Control apparatus, communication control method, and program

Abstract

To provide a control device for calculating an appropriate communication path between mobile bodies in a radio communication system using the mobile bodies as relay devices.SOLUTION: On the basis of a relative position vector and a relative speed vector of two moving bodies for each combination of the two moving bodies among a plurality of moving bodies that can be a relay device of a radio communication network, and a constraint condition of a communication mechanism mounted on the moving bodies, it is determined whether or not to perform acquisition and tracking between the two moving bodies indicated by the combination. A route information table including the information of the route configuration of a radio communication network which can be configured of a plurality of mobile objects is generated on the basis of the execution propriety of acquisition and tracking.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Wireless communication networks can be constructed using multiple or numerous satellites flying in low earth orbit (LEO) or medium earth orbit (MEO) or multiple or numerous other mobile objects, and services can be provided using these wireless communication networks. In order to carry out businesses using these wireless communication networks, it is necessary to have satellite control to monitor and control the individual mobile objects that make up the wireless communication network.

[0003] For example, Patent Document 1 discloses a technique for routing data traffic in a non-geostationary orbit (NGSO) satellite system. Patent Document 1 also discloses that time-varying changes in backbone route tables in a satellite constellation are calculated in advance by a ground controller of the constellation and uploaded to the satellite (paragraph 0019, etc.). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-114764 Summary of the Invention [Problem to be solved by the invention]

[0005] In a wireless communication system that uses mobile objects such as artificial satellites as relay devices, it is desirable to calculate an appropriate communication route between the mobile objects.

[0006] An object of the present disclosure is to provide a control device, a communication control method, and a program that solve the above-mentioned problems. [Means for solving the problem]

[0007] A control device according to one embodiment of the present disclosure includes a tracking determination means for determining whether or not acquisition and tracking can be performed between two moving bodies indicated by a combination of two moving bodies among a plurality of moving bodies that can serve as relay devices in a wireless communication network, based on the relative position vectors and relative velocity vectors of the two moving bodies and constraints of the communication mechanism installed in the moving bodies, and a route processing means for generating a route information table including information on the route configuration of a wireless communication network that can be configured by the plurality of moving bodies, based on whether or not acquisition and tracking can be performed.

[0008] A communication control method according to one embodiment of the present disclosure determines whether acquisition and tracking can be performed between two mobile bodies indicated by each combination of two mobile bodies among a plurality of mobile bodies that can serve as relay devices in a wireless communication network, based on the relative position vectors and relative velocity vectors of the two mobile bodies and constraints of the communication mechanism installed in the mobile bodies, and generates a route information table containing information on the route configuration of a wireless communication network that can be composed of the plurality of mobile bodies based on whether acquisition and tracking can be performed.

[0009] A program according to one embodiment of the present disclosure causes a computer of a control device to function as a tracking determination means that determines whether or not acquisition and tracking can be performed between two moving bodies indicated by a combination of two moving bodies among a plurality of moving bodies that can serve as relay devices in a wireless communication network, based on the relative position vectors and relative velocity vectors of the two moving bodies and constraints of the communication mechanism installed in the moving bodies, and a route processing means that generates a route information table containing information on the route configuration of a wireless communication network that can be composed of the plurality of moving bodies based on whether or not acquisition and tracking can be performed. [Effects of the Invention]

[0010] In a wireless communication system that uses mobile objects such as artificial satellites as relay devices, it is possible to calculate an appropriate communication route between the mobile objects. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 2 is a functional block diagram of a control device according to the present disclosure. [Figure 2] FIG. 2 is a hardware configuration diagram of a control device according to the present disclosure. [Figure 3] FIG. 2 is a diagram showing a processing flow of a control device according to the present disclosure. [Figure 4] FIG. 1 illustrates the orbital plane of a satellite according to the present disclosure. [Figure 5] FIG. 10 is a diagram showing route information for a combination of satellites that can be optically acquired and tracked according to the present disclosure. [Figure 6] FIG. 1 is a first diagram illustrating a graph of a route configuration of a wireless communication network according to the present disclosure. [Figure 7] FIG. 2 is a second diagram illustrating a graph of a route configuration of a wireless communication network according to the present disclosure. [Figure 8] FIG. 10 illustrates a routing table including information on route configurations according to the present disclosure. [Figure 9] FIG. 10 is a diagram illustrating functional blocks according to another example of a control device according to the present disclosure. [Figure 10] FIG. 10 is a diagram illustrating a processing flow according to another example of the control device according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, the control device 10 of the present disclosure and a communication system including the control device 10 will be described with reference to the drawings.

[0013] Businesses are already being considered that will build satellite constellations using multiple or numerous satellites flying in low Earth orbit (LEO) or medium Earth orbit (MEO), and use these satellite constellations to conduct frequent Earth observations or provide satellite communications over a wide area. In order to carry out businesses using these satellite constellations, it is necessary to have satellite control that monitors and controls the individual satellites that make up the satellite constellation.

[0014] In this satellite control, an operator on the ground operates the satellite control device 2 to send and receive commands and telemetry data to and from the satellite via a ground station antenna, thereby performing monitoring and control. Methods for sending and receiving data include installing a ground station antenna, placing a data relay satellite in a geostationary orbit (GEO) and sending and receiving data from the ground station antenna to a specified satellite via the data relay satellite, and also sending and receiving data from the ground station antenna to a specified satellite via multiple data relay satellites in LEO or MEO.

[0015] Here, when deploying multiple data relay satellites (artificial satellites) on LEO or MEO, the route information available for data relay between satellites changes dynamically over time as the satellites move in their orbits, so the challenge is to update the available route information in a timely manner.

[0016] Therefore, the control device 10 of the present disclosure calculates the relative velocity vector and relative position vector for any combination of two satellites to estimate on the ground whether capture and tracking via inter-satellite optical communications are possible. The control device 10 transmits data on routes that can be captured and tracked via inter-satellite optical communications by uplinking commands from the ground to the satellites in order via a ground station antenna. When routes that can be captured and tracked via inter-satellite optical communications are updated as the satellites move in their orbits, the control device 10 updates the routes that can be captured and tracked via inter-satellite optical communications and uplinks commands to the satellites that include information indicating differences in the routes that make up the wireless communication network.

[0017] Based on the dynamically changing route information generated by the control device 10, it is possible to determine other satellites that can be captured and tracked by inter-satellite optical communication for all target satellites, as well as the shortest and detour routes that allow capture and tracking, and if capture and tracking are not possible, it is also possible to determine when and by which route capture and tracking will be possible.

[0018] FIG. 1 is a functional block diagram of a control device according to the present disclosure. The control device 10 is configured by one or more computers equipped with a calculation device. The control device 10 performs the functions of a position and speed processing unit 11, a determination unit 12, a route processing unit 21, and a command generation unit 22.

[0019] The position and velocity processing unit 11 calculates the relative position vector and the relative velocity vector of each combination of two mobile bodies among a plurality of mobile bodies that can serve as relay devices in the wireless communication network. The determination unit 12 determines whether or not acquisition and tracking can be performed between the two moving bodies indicated by the combination based on the relative position vectors and relative velocity vectors of the two moving bodies for each combination of two moving bodies and the constraints of the communication mechanism installed in the moving bodies. The route processing unit 21 generates a route information table including information on the route configuration of a wireless communication network that can be configured by the plurality of mobile objects based on whether acquisition and tracking can be performed. The command generating unit 22 generates a command for notifying the information contained in the route information table to a mobile unit corresponding to the route information table.

[0020] FIG. 2 is a hardware configuration diagram of the control device. 2, the control device 10 is a computer equipped with various hardware components such as a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a storage device 104, a communication module 105, and a sensor 106. The control device 10 performs the functions of the above-mentioned functional units by the CPU 101 executing a program. The control device 10 may be configured by multiple computers cooperating to perform the functions of one or more of the above-mentioned functional units.

[0021] The control device 10 is communicatively connected to an orbital mechanics device 1 that inputs information on the orbit, position, and velocity of LEO and MEO artificial satellites to the control device 10. The control device 10 may acquire the information on the orbit, position, and velocity of the artificial satellites output from the orbital mechanics device 1 by an offline connection via a file or medium.

[0022] The control device 10 is also connected to a satellite control device 2 for performing a command uplink to form a communication network created by the control device 10 and formed by satellites flying in LEO or MEO. The satellite control device 2 and the control device 10 may be communicatively connected via an online network. The satellite control device 2 may acquire information output by the control device 10 via an offline connection via a file or medium.

[0023] FIG. 3 is a diagram showing a processing flow of the control device. Next, the processing flow of the control device 10 will be explained step by step. First, the orbital mechanics device 1 calculates the satellite orbit of each satellite at a predetermined time in the future using telemetry data on the orbital position obtained from satellites flying in LEO or MEO that can constitute the wireless communication network of the present disclosure. The predetermined time in the future can take various values, such as a few seconds, tens of seconds, minutes, or hours. The orbital mechanics device 1 repeatedly calculates the satellite orbit at predetermined intervals, such as a few seconds, tens of seconds, or minutes. The process of calculating the satellite orbit can calculate the future orbit, position, and velocity of the satellite in LEO or MEO. The calculation of the orbit, position, and velocity of the satellite may use known techniques. The control device 10 obtains information on the orbit, position, and velocity of each satellite from the orbital mechanics device 1 at predetermined time intervals (step S101).

[0024] The position and velocity processing unit 11 calculates a relative position vector and a relative velocity vector for each combination of any two satellites based on predicted information at a predetermined future time of the orbits, positions, and velocities of multiple target satellites moving in LEO or MEO (step S102). The position and velocity processing unit 11 may calculate the difference between the position vectors of the two satellites included in the combination as a relative position vector, and the difference between the velocity vectors as a relative velocity vector. The position and velocity processing unit 11 similarly calculates the relative position vector and the relative velocity vector for each combination of all two satellites that can form a wireless communication network.

[0025] FIG. 4 is a diagram showing the orbital plane of an artificial satellite. The orbital planes of artificial satellites can be represented as shown in Figure 4. In Figure 4, the nadir trajectory of the artificial satellite relative to the Earth's surface is shown in two dimensions. However, in reality, the orbital altitude and orbital plane of an artificial satellite extend in three dimensions. For example, as shown in Figure 4, when satellites A01 and A02 flying in orbital plane A fly in the same direction (upward on the paper in Figure 4), satellites B01 and B02 flying in orbital plane B to the right of orbital plane A may also fly in the same direction (upward on the paper in Figure 4). Furthermore, satellites X01 and X02 flying in orbital plane X to the left of orbital plane A may fly in the opposite direction (downward on the paper in Figure 4) to the satellites flying in orbital planes A and B. Satellites C01 and C02 flying in orbital plane C fly upward on the paper, just like satellites flying in orbital planes A and B, but may be farther away from orbital plane A. There are also satellites that fly in orbital planes that cross other orbital planes, such as satellite Y01 and satellite Y02 that fly in orbital plane Y. The relative position vector and relative velocity vector take on various values ​​depending on the combination of the orbital plane and direction in which the satellites fly, but the position and velocity processing unit 11 geometrically calculates the relative position vector and relative velocity vector for all combinations of two satellites.

[0026] The determination unit 12 determines, for each combination of two artificial satellites, whether a given artificial satellite can acquire and track another artificial satellite through optical communications, based on the relative position vector and relative velocity vector calculated by the position and velocity processing unit 11 and the constraints on acquisition and tracking of optical communications by the optical communications equipment installed on the artificial satellite. Here, for the optical communications equipment installed on the artificial satellite to acquire and track optical communications with the other artificial satellite with which it is communicating, there is generally an upper limit due to dynamic performance, such as the rotation speed of the pointing axis for acquisition and tracking of optical communications. Therefore, the determination unit 12 determines, based on the relative position vector and relative velocity vector between the target artificial satellite and the other artificial satellite with which it is communicating, whether the parallax change rate of the other artificial satellite with which it is communicating satisfies the constraints on the dynamic performance of the optical communications equipment (step S103). Specifically, the judgment unit 12 calculates the parallax change speed of the target satellite based on the relative position vector and relative velocity vector between the target satellite and the other satellite with which it is communicating, and if the speed is equal to or lower than the upper limit parallax change speed determined by the power performance of the optical communication equipment, it judges that the power performance is met, and if not, it judges that the power performance is not met.

[0027] Furthermore, when an artificial satellite communicates with another artificial satellite via optical communication, the amount of light used in the optical communication attenuates depending on the distance, so if the distance is too great, acquisition and tracking of the optical communication becomes impossible. Therefore, in order for the optical communication device mounted on the artificial satellite to perform optical communication acquisition and tracking with the other artificial satellite, the determination unit 12 determines whether the relative distance satisfies the maximum distance constraint of the optical communication device (whether the distance between the artificial satellites is equal to or less than the maximum distance indicated by the constraint) (step S104).

[0028] For example, in Figure 4, for satellite A01, satellite A02, which flies adjacent to it in the same orbital plane A, has both small relative position vectors and relative velocity vectors, so it is highly likely that optical communication acquisition and tracking is possible. The combinations of satellites B01 and B02, and satellites C01 and C02, are also highly likely to be able to acquire and track via optical communication. Furthermore, for satellite A01, satellite B01, which flies adjacent to it in the same direction in adjacent orbital plane B, is highly likely to be able to acquire and track via optical communication. However, for satellite X01, which flies adjacent to it in the opposite direction in adjacent orbital plane X, and satellite Y01, which flies in orbital plane Y that crosses orbital plane X, the parallax change rate is large, so it is highly likely that optical communication acquisition and tracking is impossible.

[0029] FIG. 5 shows route information for a combination of satellites that can be captured and tracked through optical communication. Fig. 5 shows route R, which connects the routes of combinations of satellites for which optical communication capture and tracking is possible, obtained as a result of the capture and tracking determination by determination unit 12. The combinations of satellites directly connected by route R in Fig. 5 indicate that optical communication capture and tracking is possible. Furthermore, which specific combinations of satellites are possible for optical communication capture and tracking are determined by the values ​​of the relative position vector and relative velocity vector, and the performance of the optical communication equipment.

[0030] FIG. 6 is a first diagram illustrating a graph of a route configuration of a wireless communication network. If we consider each satellite as a node and route R as an edge connecting satellites, the satellites that can be acquired and tracked by optical communication and route R can be considered as a graph consisting of a set of nodes and edges as shown in Figure 6. This graph can be a tree with no closed loops, or a mesh with one or more closed loops.

[0031] The example of a route configuration graph in Figure 6 shows a tree without a closed loop. Route R can be a connected graph in which an edge route exists between any two satellites, or a disconnected graph in which there is no edge route between any two satellites and the graph is divided into several graphs. Figure 6 shows that there is no communication route from the control device 10 to satellite A03, and satellite A03 cannot be captured or controlled.

[0032] FIG. 7 is a second diagram showing a graph of a route configuration of a wireless communication network. Figure 7 shows a route configuration generated at a different time from the route configuration of the wireless communication network shown in Figure 5. The positions of artificial satellites change over time, and the combination of satellites that allow optical communication capture and tracking also changes. For this reason, the route configuration at a future time when the route configuration in Figure 6 is generated will be different from the route configuration shown in Figure 5. In the route configuration shown in Figure 7, a route to satellite A03 has been formed, but there is no route from the control device 10 to satellite Y01, which indicates that satellite Y01 cannot be captured or controlled.

[0033] FIG. 8 is a diagram showing a routing table including information on the route configuration. Based on the determination result of the determination unit 12, the route processing unit 21 creates a routing table (route information table) in the format shown in Figure 8 that indicates, for each satellite (final destination), the adjacent nodes to which communications connected by the edges of route R are routed (step S105). More specifically, the routing table is a list that includes, for each satellite (final destination) that can be acquired and tracked by optical communications, the next destination satellite (next destination) that will be the destination for communications with the final destination satellite, and information on the cost required to use the route leading to the final destination satellite. Figure 8(a) shows the routing table for satellite X02 when the graph of the route configuration shown in Figure 6 is generated. Figure 8(b) shows the routing table for satellite X02 when the graph of the route configuration shown in Figure 7 is generated.

[0034] From future time t1 to t2, when the route configuration shown in FIG. 6 is achieved, satellite X02's neighboring nodes are satellites X01 and X03, and satellite X01's neighboring node is satellite Y01. After acquiring the routing table shown in FIG. 8(A), satellite X02 transmits information to satellite X01, the next routing destination (destination), based on the information stored in the routing table, when satellite X01 is the final destination. Furthermore, from future time t1 to t2, satellite X02 transmits information to satellite X03, the next routing destination (destination), based on the information stored in the routing table, when satellite X03 is the final destination. Furthermore, from future time t1 to t2, satellite X02 transmits information to satellite X01, the next routing destination (destination), based on the information stored in the routing table, when another satellite is the final destination. Note that satellite A03 is not included in the route configuration and cannot send information between future times t1 and t2 (FIG. 6).

[0035] On the other hand, satellite X02 obtains the routing table shown in FIG. 8(B) as the routing table for the future time period t2 to t3, which will result in the route configuration shown in FIG. 7. Based on the information written in the routing table, satellite X02 transmits information to satellite X01, which is the next routing destination (destination), when satellite X01 is the final destination, from future time period t2 to t3. Based on the information written in the routing table, satellite X02 transmits information to satellite X03, which is the next routing destination (destination), when satellite X03 is the final destination, from future time period t2 to t3. Based on the information written in the routing table, satellite X02 transmits information to satellite Y02, which is the next routing destination (destination), when another satellite is the final destination, from future time period t2 to t3. Note that satellite Y03 is included in the route configuration from future time period t2 to t3, and can send information (FIG. 7). However, satellite Y01 is not included in the route configuration from future time period t2 to t3, and can send information (FIG. 7).

[0036] Because the route R changes with time, the route processing unit 21 creates a routing table for future times at predetermined time intervals. The route processing unit 21 calculates information on the cost (edge ​​cost) required to use a route in the routing table that leads to the final destination satellite based on the number of satellites (nodes) that make up the route, the distance between satellites, and the communication quality. The route processing unit 21 may calculate the cost of the route to the final destination using a calculation formula that lowers the cost when the number of satellites is small, and that lowers the cost as the distance between satellites on the route becomes shorter and the communication quality becomes better.

[0037] The command generation unit 22 generates a command corresponding to the routing table for each satellite generated by the route processing unit 21 (step S106). In other words, the command may include information about the routing table. The command also includes an identifier for the satellite that will use the command and instructs the satellite to send the command to that satellite. When the command generation unit 22 generates a command corresponding to the routing table for a certain satellite, it instructs the satellite control device 2 to send the command to the corresponding satellite (step S107). The satellite control device 2 sends the command to the final destination indicated in the command. The satellite control device 2 instructs the ground station antenna G01 to send the command. The ground station antenna G01 transmits the command generated based on a routing table for the future time to the next satellite based on a previously generated routing table for the current time. The satellite that receives the command transmits the command to the next adjacent satellite that can communicate based on the identifier of the final destination satellite included in the command and the previously stored routing table for the current time. Each satellite similarly forwards the command based on its routing table, and the final destination satellite receives and stores its own command.

[0038] Similarly, the control device 10 transmits commands corresponding to the routing tables generated for each satellite to each corresponding satellite. As a result, each satellite receives the commands it will use at a future time and routes information based on the commands at that future time. The control device 10 also generates commands corresponding to the routing tables generated for each satellite at predetermined intervals, and transmits them to each satellite. The control device 10 may also calculate, at predetermined intervals, the routing tables that the satellite control device 2 will use at a future time based on the orbit, position, and velocity information of each satellite, as well as the relative position vectors and relative velocity vectors of each satellite relative to the earth station antenna G01 of the satellite control device 2, and output them to the satellite control device 2. The satellite control device 2 may identify the satellite to which a command is to be sent based on the routing table and transmit the command from the earth station antenna G01.

[0039] In routing information to an arbitrary satellite that is the destination based on the command, each satellite selects the optimal route (destination) by determining which satellite to pass through next and which route to control. The indicator for selecting the optimal route is determined based on the lowest cost of the edge (route). When there are multiple routes, the satellite uses known methods such as Dijkstra's algorithm to solve the single-source shortest path problem, and selects the route with the lowest cost as the optimal route from the routing table information included in the command and transmits it.

[0040] As the satellite moves along its orbit, the orbit, position, and velocity of the satellite change, so the process returns to the orbit determination process in the orbital mechanics device 1, and the above-described series of operations are repeatedly executed.

[0041] The processing of the control device 10 has been described above. According to the present disclosure, it is possible to form and maintain a usable inter-satellite optical communication network even as the available routes for inter-satellite optical communication, which relays between orbiting satellites via optical communication, change over time. Routes can be predicted not only for the current time but also for future times, and routes can be used. Furthermore, if there is a satellite that cannot be captured or controlled, it is possible to determine the time period during which capture and control are unavailable and the next time capture and control will be available. Furthermore, in order to capture and control a desired satellite at a desired time, it is possible to determine the optimal route, i.e., which route to use and which satellite to pass through.

[0042] 6 and 7, the satellite control device 2 is equipped with one ground station antenna G01, but multiple ground station antennas G01 may be connected to the satellite control device 2. In this case, the control device 10 may generate a routing table corresponding to each ground station antenna G01, and the satellite control device 2 may store it.

[0043] The above-described processing illustrates an example in which one wireless communication network is constructed by satellites flying in multiple orbital planes. However, it is also possible to control the construction of multiple different wireless communication networks by satellites flying in multiple orbital planes. In this case, the control device 10 may identify the ground station antenna G01 corresponding to each wireless communication network. Alternatively, the control device 10 may construct a wireless communication network by multiple satellites flying in a single orbital plane and the ground station antenna G01 corresponding to that orbital plane, and perform this construction for each orbital plane, thereby avoiding optical wireless communication between satellites flying in adjacent orbital planes.

[0044] The determination unit 12 determines whether or not it is possible to acquire and track other satellites based on the relative position vector and relative velocity vector obtained from the position and velocity processing unit 11 and the constraints on acquisition and tracking of optical communications by the optical communications equipment mounted on the satellite. The determination unit 12 may take into account the curvature of the Earth in this process, and may include processing to determine that acquisition and tracking of optical communications by an artificial satellite that is determined to be in the Earth's shadow based on its position is impossible.

[0045] As businesses using satellite constellations via optical communications are being realized and considered, the routes between satellites change dynamically when data relay satellites flying in LEO or MEO are used. This makes it complicated to select and control available inter-satellite communication routes. From among these dynamically changing routes, we need to grasp the overall picture and optimal route not only for the current time but also for future times, based on the constraints of optical communication acquisition and tracking.

[0046] FIG. 9 is a diagram showing functional blocks according to another example of the control device. FIG. 10 is a diagram showing a processing flow according to another example of the control device. The control device 10 may be any device that includes a tracking determination means 91 and a path processing means 92. The tracking determination means 91 determines whether or not acquisition and tracking can be performed between two moving bodies indicated by a combination based on the relative position vectors and relative velocity vectors of the two moving bodies and the constraints of the communication mechanism installed in the moving bodies for each combination of two moving bodies out of multiple moving bodies that can serve as relay devices in a wireless communication network (step S901). The route processing means 92 generates a route information table including information on the route configuration of a wireless communication network that may be configured with a plurality of mobile units based on whether acquisition and tracking can be performed (step S902).

[0047] In addition to artificial satellites, the above-mentioned mobile objects may be flying objects such as drones and aircraft, mobile devices running on the ground (vehicles and transport devices), or mobile devices moving underwater. In this case, the control device 10 may transmit commands to each mobile object that may form a wireless communication network via a control device 2 (a device corresponding to the above-mentioned satellite control device 2) or a communication antenna (ground station antenna G01) that can communicate with the mobile objects. In the above-mentioned process, the wireless communication network is an example in which artificial satellites communicate using optical communication. However, mobile objects such as artificial satellites may communicate using wireless communication other than optical communication to form a wireless communication network. In this case, the constraints may be changed appropriately depending on the communication mechanism. For example, the constraints may be only the upper limit of the relative velocity vector or the upper limit of the communication distance. Furthermore, if the mobile object is a mobile object other than an artificial satellite, the orbital plane need not be taken into consideration.

[0048] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure.

[0049] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0050] (Appendix 1) a tracking determination means for determining whether or not acquisition and tracking can be performed between two mobile bodies indicated by each combination of two mobile bodies among a plurality of mobile bodies that can be relay devices of a wireless communication network, based on the relative position vectors and relative velocity vectors of the two mobile bodies and constraints of a communication mechanism installed in the mobile bodies; a route processing means for generating a route information table including information on a route configuration of a wireless communication network that may be configured by the plurality of moving objects based on whether the acquisition and tracking can be performed; A control device comprising:

[0051] (Appendix 2) The route processing means generates the route information table including information indicating a destination mobile unit for each of the mobile units. 10. The control device of claim 1.

[0052] (Appendix 3) The route processing means generates the route information table including a mobile object that is a destination when transmitting information to the mobile object indicated by the final destination and that is determined to be capable of being acquired and tracked. 10. The control device of claim 1 or 2.

[0053] (Appendix 4) a command generating means for generating a command for notifying a mobile unit corresponding to the route information table of information included in the route information table; a transmitting means for transmitting the command to a corresponding mobile unit; 4. The control device according to claim 1, further comprising:

[0054] (Appendix 5) the tracking determination means repeatedly determines at predetermined intervals whether acquisition and tracking can be performed between the two moving objects indicated by the combination; the route processing means repeatedly generates the route information table based on a determination result of whether or not the acquisition and tracking can be performed; the command generating means repeatedly generates the commands based on the generation of the route information table; The transmitting means repeatedly transmits the command based on the generated command. 5. The control device according to claim 4.

[0055] (Appendix 6) the moving object is an artificial satellite, The transmitting means transmits the command to a satellite corresponding to the command. 6. The control device according to claim 4 or 5.

[0056] (Appendix 7) The satellite communicates with other satellites by optical communication, The tracking determination means determines whether or not the acquisition and tracking including communication by the communication mechanism can be performed based on the constraints of the distance between the two moving objects and the tracking speed indicated by the combination. 7. The control device according to claim 6.

[0057] (Appendix 8) the tracking determination means repeatedly determines whether or not acquisition and tracking between the two moving bodies indicated by the combination can be performed based on a relative position vector and a relative velocity vector at a future time of the two moving bodies; the route processing means repeatedly generates the route information table for the future time based on a determination result of whether or not the acquisition and tracking can be performed; the command generation means repeatedly generates the command at the future time based on the generation of the route information table; The transmitting means repeatedly transmits the command based on the generated command. 8. The control device according to any one of claims 4 to 7.

[0058] (Appendix 9) determining whether or not acquisition and tracking can be performed between two mobile bodies indicated by each combination of two mobile bodies among a plurality of mobile bodies that can be relay devices in a wireless communication network, based on the relative position vectors and relative velocity vectors of the two mobile bodies and constraints of a communication mechanism installed in the mobile bodies; A route information table including information on a route configuration of a wireless communication network that may be configured by the plurality of mobile units is generated based on whether the acquisition and tracking can be performed. Communication control method.

[0059] (Appendix 10) Generate the route information table including information indicating a destination mobile unit for each of the mobile units. 10. The communication control method according to claim 9.

[0060] (Appendix 11) The route information table is generated to include a mobile object that is a destination when transmitting information to the mobile object indicated by the final destination and that is determined to be capable of being acquired and tracked. 11. A communication control method according to claim 9 or 10.

[0061] (Appendix 12) generating a command for notifying a mobile unit corresponding to the route information table of information included in the route information table; Send the command to the corresponding mobile unit. 12. A communication control method according to any one of claims 9 to 11.

[0062] (Appendix 13) repeatedly determining whether acquisition and tracking between the two moving objects indicated by the combination can be performed at predetermined intervals; repeatedly generating the route information table based on the determination result of whether or not the acquisition and tracking can be performed; repeatedly generating the command based on the generation of the route information table; Repeatedly transmit the command based on the command generation. 13. The communication control method according to claim 12.

[0063] (Appendix 14) the moving object is an artificial satellite, Send the command to the satellite that corresponds to the command. 14. A communication control method according to claim 12 or 13.

[0064] (Appendix 15) The satellite communicates with other satellites by optical communication, Whether or not the acquisition and tracking including communication by the communication mechanism can be performed is determined based on the constraints of the distance between the two moving bodies and the tracking speed indicated by the combination. 15. The communication control method according to claim 14.

[0065] (Appendix 16) repeatedly determining whether or not acquisition and tracking between the moving objects can be performed based on the relative position vectors and relative velocity vectors of the two moving objects indicated by the combination at a future time; repeatedly generating the route information table for the future time based on the determination result of whether or not the acquisition and tracking can be performed; repeatedly generating the command at the future time based on the generated route information table; Repeatedly transmit the command based on the command generation. 16. A communication control method according to any one of claims 12 to 15.

[0066] (Appendix 17) The control device computer, a tracking determination means for determining whether acquisition and tracking can be performed between two mobile bodies indicated by each combination of two mobile bodies among a plurality of mobile bodies that can be relay devices of the wireless communication network, based on the relative position vectors and relative velocity vectors of the two mobile bodies and constraints of the communication mechanism installed in the mobile bodies; a route processing means for generating a route information table including information on a route configuration of a wireless communication network that may be configured by the plurality of moving objects based on whether or not the acquisition and tracking can be performed; A program that functions as a

[0067] (Appendix 18) The route processing means generates the route information table including information indicating a destination mobile unit for each of the mobile units. 17. The program described in Appendix 17.

[0068] (Appendix 19) The route processing means generates the route information table including a mobile object that is a destination when transmitting information to the mobile object indicated by the final destination and that is determined to be capable of being acquired and tracked. 17. The program of claim 16.

[0069] (Appendix 20) a command generating means for generating a command for notifying a mobile unit corresponding to the route information table of information included in the route information table; a transmitting means for transmitting the command to a corresponding mobile unit; 19. The program according to claim 17, wherein the program functions as follows:

[0070] (Appendix 21) the tracking determination means repeatedly determines at predetermined intervals whether acquisition and tracking can be performed between the two moving objects indicated by the combination; the route processing means repeatedly generates the route information table based on a determination result of whether or not the acquisition and tracking can be performed; the command generating means repeatedly generates the commands based on the generation of the route information table; The transmitting means repeatedly transmits the command based on the generated command. 20. The program described in Appendix 20.

[0071] (Appendix 22) the moving object is an artificial satellite, The transmitting means transmits the command to a satellite corresponding to the command. 20. The program of claim 21.

[0072] (Appendix 23) The satellite communicates with other satellites by optical communication, The tracking determination means determines whether or not the acquisition and tracking including communication by the communication mechanism can be performed based on the constraints of the distance between the two moving objects and the tracking speed indicated by the combination. 22. The program of claim 1.

[0073] (Appendix 24) the tracking determination means repeatedly determines whether or not acquisition and tracking between the two moving bodies indicated by the combination can be performed based on a relative position vector and a relative velocity vector at a future time of the two moving bodies; the route processing means repeatedly generates the route information table for the future time based on a determination result of whether or not the acquisition and tracking can be performed; the command generation means repeatedly generates the command at the future time based on the generation of the route information table; The transmitting means repeatedly transmits the command based on the generated command. 24. A program according to any one of claims 20 to 23. [Explanation of symbols]

[0074] 1... Orbit mechanics device 2...Satellite control device 10. Control device 11 Position and speed processing section 12... Judgment section 21 Route processing unit 22 Command generation unit

Claims

1. a tracking determination means for determining whether or not acquisition and tracking can be performed between two mobile bodies indicated by a combination of two mobile bodies among a plurality of mobile bodies that can be relay devices of a wireless communication network, based on a relative position vector and a relative velocity vector of the two mobile bodies and constraints of a communication mechanism mounted on the mobile bodies; a route processing means for generating a route information table including information on a route configuration of a wireless communication network that may be configured by the plurality of moving objects based on whether the acquisition and tracking can be performed; A control device comprising:

2. The route processing means generates the route information table including information indicating a destination mobile unit for each of the mobile units. The control device according to claim 1 .

3. The route processing means generates the route information table including a mobile object that is a destination when transmitting information to the mobile object indicated by the final destination and that is determined to be capable of being acquired and tracked. The control device according to claim 2 .

4. a command generating means for generating a command for notifying a mobile unit corresponding to the route information table of information included in the route information table; a transmitting means for transmitting the command to a corresponding mobile unit; The control device according to claim 3 , comprising:

5. the tracking determination means repeatedly determines at predetermined intervals whether acquisition and tracking can be performed between the two moving objects indicated by the combination; the route processing means repeatedly generates the route information table based on a determination result of whether or not the acquisition and tracking can be performed; the command generating means repeatedly generates the commands based on the generation of the route information table; The transmitting means repeatedly transmits the command based on the generated command. The control device according to claim 4.

6. the moving object is an artificial satellite, The transmitting means transmits the command to a satellite corresponding to the command. The control device according to claim 5 .

7. The satellite communicates with other satellites by optical communication, The tracking determination means determines whether or not the acquisition and tracking including communication by the communication mechanism can be performed based on the constraints of the distance between the two moving objects and the tracking speed indicated by the combination. The control device according to claim 6.

8. the tracking determination means repeatedly determines whether or not acquisition and tracking between the two moving bodies indicated by the combination can be performed based on a relative position vector and a relative velocity vector at a future time of the two moving bodies; the route processing means repeatedly generates the route information table for the future time based on a determination result of whether or not the acquisition and tracking can be performed; the command generation means repeatedly generates the command at the future time based on the generation of the route information table; The transmitting means repeatedly transmits the command based on the generated command. The control device according to claim 7.

9. determining whether or not acquisition and tracking can be performed between two mobile bodies indicated by each combination of two mobile bodies among a plurality of mobile bodies that can be relay devices in a wireless communication network, based on the relative position vectors and relative velocity vectors of the two mobile bodies and constraints of a communication mechanism installed in the mobile bodies; A route information table including information on a route configuration of a wireless communication network that may be configured by the plurality of mobile units is generated based on whether the acquisition and tracking can be performed. Communication control method.

10. The control device computer, a tracking determination means for determining whether acquisition and tracking can be performed between two mobile bodies indicated by each combination of two mobile bodies among a plurality of mobile bodies that can be relay devices of a wireless communication network, based on the relative position vectors and relative velocity vectors of the two mobile bodies and constraints of a communication mechanism installed in the mobile bodies; a route processing means for generating a route information table including information on a route configuration of a wireless communication network that may be configured by the plurality of moving objects based on whether or not the acquisition and tracking can be performed; A program that functions as a

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