or a physical blind spot that exceeds a tolerance. In this case, the blind spot cause determination unit 2442 can determine the type of object causing the physical blind spot to include at least one of clouds, fog, rain, snow, a structure on the ground, terrain, trees, or another flying object in the air. Here, the object includes any object, whether solid, liquid, or gas, and includes any object that blocks or affects measurements by a measurement sensor.

[0097] Furthermore, the blind spot cause determination unit 2442 has a function of determining the position and existing area of ​​an object that is causing a physical blind spot. For example, when the blind spot occurrence determination unit 2441 detects a physical blind spot or a physical blind spot that exceeds a tolerance value, the blind spot cause determination unit 2442 can determine at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft 1000 of the position or existing area of ​​the object. In other words, it can determine the altitude, two-dimensional position that can be defined by latitude and longitude, etc., three-dimensional position that can be defined by three-dimensional coordinates of latitude, longitude, and altitude of the position or existing area of ​​the object that is causing a physical blind spot, or the distance from the aircraft 1000.

[0098] In this way, the blind spot cause determination unit 2442 can employ a plurality of methods depending on the target object to determine the location and area of ​​an object that causes a physical blind spot. As an example, when the target object is an object floating in the air, such as clouds, fog, rain, or snow, the location and area of ​​the object can be determined based on measurement data measured by a laser sensor (including LiDAR, etc.) or an optical camera, which is a measurement sensor mounted on the flying object 1000.

[0099] As another example of determining the position or area of ​​existence of objects floating in the air such as clouds, fog, rain, and snow, it is possible to determine at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft 1000 of the position or area of ​​existence of objects floating in the air such as clouds, fog, rain, and snow, based on satellite measurement data (e.g., images of clouds reflected in satellite images) measured by the measurement satellite 8000 obtained via the satellite management system 5000, ground measurement data using Doppler radar or ceilometers of the ground measurement system 4300 installed on the ground or on a ship at sea, and weather information on the airspace in which the aircraft 1000 flies, the measurement area, and its surrounding areas obtained from the weather information providing system 4100.

[0100] It is also conceivable that the flying object 1000 may be flying inside an object floating in the air, such as a cloud, fog, rain, or snow. In this embodiment, such a state can also be determined. For example, based on measurement data measured by a laser sensor or optical camera, which is a measurement sensor mounted on the flying object 1000, it is possible to determine whether the flying object 1000 is flying inside an object floating in the air, such as a cloud, fog, rain, or snow. Inside clouds, fog, rain, or snow, a laser sensor detects weak reflected laser light from a short distance, and the viewing distance of an optical camera is short (for example, 20 m or less). Therefore, based on measurement data from the laser sensor or optical camera, it is possible to determine whether the flying object 1000 is flying inside an object floating in the air, such as a cloud, fog, rain, or snow.

[0101] When a laser sensor or an optical camera is used as a measurement sensor to determine, as described above, that the flying object 1000 is flying inside an object floating in the air, such as a cloud, fog, rain, or snow, and when the relative distance to the obstacle detected by the laser sensor becomes longer, or when the viewing distance of the optical camera becomes longer, it can be determined that the flying object 1000 has moved from inside to outside the object floating in the air, such as a cloud, fog, rain, or snow.

[0102] Furthermore, when determining the position or existing area of ​​another flying object, for example, at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the flying object 1000 of the position or existing area of ​​the other flying object can be determined based on measurement data measured by a laser sensor (including LiDAR, etc.) or an optical camera, which is a measurement sensor mounted on the flying object 1000. Here, in order to measure the position of the other flying object based on measurement data from an optical camera, any existing technology can be applied, such as SfM processing, measurement using a stereo camera, distance measurement technology using a monocular camera, etc.

[0103] Other methods for determining the location or presence area of ​​other flying objects include determining at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the flying object 1000 of the location or presence area of ​​other flying objects based on satellite measurement data (e.g., images of clouds reflected in satellite images) measured by a measurement satellite 8000 obtained via the satellite management system 5000, ground measurement data from Doppler radar, ceilometers, optical cameras, etc. of a ground measurement system 4300 installed on the ground or on a ship at sea, or navigation information regarding aircraft navigation obtained from an external navigation information providing system 6000.

[0104] Furthermore, when determining the position or area of ​​terrestrial features such as buildings, terrain, trees, etc., it is possible to determine at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft 1000 of the terrestrial features such as buildings, terrain, trees, etc., based on measurement data measured by a laser sensor (including LiDAR, etc.) or an optical camera, which is a measurement sensor mounted on the aircraft 1000.

[0105] Another method for determining the location and area of ​​terrestrial features such as buildings, terrain, and trees on the ground is to determine at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft 1000 of terrestrial features such as buildings, terrain, and trees on the ground based on satellite measurement data (e.g., images of clouds reflected in satellite images) measured by a measurement satellite 8000 obtained via the satellite management system 5000, or geographic information obtained from the geographic information provision system 4200 of the external system 4000.

[0106] So far, we have explained a method for determining the location and area of ​​an object that causes a physical blind spot using the blind spot cause determination unit 2442, but the blind spot cause determination unit 2442 can also determine not only objects that cause physical blind spots, but also at least one of the direction of the sun (including the relative azimuth and elevation angle from the air vehicle 1000) that emits sunlight that causes the optical blind spots described above, the position of an object that reflects sunlight (for example, a building on the ground, a solar panel, or the sea surface), the relative distance from the air vehicle 1000, and the relative direction from the air vehicle 1000. Note that the direction of the sun (azimuth and elevation angle) and the position of an object that reflects sunlight can be estimated not only from the orientation of the optical camera, but also from date and time information.

[0107] (A-1-7-5. Blind spot avoidance action determination unit 2450) Next, the blind spot avoidance action determination unit 2450 is a functional unit that determines a blind spot avoidance action to avoid a blind spot in accordance with the determination result by the blind spot cause determination unit 2442. The blind spot avoidance action determination unit 2450 includes a blind spot avoidance method determination unit 2451 and a flight mission change unit 2452.

[0108] The blind spot avoidance method determination unit 2451 is a functional unit that determines a blind spot avoidance method (also called a blind spot avoidance action) that is a countermeasure for a blind spot in measurement by the flying object 1000. For example, the blind spot avoidance method determination unit 2451 can determine, as the blind spot avoidance action, a blind spot avoidance method that includes at least one of a change in the flight path of the flying object 1000, a measurement command by another flying object, a command to acquire satellite measurement data measured by the measurement satellite 8000, and a measurement command by the ground measurement system 4300.

[0109] The blind spot avoidance method determination unit 2451 can determine a blind spot avoidance method depending on the type of object causing the physical blind spot. For example, if the blind spot cause determination unit 2442 determines that the type of object causing the blind spot is a building, terrain, tree, or other ground object, the blind spot avoidance action determination unit 2451 can determine a measurement command to be issued by another air vehicle as the blind spot avoidance action. In other words, if the air vehicle 1000 is a fixed-wing aircraft flying at a relatively high altitude, it is not easy to measure the position of a blind spot caused by the shadow of a ground object, so it is desirable to issue a measurement command to be issued by another air vehicle that can fly at a relatively low altitude and low speed, such as a multicopter.

[0110] As another example, when the blind spot cause determination unit 2442 determines that the type of object causing the blind spot is at least one of clouds and fog in the air, and the measurement target area is an airspace area at an altitude lower than the flight altitude of the air vehicle 1000, or the ground or sea surface, the blind spot avoidance method determination unit 2451 can determine, as the blind spot avoidance action, a measurement command to fly another air vehicle on a flight path that passes through an altitude lower than the altitude at which objects such as clouds and fog exist. In other words, if the air vehicle 1000 is a fixed-wing aircraft that flies at a relatively high altitude, it may be difficult to fly in low-altitude areas lower than the clouds. In such cases, it is desirable to issue a measurement command to perform measurement using another air vehicle that is suitable for flying at a relatively low altitude, such as a multicopter.

[0111] Furthermore, the blind spot avoidance method determination unit 2451 can not only change the flight path within the same flight, but also execute part of the changed flight path in a separate flight by the same or a different aircraft. When a measurement flight is executed in a separate flight, the measurement sensor 1110 may be changed.

[0112] The flight mission change unit 2452 is a functional unit that generates a proposed change to the flight mission, including the flight path, when the blind spot avoidance method determination unit 2451 determines that a change to the flight path of the aircraft 1000 is to be the blind spot avoidance action.

[0113] The flight mission changing unit 2452 can determine a method for changing the flight path depending on the type of object causing the physical blind spot. As an example, if the blind spot cause determination unit 2442 determines that the type of object causing the blind spot is at least one of clouds, fog, rain, snow, other flying objects, and other airborne substances present in the air, the flight mission changing unit 2452 can determine, as the blind spot avoidance action, a flight path change that changes the flight path of the flying object 1000 to a path that can measure the measurement target area without interfering with the above-mentioned object, based on information about the location or area where the above-mentioned object exists.

[0114] Furthermore, the flight mission changing unit 2452 can also determine a method for changing the flight path depending on the positional relationship between the measurement target area and the air vehicle 1000. For example, when the measurement target area is an airspace area at an altitude higher than the flight altitude of the air vehicle 1000, the flight mission changing unit 2452 can determine, as a blind spot avoidance action, a flight path change that changes the flight path of the air vehicle 1000 to a flight path that avoids the positions or areas where objects such as clouds, fog, rain, snow, other air vehicles, and other airborne substances exist in the air, or to a flight path that passes through an altitude higher than the altitude at which the objects exist, based on information regarding the positions or areas where objects such as clouds, fog, rain, snow, other air vehicles, and other airborne substances exist in the air.

[0115] As another example, when an airspace area at an altitude similar to the flight altitude of the aircraft 1000 is set as the measurement target area, and the altitude of objects in the air such as clouds, fog, rain, snow, other aircraft, and other airborne substances is similar to the flight altitude of the aircraft 1000, the flight mission change unit 2452 can determine, based on information regarding the location or area of ​​presence of the above-mentioned objects in the air, a flight path change as a blind spot avoidance action, which changes the flight path of the aircraft to a flight path that avoids the objects on a plane defined by latitude and longitude, or a flight path that passes through an altitude higher than the altitude at which the substances or objects are present, or a flight path that passes through an altitude lower than the altitude at which the objects are present,

[0116] As another example, when the measurement target area is an airspace area at an altitude lower than the flight altitude of the flying body 1000, or the ground or sea surface, the flight mission change unit 2452 can determine, based on information regarding the location or area of ​​an object in the air that causes a blind spot, that the blind spot avoidance action is to change the flight path of the flying body 1000 to a flight path that avoids the object on a plane defined by latitude and longitude, or to a flight path that passes through an altitude lower than the altitude at which the object exists.

[0117] The flight mission change unit 2452 transmits information about the flight mission having the flight path changed by the above-mentioned method to the aircraft flight operating system 2200, which will be described later.

[0118] (A-1-7-6. External Measurement Request Section 2460) The external measurement request unit 2460 has the function of outputting each of the above-mentioned external commands when the blind spot avoidance method determination unit 2451 determines that the blind spot avoidance action is a measurement command from another flying object, a command to acquire satellite measurement data measured by the measurement satellite 8000, or a measurement command from the ground measurement system 4300.

[0119] (A-1-7-7. User interface unit 2470) The user interface unit 2470 includes a display unit 2471 and a user input receiving unit 2472, and is a functional unit that displays and outputs the judgment results of each of the functional units described above to the user and receives user input information such as that shown in FIG. 13, which is acquired by the user information acquisition unit 2420.

[0120] The display unit 2471 can display result information determined or decided by each functional unit in the flight management system 2400 described above. For example, it can display and output measurement conditions determined by the measurement condition determination unit 2430. The display unit 2471 can also display the detection and determination results of physical blind spots and physical blind spots exceeding a tolerance value, which are determined by the blind spot occurrence determination unit 2441, or the detection and determination results of optical blind spots and optical blind spots exceeding a tolerance value.

[0121] The display unit 2471 may also have a function to display the type of blind spot (physical blind spot, optical blind spot, etc.) determined by the blind spot cause determination unit 2442, the type of object causing the blind spot (clouds, fog, rain, snow, buildings on the ground, terrain, trees, other flying objects in the air, the sun, objects that reflect sunlight, etc.), and information regarding the positions of these objects.

[0122] The display unit 2471 can also display and output a blind spot avoidance method determined by the blind spot avoidance method determination unit 2451, including at least one of a change in the flight path of the flying body 1000, a measurement command by another flying body, a command to acquire satellite measurement data measured by the measurement satellite 8000, and a measurement command by the ground measurement system 4300. The display unit 2471 may also have a function to display and output information about the flight mission of the flying body 1000 after the change, generated by the flight mission change unit 2452.

[0123] Next, the user input accepting unit 2472 can accept a user input of a measurement request including designation information for a measurement target area as shown in Fig. 13. The user input accepting unit 2472 accepts, from the user, input information capable of identifying the position or area of ​​the measurement target area including at least one of a ground area, an ocean area, and an airspace area at a higher altitude than the ground area or the ocean area, as designation information for the measurement target area, for example.

[0124] The user input accepting unit 2472 can accept the following designated input information in addition to the measurement requests described above. For example, the user input accepting unit 2472 may have a function to modify or input approval of the blind spot avoidance method determined by the blind spot avoidance method determining unit 2451. Furthermore, the user input accepting unit 2472 may have a function to arbitrarily modify or input approval of the changed flight mission generated by the flight mission changing unit 2452.

[0125] (A-1-8. Aircraft Operation System 2200) The following describes the aircraft operation system 2200. Fig. 8 is a functional block diagram showing the functional configuration of the aircraft operation system 2200. The aircraft operation system 2200 includes an information import unit 2210, a pilot interface unit 2220, and a flight command unit 2230.

[0126] (A-1-8-1. Information import unit 2210) The information import unit 2210 is a functional unit that acquires various information necessary for processing within the aircraft flight operating system 2200 from the aircraft 1000 and the flight management system 2400. The information import unit 2210 includes an aircraft information acquisition unit 2211, a live video acquisition unit 2212, and a flight mission acquisition unit 2213.

[0127] The aircraft information acquisition unit 2211 is a functional unit that acquires aircraft control information such as its own position, speed, and attitude determined by the aircraft state determination unit 1200 from the aircraft 1000 via the communication infrastructure management system 2100.

[0128] The live video acquisition unit 2212 is a functional unit that acquires live video acquired by the measurement unit 1100 from the flying object 1000 via the communication infrastructure management system 2100.

[0129] The flight mission acquisition unit 2213 is a functional unit that acquires information about the changed flight mission generated by the flight mission change unit 2452.

[0130] (A-1-8-2. Pilot interface unit 2220) Next, the operator interface unit 2220 is a functional unit having an interface function with a pilot who remotely controls the flying object 1000. The operator interface unit 2220 includes a display unit 2221 and a pilot input receiving unit 2222.

[0131] The display unit 2221 is a functional unit that displays various information acquired by the information import unit 2210, and displays aircraft control information such as the aircraft's own position, speed, and attitude determined by the aircraft's own status determination unit 1200, live footage acquired by the measurement unit 1100 of the aircraft 1000, and information regarding the changed flight mission generated by the flight mission change unit 2452.

[0132] The pilot input receiving unit 2222 can receive a switching input from the pilot to switch the control mode of the flying object 1000 from the autonomous flight mode to the remote manual control mode. Conversely, it can also receive a switching input to switch the control mode from the remote manual control mode to the autonomous flight mode.

[0133] In the remote manual control mode, the pilot input receiving unit 2222 can receive remote control control inputs from the pilot. At this time, the pilot can manually remotely control the flying object 1000 while checking the aircraft control information and live video images displayed on the display unit 2221 and the situation of the flying object 1000 and its surroundings.

[0134] (A-1-8-3.Flight Command Department 2230) The flight command unit 2230 is a functional unit that generates flight control commands to be transmitted to the flying object 1000 via the communication infrastructure management system 2100, and transmits the flight control commands. The flight command unit 2230 includes a flight control command generation unit 2231 and a command transmission unit 2232.

[0135] The flight control command generation unit 2231 is a functional unit that generates flight control commands for flying the aircraft 1000 in autonomous flight mode in accordance with the flight mission acquired by the flight mission acquisition unit 2213. The command transmission unit 2232 is a functional unit that transmits to the aircraft 1000 the flight control commands generated by the flight control command generation unit 2231 and remote control control input information accepted by the pilot input acceptance unit 2222.

[0136] (A-1-9. Spatial Information Data Utilization System 3000) 9 is a functional block diagram showing the functional configuration of a spatial information data utilization system 3000. The spatial information data utilization system 3000 includes an information import unit 3100, a user information acquisition unit 3200, a processing information generation unit 3300, a display command unit 3400, and a communication unit 3500.

[0137] (A-1-9-1. Information import unit 3100) The information import unit 3100 has a function of acquiring information to be used in data processing executed by the spatial information data utilization system 3000. The information import unit 3100 includes a satellite measurement data acquisition unit 3110 and an aerial measurement data acquisition unit 3120.

[0138] The satellite measurement data acquisition unit 3110 has a function of acquiring satellite measurement data from the acquired data management system 2300. The aerial measurement data acquisition unit 3120 has a function of acquiring aerial measurement data from the acquired data management system 2300.

[0139] (A-1-9-2. User information acquisition unit 3200) The user information acquiring unit 3200 is a functional unit that acquires user input information input from the user terminal 7000. The user information acquiring unit 3200 includes a measurement request information acquiring unit 3210, an update measurement request acquiring unit 3220, and a display request acquiring unit 3230.

[0140] The measurement request information acquisition unit 3210 receives measurement request information from a user, including a measurement target area where measurement is to be performed using the measurement satellite 8000 or the flying object 1000 .

[0141] The update measurement request acquisition unit 3220 receives an update request when updating processing information using measurement data (update information) newly acquired after processing information, which will be described later, has been displayed and output to the user.

[0142] The display request acquisition unit 3230 is a functional unit that receives, from a user, a display request for display information to be displayed on the user terminal 7000. For example, for display information of an area for which both satellite measurement data and aerial measurement data have been acquired, higher-resolution aerial measurement data can be superimposed and displayed, and when a display request for the data acquisition method (measurement satellite or aircraft) or the date and time of data acquisition is received, data corresponding to this display request can be displayed on the user terminal 7000. Furthermore, when the display request acquisition unit 3230 receives a display request that specifies either satellite measurement data or aerial measurement data as display information, the display unit 3410 may display the specified measurement data as a timeline.

[0143] (A-1-9-3. Processing information generation unit 3300) The processing information generation unit 3300 has a function of generating integrated information that integrates measurement data measured by the measurement satellite 8000 and the flying object 1000 acquired by the information import unit 3100, and a map image that integrates measurement data acquired by the flying object 1000 and other devices with geographic information. The processing information generation unit 3300 has a data processing plan generation unit 3310 and a processing execution unit 3320.

[0144] The data processing plan generation unit 3310 has a function of generating a data processing plan (data processing schedule) for measurement data based on the blind spot avoidance method and flight mission generated by the flight management system 2400. Here, the data processing plan generation unit 3310 estimates the processing load, processing time, and processing completion time required for data processing, taking into account the amount of measurement data scheduled to be acquired and the processing capacity of the PC that executes the data processing, and generates a data processing plan taking into account this estimated information. In particular, when updating processing information that has already been created, the data processing plan generation unit 3310 takes into account the above-mentioned estimated information and generates the scheduled date and time of acquisition of updated measurement data, the ground resolution of the updated measurement data, and the data type of the updated measurement data for each update area.

[0145] The processing execution unit 3330 executes data processing based on the data processing plan for the measurement data generated by the data processing plan generation unit 3310 to generate processing information. Here, for example, if the measurement data is images measured with an optical camera, an infrared camera, or an SAR sensor, the processing information may be a wide-area image stitched together from multiple images, a wide-area orthoimage stitched together from multiple images after orthogonal transformation, three-dimensional spatial data obtained by SfM (Structure from Motion) processing from multiple images, a map image integrating a wide-area image, a wide-area orthoimage, or three-dimensional spatial data with geographic information, or a common situation map integrating information such as the disaster state into a map image. Also, if the measurement data is point cloud data acquired by a laser sensor, the processing information may be three-dimensional spatial data expressed using a digital surface model (DSM) or a digital elevation model (DEM) after processing the point cloud data, a map image integrating three-dimensional spatial data with geographic information, or a common situation map integrating information such as the disaster state into a map image.

[0146] (A-1-9-4.Display command section 3400) The display command unit 3400 is a functional unit that outputs a display command to cause the user terminal 7000 to display the processing information generated by the processing information generation unit 3300 .

[0147] The display command unit 3400 can also display information about the data processing plan generated by the data processing plan generation unit 3310 on the user terminal 7000. At this time, for example, the scheduled date and time of acquisition of updated measurement data, the scheduled date and time of completion of data processing of the updated measurement data, the ground resolution of the updated measurement data, and the data type of the updated measurement data are displayed on the user terminal 7000 for each update area. The display command unit 3400 is not limited to information about the update plan, and may also output a notification command to cause the user terminal 7000 to notify the user that updating of the integrated measurement data information has been completed in response to an update request. The display command unit 3400 may also display the progress status of measurement data acquisition.

[0148] Furthermore, when displaying integrated information that integrates aerial measurement data and satellite measurement data on the user terminal 7000, and the information import unit 3100 acquires the satellite measurement data before the aerial measurement data, a display command may be output to first display the satellite measurement data and then display the integrated information before displaying the integrated information generated by the processing execution unit 3330. In this case, when displaying the satellite measurement data first, the scheduled display time of the integrated information to be displayed later may also be displayed. Furthermore, when displaying the integrated information, a display command may be issued to display the satellite measurement data and the aerial measurement data in a manner that allows them to be distinguished from each other. Furthermore, when displaying the integrated information, a display command may be issued to display the aerial measurement data (image data) with higher resolution preferentially for areas where both satellite measurement data and aerial measurement data have been acquired.

[0149] (A-1-9-5. Communications Department 3500) The communication unit 3500 has a function of transmitting and receiving various types of information between the spatial information data utilization system 3000 and the data acquisition base system 2000, and between the spatial information data utilization system 3000 and the user terminal 7000.

[0150] The communication unit 3500 can receive user input information including, for example, a measurement request, an update request, etc. from the user terminal 7000 and can also transmit the user input information acquired from the user terminal 7000 to the data acquisition site system 2000.

[0151] The communication unit 3500 also receives a measurement data integration command from the data acquisition site system 2000. Furthermore, the communication unit 3500 can transmit the processing information generated by the processing information generation unit 3300 to the user terminal 7000.

[0152] (A-1-10. User terminal 7000) The user terminal 7000 has a function of receiving various processed information (wide-area images, wide-area orthoimages, three-dimensional spatial data, map images, common situation maps, etc.) generated by the spatial information data utilization system 3000 based on the measurement data, and displaying and outputting the information to the user via the display unit. In this case, the notification is not limited to display output, but may also be output by sound, light emission, vibration, etc.

[0153] The user terminal 7000 also has a function of accepting input information such as measurement request information, update requests, and display requests from the user.

[0154] (A-1-11. Hardware configuration) 10 is a hardware configuration diagram of the operation management system 2400 and the like. Here, the data acquisition base system 2000, the spatial information data utilization system 3000, the external system 4000, the satellite management system 5000, the navigation information provision system 6000, and the user terminal 7000, which constitute the control system 1 of the present invention, are information processing devices such as a server device or a PC. As shown in the figure, the data acquisition base system 2000, the spatial information data utilization system 3000, the external system 4000, the satellite management system 5000, the navigation information provision system 6000, and the user terminal 7000 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 these devices.

[0155] The input device 100 is a device that allows a user to input information and instructions to the control 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.

[0156] The output device 200 is a device that outputs information generated by the control system 1. Specifically, the output device 200 is a display unit 2221 (including eyewear, AR, VR display devices, etc.), a printer, or a speaker.

[0157] 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 arithmetic processing.

[0158] The main storage device 400 is a memory device such as a RAM that temporarily stores various read information and a ROM that stores programs executed by the processing device 300, application programs, and various other information. 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. The communication device 600 is a device that performs information communication with external devices wirelessly or via a cable.

[0159] Some of the functions of the above-mentioned flight operation management system 2400 can be implemented in the spatial information data utilization system 3000, and some of the functions of the flight operation management system 2400 can be implemented in the aircraft flight operation system 2200 or the flying vehicle 1000.

[0160] (A-1-12. Control flow of control system 1) Next, a description will be given of the overall control flow of the control system 1. Fig. 11 is a flowchart showing the processing flow of the control system 1.

[0161] First, the information import unit 2410 acquires information such as measurement data (step 101).

[0162] Next, the user information acquisition unit 2420 acquires user input information (step 102). In this step, for example, the user input information including request information as shown in FIG.

[0163] Next, the measurement condition determination unit 2430 determines the monitoring conditions including the area to be monitored (step 103).

[0164] Next, the aircraft flight operating system 2200 and the aircraft 1000 perform a measurement flight of the area to be monitored and acquire measurement data (step 104).

[0165] Next, the blind spot occurrence determination unit 2441 determines the next processing step to transition to depending on whether a blind spot (physical blind spot or optical blind spot) or a blind spot exceeding the tolerance has been detected (step 105). If a blind spot or a blind spot exceeding the tolerance has been detected in this step, the processing transitions to step 106, whereas if a blind spot or a blind spot exceeding the tolerance has not been detected, the processing transitions to step 104.

[0166] Next, if a blind spot or a blind spot exceeding the tolerance is detected in step 105, the blind spot cause determination unit 2442 determines the type of blind spot and the position of an object or the like that is causing the blind spot (step 106). Detailed processing of this step will be described later.

[0167] Next, the blind spot avoidance method determination unit 2451 determines a blind spot avoidance method (step 107). The detailed processing of this step will be described later.

[0168] Next, the flight mission change unit 2452 changes the flight mission of the flying object 1000 (step 108). The detailed processing of this step will be described later.

[0169] Next, the aircraft flight operating system 2200 and the aircraft 1000 perform a measurement flight of the monitoring area according to the changed flight mission, and acquire measurement data (step 109).

[0170] Next, the spatial information data utilization system 3000 processes the measurement data and provides the processed information after the data processing to the user terminal 7000 (step 110).

[0171] (A-1-13. Blind Spot Occurrence Determination by Blind Spot Occurrence Determination Unit 2441) Next, a description will be given of the blind spot occurrence determination performed by the blind spot occurrence determination unit 2441. Fig. 14 is a diagram illustrating the contents of the determination performed by the blind spot occurrence determination unit 2441 when determining whether or not a blind spot occurs.

[0172] 14 shows a case where measurement flight is performed in a measurement target area set at an altitude higher than the flight altitude of the flying object 1000. In such a case, if an object such as a cloud exists between the flying object 1000 and the measurement target area, part or all of the measurement target area will be overlapped and hidden by the cloud. In such a case, the blind spot occurrence determination unit 2441 can detect that a physical blind spot has occurred in part of the measurement target area, where measurement data cannot be acquired due to clouds.

[0173] Furthermore, when an area obscured by an object such as a cloud occurs in at least a portion of the measurement target area as described above, the blind spot occurrence determination unit 2441 may perform a detection determination of a physical blind spot depending on the degree of impact of the cloud or the like on measurement data acquisition, rather than immediately detecting the occurrence of a physical blind spot. In this case, for example, if the flying object 1000 can acquire sufficiently high-quality, acceptable measurement data even for the measurement target area obscured by the cloud because the cloud is thin, or if the area or volume of the measurement target area obscured by the cloud is within an acceptable range because the cloud is small, no blind spot avoidance action is required, and the measurement flight can continue without detecting the occurrence of a physical blind spot. Furthermore, in addition to physical blind spots due to clouds or the like, optical blind spot detection determination may also be performed depending on the degree and range of the overexposure when the sun enters the field of view of the camera image, causing overexposure and resulting in overexposure.

[0174] As described above, when determining whether a physical blind spot is detected based on the degree of influence of clouds, the sun, etc. on the acquisition of measurement data, it is possible to prevent unnecessary blind spot avoidance actions from being taken, and to detect the occurrence of a blind spot only when blind spot avoidance actions are necessary.

[0175] (A-1-14. Blind Spot Analysis by Blind Spot Cause Determination Unit 2442) Next, an analysis process for determining the type of blind spot, the position of an object causing the blind spot, etc., performed by the blind spot cause determination unit 2442 will be described. Fig. 15 is a flowchart showing the detailed determination process flow for a blind spot performed by the blind spot cause determination unit 2442. The flowchart shown in Fig. 15 particularly shows the detailed process flow of step 106 shown in Fig. 11.

[0176] First, the type of the detected blind spot is determined by the blind spot cause determination unit 2442 (step 201). In this step, for example, it is determined whether the detected blind spot is a physical blind spot or an optical blind spot.

[0177] Next, the next processing step to transition to is determined (step 202) depending on the type of blind spot determined in step 201. In this step, if the type of blind spot is determined to be (1) a physical blind spot, the processing transitions to step 203, whereas if the type of blind spot is determined to be (2) an optical blind spot, the processing transitions to step 205.

[0178] Next, if the type of blind spot is determined to be (1) a physical blind spot in step 202, the type of object causing the physical blind spot is determined (step 203). In this step, for example, the type of object causing the physical blind spot can be determined to include at least one of clouds, fog, rain, snow, buildings on the ground, terrain, trees, and other flying objects in the air.

[0179] Next, information regarding the position of the object that is causing the physical blind spot is determined (step 204). In this step, not only is the object's position determined, but also information that can identify the area where the object exists is determined if the object is a large volume such as cloud or fog.

[0180] Next, if the type of blind spot is determined to be (2) an optical blind spot in step 202, the cause of the optical blind spot is determined (step 205). In this step, it is determined whether the optical blind spot is caused by sunlight directly hitting the measurement sensor 1110, or by sunlight being reflected by a building on the ground or the surface of the sea hitting the measurement sensor 1110, for example.

[0181] Next, the direction of the sun or the position of an object that reflects sunlight, which is the cause of the optical blind spot, is determined (step 206).

[0182] (A-1-15. Determining physical blind spot objects when flying inside clouds, etc.) Next, a method for determining a physical blind spot object when flying inside an object causing a physical blind spot, such as a cloud, will be described. Fig. 16 is a diagram showing a method for determining a physical blind spot causing object by the blind spot cause determination unit 2442 while flying inside a cloud or the like.

[0183] FIG. 16 shows the flying object 1000 flying inside a cloud at time t1. At this time t1, the blind spot cause determination unit 2442 can determine that the flying object 1000 is flying inside a precipitation area such as clouds, fog, rain, or snow, based on measurement data acquired by a laser sensor or optical camera, which is the measurement sensor 1110 mounted on the flying object 1000. When a laser sensor is used, the reflected laser light is detected from a short distance from the sensor, making it possible to determine that an object such as water particles is present in the vicinity. Furthermore, when an optical camera is used, the viewing distance from the camera is short, making it possible to determine that an object such as a cloud is present in the vicinity.

[0184] Furthermore, the measurement sensor 1110 of the flying object 1000 can be used to detect that the flying object 1000 has exited the clouds at time t2. For example, when a laser sensor is used, it is possible to detect that the flying object 1000 has exited the clouds when an object such as a water particle that was close to the sensor disappears and an object at a relatively distant distance is detected, or when a state where no object is detected is changed. Furthermore, when an optical camera is used, it is possible to determine that an object such as a cloud has disappeared from around the flying object 1000 because the viewing distance from the camera is longer.

[0185] Furthermore, at this time t1, in addition to the measurement data from the measurement sensor 1110 of the flying object 1000, the position of airborne objects such as clouds and fog can be determined from satellite measurement data such as satellite images measured by the measurement satellite 8000, thereby determining that the flying object 1000 is flying inside an area of ​​precipitation such as clouds, fog, rain, or snow. Similarly, the position of airborne objects such as clouds and fog can be determined from ground measurement data measured by a ground measurement system 4300 installed on the ground or on a ship at sea, thereby determining that the flying object 1000 is flying inside an area of ​​precipitation such as clouds, fog, rain, or snow.

[0186] Even when using the measurement satellite 8000 or the ground measurement system 4300 as described above, if the self-position of the aircraft 1000 moves outside the area of ​​airborne objects such as clouds or fog determined by the satellite measurement data or the ground measurement data, it can be determined that the aircraft 1000 is flying inside an area of ​​precipitation such as clouds, fog, rain or snow.

[0187] (A-1-16. Blind Spot Avoidance Method Determination Process by Blind Spot Avoidance Method Determination Unit 2451) Next, a method for determining a method for avoiding a blind spot by the blind spot avoidance method determination unit 2451 will be described. Fig. 17 is a flowchart showing the processing flow for determining a method for avoiding a blind spot by the blind spot avoidance method determination unit 2451. The flowchart shown in Fig. 17 particularly shows the detailed processing flow of step 107 shown in Fig. 11.

[0188] First, the next processing step to transition to is determined according to the type of blind spot determined by the blind spot cause determination unit 2442 (step 301). In this step, if the type of blind spot is determined to be (1) a physical blind spot, the processing transitions to step 302. On the other hand, if the type of blind spot is determined to be (2) an optical blind spot, the processing transitions to step 305.

[0189] Next, if the type of blind spot is determined to be a physical blind spot in step 301, the next processing step to transition to is determined depending on whether the type of object causing the physical blind spot is (1) an airborne object or (2) a ground feature (step 302). If the type of object causing the physical blind spot is determined to be (1) an airborne object in this step, the processing transitions to step 303, whereas if the type of object causing the physical blind spot is determined to be (2) a ground feature, the processing transitions to step 304.

[0190] Next, if it is determined in step 302 that the type of object causing the physical blind spot is an airborne object, the next processing step to transition to is determined depending on whether the altitude of the position where the airborne object exists is lower than a predetermined altitude (step 303). If it is determined in this step that the altitude of the position where the airborne object exists is lower than the predetermined altitude, the processing transitions to step 304, and on the other hand, if it is determined that the altitude of the position where the airborne object exists is higher than the predetermined altitude, the processing transitions to step 305.

[0191] Next, if it is determined in step 302 that the type of object causing the physical blind spot is a ground feature, or if it is determined in step 303 that the altitude of the location where the airborne object is located is lower than a predetermined altitude, it is determined that the method of avoiding the blind spot is to perform measurements using another aircraft, etc. (step 304).

[0192] Next, if the type of blind spot is determined to be an optical blind spot in step 301, or if the altitude of the location where the airborne object is located is determined to be higher than a predetermined altitude in step 303, a change in flight mission is determined as the method for avoiding the blind spot (step 305).

[0193] (A-1-17. Flight mission change processing by the flight mission change unit 2452) Next, we will explain the processing method for changing the flight mission by the flight mission changing unit 2452. Fig. 18 is a flowchart showing the processing flow for changing the flight mission by the flight mission changing unit 2452. The flowchart shown in Fig. 18 particularly shows the detailed processing flow of step 108 shown in Fig. 11.

[0194] First, the flight mission change unit 2452 determines the location of the measurement target area (step 401). In this step, the location of the measurement target area is determined, which may be an airspace area at an altitude higher than the flight altitude of the flying object 1000, an airspace area at a similar altitude, an airspace area at a lower altitude, or an airspace area including a land area or an ocean area.

[0195] Next, the position of the object causing the physical blind spot is determined (step 402).

[0196] Next, the future movement position of the object causing the physical blind spot is predicted (step 403).

[0197] Next, a flight mission modification plan is generated (step 404), which includes the flight path of the aircraft 1000. The flight mission generated in this step includes information on the flight path in two-dimensional or three-dimensional space, and may also include other mission information related to flight control, such as flight speed and attitude angle.

[0198] (A-1-18. Explanation of blind spot detection and blind spot avoidance actions) Next, the determination content by the blind spot determination unit 2440 and the blind spot avoidance action determined by the blind spot avoidance action determination unit 2450 will be described with reference to FIGS.

[0199] FIG. 19 is a diagram showing a planned flight path of the flying object 1000 at time t1 before the blind spot avoidance action determination unit 2450 determines a blind spot avoidance action. In the example shown in FIG. 19, arrows indicate a planned flight path included in the flight mission of the flying object 1000 when measuring a ground area, which is a measurement target area, using the measurement sensor 1110 mounted on the flying object 1000. As shown in FIG. 19, clouds are floating in a position between the flying object 1000 and the measurement target area. As a result, a physical blind spot occurs in the measurement by the flying object 1000. FIG. 20 shows an example of measurement data acquired in the situation shown in FIG. 19.

[0200] Fig. 20 is a diagram showing an example of measurement data obtained by measuring a ground area at time t1 before a blind spot avoidance action is determined by the blind spot avoidance action determination unit 2450. As shown in Fig. 20, a physical blind spot has occurred where part of the ground area, which is the area to be measured, is hidden by clouds. The blind spot occurrence determination unit 2441 performs a blind spot detection determination based on such measurement data and reference information such as the presence or absence of a blind spot, the transparency of the blind spot, and the size of the blind spot.

[0201] Furthermore, the blind spot cause determination unit 2442 can determine that the type of object causing the physical blind spot is a cloud, and the three-dimensional position of the cloud including the latitude and longitude position and altitude, based on the measurement data such as that shown in FIG. 20 .

[0202] Next, Fig. 21 is a diagram showing an example of a changed planned flight path of the flying object 1000 at time t2 after the blind spot avoidance action determination unit 2450 has determined a blind spot avoidance action. The example shown in Fig. 21 shows a case where the blind spot avoidance method determination unit 2451 has determined that changing the flight path of the flying object 1000 is the blind spot avoidance action, and the flight mission change unit 2452 changes the flight path to an altitude lower than the altitude at which clouds exist (i.e., below the clouds). By changing the flight path in this way, it is possible to measure the measurement target area without it being obstructed by clouds.

[0203] As shown in Figure 21, the first measurement flight flies in airspace at a relatively high altitude and takes measurements using a laser sensor and optical camera to determine whether there are any blind spots caused by clouds in the low-altitude area and the altitude of the clouds, and the changed flight route flies in airspace at a lower altitude than the clouds to perform a measurement flight that avoids blind spots, making it possible to perform a measurement flight that avoids blind spots in a single flight. Note that if the aircraft enters a cloud area or clouds are detected while flying in airspace at a lower altitude than the clouds, the altitude of the flight route can be dynamically further lowered to more reliably avoid blind spots caused by clouds.

[0204] Next, Fig. 22 is a diagram showing another example of the planned flight path after change for the flying body 1000 at time t2 after the blind spot avoidance action determination unit 2450 has determined a blind spot avoidance action. The example shown in Fig. 22 shows a case where the blind spot avoidance method determination unit 2451 has determined that changing the flight path of the flying body 1000 is the blind spot avoidance action, and the flight mission change unit 2452 changes the flight path to a position that avoids latitude and longitude positions where clouds are present. By changing the flight path in this way, the measurement target area can be measured without being obstructed by clouds.

[0205] Next, Fig. 23 is a diagram showing a measurement flight by another aircraft at time t2 after the blind spot avoidance action determination unit 2450 has determined a blind spot avoidance action. The example shown in Fig. 23 shows a case where the blind spot avoidance method determination unit 2451 has determined that the blind spot avoidance action is to perform a measurement flight by another aircraft, and the multicopter is flown at an altitude lower than the altitude at which clouds exist (i.e., below the clouds). In this way, by requesting flight measurement by the other aircraft, information on the measurement target area blocked by clouds can be obtained by measurement by the other aircraft.

[0206] 23 shows an example in which a measurement flight using a multicopter is performed to avoid physical blind spots caused by clouds, but a measurement flight using a multicopter can also be performed to deal with physical blind spots caused by features such as tunnels, overpasses, arcades, etc. In that case, the position and height of the features can be estimated from geographic information and measurement data from the aircraft 1000, and the flight path of the multicopter can be set.

[0207] The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.

[0208] [A-2. Effects of this embodiment] The above-described embodiments can provide a system or method capable of taking appropriate countermeasures when an obstacle occurs in measurement using an aircraft. For example, when an aircraft is used to measure an airspace area, a ground area, or an ocean area, obstacles that block the measurement area can include airborne substances such as clouds, fog, rain, and snow, other aircraft or other flying objects, or ground objects such as buildings and terrain. Furthermore, sunlight and reflected sunlight can also interfere with measurements using an optical camera or the like. Even when such obstacles occur during measurement, appropriate countermeasures can be taken depending on the type of obstacle, the location of the obstructing object, and the like. [Explanation of symbols]

[0209] 1...Control 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...Flying object 1100...Measuring unit 1110...Measuring sensor 1120...Measurement control unit 1200... Self-aircraft state determination unit 1210... Self-position determination unit 1220…Posture determination unit 1300...Flight section 1310...Thrust generation section 1320...Flight control unit 1400...Recording section 1410...Measurement data recording section 1420...Own aircraft status recording unit 1430...Flight control logic recording unit 1500…Communications Department 2000...Data acquisition base system 2100...Communication Infrastructure Management System 2200...Aircraft Operation System 2210...information import unit 2211...aircraft information acquisition unit 2212…Live video acquisition unit 2213…Flight mission acquisition unit 2220...Pilot interface unit 2221...Display unit 2222...Pilot input reception unit 2230... Flight command unit 2231... Flight control command generation unit 2232...Command transmission unit 2300...Acquisition data management system 2400...Flight Management System 2410: Information import unit 2411: Measurement data acquisition unit 2412...Satellite information acquisition unit 2413...External system information acquisition unit 2414...Aircraft navigation information acquisition unit 2415...Response information acquisition unit 2420...User information acquisition unit 2430...Measurement condition determination unit 2440...blind spot determination unit 2441...blind spot occurrence determination unit 2442…Blind spot cause determination unit 2450...Blind spot avoidance action determination unit 2451...Blind spot avoidance method determination unit 2452...Flight Mission Change Division 2460…External Measurement Request Department 2470...User interface section 2471...Display unit 2472...User input reception unit 2500...Airspace monitoring system 3000…Spatial information data utilization system 3100: Information import unit 3110: Satellite measurement data acquisition unit 3120…Aerial Measurement Data Acquisition Section 3200...User information acquisition unit 3210...Measurement request information acquisition unit 3220: Update measurement request acquisition unit 3230: Display request acquisition unit 3300... Processing information generation unit 3310... Data processing plan generation unit 3320...Processing execution unit 3400...Display command section 3500...Communication section 4000...External system 4100...Weather information system 4200...Geographic information system 4300...Ground measurement system 5000...Satellite management system 5100…Satellite information provision department 5110…Orbit information provision department 5120…Movement Prediction Information Department 5200: Measurement data management unit 5210: Data recording unit 5220...Data transmission unit 5300...Measurement control command unit 5310...Control command generation unit 5320...Control command transmitter 6000...Navigation information system 7000...User terminal 8000...Measuring satellite

Claims

1. A control system for measuring a measurement target area using a measurement sensor mounted on an aircraft, a blind spot occurrence determination unit that detects a blind spot in the measurement of the measurement target area by the measurement sensor; a blind spot cause determination unit that determines a state related to a cause of the blind spot when the blind spot is detected by the blind spot occurrence determination unit; a blind spot avoidance action determination unit that determines a blind spot avoidance action to avoid the blind spot in accordance with a determination result by the blind spot cause determination unit.

2. 2. The control system of claim 1, A control system in which the blind spot occurrence determination unit detects as the blind spot at least one of a physical blind spot caused by an object existing between the aircraft and the measurement target area, a physical blind spot that exceeds a preset tolerance, an optical blind spot caused by a light beam hitting the measurement sensor, and an optical blind spot that exceeds a preset tolerance.

3. 3. The control system of claim 2, The blind spot cause determination unit determines the type of the blind spot, which includes at least one of the physical blind spot and the optical blind spot.

4. 3. The control system of claim 2, When the blind spot occurrence determination unit detects the physical blind spot or the physical blind spot exceeding the tolerance value, The blind spot cause determination unit determines the type of the object that causes the physical blind spot.

5. 5. The control system of claim 4, A control system in which the type of object causing the physical blind spot determined by the blind spot cause determination unit includes at least one of clouds, fog, rain, snow, buildings on the ground, terrain, trees, or other flying objects in the air.

6. 3. The control system of claim 2, When the blind spot occurrence determination unit detects the physical blind spot caused by the object or the physical blind spot exceeding the tolerance, The blind spot cause determination unit determines at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft of the position or area where the object exists.

7. 7. The control system of claim 6, The blind spot cause determination unit A control system that determines at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the aircraft of the location or area where at least one of the objects that cause the physical blind spot, namely clouds, fog, rain, or snow, exists, based on at least one of measurement data measured by the measurement sensor, which is a laser sensor or optical camera, mounted on the aircraft, satellite measurement data measured by a measurement satellite, ground measurement data measured by a ground measurement device installed on the ground or at sea, and weather information obtained from an external source.

8. 7. The control system of claim 6, The blind spot cause determination unit A control system that determines whether the aircraft is located inside an area containing at least one of the objects that cause the physical blind spot, such as clouds, fog, rain, or snow, based on at least one of measurement data measured by the measurement sensor, which is a laser sensor or optical camera, mounted on the aircraft, satellite measurement data measured by a measurement satellite, and ground measurement data measured by a ground measurement device installed on the ground or sea.

9. 7. The control system of claim 6, The blind spot cause determination unit When it is determined that the flying object is located inside an area where at least one of clouds, fog, rain, and snow exists, which are the objects causing the physical blind spot, A control system that determines whether the aircraft has moved from inside to outside the object's presence area based on measurement data measured by the measurement sensor, which is a laser sensor or optical camera, mounted on the aircraft.

10. 7. The control system of claim 6, The blind spot cause determination unit Based on at least one of measurement data measured by a laser sensor or an optical camera, which is the measurement sensor mounted on the aircraft, satellite measurement data measured by a measurement satellite, ground measurement data measured by a ground measurement device installed on the ground or at sea, and navigation information related to the navigation of the aircraft obtained from an external navigation information providing system, A control system that determines at least one of the altitude, two-dimensional position, three-dimensional position, or relative distance from the airborne other flying object that is the object causing the physical blind spot, or the location or area of ​​the other flying object.

11. 7. The control system of claim 6, The blind spot cause determination unit Based on at least one of measurement data measured by a laser sensor or an optical camera, which is the measurement sensor mounted on the aircraft, satellite measurement data measured by a measurement satellite, and geographic information acquired from an external geographic information providing system, A control system that determines at least one of the height, two-dimensional position, three-dimensional position, or relative distance from the aircraft of the objects on the ground, such as buildings, terrain, or trees, that cause the physical blind spot.

12. 3. The control system of claim 2, When the blind spot occurrence determination unit detects the optical blind spot or the optical blind spot exceeding the tolerance, The blind spot cause determination unit determines at least one of the relative direction from the aircraft of the sun, which generates the sunlight that causes the optical blind spot, or the position, relative distance from the aircraft, or relative direction from the aircraft of an object that reflects the sunlight.

13. 2. The control system of claim 1, The blind spot avoidance action determination unit determines a blind spot avoidance action including at least one of a change in the flight path of the aircraft, a measurement command by another aircraft, a command to acquire satellite measurement data measured by a measurement satellite, and a measurement command by a ground measurement device.

14. 2. The control system of claim 1, When the blind spot cause determination unit determines that the type of the object causing the blind spot is at least one of clouds, fog, rain, snow, other flying objects, and other airborne substances present in the air, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a flight path change that changes the flight path of the aircraft to a path that can measure the measurement target area without interfering with the object, based on information regarding the location or area where the object is located.

15. 15. The control system of claim 14, When the measurement target area is an airspace area having an altitude higher than the flight altitude of the aircraft, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a flight path change that changes the flight path of the aircraft to a flight path that avoids the position or area where the object exists on a plane defined by latitude and longitude, or a flight path that passes through an altitude higher than the altitude at which the object exists, based on information regarding the position or area where the object exists in the air that causes the blind spot.

16. 15. The control system of claim 14, When an airspace area at an altitude similar to the flight altitude of the aircraft is set as the measurement target area and the altitude of the object in the air is similar to the flight altitude of the aircraft, The blind spot avoidance action determination unit determines, based on information regarding the location or area of ​​the object in the air that causes the blind spot, a flight path change that changes the flight path of the aircraft to a flight path that avoids the object on a plane defined by latitude and longitude, or a flight path that passes through an altitude higher than the altitude at which the substance or object is located, or a flight path that passes through an altitude lower than the altitude at which the object is located, as the blind spot avoidance action.

17. 15. The control system of claim 14, When the measurement target area is an airspace area at an altitude lower than the flight altitude of the aircraft, or the ground or sea surface, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a flight path change that changes the flight path of the aircraft to a flight path that avoids the object on a plane defined by latitude and longitude, or a flight path that passes through an altitude lower than the altitude at which the object exists, based on information regarding the location or area of ​​the object in the air that causes the blind spot.

18. 2. The control system of claim 1, The blind spot cause determination unit determines that the type of object causing the blind spot is at least one of clouds and fog in the air, and when an airspace area at an altitude lower than the flight altitude of the aircraft, or the ground or sea surface is set as the measurement target area, The blind spot avoidance action determination unit determines, as the blind spot avoidance action, a measurement command to cause another flying object to fly for measurement on a flight path that passes through an altitude lower than the altitude at which the object exists.

19. 2. The control system of claim 1, When the blind spot cause determination unit determines that the type of the object causing the blind spot is a building, a terrain, a tree, or another ground object, A control system in which the blind spot avoidance action determination unit determines a measurement command from another aircraft as the blind spot avoidance action.

20. 2. The control system of claim 1, A control system comprising a user input receiving unit that receives input information from a user that can identify the position or area of ​​the measurement target area, which includes at least one of a ground area, an offshore area, and an airspace area at a higher altitude than the ground area or the offshore area.

21. A control method for measuring a measurement target area using a measurement sensor mounted on an aircraft, comprising: The computer a blind spot occurrence determination step of detecting a blind spot in the measurement of the measurement target area by the measurement sensor; a blind spot cause determination step of determining a state related to a cause of occurrence of the blind spot when the blind spot is detected by the blind spot occurrence determination step; a blind spot avoidance action determination step of determining a blind spot avoidance action to avoid the blind spot according to the determination result of the blind spot cause determination step.

22. A program used in a control system that measures a measurement target area using a measurement sensor mounted on an aircraft, On the computer, a blind spot occurrence determination command to detect a blind spot in the measurement of the measurement target area by the measurement sensor; a blind spot cause determination command for determining a state related to a cause of occurrence of the blind spot when the blind spot is detected by the blind spot occurrence determination step; a blind spot avoidance action determination command for determining a blind spot avoidance action to avoid the blind spot according to the determination result of the blind spot cause determination step; A program that executes the following.

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