Monitoring device

Abstract

To identify a monitoring target to reliably acquire data on the monitoring target through a monitoring device.SOLUTION: A monitoring device uses a data analyzing device to digitize brightness information of monitoring data acquired with a fisheye lens camera or a wide-angle camera into brightness data; converts the brightness distribution of brightness data into distance and azimuth information to create map information, and sends it to a monitoring target identification device; uses the monitoring target identification device to perform matching and analysis between the map information and foresight map information, which corresponds to the map information of space objects sent in advance from ground equipment, to identify the monitoring target and extract the identified monitoring target.SELECTED DRAWING: Figure 21

Description

[Technical field]

[0001] The present disclosure relates to a space situation monitoring business device, a monitoring device, and an accelerating / decelerating object tracking device. [Background technology]

[0002] As debris increases, the risk of collisions with space objects increases. If space objects flying in geostationary orbit can be observed by artificial satellites flying close to the geostationary orbit, such observations will be effective in risk management such as collision avoidance. When observations are conducted using optical observation equipment, the optical observation equipment observes the sunlight reflected from the observation target, so the relative positions of the sun, observation satellite, and observation target are one of the constraints.

[0003] A satellite called a geostationary satellite orbits the Earth in sync with the Earth's rotation, so when viewed from the Earth's surface, the satellite appears to be stationary. Therefore, the relative positions of the sun and the geostationary satellite depend on time.

[0004] Patent Document 1 discloses a method for observing space debris in a space where sunlight is backlit. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2011-218834 A Summary of the Invention [Problem to be solved by the invention]

[0006] The method of Patent Document 1 requires a camera and a laser transmitter to irradiate the space debris with a laser beam. In addition, an optical filter to block sunlight must be placed in front of the camera lens. Therefore, the method of Patent Document 1 makes it difficult to reduce the cost of monitoring using observation satellites.

[0007] An object of the present disclosure is to identify a monitoring target, thereby enabling a monitoring device to reliably obtain data on the monitoring target. [Means for solving the problem]

[0008] The monitoring device according to the present disclosure is a monitoring device that flies in a geostationary orbit, A fisheye or wide-angle camera; A data analysis device; A surveillance target identification device and Equipped with The data analysis device includes: quantifies the brightness information of the surveillance data acquired by the fisheye lens camera or the wide-angle camera to obtain brightness data, and transmits map information obtained by converting the brightness distribution of the brightness data into distance and azimuth angle information to the surveillance target identification device; The monitoring target identification device includes: The map information is subjected to a matching analysis with foresight map information, which is map information of space objects transmitted in advance from ground facilities, to identify monitoring targets, and the identified monitoring targets are extracted. Effect of the Invention

[0009] The monitoring device according to the present disclosure can identify the monitored object by performing a matching analysis of map information in which the brightness distribution of brightness data is converted into distance and azimuth angle information, and foresight map information, which is map information of space objects transmitted in advance from ground equipment, thereby having the effect of reliably obtaining data on the monitored object with the monitoring device. [Brief description of the drawings]

[0010] [Figure 1] 1 shows an example of the configuration of a space traffic management system according to the first embodiment. [Diagram 2] 2 shows a configuration example of a space situation monitoring business device according to the first embodiment. [Diagram 3] 2 shows a configuration example of a satellite, which is an example of a space object according to the first embodiment. [Figure 4] 2 shows an example of the configuration of a communications satellite according to the first embodiment. [Diagram 5] 2 shows a configuration example of an observation satellite which is an example of a monitoring device according to the first embodiment. [Figure 6] 3 shows a configuration example of an observation satellite that is another example of the monitoring device according to the first embodiment. [Figure 7] 3 shows an example of space object information according to the first embodiment. [Figure 8] 3 shows an example of space object information according to the first embodiment. [Figure 9] 3 shows a configuration example of a satellite control device of the monitoring device according to the first embodiment. [Figure 10] 13 shows a configuration example of a space situation monitoring business device relating to embodiment 2. [Figure 11] 13 shows an example of an observation mode by an observation satellite which is an example of a monitoring device according to the third embodiment. [Figure 12] 13 shows another example of an observation mode by an observation satellite which is an example of a monitoring device according to the third embodiment. [Figure 13] 13 is an example of a fisheye image captured by a camera equipped with a fisheye lens according to the fourth embodiment. [Figure 14] 13 is an example of a fisheye image captured by a camera equipped with a fisheye lens according to the fourth embodiment. [Figure 15] 13 is a diagram in which information about a space object is plotted on a graph with distance on the horizontal axis and azimuth angle on the vertical axis in accordance with the fourth embodiment. [Figure 16] FIG. 15 is an analysis of FIG. 15 according to the fourth embodiment. [Figure 17] 13 is an example of a fisheye image captured by a camera equipped with a fisheye lens according to the fourth embodiment. [Figure 18] 18 is a graph according to the fourth embodiment, which corresponds to FIG. 17; [Figure 19] 13 is a fisheye view of a camera equipped with a fisheye lens according to a fourth embodiment and a corresponding graph. [Figure 20]13 is a fisheye view of a camera equipped with a fisheye lens according to a fourth embodiment and a corresponding graph. [Figure 21] 13 is an example of a fisheye view in a fisheye camera according to the fifth embodiment. [Figure 22] FIG. 22 is a diagram in which contour lines are plotted in the fisheye diagram of FIG. 21 according to the fifth embodiment. [Diagram 23] FIG. 23 is a graph plotting the fisheye diagram of FIG. 22 according to the fifth embodiment. [Figure 24] 13 is another example of a fisheye view in a fisheye camera according to the fifth embodiment. [Diagram 25] 25 is an example of a fisheye view obtained again after a time delay while maintaining the pointing direction of the observation satellite in FIG. 24 according to the fifth embodiment. [Figure 26] 13 is an example of a fisheye view in which a position deviating from the relative positional relationship is detected according to the fifth embodiment. [Figure 27] 13 is an example of a fisheye view when the line of sight is moved toward a monitoring target according to the fifth embodiment. [Figure 28] 13 shows a configuration example of a satellite control device of a monitoring device according to a sixth embodiment. [Figure 29] 13 shows an example of the configuration of a space situation monitoring business device relating to embodiment 7. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate. In addition, the relationship between the sizes of the components in the following drawings may differ from the actual relationship. In addition, in the description of the embodiments, directions or positions such as "upper", "lower", "left", "right", "front", "rear", "front" and "back" may be indicated. These notations are written in this way only for the convenience of explanation, and do not limit the arrangement and orientation of the components such as devices, instruments, or parts.

[0012] Embodiment 1 ***Configuration Description*** FIG. 1 shows an example of the configuration of a space traffic management system 500 according to this embodiment. The space traffic management system 500 acquires space object information 501 that indicates the status of a space object 60 flying in space, and manages the space object information 501. The space traffic management system 500 includes a management business device 40. In addition, the management business device 40 includes a space traffic management device 700. The space traffic management system 500 includes a plurality of space traffic management devices 700 each performing flight safety management of space objects. The space traffic management devices 700 are implemented in management business devices 40 used by each of a plurality of management companies that manage space objects flying in space. The plurality of space traffic management devices 700 are connected to each other via communication lines.

[0013] The space traffic management device 700 communicates with other management business devices 40. The space traffic management device 700 may be mounted on a ground facility 701. For example, the mega constellation business device 41 includes a space traffic control device 700 that is compatible with the space traffic control device 700 included in each of the multiple management business devices. The space traffic control device 700 included in the mega constellation business device 41 is connected via the space traffic control device 700 to a space traffic management system 500 that connects the space traffic control devices 700 included in each of the other multiple management business devices with communication lines.

[0014] The management business device 40 provides information about a space object 60, such as an artificial satellite or debris. The management business device 40 is a computer of an operator that collects information about a space object 60, such as an artificial satellite or debris. The management business equipment 40 includes equipment such as a megaconstellation business equipment 41, a LEO constellation business equipment 42, a satellite business equipment 43, an orbital transfer business equipment 44, a debris removal business equipment 45, a rocket launch business equipment 46, and an SSA business equipment 47. SSA is an abbreviation of Space Situational Awareness. LEO is an abbreviation of Low Earth Orbit. The management business device 40 may be configured to include a monitoring device 810 such as an observation satellite, and to monitor space objects using the monitoring device 810. The configuration including the monitoring device 810 will be described later.

[0015] The mega-constellation business device 41 is a computer of a mega-constellation operator that operates a large-scale satellite constellation, i.e., a mega-constellation business. The mega-constellation business device 41 is a business device that manages a satellite constellation consisting of, for example, 100 or more satellites. The LEO constellation business equipment 42 is a computer of a LEO constellation operator that operates a low earth orbit constellation, i.e., a LEO constellation business. The satellite business device 43 is a computer of a satellite operator that handles one to several satellites. The orbital transfer business device 44 is an orbital transfer business computer that issues space object intrusion warnings to satellites. The debris removal business device 45 is a computer of a debris removal business operator that carries out the business of collecting debris. The rocket launch business device 46 is a computer of a rocket launch business operator that carries out rocket launch business. The SSA business device 47 is a computer of an SSA business operator that performs an SSA business, i.e., a space situational awareness business. For example, the SSA business operator publishes at least a part of the information of space objects collected by the SSA business on a server. The SSA business device 47 is also called a space situational awareness business device.

[0016] The management business device 40 may be a device other than those described above, so long as it is a device that collects information about space objects such as artificial satellites or debris and provides the collected information to the space traffic management system 500.

[0017] Space traffic control device 700 includes a processor 910, as well as other hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, and a communication device 950. Processor 910 is connected to the other hardware via signal lines and controls the other hardware.

[0018] The space traffic control device 700 includes, as examples of functional elements, a space traffic control unit 710 and a memory unit 720. The memory unit 720 stores the space object information 501.

[0019] The functions of the space traffic control unit 710 are realized by software. The storage unit 720 is provided in the memory 921. Alternatively, the storage unit 720 may be provided in the auxiliary storage device 922. Moreover, the storage unit 720 may be provided separately in the memory 921 and the auxiliary storage device 922. For example, the space traffic control device 700 realizes a function of warning an intrusion of a space object. However, as will be described later, the space traffic control device 700 has various functions other than the function of warning an intrusion of a space object.

[0020] The processor 910 is a device that executes a space traffic management program. The space traffic management program is a program that realizes the functions of each component of the space traffic control device 700 and the space traffic management system 500.

[0021] The processor 910 is an integrated circuit (IC) that performs arithmetic processing. Specific examples of the processor 910 include a CPU, a digital signal processor (DSP), and a graphics processing unit (GPU).

[0022] The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 include a static random access memory (SRAM) and a dynamic random access memory (DRAM). The auxiliary storage device 922 is a storage device that stores data. A specific example of the auxiliary storage device 922 is a HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

[0023] The input interface 930 is a port connected to an input device such as a mouse, a keyboard, or a touch panel. Specifically, the input interface 930 is a Universal Serial Bus (USB) terminal. The input interface 930 may be a port connected to a Local Area Network (LAN). The output interface 940 is a port to which a cable of a display device 941 such as a display is connected. Specifically, the output interface 940 is a USB terminal or an HDMI (registered trademark) (High Definition Multimedia Interface) terminal. Specifically, the display is an LCD (Liquid Crystal Display).

[0024] The communication device 950 has a receiver and a transmitter. Specifically, the communication device 950 is a communication chip or a NIC (Network Interface Card). The space traffic control device 700 communicates between ground facilities and satellites, or between satellites, via the communication device 950.

[0025] The space traffic management program is loaded into the processor 910 and executed by the processor 910. Memory 921 stores not only the space traffic management program but also an OS (Operating System). Processor 910 executes the space traffic management program while executing the OS. The space traffic management program and the OS may be stored in an auxiliary storage device. The space traffic management program and the OS stored in the auxiliary storage device are loaded into the memory 921 and executed by the processor 910. Note that a part or all of the space traffic management program may be incorporated into the OS.

[0026] Space traffic control device 700 may include multiple processors that replace processor 910. These multiple processors share the task of executing the space traffic control program. Each processor is a device that executes the space traffic control program, just like processor 910.

[0027] Data, information, signal values ​​and variable values ​​utilized, processed or output by the space traffic management program may be stored in memory 921 , secondary storage device 922 , or in registers or cache memory within processor 910 .

[0028] The "unit" in the space traffic control unit 710 may be read as a "process," a "procedure," or a "step." Also, the "process" in the space traffic control process may be read as a "program," a "program product," or a "computer-readable storage medium having a program recorded thereon." The space traffic management program causes a computer to execute each process, procedure, or step of the space traffic management unit described above, where "unit" is replaced with "process," "procedure," or "step." Also, the space traffic management method is a method performed by space traffic management device 700 executing the space traffic management program. The space traffic management program may be provided by being stored in a computer-readable recording medium or storage medium, or may be provided as a program product.

[0029] FIG. 2 shows an example of the configuration of the SSA business device 47 according to this embodiment. The SSA business device 47 acquires space object information 501 that indicates the status of a space object 60 flying in space. Then, the SSA business device 47 manages the acquired space object information 501. The SSA business equipment 47 communicates with a monitoring device 810 flying near the geostationary orbit. The SSA business equipment 47 may include the monitoring device 810 flying near the geostationary orbit. In this case, the SSA business equipment 47 is also referred to as an SSA business system including the monitoring device 810. The SSA business equipment 47 includes a ground facility 701 that transmits a command 711 to the monitoring device 810 and receives monitoring data 712 acquired by the monitoring device 810. The SSA business equipment 47 is an example of the management business equipment 40 described above. The ground facility 701 is an example of the space traffic management equipment 700 described above.

[0030] In the following embodiments, it may be described that the management service device 40, the SSA service device 47, the space traffic management device 700, or the ground facility 701 executes the control and data processing functions. In this case, the space traffic management unit 710 mainly realizes the functions.

[0031] FIG. 3 shows an example of the configuration of a satellite 30, which is an example of a space object 60 according to this embodiment. The satellite 30 comprises a satellite control device 310, a satellite communication device 32, a propulsion device 33, an attitude control device 34, and a power supply device 35. The satellite 30 comprises other components that realize various functions, but in Fig. 3, the satellite control device 310, the satellite communication device 32, the propulsion device 33, the attitude control device 34, and the power supply device 35 will be described. The satellite 30 is an example of a space object 60.

[0032] The satellite control device 310 is a computer that controls the propulsion device 33 and the attitude control device 34, and includes a processing circuit. Specifically, the satellite control device 310 controls the propulsion device 33 and the attitude control device 34 in accordance with various commands transmitted from ground devices. The satellite communication device 32 is a device that communicates with ground equipment. Specifically, the satellite communication device 32 transmits various data related to its own satellite to the ground equipment. The satellite communication device 32 also receives various commands transmitted from the ground equipment. The propulsion device 33 is a device that provides thrust to the satellite 30 and changes the speed of the satellite 30. Specifically, the propulsion device 33 is an apogee kick motor, a chemical propulsion device, or an electric propulsion device. The apogee kick motor (AKM) is an upper stage propulsion device used to put an artificial satellite into orbit, and is also called an apogee motor (when a solid rocket motor is used) or an apogee engine (when a liquid engine is used). Chemical propulsion systems are thrusters that use monopropellant or bipropellant fuels. Electric propulsion systems are ion engines or Hall thrusters. An apogee kick motor is a device used for orbital transfer, and can be a type of chemical propulsion system. The attitude control device 34 controls the attitude of the satellite 30, the angular velocity of the satellite 30, and the line of sight (LOS) direction. The attitude control device 34 is a device for controlling attitude elements such as the attitude sensor, the attitude sensor, the sun sensor, the star tracker, the thruster, and the magnetic sensor. The attitude control device 34 is a device for controlling attitude elements such as the attitude sensor, the attitude sensor, the sun sensor, the star tracker, the thruster, and the magnetic sensor. The actuators are devices such as the attitude control thruster, the momentum wheel, the reaction wheel, and the control moment gyro. The controller controls the actuators according to the measurement data of the attitude sensor or various commands from the ground device. The power supply unit 35 includes devices such as solar cells, batteries, and a power control device, and supplies power to each device installed on the satellite 30.

[0033] The processing circuitry provided in the satellite control device 310 will now be described. The processing circuitry may be dedicated hardware or may be a processor that executes a program stored in a memory. In the processing circuit, some functions may be realized by dedicated hardware and the remaining functions may be realized by software or firmware, i.e., the processing circuit may be realized by hardware, software, firmware, or a combination thereof. The dedicated hardware may specifically be a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array.

[0034] FIG. 4 is a diagram showing an example of the configuration of a communication satellite 811 according to this embodiment. FIG. 5 is a diagram showing an example of the configuration of an observation satellite 812, which is an example of a monitoring device 810 according to this embodiment. FIG. 6 is a diagram showing an example of the configuration of an observation satellite 813, which is another example of the monitoring device 810 according to this embodiment. In addition, in FIG. 3 to FIG. 6, components with the same names have similar functions, and the description thereof may be omitted.

[0035] The configuration of the communications satellite 811 will be described with reference to FIG. The communications satellite 811 includes a communications device 121, a propulsion device 122, a power supply device 123, and a camera 124. For example, the camera 124 is a wide-angle camera that points in the same direction as the direction of the first directional antenna 121E or the second directional antenna 121W.

[0036] The communication satellite 811 can visually capture the observation satellite and other space objects flying in geostationary orbit or in orbits close to geostationary orbit, and can therefore visually confirm that the environment around the communication satellite 811 is free of obstacles that could cause interference and noise in communications. Other space objects are space objects other than the space objects observed by the observation satellites.

[0037] Alternatively, the camera 124 may be a camera having a fisheye lens. The camera 124 is disposed so that the direction from the communication satellite 811 to the Earth is the line of sight vector. The camera 124 equipped with a fisheye lens provides image information in the elevation direction within a 360-degree viewing direction around the line of sight vector. By arranging the camera 124 so that the line of sight vector is the direction from the communication satellite 811 to the earth, it is possible to visually capture the observation satellite 812 and other space objects flying in geostationary orbit or in orbits close to the geostationary orbit. Furthermore, it is possible to estimate the positions of other space objects in orbit. Therefore, it is possible to visually confirm that the environment around the communication satellite 811 is free of communication interference and noise.

[0038] The configuration of an observation satellite 812, which is an example of a monitoring device 810, will be described with reference to FIG. The observation satellite 812 includes an observation device 111 , a satellite control device 112 , a communication device 113 , a propulsion device 114 , an attitude control device 115 , a power supply device 116 , and a camera 117 . The observation equipment 111 is a device for observing a space object. The observation equipment 111 is also called a monitoring device. The camera 117 is, for example, a wide-angle camera directed at the communications satellite 811 .

[0039] The camera 117 can visually capture the communication satellite 811 and other space objects flying in geostationary orbit or in orbits close to geostationary orbit, making it possible to visually confirm that the surroundings of the observation satellite 812 are an environment free of interference and noise due to communications.

[0040] Furthermore, the camera 117 may be a camera having a fisheye lens. The camera 117 is disposed such that the direction from the observation satellite 812 to the communication satellite 811 is the line of sight vector, for example.

[0041] A camera 117 equipped with a fisheye lens provides image information in the elevation direction within a 360-degree viewing direction centered on the line-of-sight vector. By arranging the camera 117 so that the direction from the observation satellite 812 to the communication satellite 811 is the line of sight vector, it is possible to visually capture the communication satellite 811 and other space objects flying in geostationary orbit or in orbits close to the geostationary orbit. Furthermore, it is possible to estimate the positions of other space objects on orbit. Therefore, it is possible to visually confirm that the surroundings of the observation satellite 812 are in an environment free of interference and noise due to communication.

[0042] The configuration of an observation satellite 813, which is another example of the monitoring device 810, will be described with reference to FIG. The observation satellite 813 includes an observation device 201 , a satellite control device 202 , a communication device 203 , a propulsion device 204 , an attitude control device 205 , and a power supply device 206 .

[0043] The observation device 201 is a device for observing a space object. The observation device 201 optically captures images of space objects flying at an altitude different from the orbital altitude of the observation satellite. Specifically, the observation device 201 is a visible optical sensor. The observation device 201 generates observation data. The observation data is data obtained by observation performed by the observation device 201. For example, the observation data corresponds to data representing an image in which the space object 110 is captured.

[0044] The satellite control device 202 is a computer that controls the observation satellite 813 . The satellite control device 202 controls the observation device 201, the propulsion device 204, and the attitude control device 205 according to a predetermined procedure or in accordance with various commands transmitted from ground facilities.

[0045] The communication device 203 is a device that communicates with ground facilities and is also called a satellite communication device. The communication device 203 transmits observation data to the ground equipment and receives various commands transmitted from the ground equipment.

[0046] FIG. 7 is an example of space object information 501 according to this embodiment. A space object ID for identifying the space object 60 and orbit information are set in the space object information 501. The orbit information includes forecast orbit information and actual orbit information. The forecast orbit information includes the epoch, orbital elements, forecast error, information provider device ID, and information update date. The actual orbit information includes UTS time, position coordinates, measurement error, information provider device ID, and information update date.

[0047] The space object information 501 includes orbital information of space objects collected from other management business devices 40. For example, the space object information 501 includes a catalog 590 in which orbital information of space objects is recorded in advance. The catalog 590 is collected from a management business that manages space objects.

[0048] FIG. 8 is a diagram showing an example of space object information 501 according to this embodiment. The SSA business device 47, for example, stores the space object information 501 in which the forecast value of the orbit of the space object 60 is set in the memory unit 720. The SSA business device 47 may obtain the forecast value of each orbit of the multiple space objects 60 from the management business device 40 used by the management business operator that manages the multiple space objects 60, and store the space object information 501 as the catalog 590. Alternatively, the SSA business device 47 may obtain the space object information 501 in which the forecast value of each orbit of the multiple space objects 60 is set from the management business operator, and store it in the memory unit 720. Alternatively, the SSA business device 47 may store the space object information 501 in the memory unit 720 based on the monitoring data 712 received from the monitoring device 810 provided in the SSA business device 47.

[0049] The space object information 501 includes satellite orbit forecast information 52 and debris orbit forecast information 53. The satellite orbit forecast information 52 includes a forecast value of the satellite orbit. The debris orbit forecast information 53 includes a forecast value of the debris orbit. In this embodiment, the satellite orbit forecast information 52 and the debris orbit forecast information 53 are included in the space object information 501, but the satellite orbit forecast information 52 and the debris orbit forecast information 53 may be stored in the memory unit 720 as individual information.

[0050] In the space object information 501, information such as a space object ID (identifier) ​​511, a forecast origin 512, forecast orbital elements 513, and a forecast error 514 is set.

[0051] The space object ID 511 is an identifier for identifying the space object 60. In Fig. 8, a satellite ID and a debris ID are set as the space object ID 511. Specifically, the space object is an object such as a rocket launched into outer space, an artificial satellite, a space station, a debris removal satellite, a planetary exploration spacecraft, or a satellite or rocket that has become debris after completing a mission.

[0052] Predicted epoch 512 is the epoch predicted for the orbit of each of the plurality of space objects. The predicted orbital elements 513 are orbital elements that specify the orbit of each of the multiple space objects. The predicted orbital elements 513 are orbital elements that are predicted for the orbit of each of the multiple space objects. In Fig. 8, six Keplerian orbit elements are set as the predicted orbital elements 513.

[0053] The forecast error 514 is an error predicted for each orbit of a plurality of space objects. The forecast error 514 includes a heading error, a cross-directional error, and the basis for the error. In this way, the forecast error 514 explicitly shows the amount of error contained in the actual value along with the basis. The basis for the amount of error includes the measurement means, the contents of data processing performed as a means for improving the accuracy of position coordinate information, and some or all of the results of statistical evaluation of past data.

[0054] In the space object information 501 according to this embodiment, a forecast origin 512 and forecast orbital elements 513 are set for the space object 60. The forecast origin 512 and forecast orbital elements 513 can be used to determine the time and position coordinates in the near future of the space object 60. For example, the time and position coordinates in the near future for the space object 60 may be set in the space object information 501. In this way, the space object information 501 includes space object orbital information including the epoch and orbital elements, or time and position coordinates, and the predicted values ​​for the space object 60 in the near future are explicitly shown.

[0055] ***Explanation of Operation*** Next, an example of the operation of the SSA business device 47 will be described. The monitoring device 810 flies near a geostationary satellite. The ground equipment 701 transmits a command 711 to a monitoring device 810 and receives monitoring data 712 acquired by the monitoring device 810 . In the following description, a specific example of the monitoring device 810 will be described as an observation satellite 812.

[0056] <Operation Example 1 of this embodiment> The ground facility 701 has a catalog 590 that records orbital information of a plurality of space objects. Based on the orbital information of a space object 60 selected from the plurality of space objects recorded in the catalog 590, the ground facility 701 transmits a command 711 to the monitoring device 810 to operate the monitoring device 810 by pointing to the position coordinates in the Earth-fixed coordinate system included in the orbital information of the space object 60.

[0057] Specifically, based on the orbital information of the space object 60 selected from the catalog 590, the space traffic management unit 710 transmits a command 711 to the monitoring device 810 to operate the monitoring device 810 by pointing it to the position coordinates in the Earth-fixed coordinate system contained in the orbital information.

[0058] It is necessary to monitor space objects such as debris so that they do not come close to geostationary satellites owned by a country and disrupt the continuity of services. For this reason, a management business device 40 such as an SSA business device 47 holds a catalog 590 of orbital information of space objects around geostationary orbit in advance. The World Geodetic System (WGS84) is an Earth-fixed coordinate system that is also used in the positioning satellite system. In this embodiment, the orbital information of the space object is recorded in the catalog 590 based on the position coordinates. The ground equipment 701 also generates the command 711 using the position coordinates in the Earth-fixed coordinate system.

[0059] In operation example 1 of this embodiment, an SSA operator conducting space situation monitoring has the advantage of being able to use the position coordinates of a space object recorded in the catalog to instruct a monitoring device flying near geostationary orbit to obtain monitoring data of the desired space object.

[0060] <Operation Example 2 of this embodiment> Based on a command 711 received from the ground equipment 701, the monitoring device 810 points to the position coordinates specified by the command 711 and acquires monitoring data.

[0061] A monitoring device 810 such as an observation satellite 812 orients a space object 60 flying in space based on position coordinates in the Earth-fixed coordinate system received from a ground facility 701 .

[0062] In operation example 2 of this embodiment, an SSA operator conducting space situation monitoring has the advantage of being able to monitor the status of space objects flying near geostationary orbit from nearby with high resolution using the position coordinates of the space objects recorded in the catalog.

[0063] <Operation Example 3 of this embodiment> FIG. 9 is a diagram showing an example of the configuration of the satellite control device 112 of the monitoring device 810 according to this embodiment. The monitoring device 810 includes a data analysis device 821, a data reacquisition decision device 822, and an automatic monitoring and control device 823. The data analysis device 821, the data reacquisition decision device 822, and the automatic monitoring and control device 823 are provided in, for example, the satellite control device 112 of the observation satellite 812, or the satellite control device 202 of the observation satellite 813.

[0064] The data analysis device 821 transmits the luminance data, which is a numerical representation of the luminance information of the acquired monitoring data, to the data reacquisition decision device 822 . When the brightness data matches a predetermined brightness level judgment criterion or brightness histogram judgment criterion, the data reacquisition decision device 822 transmits a data reacquisition instruction to the automatic monitoring and control device 823 to reacquire the monitoring data. Based on a data reacquisition instruction, the automatic monitoring control device 823 autonomously generates position coordinates by changing the position coordinates previously received from the ground equipment 701, and points to the generated position coordinates to acquire monitoring data.

[0065] If space object 60 moves from the position coordinates recorded in catalog 590, it may move out of the monitoring range of the monitoring data instructed by command 711 from ground equipment 701 and may no longer be present in the monitoring data. The background of the surveillance data is generally outer space, and the brightness level is generally zero, with black being zero and white being 100. By acquiring monitoring data using a monitoring device 810 with sensitivity set so that the solar reflectance of the desired space object 60 is a significant brightness level below 100, if the space object 60 is included in the monitoring data it will show a significant brightness level. Furthermore, when high-resolution monitoring data is acquired using optical monitoring data such as a two-dimensional area sensor, the reflected light from a space object is acquired as a significant brightness level across many pixels. Stars can have significant brightness levels, but their brightness levels are much lower than those of space objects reflecting sunlight, and like point sources, only one pixel or at most four adjacent pixels will have significant brightness levels. Therefore, if the monitoring data acquired by the data analyzer is quantified as brightness levels, the presence of the desired space object in orbit can be automatically identified as a significant brightness level across a large number of pixels.

[0066] For example, the data reacquisition determination device 822 sets an example of a criterion for determining that the desired space object is not included in monitoring data that does not contain data with a brightness level of 5 or more. Alternatively, the data reacquisition determination device 822 sets an example of a criterion for determining that the desired space object is not included in monitoring data that has less than 10 pixels with a brightness level of 5 or more in a brightness histogram. Then, when this condition is met, the data reacquisition determination device 822 instructs the automatic monitoring and control device 823 to reacquire data. The automatic monitoring and control device 823 autonomously generates position coordinates by changing the position coordinates received in advance from the ground equipment 701, and points to the position coordinates to obtain monitoring data. It is reasonable to change the position coordinates so as to acquire the adjacent range of the already acquired monitoring data as the monitoring range of the monitoring device 810. It is preferable to change the position coordinates over time, taking into account the relative positional change between the monitoring device 810 and the space object.

[0067] In the third operation example of this embodiment, by reacquiring data, it is possible to monitor a space object even if it moves from the cataloged position. In addition, since data can be reacquired autonomously on orbit, it is possible to acquire monitoring data even in a situation where a communication line with ground equipment is not established.

[0068] ***Explanation of the Effects of the Present Embodiment*** According to the SSA business device of this embodiment, it is possible to use the position coordinates of a space object recorded in the catalog to instruct a monitoring device flying near a geostationary orbit to obtain monitoring data of a desired space object.

[0069] In addition, the SSA business device of this embodiment has the advantage of being able to monitor the status of space objects flying near geostationary orbit from nearby with high resolution using the position coordinates of the space objects recorded in the catalog.

[0070] In addition, the SSA business device according to the present embodiment has the advantage that it can monitor a space object even if it moves by reacquiring data. In addition, since data can be reacquired autonomously on orbit, it has the advantage that it can acquire monitoring data even in a situation where a communication line with ground equipment is not established.

[0071] Embodiment 2 In this embodiment, the following mainly describes the points that are added to or different from embodiment 1. Note that the same components as those in embodiment 1 are given the same reference numerals, and the description thereof may be omitted.

[0072] FIG. 10 is a diagram showing an example of the configuration of an SSA business device 47 according to the present embodiment. In this embodiment, the SSA business equipment 47 includes a monitoring device 810 equipped with a communication device and flying near a geostationary orbit, a geostationary satellite 830 equipped with a communication device, and ground equipment 701 that communicates with the geostationary satellite 830. The configuration of the geostationary satellite 830 is similar to that of the example of the satellite in FIG.

[0073] The ground facility 701 includes a catalog 590 that records orbital information for a number of space objects. Based on the orbital information of a space object selected from the catalog 590, the ground equipment 701 transmits a command to the monitoring device 810 via the geostationary satellite 830 to operate the monitoring device 810 by pointing it to the position coordinates in the Earth-fixed coordinate system contained in the orbital information.

[0074] Since the ground equipment 701 and the monitoring device 810 are always capable of communicating with each other via the geostationary satellite 830, it has the advantage of enabling quick command transmission and quick acquisition of monitoring data.

[0075] The monitoring device 810 acquires monitoring data by pointing to the position coordinates specified by the command based on the command received from the ground facility 701 via the geostationary satellite 830. Then, the monitoring device 810 transmits the monitoring data to the ground facility 701 via the geostationary satellite 830.

[0076] Since the ground facility 701 and the monitoring device 810 can always communicate with each other via the geostationary satellite 830, it is possible to transmit commands and obtain monitoring data quickly. Therefore, even if an emergency occurs, such as the approach of a suspicious object such as debris, and an emergency response such as risk avoidance is required, it is possible to immediately grasp the situation in space.

[0077] The ground equipment 701 sets position coordinates for reacquiring data in a command based on the monitoring data transmitted from the monitoring device 810. The ground equipment 701 transmits the command to the monitoring device 810 via the geostationary satellite 830. The monitoring device 810 acquires monitoring data by pointing to the position coordinates specified by the command based on the command received from the ground facility 701 via the geostationary satellite 830. Then, the monitoring device 810 transmits the acquired monitoring data to the ground facility 701 via the geostationary satellite 830.

[0078] Since the ground equipment 701 and the monitoring device 810 are constantly able to communicate via the geostationary satellite 830, even if a space object moves and leaves the monitoring range, an instruction to reacquire data can be given immediately.

[0079] Embodiment 3 In this embodiment, the following mainly describes additions or differences from embodiments 1 and 2. Note that the same components as those in embodiments 1 and 2 are given the same reference numerals, and descriptions thereof may be omitted.

[0080] FIG. 11 is a diagram showing an example of an observation mode by an observation satellite 812 which is an example of a monitoring device 810 according to this embodiment. The observation satellite 812 is an example of the monitoring device 810. Also, the observation devices 111 and 201 of the observation satellites 812 and 813 are examples of monitoring equipment. In this embodiment, the observation device 111 of the observation satellite 812 will be used for explanation.

[0081] The monitoring device 810 includes monitoring equipment. The monitoring device 810 moves eastward relative to the space object, and operates the monitoring equipment in the sky above the other side of the Earth, which is the side that is not exposed to sunlight, between 18:00 LST and 06:00 LST the next morning, to obtain monitoring data multiple times. LST is an abbreviation for Local Sun Time. LST is also called a sun-synchronous orbit.

[0082] Specifically, the observation satellite 812 orbits the Earth and observes space objects flying near the geostationary orbit. The observation satellite 812 includes an observation device 111 and a propulsion device 114. The observation satellite 812 controls the propulsion device 114 so that the observation satellite 812 decelerates, thereby lowering the orbital altitude of the observation satellite 812, and as the orbital altitude decreases, the orbital speed of the observation satellite 812 increases relative to the Earth's rotation speed, causing the observation satellite 812 to move eastward relative to the space object, while operating the observation device 111 in the sky above the other side of the Earth, which is not exposed to sunlight, between 18:00 LST and 06:00 LST the following morning.

[0083] FIG. 12 is a diagram showing another example of an observation mode by an observation satellite 812 which is an example of a monitoring device 810 according to this embodiment.

[0084] The monitoring device 810 includes monitoring equipment. The monitoring device 810 moves westward relative to the space object, and operates the monitoring equipment above the near side of the Earth, which is the side exposed to sunlight, between 06:00 LST and 18:00 LST to acquire monitoring data multiple times.

[0085] Specifically, the observation satellite 812 increases the orbital altitude of the observation satellite 812 by operating the propulsion device 114 so that the observation satellite 812 accelerates, and as the orbital altitude increases, the orbital speed of the observation satellite 812 decreases relative to the Earth's rotation speed, causing the observation satellite 812 to move westward relative to the space object, while operating the observation device 111 above the near side of the Earth, which is the side that is exposed to sunlight, between 06:00 LST and 18:00 LST.

[0086] According to the SSA business device 47 of this embodiment, the monitoring data can be reacquired at a time period that is reasonable for the monitoring device to capture solar reflected light on the space object, thereby achieving the effect of quickly and reliably acquiring monitoring data of the space object. Information may be exchanged between the ground equipment and the monitoring device via a geostationary satellite.

[0087] Embodiment 4 In this embodiment, the following mainly describes the points that are added to or different from the first to third embodiments. Note that the same reference numerals are used to designate the same configurations as the first to third embodiments, and the description thereof may be omitted.

[0088] The monitoring device 810 is equipped with a fisheye lens camera having a line-of-sight vector parallel to the orbital radial direction. Specifically, the camera 117 of the observation satellite 812 described in Fig. 5 is a fisheye lens camera having a line-of-sight vector parallel to the orbital radial direction.

[0089] Alternatively, the monitoring device 810 is equipped with a wide-angle camera having a line-of-sight vector parallel to the orbital radial direction, or multiple wide-angle cameras having line-of-sight vectors pointing in the east-west direction with respect to the orbital radial direction. Specifically, the camera 117 of the observation satellite 812 described in Fig. 5 may be a wide-angle camera having a line-of-sight vector parallel to the orbital radial direction, or multiple wide-angle cameras having line-of-sight vectors pointing in the east-west direction with respect to the orbital radial direction.

[0090] The operation of an observation satellite equipped with a camera having a fisheye lens or a wide-angle camera will be described below.

[0091] FIG. 13 is a diagram showing an example of a fisheye image captured by a camera equipped with a fisheye lens according to the present embodiment. An observation satellite, which flies at a lower orbital altitude than geostationary orbit and moves relatively eastward while monitoring space objects near geostationary orbit, is equipped with a fisheye lens camera.If all space objects are flying in geostationary orbit with an orbital inclination of 0 degrees, the image captured will show the space objects lined up in a row in the field of view of the fisheye lens, as shown in Figure 13.

[0092] FIG. 14 is a diagram showing an example of a fisheye image captured by a camera equipped with a fisheye lens according to the present embodiment. When a space object has an orbital inclination angle other than 0 degrees, the space object will not be aligned in a line in the images captured by the fisheye camera, but will be scattered as shown in Figure 14. If the center of the field of view of the image from the fisheye lens camera is taken as the origin and the horizontal axis is the geostationary orbit plane with an orbital inclination angle of 0 degrees, the angle from the horizontal axis corresponds to the azimuth angle of the space object, and the distance from the center corresponds to the distance between the observation satellite and the space object.

[0093] Figure 15 is a diagram in which information about a space object is plotted on a graph with distance on the horizontal axis and azimuth on the vertical axis. Figure 16 is a diagram that analyzes Figure 15. If information about a space object is plotted on a graph with distance on the horizontal axis and azimuth on the vertical axis, the information will be concentrated near azimuth angles of 0 degrees and 180 degrees, as shown in Figure 15. Analyzing this graph, as shown in Figure 16, we can see that space objects near an azimuth angle of 0 degrees are eastward, and space objects near an azimuth angle of 180 degrees are westward, and that the deviation in azimuth angle varies due to the orbital inclination being other than 0 degrees.

[0094] Fig. 17 is an example of a fisheye image captured by a camera equipped with a fisheye lens according to the present embodiment, and Fig. 18 is a graph corresponding to Fig. 17. If the observation satellite moves eastward and takes multiple images after a time delay, space objects in the west will move away while roughly maintaining their relative distribution, and space objects in the east will move closer while roughly maintaining their relative distribution, and after the observation satellite has overtaken them, they will move westward. Strictly speaking, the azimuth angle of a space object flying in an orbit with an inclination of θ degrees will fluctuate by ±θ degrees over the course of a year, but the fluctuation between multiple images taken in a short period of time is very small.

[0095] FIG. 19 is a fisheye view of a camera equipped with a fisheye lens according to the present embodiment and a corresponding graph. Next, the case where a space object is moving will be described. As mentioned above, in images taken multiple times with a time difference, eastern space objects should generally maintain their relative distribution while becoming closer in distance; however, if the orbital altitude of the space object is different from that of a geostationary orbit, or if the space object moves by operating a propulsion device, it will deviate from the relative distribution.

[0096] FIG. 20 is a fisheye view of a camera equipped with a fisheye lens according to the present embodiment and a corresponding graph. If the relative relationship is maintained, the position of the space object can be predicted in advance, and if the actual measured value deviates from this, it is determined that the space object is a moving object. If the approach speed in the east is slower than predicted, i.e., if the distance is farther than predicted, it is estimated that the space object's orbital altitude is lower than geostationary orbit, and is estimated to be at an altitude between the orbital altitude of the observation satellite and that of geostationary orbit. Also, if there is a deviation in the azimuth direction, it is understood that there is movement in an out-of-plane direction. However, it is usually difficult for an artificial satellite to achieve a large out-of-plane movement in a short period of time. Therefore, in this case, it is estimated that the debris is near geostationary orbit and has an out-of-plane velocity component.

[0097] Similar analysis is possible even with a wide-angle camera that does not have a fisheye lens. In addition, as long as the wide-angle cameras are arranged symmetrically with respect to the radial direction of the orbit, a similar analysis is possible even if the line-of-sight vectors of the individual cameras are not parallel to the radial direction of the orbit.

[0098] According to the data processing of this embodiment, when other space objects are densely packed in the vicinity of the monitored object, the monitored object can be identified in advance, thereby ensuring that data on the monitored object can be obtained by the monitoring device. In addition, when a moving object exhibiting suspicious behavior is detected near a target to be monitored, the object can be identified in advance, and monitoring data can be acquired by the monitoring device. Another advantage is that an alarm can be issued to the monitored subject to take evasive action.

[0099] Embodiment 5. In this embodiment, the following mainly describes additions or differences from embodiments 1 to 4. Note that the same components as those in embodiments 1 to 4 are given the same reference numerals, and descriptions thereof may be omitted.

[0100] In this embodiment, the monitoring device 810 is equipped with a camera with a fisheye lens or a wide-angle camera, and controls the direction of the monitoring target.

[0101] According to the imaging information by the camera equipped with a fisheye lens, image information in the elevation direction can be obtained in the 360° viewing direction around the line of sight vector. Therefore, if an image is taken in an arrangement in which the line of sight vector is directed toward the communication satellite 811 as seen from the observation satellite 812, which is the monitoring device 810, the communication satellite 811 and other space objects flying in near geostationary orbits can be visually captured, and their positions on the orbit can be estimated. Another advantage is that it is possible to visually confirm that the surrounding environment is free of interference noise and that communication is taking place in the surrounding area.

[0102] FIG. 21 is a diagram illustrating an example of a fisheye view in a fisheye camera according to the present embodiment. The data processing of a fisheye lens camera will be described with reference to FIG. When an observation satellite is pointed at a communications satellite in geostationary orbit, other satellites in geostationary orbit are aligned, so if all satellites were aligned in geostationary orbit with an orbital inclination angle of 0 degrees, the fisheye diagram, which is the image captured by a camera with a fisheye lens, would look like that shown in Figure 21.

[0103] FIG. 22 is a diagram in which contour lines are plotted in the fisheye diagram of FIG. If the orbital altitude of the observation satellite and the direction of pointing toward the communications satellite are known in advance, the contour lines from the observation satellite can be plotted in a fisheye diagram as shown in FIG.

[0104] FIG. 23 is a graph plotting the fisheye diagram of FIG. If a communications satellite is placed at the center of the fisheye diagram and the horizontal axis is east of the geostationary orbit plane, and each geostationary satellite is plotted on a graph with the azimuth angle of each geostationary satellite set to 0 degrees as the vertical axis and the distance from the observation satellite as the horizontal axis, the result will be as shown in Figure 23. If the communications satellite is used as the pointing center, geostationary satellites to the east of the communications satellite will be aligned at an azimuth angle of 0 degrees, and satellites to the west will be aligned at an azimuth angle of 180 degrees.

[0105] FIG. 24 is a diagram showing another example of a fisheye view in the fisheye camera according to the present embodiment. In actuality, satellites near geostationary orbits may have orbital inclinations other than 0 degrees, and an example of this is shown in Figure 24. If a satellite east of the communications satellite has an orbital inclination other than 0 degrees, on a graph of azimuth on the vertical axis and distance on the horizontal axis, this will appear as a deviation on the vertical axis near an azimuth angle of 0 degrees, and for satellites to the west, it will appear as a deviation on the vertical axis near an azimuth angle of 180 degrees.

[0106] FIG. 25 is a diagram showing an example of a fisheye view obtained again after a time delay while maintaining the pointing direction of the observation satellite in FIG. FIG. 26 is a diagram illustrating an example of a fisheye image in which a position deviating from the relative positional relationship is detected. If we were to maintain the pointing direction of the observation satellite and obtain a fisheye view again after a time delay, the group of satellites in geostationary orbit to the east would approach each other while generally maintaining their relative relationship, as shown in Figure 25. Therefore, for geostationary orbit satellites, the positions on the fisheye map obtained after a time delay can be predicted by assuming that the relative relationships are generally maintained. On the other hand, if there is an object that deviates from the relative positional relationship and is in a position different from the prediction, it can be assumed to be a moving satellite. In addition, since it is generally difficult to change the out-of-plane position of a satellite in a short period of time, if there is a large change in azimuth angle, it is highly likely that the object is a space object that happened to cross the vicinity of geostationary orbit.

[0107] FIG. 27 is a diagram showing an example of a fisheye view when the line of sight is moved toward the monitoring target. So far, we have shown a comparison with monitoring data acquired after a period of time while maintaining the line of sight. Here, we will provide a supplementary explanation on the case where the line of sight is moved toward the monitoring target. As the angle of the monitoring device is changed, the distance to the object in the near geostationary orbit changes, so the fisheye diagram will change as shown in Figure 27. This example shows a space object aligned at an orbital inclination of 0 degrees. Changes in the relative relationship between the monitored object or orbital object due to differences in line of sight can be analyzed geometrically, so even if the appearance in the fisheye view changes, there is no adverse effect on data analysis. Similar data processing is possible even when using a wide-angle camera that does not have a fisheye lens.

[0108] According to the data processing of this embodiment, when other space objects are densely packed in the vicinity of the monitored object, the monitored object can be identified in advance, thereby ensuring that data on the monitored object can be obtained by the monitoring device. In addition, if there is a moving object exhibiting suspicious behavior near the monitored object, it can be identified in advance and monitoring data can be acquired by the monitoring device. Another advantage is that an alarm can be issued to the monitored subject to take evasive action.

[0109] Embodiment 6 In this embodiment, the following will be mainly described with respect to additions or differences from the first to fifth embodiments. Note that the same components as those in the first to fifth embodiments are given the same reference numerals, and the description thereof may be omitted.

[0110] FIG. 28 is a diagram showing an example of the configuration of the satellite control device 112 of the monitoring device 810 according to this embodiment. Monitoring device 810 according to this embodiment flies near a geostationary orbit. The monitoring device 810 includes a fisheye lens camera or a wide-angle camera, a data analysis device 821, a monitoring target identification device 824, and an automatic monitoring control device 823. As shown in Fig. 28, the data analysis device 821, the monitoring target identification device 824, and the automatic monitoring control device 823 are provided in, for example, the satellite control device 112.

[0111] The data analysis device 821 digitizes the brightness information of the surveillance data acquired by a fisheye lens camera or a wide-angle camera to generate brightness data, and transmits map information in which the brightness distribution of the brightness data is converted into distance and azimuth angle information to the surveillance object identification device 824. The monitoring target identification device 824 performs a matching analysis of the map information with foresight map information, which is map information of space objects transmitted in advance from ground equipment, to identify the monitoring target and extract the identified monitoring target.

[0112] The monitoring device 810 is equipped with a data analysis device 821, a monitoring target identification device 824, and an automatic monitoring and control device 823, so that the monitoring device 810 can automatically perform the data processing described in the fourth and fifth embodiments on orbit.

[0113] In addition to space objects near geostationary orbit, the monitoring data may also include background celestial objects, or space objects farther away than geostationary orbit, known as graveyard orbits. However, when monitoring from 18:00 to 06:00 the following day when moving westward, or from 06:00 to 18:00 when moving eastward, the positional relationship between the monitored object and the sun is good. Therefore, since objects near geostationary orbit have high brightness and distant celestial objects have low brightness, it is easy to remove the objects. Also, bright celestial objects can be identified because their position coordinates or azimuth angles are known in advance from the star catalog equipped in the star sensor.

[0114] For space objects flying near geostationary orbit, it is possible to identify space objects that are in view at a specific monitoring timing and direction based on the orbit information catalog data of space objects prepared in advance on the ground. Therefore, by transmitting the distance and azimuth angle look-ahead map information from the ground to the monitoring device in advance and comparing it with the map information acquired on orbit, it is possible to match the space object groups whose on-orbit arrangements are in accordance with the catalog information. In addition, space objects in graveyard orbits can be excluded because they can be identified using orbit information of space objects previously held on the ground. The process in which the data analysis device 821 digitizes the data and identifies the orbital object is similar to that described in the fourth and fifth embodiments.

[0115] <Operation Example 1 of this embodiment> In addition, the monitoring target identification device 824 analyzes the on-orbit position coordinates of the extracted monitoring target from the image information, and if there is a difference with the foreseeable position coordinates transmitted in advance from the ground equipment, it transmits the position coordinates after correcting the difference to the automatic monitoring control device 823. The automatic monitoring control device 823 acquires monitoring data by directing the line of sight vector of the monitoring device 810 to the position coordinates acquired from the monitoring target identification device 824 .

[0116] An effective method for extracting a monitoring target from multiple orbital objects is to use the orbital object information obtained in advance from the SSA operator as foresight information to extract the monitoring target. However, due to error information contained in the orbital object information, the position may deviate from the predicted position. In that case, the monitoring target is identified by matching the relative positional relationship with the space objects flying around it, and the difference from the predicted orbit is analyzed to correct the orbit information before transmitting it to the automatic monitoring and control device 823. The automatic monitoring control device 823 points to the position coordinates of the monitoring target corrected by the monitoring target identification device 824, thereby ensuring the acquisition of high-resolution monitoring data using the monitoring device itself, which has high resolution and excellent narrow-area monitoring performance.

[0117] <Operation Example 2 of this embodiment> The monitoring target identification device 824 performs a matching analysis of the map information and the foresight map information, identifies space objects that are recognized to be moving significantly, and extracts them as monitoring targets. The monitoring target identification device 824 analyzes the orbital position coordinates of the extracted monitoring targets from the image information, and transmits the position coordinates to the automatic monitoring control device 823. The automatic monitoring control device 823 acquires monitoring data by directing the line of sight vector of the monitoring device 810 to the position coordinates acquired from the monitoring target identification device 824 .

[0118] Possible examples of objects with significant movement include the passage of debris or the approach of a space object that has lost control and is floating. When it is necessary to quickly take evasive action to avoid a collision, the monitoring device 810 of the second operation example of this embodiment has the effect of quickly acquiring monitoring data of the moving object on orbit.

[0119] Embodiment 7 In this embodiment, the following mainly describes additions or differences from the first to sixth embodiments. Note that the same components as those in the first to sixth embodiments are given the same reference numerals, and the description thereof may be omitted.

[0120] FIG. 29 shows an example of the configuration of an SSA business device 47 according to this embodiment.

[0121] The SSA business equipment 47 includes a first monitoring device 810a flying near a geostationary orbit, a second monitoring device 840 installed on the ground, and a catalog 590 that records orbital information of a plurality of space objects. The SSA business equipment 47 also includes a measurement error inspection device 471 and an accelerating / decelerating object tracking device 472. A specific example of the first monitoring device 810a is an observation satellite 812. A specific example of the second monitoring device 840 is an observation device included in the ground facility 701 of the SSA business equipment 47.

[0122] <Operation Example 1 of this embodiment> The catalog 590 records the public orbit information obtained from publicly available information, the first orbit information obtained by the first monitoring device 810a, and the second orbit information obtained by the second monitoring device 840. The SSA business device 47 acquires monitoring information of the specific space object based on the public orbit information of the specific space object by the first monitoring device 810a and the second monitoring device 840. The SSA business device 47 acquires first monitoring information by the first monitoring device 810a and acquires second monitoring information by the second monitoring device 840. The monitoring information includes the first monitoring information and the second monitoring information. The measurement error inspection device 471 selects highly reliable orbit information based on the public orbit information, the first orbit information, and the second orbit information for the specific space object, and generates third orbit information, which is updated information.

[0123] The orbit information based on public information has a problem that the accuracy of the position information is low. Also, in the first and second monitoring devices, the object information acquired by the optical monitoring means has a problem that the measurement accuracy of the azimuth angle as seen from the monitoring device is high, but the error in the distance direction is large. Also, the object information acquired by the monitoring means using radar or laser has a problem that the accuracy of the distance direction as seen from the monitoring device is high, but the error in the azimuth angle is large.

[0124] Therefore, by acquiring monitoring information of the specific monitoring target based on the public orbit information by the first monitoring device and the second monitoring device, it becomes possible to update the catalog 590 with reduced errors in the public information. Moreover, by selecting highly reliable information as the position information constituting the orbit information according to the position of the monitoring device and the monitoring means, it is possible to improve the accuracy of the orbit information. It is easy to estimate the position of a star in inertial space or a space object flying near a geostationary orbit that does not involve the operation of an artificial propulsion device and relies only on natural phenomena after a certain time has passed. However, if the error in the published orbital information is large, there is a risk that the object will go out of the field of view of the first or second monitoring device and cannot be monitored.

[0125] According to the operation example 1 of this embodiment, there is an effect that the inherent error of the trajectory information can be reduced, so that the first monitoring device and the second monitoring device can reliably capture the object within the visual field range.

[0126] <Operation Example 2 of this embodiment> Based on the third orbital information, the SSA business equipment 47 again acquires monitoring information of the specific space object from both or one of the first monitoring equipment 810 and the second monitoring equipment 840. The measurement error inspection device 471 updates the third orbit information based on the third orbit information, the updated first orbit information, and the updated second orbit information. The measurement error inspection device 471 compares and evaluates the third orbit information before and after the update to identify whether or not the specific space object has an artificial acceleration / deceleration motion. Then, the measurement error inspection device 471 records information on the space object having an artificial acceleration / deceleration motion in the acceleration / deceleration object tracking device 472 as the initial value of the tracking information.

[0127] Space objects flying near geostationary orbits may be accompanied by the operation of artificial propulsion devices. If the position of a space object after acceleration and deceleration over time is significantly different from the estimated position, compared to a space object whose flight relies only on natural phenomena, it can be identified as a space object with artificial acceleration and deceleration. In the second operation example of this embodiment, a space object that is artificially accelerated or decelerated on a geostationary orbit is identified. For space objects for which a non-regular movement plan for orbit insertion, orbit de-orbit, or orbit transfer has been published in advance, consideration has been given to ensure that there is no adverse effect or danger on other satellites even if artificial acceleration or deceleration is identified. However, space objects for which a non-regular movement plan has not been published must be tracked as suspicious objects.

[0128] <Operation Example 3 of this embodiment> The accelerating / decelerating object tracking device 472 reacquires monitoring information of the specific space object from both or either of the first monitoring device 810 and the second monitoring device 840 based on the updated third orbit information. The measurement error inspection device 471 re-updates the third orbit information based on the updated third orbit information, the re-updated first orbit information, and the re-updated second orbit information. Then, the measurement error inspection device 471 compares and evaluates the third orbit information before the update, after the update, and after the re-update, obtains acceleration / deceleration information of the specific space object, and records the updated value of the orbit information of the specific space object as tracking information.

[0129] According to operation example 3 of this embodiment, by tracking the passage of time regarding the third orbit information, the offset error contained in the position measurement error can be eliminated, and it becomes possible to grasp the intentional direction of movement of the space object.

[0130] <Operation Example 4 of this embodiment> The accelerating / decelerating object tracking device 472 repeatedly updates the monitoring information by both or one of the first monitoring device 810 and the second monitoring device 840 based on the third orbit information, and records the updated orbit information of the specific space object as tracking information.

[0131] By tracking the third orbital information over time, it is possible to ascertain the direction of movement of an intended space object and to predict its approach to other space objects in geostationary orbit. In particular, when the direction and magnitude of acceleration / deceleration change over time, the movement history of a specific space object can provide clues for inferring human intent.

[0132] <Operation Example 5 of this embodiment> The SSA business device 47 provides tracking information recorded by the accelerating / decelerating object tracking device 472 to space object operators who are affected by the artificial movement of a specific space object.

[0133] When a space object behaving suspiciously approaches critical infrastructure, such as communication satellites and weather satellites, which are essential social infrastructure, it becomes necessary to take countermeasures, such as evacuating the satellite, to avoid the risk of collision. Therefore, the tracking information recorded by the accelerating / decelerating object tracking device 472 is provided to the relevant space object operators. This has the effect of enabling the space object operators to take risk avoidance actions.

[0134] In the above first to seventh embodiments, each system, such as the space traffic management system, the SSA business system, and the SSA business device, and each part of each device have been described as an independent functional block. However, the configuration of each system and each device does not have to be as in the above-mentioned embodiments. The functional blocks of each system and each device may have any configuration as long as they can realize the functions described in the above-mentioned embodiments. Furthermore, each system and each device may be a single device or a system composed of multiple devices. In addition, it is possible to combine two or more parts of the first to seventh embodiments. Alternatively, it is possible to implement only one part of these embodiments. In addition, it is possible to implement any combination of these embodiments, either as a whole or in part. That is, in the first to seventh embodiments, any combination of the embodiments is possible, or any component of each embodiment may be modified, or any component of each embodiment may be omitted.

[0135] It should be noted that the above-described embodiment is essentially a preferred example, and is not intended to limit the scope of the present disclosure, the scope of application of the present disclosure, and the scope of use of the present disclosure. The above-described embodiment can be modified in various ways as necessary. [Explanation of symbols]

[0136] 30 Satellite, 310, 112, 202 Satellite control device, 32 Satellite communication device, 33, 122, 114, 204 Propulsion device, 34, 115, 205 Attitude control device, 35, 123, 116, 206 Power supply device, 111, 201 Observation device, 121, 113, 203 Communication device, 124, 117 Camera, 40 Management business device, 41 Mega constellation business device, 42 LEO constellation business device, 43 Satellite business device, 44 Orbital transfer business device, 45 Debris removal business device, 46 Rocket launch business device, 47 SSA business device, 500 Space traffic management system, 501 Space object information, 590 Catalog, 471 Measurement error inspection device, 472 Acceleration / deceleration object tracking device, 52 Satellite orbit forecast information, 53 Debris orbit forecast information, 511 Space object ID, 512 forecast origin, 513 forecast orbital elements, 514 forecast error, 60 space object, 700 space traffic control device, 701 ground equipment, 710 space traffic control unit, 711 command, 712 monitoring data, 720 memory unit, 810 monitoring device, 810a first monitoring device, 811 communication satellite, 812, 813 observation satellite, 821 data analysis device, 822 data reacquisition decision device, 823 automatic monitoring control device, 824 monitoring target identification device, 830 geostationary satellite, 840 second monitoring device, 910 processor, 921 memory, 922 auxiliary storage device, 930 input interface, 940 output interface, 941 display device, 950 communication device.

Claims

1. A monitoring device flying in geostationary orbit, A fisheye or wide-angle camera; A data analysis device; A monitored object identification device; Automatic monitoring and control equipment Equipped with The data analysis device includes: quantifies the brightness information of the surveillance data acquired by the fisheye lens camera or the wide-angle camera to obtain brightness data, and transmits map information obtained by converting the brightness distribution of the brightness data into distance and azimuth angle information to the surveillance target identification device; The monitoring target identification device includes: A matching analysis is performed between the map information and foresight map information, which is map information of space objects transmitted in advance from a ground facility, to identify monitoring targets, extract the identified monitoring targets, analyze the position coordinates on the orbit of the extracted monitoring targets from the image information, and if there is a difference between the foresight position coordinates transmitted in advance from the ground facility, transmit the position coordinates after correcting the difference to the automatic monitoring and control device; The automatic monitoring and control device includes: A monitoring device that acquires monitoring data by directing a line-of-sight vector of the monitoring device to the position coordinates acquired from the monitoring target identification device.

2. The monitoring target identification device comprises:

2. The monitoring device according to claim 1, wherein, as a result of a matching analysis between said map information and said foresight map information, a space object that is recognized to be moving significantly is identified and extracted as a monitoring target.

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