Observation equipment, observation methods, programs

Abstract

To provide an observation device that can correct the orbital information of a desired object with greater accuracy. [Solution] The orbital information is corrected based on the correlation between the state of a space object actually detected at a given time, based on known orbital information, and the state of the observed object at a given time, as indicated by the orbital information.

Description

[Technical Field]

[0001] This disclosure relates to observation equipment, observation methods, and programs. [Background technology]

[0002] Patent Document 1 discloses a technique for extracting an observation target from among multiple orbital objects. Paragraph 0116 of Patent Document 1 discloses a method for extracting an observation target, which involves using acquired orbital object information as foresight information to extract the observation target. However, due to error information contained in the orbital object information, the actual position may deviate from the predicted position. In such cases, the relative positional relationship with surrounding space objects is matched to identify the observation target, and the difference from the predicted trajectory is further analyzed. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-21524 [Overview of the project] [Problems that the invention aims to solve]

[0004] In the related technologies described in Patent Document 1 above, there is a need for a technology to correct the orbital information of a desired observation target with greater accuracy.

[0005] The purpose of this disclosure is to provide an observation device, observation method, and program that solve the above-mentioned problems. [Means for solving the problem]

[0006] An observation device according to one aspect of this disclosure includes a capture means for correcting the orbital information based on a correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information.

[0007] An observation method according to one aspect of this disclosure corrects the orbital information based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information.

[0008] A program according to one aspect of this disclosure causes the computer of an observation device to function as a capture means that corrects the orbital information based on the correlation between the state of a space object actually detected based on known orbital information according to time and the state of the observed object according to time indicated by the orbital information. [Effects of the Invention]

[0009] According to one embodiment described above, an observation device, observation method, and program are provided that can correct the orbital information of a desired object to be observed with greater accuracy. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a functional block diagram of the observation device relating to this disclosure. [Figure 2] Figure 2 is the first diagram showing an overview of the processing of the observation device according to this disclosure. [Figure 3] Figure 3 shows the processing flow of the observation device according to this disclosure. [Figure 4] Figure 4 is a second diagram showing an overview of the processing of the observation device according to this disclosure. [Figure 5] Figure 5 shows the processing flow of the observation device according to this disclosure. [Figure 6] Figure 6 is a third diagram showing an overview of the processing of the observation device according to this disclosure. [Figure 7] Figure 7 shows the hardware configuration of the observation device according to this disclosure. [Figure 8] Figure 8 is a functional block diagram showing another example of the observation device according to this disclosure. [Figure 9] Figure 9 shows the processing flow in another example of the observation device according to this disclosure. [Modes for carrying out the invention]

[0011] Each embodiment will be described below with reference to the drawings. In all drawings, identical or equivalent components are denoted by the same reference numerals, and common descriptions are omitted.

[0012] An embodiment of this disclosure will be described below with reference to a diagram. Figure 1 is a functional block diagram of the observation device relating to this disclosure.

[0013] As shown in Figure 1, the observation device 1 is connected to the radar 2 by a signal line. The observation device 1 performs the functions of a memory unit 11, an orbit calculation unit 12, a candidate detection unit 13, a capture unit 14, and a tracking unit 15. The memory unit 11 stores the information used by the observation device 1 for processing. The orbit calculation unit 12 calculates the orbit of the desired observation target. The observation target is an artificial satellite or space debris orbiting the Earth. The candidate detection unit 13 detects a first candidate for detection information of a space object based on the desired observation target. The first candidate for detection information of a space object is a candidate for detection information of a space object that flies at a position highly correlated with the orbit indicated by the orbit information detected based on known orbit information, and that can be estimated to be the desired observation target. The capture unit 14 corrects the orbit information based on the correlation between the time-dependent position of a space object that can be estimated to be the desired observation target and flies at an orbit highly correlated with the orbit of the detection information detected based on known orbit information, and the time-dependent position of the desired observation target indicated by the known orbit information.

[0014] The capture unit 14 performs the functions of the extraction unit 41, registration unit 42, search unit 43, time calculation unit 44, deviation amount calculation unit 45, statistical processing unit 46, and correction unit 47. The extraction unit 41 selects a second candidate P of space object detection information that has a high correlation with the orbital information of the object to be observed from among the first candidate of space object detection information. N Extract it. The registration unit 42 identifies the second candidate P of the detection information. N The detection time t of the extraterrestrial object identified as such pn or position R Pn The information is registered in the memory unit. The search unit 43 identifies the second candidate P of the detected information.N The detected position R of the cosmic object Pn (detection distance) and the detection time t pn Based on these, at least two relationships between the position and time that can be specified from the known orbit information (D a , D b ) are specified. The time calculation unit 44 determines the position PD at a distance corresponding to the distance from the radar 2 of the cosmic object of the second candidate P of the detection information N on the orbit indicated by the two relationships between the position and time specified by the search unit 43, and the time (t N corresponding to the position PD on the determined orbit N ) is calculated. The deviation amount calculation unit 45 calculates the deviation amount Δt N between the time t of detecting the observation target of the detected second candidate P pn and the time (t corresponding to the position PD on the orbit determined by the time calculation unit 44 N ) PDn . N The statistical processing unit 46 calculates the statistical value of the time deviation amount Δt N calculated for a plurality of different second candidate cosmic objects. The correction unit 47 corrects the orbit information based on the statistical value of the detection time deviation amount Δt N calculated for a plurality of second candidate cosmic objects.

[0015] FIG. 2 is a first diagram showing an overview of the processing of the observation device according to the present disclosure. ​​As shown in Figure 2, the observation device 1 stores orbital information (22) in advance to calculate the position of the space object to be observed. The observation device 1 also identifies detection information (correlated detection plot) of one or more space objects that correlate with the position of the observed object according to the time indicated by the orbital information, from among multiple space objects detected within an estimated range set based on the stored orbital information (21). Figure 2 (21) shows only the detection information from one space object correlated with the orbital information. The observation device 1 then estimates that there is an error in the orbital information and that the position of the observed object was actually the position of one or more detected space objects correlated with the orbital information, based on the stored orbital information (22) and the position according to the time (21) of one or more space objects correlated with that orbital information, and offsets (corrects) the orbital information (23). The graph in Figure 2 represents a three-dimensional position based on the coordinates of radar 2 in two dimensions, and the position indicated on the vertical axis of the graph represents the distance from radar 2. The processing of the observation device 1 in this disclosure is one aspect of the process of correcting orbital information based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information. The time-dependent position of the space object is an example of the time-dependent state of the space object. In other words, the position is an example of the state.

[0016] (First Embodiment) Figure 3 shows the processing flow of the observation device according to this disclosure. Figure 4 is a second diagram showing an overview of the processing of the observation device according to this disclosure. Next, the processing flow of the observation device 1 will be described. First, the observation device 1 detects an instruction to track an observation target (space object such as an artificial satellite or space debris) based on orbital information, based on user operation or the like (step S101). This instruction may include an identifier for the observation target. The orbit calculation unit 12 reads orbital information (orbital elements) of the observation target that can be identified by the identifier from a catalog that is stored in advance in the storage unit 11. The catalog contains information (orbital elements) about the orbits of one or more observation targets, and the orbit calculation unit 12 calculates the orbit of the observation target based on this orbital information (orbital elements) (step S102). Note that the orbital information may not be calculated using the catalog, but may be information that is stored in advance in the storage unit 11. In other words, in this disclosure, the observation device 1 does not have to use information from the catalog.

[0017] A catalog is information such as a TLE (Two Line Element Set). The catalog records the orbital elements (parameters for determining the orbit) of the observed satellite or space debris in two lines. For example, it includes information such as the name of the observed object, catalog number, International Designator, Epoch, First Time Derivative of the Mean Motion, Second Time Derivative of the Mean Motion, BSTAR drag term, Ephemeris type, Element number, checksum, Inclination, Right Ascension of the Ascending Node, Eccentricity, Argument of Perigee, Mean Anomaly, Mean Motion, and Revolution number at epoch. The method for calculating the orbit of the object to be observed using the information described in the catalog can be any known method. The orbit calculation unit 12 outputs the calculated orbit information of the object to be observed to the acquisition unit 14. This orbit information includes the time at which the orbit of the object is shown and its position at that time. The position may indicate the position in a three-dimensional space relative to the position of radar 2.

[0018] Radar 2 observes the target object based on the orbit calculated by the orbit calculation unit 12 (step S103). Radar 2 may observe the target object for a predetermined period of time. Radar 2 irradiates a predetermined spatial area with radio waves based on the calculated orbit and receives the reflected signal. Radar 2 may set the predetermined range to be wider based on the orbit calculated using the orbit calculated based on the orbit element, and observe the target object within that range, the older the recording date of the orbital element for which the information of the target object is recorded in the catalog. Based on the information obtained from the reflected signal (detection time, distance to the object, direction of the detected object, velocity vector, etc.), the candidate detection unit 13 detects detection information of a space object located near the orbit indicated by the orbit information as the first candidate for detection information of a space object that can be estimated to be the target object (step S104). The candidate detection unit 13 outputs the first candidate for detection information of a space object that can be estimated to be the target object (detection time, direction of irradiation of radar 2, distance, velocity vector, etc.) to the acquisition unit 14. The first candidate includes detection information for one or more space objects detected by Radar 2. The first candidate detection information may include detection information for the same object detected at different times. For example, if the same space object is detected in multiple observations at different times within the same observation period (for example, a few seconds), these detection information may be included in the first candidate as detection information indicating different locations.

[0019] The extraction unit 41 extracts a first candidate for detection information of a space object that is presumed to be the object being observed, based on the first candidate for detection information of the space object that is presumed to be the object being observed and the orbit calculated from the catalog, and extracts a first candidate for detection information that has a high correlation with the orbit, as a second candidate for detection information of the space object that is presumed to be the object being observed (step S105). More specifically, the extraction unit 41 identifies detection information that shows different detection times and is presumed to be the same object, based on multiple first candidates for detection information (detection time, direction of illumination of radar 2, distance). For example, it identifies the direction in which the object being observed moves and the position (coordinates) of the destination every 1 ms (millisecond) based on the orbit, and compares it with first candidates for detection information of multiple space objects that have different detection times every 1 ms. If the position and direction of the orbit identified every 1 ms in the orbit calculated from the catalog correlate with the orbits and position transitions shown by the first candidates for detection information of multiple space objects, the extraction unit 41 extracts these multiple first candidates for detection information of space objects as second candidates for detection information of space objects that are presumed to be the object being observed. The registration unit 42 records these multiple second candidates in the storage unit 11 (step S106).

[0020] The search unit 43 detects the second candidate P. N One of the detection information P for the second candidate is read from the storage unit 11. N (Plot P) N The detection time t indicated by ) Pn distance R Pn Identify (Step S107). The search unit 43 identifies the second candidate detection information P from the detection time and distance of the observed target indicated by the trajectory calculated from the catalog. N (Plot P) N The detection time t indicated by ) Pn The first orbital position D indicates a nearby time. a (Time t a distance R a ) and the second orbital position D b (Time t b distance R b ) and identify (step S108). At this time, the search unit 43, based on radar polar coordinates (a coordinate system expressed in distance, azimuth angle, and elevation angle with the position of radar 2 as the center), determines the observation direction indicated by the trajectory of the observation target identified from the catalog and the actual detection information P of the second candidate. NIn the observation, the observation direction pointed to by radar 2 coincides with orbital position D. a , Db is identified. The search unit 43 determines the orbital position D in a coordinate system other than the radar polar coordinate system. a Alternatively, you could specify the database (Db).

[0021]

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[0024] Figure 4 shows the detection information P for the second candidate. N (Plot P) N The detection time t indicated by ) Pn However, orbital position D a The time t indicated by a And, orbital position D b The time t indicated by b This indicates the time between [the specified time]. However, the second candidate detection information P N (Plot P) N The detection time t indicated by ) Pn However, orbital position D a The time t indicated by a And, orbital position D b The time t indicated by b It may also indicate the time outside of that period.

[0025] The time calculation unit 44 detects P, which is the detection information of a second candidate cosmic object that can be estimated to be the object being observed. N (Plot P) N The distance R indicated by ) Pn Same distance R p In this case, orbital position D a and orbital position D b The virtual position PD on the orbit indicated by the trajectory, assuming that the object being observed is located on that orbit. N The time t indicated byPDn Identify (step S109).

[0026]

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[0027] The time calculation unit 44 determines the orbital position D a and orbital position D b Virtual position PD on the orbit passing through N orbital position D a and orbital position D b The interpolation rate α in the line segment is calculated using equation (5) (step S110). Note that the detection information P of the second candidate is calculated. N (Plot P) N The detection time t indicated by ) Pn However, orbital position D a The time t indicated by a And, orbital position D b The time t indicated by b When indicating the time period between these two points, instead of using the interpolation rate α, an extrapolation rate may be calculated and identified as α.

[0028]

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[0029] The displacement calculation unit 45 calculates the time t assuming that the object being observed is in orbit. PDn And, the detection information P for the second candidate N (Plot P) N The detection time t indicated by ) Pn The time difference Δt N This is calculated using formula (6) (step S111).

[0030]

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[0031] The displacement calculation unit 45 calculates one or more N second candidate detection information P that can be estimated to be the observed target, which are recorded in the storage unit 11. N For each, the amount of displacement ΔtN It is determined whether the result has been calculated (step S112). If this determination is No, the capture unit 14 checks all the second candidate detection information P stored in the storage unit 11. N Repeat the same process for each item.

[0032] The statistical processing unit 46 detects detection information P of one or more N second candidate space objects. N The calculated displacement Δt N The statistical value ΔT is calculated (step S113). This statistical value ΔT may be the mean or median. The statistical processing unit 46 calculates the detection information P of the second candidate for one space object. N The calculated displacement Δt N For this, the value may be output as a substitute for the statistical value ΔT. This makes it possible to estimate the difference between the time at which the observed object is detected at the observation position that is presumed to be the observed object, and the time at which the observed object can be detected at the corresponding observation position that can be identified based on the known orbital information of the observed object shown in the catalog.

[0033] Correction unit 47 deviation amount Δt N The statistical value ΔT is obtained. Correction unit 47 deviation amount Δt N The trajectory calculated by the trajectory calculation unit 12 is corrected using the statistical value ΔT (step S114). In other words, the correction unit 47 corrects the deviation amount Δt in the relationship between time and position (distance) shown by the trajectory calculated by the trajectory calculation unit 12. N The orbit is offset by the time interval indicated by the statistical value ΔT. N If the statistical value ΔT is positive, the trajectory calculated by the trajectory calculation unit 12 is corrected to the right in Figure 4 (the direction in which time progresses). Also, the amount of time deviation Δt N If the statistical value ΔT is negative, the orbit calculated by the orbit calculation unit 12 is corrected to the left in Figure 4 (the direction in which time is delayed). Note that in Figure 4, the known orbit of the observed object shown in the catalog is shown to be closer to radar 2 as time progresses, but the known orbit of the observed object shown in the catalog may be shown to be further away from radar 2 as time progresses.

[0034] The correction unit 47 outputs the orbital information after offset correction to the tracking unit 15. The tracking unit 15 uses the orbital information after offset correction to control the radar 2 and observe the target object (step S115).

[0035] Through the above processing, the observation device 1 can more accurately correct the orbital information of the desired target and observe and track the target.

[0036] In other words, when observing objects (space objects) using a catalog, if the accuracy of the orbital information at the time of observation is severely reduced, the discrepancy between the orbital information and the actual position of the object becomes large, and when attempting to track it, the problem arises that the radio waves do not hit the object. As described above, by having observation device 1 perform offset correction, highly accurate orbital information of the object at the time of observation can be obtained, and the accuracy of observing the object during tracking is improved, thus enabling efficient radar monitoring of space objects.

[0037] Furthermore, in the future, by obtaining multiple highly accurate orbital data for observed objects, it will be possible to obtain orbital elements with higher accuracy than those in the catalog. By using orbital data with the offset correction described above, meaningful observations of cataloged objects will become possible.

[0038] Here, the tracking unit 15 tracks the object using radar 2 through the process described above. The tracking unit 15 outputs the first candidate detection information of the space object, which is the object of observation detected based on the tracking, to the candidate detection unit 13 or the extraction unit 41, and the above process may be repeated. The correction unit 47 may also overwrite the orbit information calculated by the orbit calculation unit 12 with the orbit information after offsetting. As a result, the capture unit 14 repeatedly processes the correction of the orbit information based on the correlation between the position of the object of observation at the time actually detected based on the orbit information after offsetting and the position of the object of observation at the time indicated by the orbit information after offsetting, and the tracking unit 15 tracks the object of observation. This improves the accuracy of the orbit information even during tracking, makes it easier for radio waves to hit space objects such as the object of observation, and improves the probability of successful tracking.

[0039] In the processing of the first embodiment described above, the correction unit 47 adjusts the deviation amount Δt N The trajectory calculated by the trajectory calculation unit 12 may be corrected using the statistical value ΔT, and it may be determined whether this process has been repeated a predetermined number of times. If it has been repeated a predetermined number of times, the trajectory information after offset correction may be output to the tracking unit 15. This allows for tracking of the observation target with even greater accuracy.

[0040] (Second Embodiment) Figure 5 shows the processing flow of the observation device according to this disclosure. Figure 6 is a third diagram showing an overview of the processing of the observation device according to this disclosure. By applying the process shown in the first embodiment, it is also possible to observe objects not listed in the catalog. This process is described below.

[0041] First, observation device 1 detects an observation instruction (step S201). This observation instruction may include the observation direction and observation time. Radar 2 emits radio waves based on the observation direction and observation time included in the observation instruction (step S202). Radar 2 may emit radio waves for a predetermined period of time. Based on the observation instruction, Radar 2 emits radio waves into a predetermined spatial area and receives the reflected signal. Candidate detection unit 13 detects multiple space objects detected based on the information obtained from the reflected signal (detection time, distance to the object, direction of the detected object, etc.) as first candidates for detection information of space objects that are not cataloged (step S203). Candidate detection unit 13 outputs the detection information of the first candidate for space object detection information (detection time, direction of irradiation by radar 2, distance) to the acquisition unit 14. The first candidate includes information on one or more space objects detected by radar 2. The detection information of the first candidate may include detection information of the same or different objects detected at different times. For example, if the same cosmic object is detected in multiple observations at different times within the same observation period (for instance, a few seconds), these detection reports may be included as first candidates for detection reports indicating different locations, or they may be different cosmic objects and their detection reports may be included as first candidates for detection reports indicating different locations.

[0042] The extraction unit 41 uses a plurality of detection information of the first candidates of the detection information of the celestial object, and extracts a plurality of detection information of the first candidates with high correlation from them as a second candidate group of the detection information of the celestial object that is not cataloged (step S204). More specifically, the extraction unit 41 identifies detection information indicating different detection times that can be estimated to be the same object based on the detection information (detection time, irradiation direction of radar 2, distance) of a plurality of first candidates. For example, based on the detection information (detection time, irradiation direction of radar 2, distance) of a plurality of first candidates, the extraction unit 41 identifies a plurality of detection information in which the detection time varies every 1 ms, the irradiation direction of radar 2 changes every predetermined angle, and the distance changes every predetermined distance, as a plurality of detection information with high correlation. The extraction unit 41 extracts those plurality of detection information as a second candidate of the detection information of the celestial object that is not cataloged. The registration unit 42 records those plurality of second candidates in the storage unit 11 (step S205). That is, the detection information included in the second candidates is a group of information of detection information that can be estimated to be detection information of the same celestial object that is not cataloged and located on one orbit.

[0043] The search unit 43 reads one detection information P of the second candidate from the storage unit 11, and the detection information P of the second candidate N (plot P N ) indicates the detection time t N , and the distance R Pn is specified (step S206). The search unit 43 calculates an orbit based on the orbit elements of one observation target included in the catalog and specifies this orbit as a discrimination orbit (step S207). The search unit 43 may calculate a plurality of orbits based on the orbit elements of a plurality of observation targets included in the catalog at this time and specify those orbits as discrimination orbits. Among the detection time and distance of the observation target indicated by this discrimination orbit, the search unit 43 determines the first discrimination orbit position D Pn that indicates a time close to the detection time t N (plot P N ) indicated by the detection information P of the second candidate Pn , and the second discrimination orbit position D a (time t a , distance R a ), and the second discrimination orbit position D b (time t b , distance Rb ) and identify (step S208). At this time, the search unit 43 determines the discrimination trajectory position D based on radar polar coordinates (a coordinate system expressed in distance, azimuth angle, and elevation angle with the position of radar 2 as the center), such that the observation direction indicated by the discrimination trajectory of the observation target identified from the catalog matches the observation direction actually observed by radar 2. a , D b The search unit 43 identifies the orbital position D in a coordinate system other than the radar polar coordinate system. a Alternatively, you could specify the database (Db).

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[0047] Figure 6 shows the detection information P for the second candidate. N (Plot P) N The detection time t indicated by ) Pn However, the identification trajectory position D a The time t indicated by a And, the identification trajectory position D b The time t indicated by b This indicates the time between [the specified time]. However, the second candidate detection information P N (Plot P) N The detection time t indicated by ) Pn However, the identification trajectory position D a The time t indicated by a And, the identification trajectory position D b The time t indicated by b It may also indicate the time outside of that period.

[0048] The time calculation unit 44 detects the second candidate P N (Plot P) N The distance R indicated by )Pn Same distance R p In this case, the discriminative trajectory position D a Discrimination orbit position D b Assuming the object being observed is located on the orbit indicated by [the symbol], this represents the hypothetical position P on that orbit. N The time t indicated by PDn Identify (step S209).

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[0050] The time calculation unit 44 determines the track position D a Discrimination orbit position D b A virtual position P on an orbit passing through [the specified point]. N orbital position D a and orbital position D b The interpolation rate α in the line segment is calculated using equation (11) (step S210).

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[0052] The displacement calculation unit 45 calculates the time t assuming that the object to be observed is on the discrimination trajectory. PDn And, the detection information P for the second candidate N (Plot P) N The detection time t indicated by ) Pn The time difference Δt N This is calculated using formula (12) (step S211).

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[0054] The displacement amount calculation unit 45 detects one or more N second candidate detection information P recorded in the storage unit 11. N For each, the amount of displacement Δt NIt is determined whether the result has been calculated (step S212). If this determination is No, the capture unit 14 checks all the second candidate detection information P stored in the storage unit 11. N Repeat the same process for each item.

[0055] The statistical processing unit 46 detects one or more N second candidate pieces of information P. N The calculated displacement Δt N The statistical value ΔT is calculated (step S213). This statistical value ΔT may be the mean or median. The statistical processing unit 46 calculates the detection information P of the second candidate for one space object. N The calculated displacement Δt N For this, the value may be output as a substitute for the statistical value ΔT. This allows us to estimate the difference between the time at which the observed space object was detected at its actual observation position and the time at which the cataloged observed object could be detected at the corresponding observation position, which can be identified based on the discrimination orbit information shown in the catalog. If this difference is smaller than a predetermined threshold, it can be estimated that the actually observed space object is a cataloged observed object; if the difference is larger than the predetermined threshold, it can be estimated that the actually observed space object is not a cataloged observed object.

[0056] Correction unit 47 deviation amount Δt N The statistical value ΔT is obtained. Correction unit 47 deviation amount Δt N The statistical value ΔT is used to correct the discrimination trajectory calculated by the trajectory calculation unit 12 (step S214). In other words, the correction unit 47 corrects the deviation amount Δt in the relationship between time and position (distance) shown by the discrimination trajectory calculated by the trajectory calculation unit 12. N The trajectory is offset by the time period indicated by the statistical value ΔT.

[0057] The correction unit 47 detects the second candidate P N Each of these is compared with the trajectory used for discrimination after offset correction to determine whether the following three conditions are met (step S215).

[0058] (Condition 1) Detection information P of multiple second candidates NThe difference between each of these and the position of the discrimination trajectory after offset correction must be within the threshold. (Condition 2) Detection information P of multiple second candidates N The difference in absolute values ​​between each of these and the velocity vector of the discriminant trajectory after offset correction must be within the threshold. (Condition 3) Detection information P of multiple second candidates N The angle between each of these and the velocity vector of the discriminant trajectory after offset correction must be within the threshold.

[0059] The correction unit 47 detects the second candidate P N If, after comparing each with the trajectory used for discrimination after offset correction, it is determined that the above three conditions are met, the second candidate detection information P is generated. N It was determined that this matched the orbital information that could be calculated based on the orbital elements in the catalog used to calculate the discriminative orbit after offset correction, and the second candidate detection information P N Remove the target from tracking (step S216). The correction unit 47 detects the second candidate P N If, after comparing each with the trajectory used for discrimination after offset correction, it is determined that the above three conditions are not met, the second candidate detection information P is generated. N It was determined that this did not match the orbital information that could be calculated based on the orbital elements in the catalog used to calculate the discriminative orbit after offset correction, and the detection information P of the second candidates was determined to be inconsistent. N The target is selected for tracking (step S217).

[0060] Furthermore, if the correction unit 47 determines that any one or two of the above three conditions are met, it will then provide the second candidate detection information P. N It was determined that this matched the trajectory information in the catalog used to calculate the discriminative trajectory after offset correction, and the second candidate detection information P N It is also possible to remove the target from tracking. In this case, if it is determined that one or two of the above three conditions are not met, the detection information P of the second candidate will be removed. N It was determined that the trajectory information in the catalog used to calculate the discriminative trajectory after offset correction did not match, and the detection information P of the second candidates was determined to not match. NIt is acceptable to use it as a target for tracking.

[0061] The correction unit 47 detects the second candidate P, which is the target of tracking. N The following is output to the tracking unit 15. The tracking unit 15 detects the second candidate P which is the target of tracking. N Radar 2 is controlled using this method, thereby observing objects not described in the catalog (step S218).

[0062] Through the above process, when observing objects not described in the catalog, radar 2 determines whether the detection information of correlated objects among the objects it detects is an observation target described in the catalog. If observation device 1 determines that the observation target is not described in the catalog, it tracks only the detection information of correlated objects among the objects detected by radar 2. This improves the accuracy of monitoring and tracking objects not described in the catalog. Furthermore, according to the processing of the second embodiment, the accuracy of determining uncataloged space objects can be improved.

[0063] In addition, in the processing of the second embodiment described above, the correction unit 47 also corrects the deviation amount Δt N The statistical value ΔT is used to correct the discrimination trajectory information calculated by the trajectory calculation unit 12, and it is determined whether this process has been repeated a predetermined number of times. Then, only if the correction of the discrimination trajectory information has been repeated a predetermined number of times, the correction unit 47 uses the discrimination trajectory information after offset correction to detect the second candidate P in step S215. N Alternatively, each object may be compared with the trajectory used for discrimination after offset correction to determine whether the three conditions above are met. This can further improve the accuracy of identifying uncataloged space objects.

[0064] The processing of the observation device 1 described in the second embodiment is one example of determining whether or not to monitor the space object that was actually detected, based on the correlation between the position of the space object that was actually detected according to the time and the position of the object to be observed according to the time indicated by known orbital information.

[0065] The processing of the observation device 1 described in the second embodiment is an example of a process that corrects the known orbital information based on the discrepancy between the time-position relationship of the actually detected space object and the time-position relationship indicated by the known orbital information, and determines to monitor the actually detected space object if the time-position relationship indicated by the corrected known orbital information does not correlate with the time-position relationship of the actually detected space object.

[0066] Furthermore, the processing of the observation device 1 described in the second embodiment is an example of the process of tracking an actual detected space object that has been determined to be monitored.

[0067] (Other Embodiment 1) In the process described above, the deviation amount calculation unit 45 calculates time t PDn In calculating the interpolation rate α used when calculating the above, the linear interpolation method is used by equations (5) and (11). However, the trajectory position D shown in the first embodiment a and orbital position D b The virtual position PD on the orbit indicated by the trajectory, assuming that the object being observed is located on that orbit. N The time t indicated by PDn Or, the discriminative trajectory position D shown in the second embodiment. a Discrimination orbit position D b The virtual position PD on the orbit indicated by the trajectory, assuming that the object being observed is located on that orbit. N The time t indicated by PDn In identifying the second candidate P, the interpolation rate α may be calculated using methods other than linear interpolation. N (Plot P) N The detection time t indicated by ) Pn However, orbital position D a The time t indicated by a And, orbital position D b The time t indicated by b It was explained that when indicating the time period between the specified intervals, the extrapolation rate may be calculated and identified as α instead of the interpolation rate α. Similarly, in this case, the extrapolation rate may be determined using a method other than linear extrapolation.

[0068] (Another Embodiment 2) In the above example, as shown by the vertical axis in Figures 4 and 6, the acquisition unit 14 corrects the orbital information (or discriminative orbital information) based on the correlation between the distance from radar 2 corresponding to the time of detection information (flying object such as a space object) and the distance corresponding to the time indicated by the orbital information (or discriminative orbital information). However, the vertical axis in Figures 4 and 6 could be converted from distance to azimuth angle, elevation angle, coordinates in the ECI coordinate system (X coordinate, Y coordinate, Z coordinate), velocity vector, etc., and the known orbital information (or discriminative orbital information) could be similarly corrected based on the detection information. The distance of the space object relative to radar 2, the azimuth angle of the space object, the elevation angle of the space object, the coordinates in the ECI coordinate system where the space object is located, and the velocity vector of the space object all correspond to the state of the space object according to time.

[0069] In other words, the acquisition unit 14 may correct the orbital information (or discriminative orbital information) based on a statistical value of the discrepancy between the relationship between the time and position of the space object actually detected, with respect to the position of the radar 2 that observes the position of the object being observed, and the relationship between the time and position indicated by the orbital information (or discriminative orbital information).

[0070] Furthermore, the acquisition unit 14 may correct the orbital information (or discrimination orbital information) based on a statistical value of the discrepancy between the relationship between the time and observation direction of the actually detected space object, relative to the position of the radar 2 that observes the position of the object to be observed, and the relationship between the time and observation direction indicated by the orbital information (or discrimination orbital information).

[0071] Furthermore, the acquisition unit 14 may correct the orbital information (or discrimination orbital information) based on a statistical value of the difference between the relationship between the time and velocity vector of the space object actually detected, with reference to the position of the radar 2 that observes the position of the object to be observed, and the relationship between the time and velocity vector indicated by the orbital information (or discrimination orbital information).

[0072] With the increasing number of artificial satellites and space debris, there is a need to improve the efficiency of radar monitoring of space objects (objects to be observed). Radar 2 is used to monitor space objects. It attempts to track space objects by continuously emitting radio waves according to the orbit calculated from information such as orbital elements described in the catalog of the space object. However, since the actual orbital elements of space objects change slightly between the update of orbital elements and observation, the accuracy of the orbital information may decrease at the time of observation, even if the orbital information is calculated from the latest updated orbital elements. The main effect of the decrease in the accuracy of the orbital information is that the time when the space object actually passes through the position expected from the orbital information may be earlier or later. In particular, if the accuracy of the orbital information used at the time of observation is severely reduced, the discrepancy between the orbital information and the actual position of the space object (object to be observed) is large, and the radio waves may not hit the space object. Therefore, by offsetting the time of the orbital information as described above, it is possible to obtain highly accurate orbital information of the object to be observed at the time of observation, and radio waves can be emitted efficiently to perform tracking. The catalog is a database containing information about objects whose existence has already been confirmed and whose orbital elements (parameters representing the orbit of a space object) have been calculated based on observational data. Depending on the space object, the information recorded in the catalog is updated relatively frequently, such as once a day.

[0073] The observation device 1 described above has a computer system inside. The program for causing the observation device 1 to perform the above-described processes is stored on a computer-readable recording medium of the observation device 1, and the above processes are performed when the computer of the observation device 1 reads and executes this program. Here, a computer-readable recording medium refers to a magnetic disk, magneto-optical disk, CD-ROM, DVD-ROM, semiconductor memory, etc. Alternatively, this computer program may be distributed to a computer via a communication line, and the computer that receives the distribution executes the program.

[0074] Furthermore, the above program may be intended to implement some of the functions of the respective processing units described above. Moreover, it may be a so-called differential file (differential program) that can implement the aforementioned functions in combination with programs already recorded in the computer system.

[0075] Figure 7 shows the hardware configuration of the observation device according to this disclosure. As shown in Figure 7, the observation device 1 in each embodiment is a computer equipped with hardware such as a CPU (Central Processing Unit) 101, ROM (Read Only Memory) 102, RAM (Random Access Memory) 103, other storage devices 104, and a communication module 105. The CPU of the observation device 1 executes a program, thereby performing the functions of each functional unit as shown in Figure 1.

[0076] <Other Embodiments 4> Figure 8 is a functional block diagram showing another example of the observation device according to this disclosure. Figure 9 shows the processing flow in another example of the observation device according to this disclosure. The observation device 1 may perform at least the function of the capture means 81. The capture means 81 corrects the orbital information based on the correlation between the state of the space object actually detected based on known orbital information according to the time and the state of the observed object according to the time indicated by the orbital information (step S901).

[0077] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure are possible, as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0078] Some or all of the above embodiments may also be described as follows, but are not limited to the following:

[0079] (Note 1) A capture means for correcting the orbital information based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information. An observation device equipped with the following features.

[0080] (Note 2) The pre-acquisition means identifies multiple space objects that are correlated with the state of the observed object according to the time indicated by the orbital information, from among the multiple space objects actually detected within a range set based on the orbital information, and corrects the orbital information based on the discrepancy between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. The observation device described in Appendix 1.

[0081] (Note 3) The pre-acquisition means identifies multiple space objects that are correlated with the state of the observed object according to the time indicated by the orbital information, from among the multiple space objects actually detected within a range set based on the orbital information, and corrects the orbital information based on a statistical value of the difference between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. The observation equipment described in Appendix 2.

[0082] (Note 4) The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and position of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and position indicated by the orbital information. The observation equipment described in Appendix 3.

[0083] (Note 5) The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and observation direction of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and observation direction indicated by the orbital information. The observation equipment described in Appendix 3.

[0084] (Note 6) The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and velocity vector of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and velocity vector indicated by the orbital information. The observation equipment described in Appendix 3.

[0085] (Note 7) Tracking means for tracking the position of the space object based on the corrected orbital information, An observation device described in any one of the appendices 1 to 6, which is equipped with the following:

[0086] (Note 8) Orbital information calculation means calculates orbital information indicating the estimated orbit of a predetermined observation target based on catalog information including information on the orbits of multiple observation targets orbiting the Earth, An observation device described in any one of the appendices 1 to 6, which is equipped with the following:

[0087] (Note 9) The orbital information is corrected based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information. Observation method.

[0088] (Note 10) From among the multiple space objects actually detected within a range set based on the orbital information, multiple space objects that correlate with the state of the observed target at the time indicated by the orbital information are identified, and the orbital information is corrected based on the discrepancy between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. The observation method described in Appendix 9.

[0089] (Note 11) From among the multiple space objects actually detected within a range set based on the orbital information, multiple space objects that correlate with the state of the observed target at the time indicated by the orbital information are identified, and the orbital information is corrected based on the statistical value of the discrepancy between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. Observation method as described in Appendix 10.

[0090] (Note 12) The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and position of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and position indicated by the orbital information. Observation method as described in Appendix 11.

[0091] (Note 13) The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and observation direction of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and observation direction indicated by the orbital information. Observation method as described in Appendix 11.

[0092] (Note 14) The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and velocity vector of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and velocity vector indicated by the orbital information. Observation method as described in Appendix 11.

[0093] (Note 15) The position of the space object is tracked based on the corrected orbital information. The observation method described in any one of the appendices 9 through 14.

[0094] (Note 16) Based on catalog information including information about the orbits of multiple observation targets orbiting the Earth, the system calculates the orbital information that indicates the estimated orbit of a predetermined observation target. The observation method described in any one of the appendices 9 through 14.

[0095] (Note 17) A capture means for correcting the orbital information based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information. A program that makes it function as such.

[0096] (Note 18) The pre-acquisition means identifies multiple space objects that are correlated with the state of the observed object according to the time indicated by the orbital information, from among the multiple space objects actually detected within a range set based on the orbital information, and corrects the orbital information based on the discrepancy between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. The program described in Appendix 17.

[0097] (Note 19) The pre-acquisition means identifies multiple space objects that are correlated with the state of the observed object according to the time indicated by the orbital information, from among the multiple space objects actually detected within a range set based on the orbital information, and corrects the orbital information based on a statistical value of the difference between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. The program described in Appendix 18.

[0098] (Note 20) The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and position of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and position indicated by the orbital information. The program described in Appendix 19.

[0099] (Note 21) The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and observation direction of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and observation direction indicated by the orbital information. The program described in Appendix 19.

[0100] (Note 22) The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and velocity vector of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and velocity vector indicated by the orbital information. The program described in Appendix 19.

[0101] (Note 23) Tracking means for tracking the position of the space object based on the corrected orbital information, The program described in any one of the appendices 17 to 22 that functions as such.

[0102] (Note 24) Orbital information calculation means calculates orbital information indicating the estimated orbit of a predetermined observation target based on catalog information including information on the orbits of multiple observation targets orbiting the Earth. A program described in any one of the appendices 1 through 6 that functions as such.

[0103] (Note 25) A capture means that determines whether or not to monitor the detected space object based on the correlation between the state of the space object detected at a given time and the state of the observed object indicated by known orbital information at a given time. An observation device equipped with the following features.

[0104] (Note 26) The pre-detection means corrects the known orbital information based on the discrepancy between the time-state relationship of the actually detected space object and the time-state relationship indicated by the known orbital information, and determines to monitor the actually detected space object if the time-state relationship indicated by the corrected known orbital information does not correlate with the time-state relationship of the actually detected space object. The observation equipment described in Appendix 25.

[0105] (Note 27) Tracking means for tracking the space object that was actually detected and which was determined to be monitored, An observation device as described in Appendix 26, comprising the following features.

[0106] (Note 28) The aforementioned capture means is The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and position of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and position indicated by the known orbital information. The observation equipment described in Appendix 26 or Appendix 27.

[0107] (Note 29) The aforementioned capture means is The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and observation direction of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and observation direction indicated by the known orbital information. The observation equipment described in Appendix 26 or Appendix 27.

[0108] (Note 30) The aforementioned capture means is The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and velocity vector of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and velocity vector indicated by the known orbital information. The observation equipment described in Appendix 26 or Appendix 27.

[0109] (Note 31) Based on the correlation between the state of the detected space object at a given time and the state of the observed object at a given time indicated by known orbital information, a determination is made as to whether or not to monitor the detected space object. Observation method.

[0110] (Note 32) Based on the discrepancy between the time-state relationship of the actually detected space object and the time-state relationship indicated by the known orbital information, the known orbital information is corrected. If the time-state relationship indicated by the corrected known orbital information does not correlate with the time-state relationship of the actually detected space object, it is determined to monitor the actually detected space object. Observation method as described in Appendix 31.

[0111] (Note 33) The observation method described in Appendix 32, which involves tracking the space object that has been determined to be monitored and has actually been detected.

[0112] (Note 34) The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and position of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and position indicated by the known orbital information. The observation method described in Appendix 32 or Appendix 33.

[0113] (Note 35) The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and observation direction of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and observation direction indicated by the known orbital information. The observation method described in Appendix 32 or Appendix 33.

[0114] (Note 36) The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and velocity vector of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and velocity vector indicated by the known orbital information. The observation method described in Appendix 32 or Appendix 33.

[0115] (Note 37) The computer of the observation device, A capture means for determining whether or not to monitor the detected space object based on the correlation between the state of the space object detected at a given time and the state of the observed object indicated by known orbital information at a given time, A program that makes it function as such.

[0116] (Note 38) The pre-detection means corrects the known orbital information based on the discrepancy between the time-state relationship of the actually detected space object and the time-state relationship indicated by the known orbital information, and determines to monitor the actually detected space object if the time-state relationship indicated by the corrected known orbital information does not correlate with the time-state relationship of the actually detected space object. The program described in Appendix 37.

[0117] (Note 39) Tracking means for tracking the space object that has been determined to be monitored and has actually been detected, The program described in Appendix 38 is used to make it function as follows.

[0118] (Note 40) The aforementioned capture means is The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and position of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and position indicated by the known orbital information. The program described in Appendix 38 or Appendix 39.

[0119] (Note 41) The aforementioned capture means is The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and observation direction of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and observation direction indicated by the known orbital information. The program described in Appendix 38 or Appendix 39.

[0120] (Note 42) The aforementioned capture means is The known orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and velocity vector of the space object actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and velocity vector indicated by the known orbital information. The program described in Appendix 38 or Appendix 39. [Explanation of Symbols]

[0121] 1. Observation device 2. Radar 11...Storage section 12...orbit calculation section 13. Candidate detection unit 14..Catching Section 15...Tracking unit 41...Extraction part 42..Registration Department 43...Exploration Department 44...Time calculation section 45... Calculation unit for displacement 46. ​​Statistical Processing Section 47. Correction section

Claims

1. A capture means for correcting the orbital information based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information. An observation device equipped with the following features.

2. The pre-acquisition means identifies multiple space objects that are correlated with the state of the observed object according to the time indicated by the orbital information, from among the multiple space objects actually detected within a range set based on the orbital information, and corrects the orbital information based on the discrepancy between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. The observation device according to claim 1.

3. The pre-acquisition means identifies multiple space objects that are correlated with the state of the observed object according to the time indicated by the orbital information, from among the multiple space objects actually detected within a range set based on the orbital information, and corrects the orbital information based on a statistical value of the difference between the time-state relationship of those space objects and the time-state relationship indicated by the orbital information. The observation device according to claim 2.

4. The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and position of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and position indicated by the orbital information. The observation device according to claim 3.

5. The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and observation direction of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and observation direction indicated by the orbital information. The observation device according to claim 3.

6. The aforementioned capture means is The orbital information is corrected based on a statistical value of the discrepancy between the relationship between the time and velocity vector of the space object as actually detected, using the position of the radar observing the position of the space object as a reference, and the relationship between the time and velocity vector indicated by the orbital information. The observation device according to claim 3.

7. Tracking means for tracking the position of the space object based on the corrected orbital information, An observation device according to any one of claims 1 to 6, comprising:

8. Orbital information calculation means calculates orbital information indicating the estimated orbit of a predetermined observation target based on catalog information including information on the orbits of multiple observation targets orbiting the Earth, An observation device according to any one of claims 1 to 6, comprising:

9. The orbital information is corrected based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information. Observation method.

10. The computer of the observation device, A capture means for correcting the orbital information based on the correlation between the time-dependent state of a space object actually detected based on known orbital information and the time-dependent state of the observed object indicated by the orbital information. A program that makes it function as such.

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