Environmental observation system, environmental observation method and program

Abstract

According to the present invention, the amount of moisture in the atmosphere and the distribution of wind conditions can be grasped more quickly or over a wider range. [Solution] The present invention is an environmental observation system that measures atmospheric state quantities using multiple unmanned boats capable of navigating the sea, and is equipped with a measurement request acquisition unit that acquires measurement request information including a requested area in a two-dimensional plane or three-dimensional space where measurement of the moisture content in the atmosphere is requested, a measurement plan generation unit that generates a measurement plan including the placement of the multiple unmanned boats based on the requested area included in the measurement request information, a measurement execution unit that measures atmospheric state quantities using measuring devices mounted on the multiple unmanned boats based on the measurement plan, a measurement data analysis processing unit that calculates information regarding the moisture content or wind conditions in the atmosphere above the unmanned boats based on the state quantities measured by the multiple unmanned boats, and an information output unit that transmits or displays information regarding the calculated moisture content to the outside.

Description

[Technical Field]

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

[0002] In order to accurately predict the occurrence of cumulonimbus clouds and linear rain bands that cause heavy rain damage, it has been necessary to quickly grasp the occurrence of warm, moist air that contains a lot of moisture such as water vapor. Because air that contains a lot of moisture has the property of delaying the transmission of radio waves, a known method takes advantage of this property to calculate the amount of water vapor by comparing the amount of delay caused by radio waves of two or more different frequencies.

[0003] Patent Document 1 discloses a water vapor observation system that does not require calibration using liquid nitrogen and can observe water vapor over a localized area, and that includes a water vapor index acquisition unit that acquires a water vapor index calculated based on the radio wave intensities of at least two frequencies among the radio waves received by a microwave radiometer; a GNSS precipitable water vapor acquisition unit that acquires GNSS precipitable water vapor calculated based on the atmospheric delay of a GNSS signal received by a GNSS receiver; a correlation data generation unit that generates correlation data between the water vapor index and the GNSS precipitable water vapor based on the water vapor index and the GNSS precipitable water vapor at multiple points in time during a predetermined period; and a precipitable water vapor calculation unit that calculates the precipitable water vapor based on the correlation data from the water vapor index obtained by the microwave radiometer. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-230501 Summary of the Invention [Problem to be solved by the invention]

[0005] As mentioned above, the air containing large amounts of moisture, also known as atmospheric rivers, which are the cause of the cumulonimbus clouds and linear rain bands that cause heavy rain damage, occur over a wide area and their state changes in a short period of time. Therefore, in order to more accurately predict the occurrence of cumulonimbus clouds and linear rain bands, it is necessary to understand the amount of moisture in the atmosphere over a wide area in the sky, and it is also necessary to understand the amount of moisture quickly.

[0006] In order to more accurately predict the occurrence of cumulonimbus clouds and linear rain bands, it is desirable to continuously understand the distribution of moisture in the atmosphere over a wide area and its changes over time.In addition, in order to more accurately predict the occurrence of cumulonimbus clouds and linear rain bands, it is also necessary to understand the distribution of wind conditions in the upper atmosphere.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one of its objects is to grasp the moisture content in the atmosphere and the wind condition distribution more quickly or over a wider range. [Means for solving the problem]

[0008] According to the present invention, an environmental observation system is provided that measures atmospheric state quantities using multiple unmanned vessels capable of navigating the sea, and includes a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space that requests measurement of the moisture content in the atmosphere; a measurement plan generation unit that generates a measurement plan including the arrangement of the multiple unmanned vessels based on the requested position or requested area included in the measurement request information; a measurement execution unit that measures atmospheric state quantities using measuring devices mounted on the multiple unmanned vessels based on the measurement plan; a measurement data analysis processing unit that calculates information regarding the moisture content or wind conditions in the atmosphere above the unmanned vessels based on the state quantities measured by the multiple unmanned vessels; and an information output unit that transmits information regarding the calculated moisture content to the outside or displays it. [Effects of the Invention]

[0009] According to the present invention, the moisture content in the atmosphere and the wind distribution can be measured more quickly or over a wider range. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing the overall configuration of an environment observing system 1 according to one embodiment of the present invention. [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of an unmanned boat system 1000. [Figure 3] FIG. 10 is a diagram showing an example of an activity state when the unmanned boat system 1000 is deployed in a sea area. [Figure 4] FIG. 2 is a functional block diagram showing the functional configuration of an unmanned watercraft 1010. [Figure 5] FIG. 5 illustrates an example of the configuration of an external system 5000. [Figure 6] FIG. 2 is a functional block diagram showing the functional configuration of an integrated control system 2000. [Figure 7] 2 is a diagram showing an example of the contents of advance information acquired by advance information acquisition unit 2110. FIG. [Figure 8] 10 is a diagram showing an example of the contents of measurement request information acquired by a measurement request information acquisition unit 2120. FIG. [Figure 9] FIG. 1 is a state transition diagram showing transitions of operational states during an environmental observation mission. [Figure 10] FIG. 10 is a diagram showing an example of a mission other than the environmental observation mission. [Figure 11] FIG. 3 is a functional block diagram showing the functional configuration of a data analysis system 3000. [Figure 12] FIG. 10 is a diagram showing how state quantities in the atmosphere in the vertically upward direction are measured by a plurality of unmanned watercraft. [Figure 13] FIG. 10 is a diagram showing an example of a calculation result of the amount of moisture in a three-dimensional space, shown as a distribution on a horizontal plane. [Figure 14] FIG. 1 is a diagram showing an example of the estimated distribution of precipitable water vapor (PWV) over an entire wide area. [Figure 15]FIG. 10 is a diagram showing how a plurality of unmanned crafts measure atmospheric state quantities in a plurality of directions with different azimuth angles and / or elevation angles. [Figure 16] FIG. 10 is a diagram showing an example of the results of calculating the amount of moisture in the atmosphere at each position in a three-dimensional space. [Figure 17] FIG. 1 is a diagram showing an example of the estimated three-dimensional distribution of precipitable water vapor (PWV) over an entire wide area. [Figure 18] FIG. 10 is a diagram showing an example of wind condition data measured by a plurality of unmanned watercraft. [Figure 19] FIG. 10 is a diagram showing an example of an estimation result of the location where an updraft occurs. [Figure 20] FIG. 2 is a flowchart showing the processing flow of the environment observing system 1. [Figure 21] 10 is a flowchart showing the flow of a measurement condition determination process performed by a measurement condition determination unit 2210. FIG. [Figure 22] FIG. 10 is a flowchart showing the flow of measurement plan generation processing by the measurement plan generating unit 2200. [Figure 23] FIG. 10 is a flowchart showing a control flow when the measurement execution unit 2300 executes a measurement operation. [Figure 24] FIG. 10 is a flowchart showing the process flow for calculating the moisture content distribution in the atmosphere by the moisture content distribution calculation unit 3310. [Figure 25] FIG. 10 is a flowchart showing a process flow for predicting the location of rain clouds or rainfall occurrence, etc., performed by the airflow estimation unit 3320 and the rain cloud occurrence prediction unit 3330. [Figure 26] FIG. 2 is a hardware configuration diagram of an integrated control system 2000 and a data analysis system 3000. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the following embodiments. [Item 1] An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels that can navigate on the sea, a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the moisture content in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that measures atmospheric state quantities using measurement devices mounted on the plurality of unmanned crafts based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; An environmental observation system comprising: [Item 2] In the environmental monitoring system according to item 1, the measurement request acquisition unit acquires the measurement request information from an external source; An environmental observation system, wherein the measurement request information includes, in addition to the requested location or the requested area, at least one of the measurement time period during which the measurement is to be performed, the measurement frequency, and specified information on the atmospheric state quantity to be measured. [Item 3] In the environmental monitoring system according to item 1 or 2, The measurement request acquisition unit An environmental observation system that determines the requested location or requested area so that it includes at least a portion of a sparse measurement location where the density of moisture measurement locations is less than a predetermined value, or an area including the sparse measurement location, or a large change over time location where the change over time of the moisture content in the measurement results is greater than a predetermined value, or an area including the large change over time location, as determined from historical information about the moisture content in the atmosphere previously measured externally or by the system itself. [Item 4] In the environment monitoring system according to any one of items 1 to 3, the measurement request information includes a measurement request time period in which measurement is to be performed in addition to the requested position or the requested area, The measurement request acquisition unit An environmental observation system that determines the measurement request time period of the measurement request information so that it includes at least a portion of a low measurement frequency time period in which the frequency of moisture content measurements is less than a predetermined value, or a high time change time period in which the change in moisture content over time in the measurement results is greater than a predetermined value, as can be determined from measurement history information of the moisture content in the atmosphere previously measured by an external device or the system itself. [Item 5] In the environmental monitoring system according to any one of items 1 to 4, The measurement plan generation unit determining a navigation permission area in which navigation of the unmanned watercraft is permitted based on meteorological information or weather forecast information for the requested position, the requested area, or a surrounding area thereof, which is included in the measurement request information; An environmental observation system that determines at least a portion of the area where the requested position or the requested area overlaps with the permitted navigation area as a measurement execution area. [Item 6] In the environmental monitoring system according to any one of items 1 to 5, An environmental observation system, wherein the measurement plan generated by the measurement plan generation unit includes information on the location of the plurality of unmanned watercraft, as well as information on a movement plan including at least one of a time-based movement schedule and a movement route for the plurality of unmanned watercraft. [Item 7] In the environment monitoring system according to any one of items 1 to 6, An environmental observation system in which the measurement plan generated by the measurement plan generation unit includes information regarding the placement of multiple unmanned watercraft, as well as information regarding a measurement implementation plan including at least one of the measurement date and time when measurements will be performed by the measurement devices mounted on the multiple unmanned watercraft, an hourly measurement schedule, a measurement frequency, and a measurement order. [Item 8] In the environmental monitoring system according to any one of items 1 to 7, An environmental observation system in which the measurement plan generated by the measurement plan generation unit includes, in addition to information regarding the placement of the plurality of unmanned vessels, replacement plan information including at least one of a time-based replacement schedule for the plurality of unmanned vessels, the number of unmanned vessels to be replaced, and waiting positions for the unmanned vessels to be replaced. [Item 9] In the environment monitoring system according to any one of items 1 to 8, In an environmental observation system, the measurement plan generated by the measurement plan generation unit includes, in addition to information regarding the locations of the multiple unmanned vessels, information regarding the type of measuring device used to measure the amount of moisture in the atmosphere above the unmanned vessel, such as at least one of a laser sensor using laser light, a radar sensor using radio waves, a satellite signal measuring device that receives GNSS carrier waves from an artificial satellite, a spectrometer that measures the amount of moisture in the atmosphere from the absorption state of light of a specific wavelength, and a radiosonde that communicates wirelessly with the unmanned vessel. [Item 10] In the environment monitoring system according to any one of items 1 to 9, The measurement plan generated by the measurement plan generation unit includes, in addition to information on the type of measurement device used to measure the moisture content in the atmosphere, information specifying the measurement device used to measure auxiliary measurement state quantities including at least one of atmospheric pressure, humidity, water vapor content, dew point temperature, wind speed, wind direction, temperature, solar radiation, and presence or absence of rainfall in the atmosphere above sea level, or at least one of water temperature, seawater density, flow velocity, and pH value of seawater below sea level, in an environmental observation system. [Item 11] In the environment monitoring system according to any one of items 1 to 10, When a request to execute a mission other than environmental observation that measures the state quantities in the atmosphere is received, The measurement execution unit is an environmental observation system that simultaneously or at staggered times executes multiple missions including the measurement of atmospheric state quantities and the operations of the other missions. [Item 12] In the environmental monitoring system according to any one of items 1 to 11, When the measurement plan generation unit determines that a satellite signal measurement device that receives a GNSS carrier wave from an artificial satellite is the measurement device to be used for measurement, An environmental observation system in which the measurement data analysis processing unit calculates the amount of moisture in the atmosphere using the GNSS carrier wave measured by the satellite signal measurement device when the unmanned vessel is anchored or when the unmanned vessel's movement speed is below a predetermined speed. [Item 13] In the environment monitoring system according to any one of items 1 to 12, The measurement data analysis processing unit An environmental observation system that calculates the two-dimensional distribution of the moisture content in three-dimensional space in the atmosphere based on the state quantities measured by the multiple measuring devices mounted on the multiple unmanned boats and position information of the multiple unmanned boats. [Item 14] In the environment monitoring system according to any one of items 1 to 13, An environmental observing system, wherein the state quantities measured by the plurality of measuring devices are state quantities of the atmosphere in a vertically upward or substantially vertically upward direction of the plurality of measuring devices. [Item 15] In the environment monitoring system according to any one of items 1 to 14, The measurement data analysis processing unit An environmental observation system that calculates the distribution of moisture content in the atmosphere in three-dimensional space based on measurement data of the state quantities in the atmosphere in multiple directions, where at least one of the azimuth angle and elevation angle is different, measured by multiple measurement devices mounted on multiple unmanned boats, position information of the multiple unmanned boats, and information about the multiple directions in which the measurements were taken. [Item 16] In the environment monitoring system according to any one of items 1 to 15, the measurement execution unit measures at least a plurality of GNSS carrier waves having different frequencies transmitted from a common first artificial satellite using the measurement device; the measurement data analysis processing unit compares the plurality of GNSS carrier waves to determine a transmission delay amount between the plurality of GNSS carrier waves; An environmental observation system that calculates the amount of moisture in the atmosphere in the space between the first artificial satellite and the measurement device based on the amount of transmission delay. [Item 17] In the environment monitoring system according to any one of items 1 to 16, the measurement execution unit measures, by the measurement device, GNSS carrier waves transmitted from a first artificial satellite and a second artificial satellite that is located within a predetermined angle range from the first artificial satellite as seen from the unmanned craft; the measurement data analysis processing unit compares the measured multiple GNSS carrier waves to determine a transmission delay amount between the multiple GNSS carrier waves; An environmental observation system that calculates the amount of moisture in the atmosphere in the space between the first artificial satellite and the measurement device based on the amount of transmission delay. [Item 18] In the environmental monitoring system according to any one of items 1 to 17, the measurement execution unit measures a GNSS carrier wave transmitted from a first artificial satellite using the measurement device; the measurement data analysis processing unit compares a GNSS carrier wave at a virtual reference station generated at a peripheral position of the measurement device with the GNSS carrier wave measured by the measurement device to determine a transmission delay amount between the plurality of GNSS carrier waves; An environmental observation system that calculates the amount of moisture in the atmosphere in the space between the first artificial satellite and the measurement device based on the amount of transmission delay. [Item 19] In the environment monitoring system according to any one of items 1 to 18, The measurement data analysis processing unit calculates the two-dimensional wind distribution in the sea surface area or the location of rising air currents based on measurement data of at least one of wind conditions, air pressure, air temperature, humidity, and sea surface temperature measured by the multiple measuring devices mounted on the multiple unmanned boats, and on position information of the multiple unmanned boats. [Item 20] In the environment monitoring system according to any one of items 1 to 19, The measurement data analysis processing unit predicts the location of rain clouds or rainfall based on the calculated information on the amount of moisture in the atmosphere. [Item 21] In the environment monitoring system according to any one of items 1 to 20, The measurement data analysis processing unit calculating a moisture content distribution in the atmosphere on a two-dimensional plane or in three-dimensional space based on the state quantities measured by the plurality of measuring devices mounted on the plurality of unmanned watercraft and position information of the plurality of unmanned watercraft; An environmental observation system that predicts the location or time of occurrence of rain clouds or rainfall based on the calculated information on the moisture distribution in the atmosphere. [Item 22] In the environmental monitoring system according to any one of items 1 to 21, The measurement data analysis processing unit calculating a distribution of the moisture content in the atmosphere on a two-dimensional plane or in three-dimensional space based on the state quantities measured by the plurality of measuring devices mounted on the plurality of unmanned watercraft and position information of the plurality of unmanned watercraft; calculating a two-dimensional wind distribution or an updraft generation position in the sea surface area based on at least one of wind condition data and atmospheric pressure data measured by the plurality of measurement devices mounted on the plurality of unmanned watercraft and position information of the plurality of unmanned watercraft; An environmental observation system that predicts the location or timing of rain clouds or rainfall based on the calculated distribution of moisture in the atmosphere and information on wind distribution or the location of rising air currents. [Item 23] In the environment monitoring system according to any one of items 1 to 22, The information output unit transmits or displays information on the distribution of the moisture content in the atmosphere calculated by the measurement data analysis processing unit to an external device. [Item 24] In the environmental monitoring system according to any one of items 1 to 23, The information output unit is an environmental observation system that transmits or displays to the outside information on the two-dimensional wind distribution on the sea surface, or the location of updrafts, or the wind distribution at a position above the unmanned boat, calculated by the measurement data analysis processing unit. [Item 25] In the environment monitoring system according to any one of items 1 to 24, The information output unit transmits or displays to the outside the predicted information on the location of rain clouds or rainfall calculated by the measurement data analysis processing unit, in an environmental observation system. [Item 26] An environmental observation method for measuring the amount of moisture in the atmosphere using a plurality of unmanned vessels capable of navigating the sea, comprising: The computer a measurement request acquisition step of acquiring measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the moisture content in the atmosphere is requested; a measurement plan generation step of generating a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution step of measuring atmospheric state quantities using measurement devices mounted on the plurality of unmanned crafts based on the measurement plan; a measurement data analysis processing step of calculating the amount of moisture in the atmosphere based on the state quantities measured by the plurality of unmanned watercraft; an information output step of transmitting or displaying information about the calculated moisture content to an external device; An environmental observation method is performed. [Item 27] A program used for environmental observation to measure the amount of moisture in the atmosphere using a plurality of unmanned vessels capable of sailing on the sea, On the computer, a measurement request acquisition command for acquiring measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the moisture content in the atmosphere is requested; a measurement plan generation command for generating a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; Based on the measurement plan, a measurement execution command for measuring the state quantity of the atmosphere using the measurement devices mounted on the plurality of unmanned boats, and a measurement data analysis processing command for calculating the moisture content in the atmosphere based on the state quantity measured by the plurality of unmanned boats, and an information output command for transmitting or displaying and outputting information regarding the calculated moisture content to the outside, and a program for executing the above.

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

[0013] [A. Configuration] (A-1. Overall System Configuration) First, the system configuration of an environmental observation system 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.

[0014] (A-1-1. Outline of System Configuration) FIG. 1 is an overall configuration diagram of an environmental observation system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the environmental observation system 1 includes an unmanned boat system 1000, an overall control system 2000, a data analysis system 3000, and a user terminal 4000. Further, the data analysis system 3000 is configured to be able to communicate with an external system 5000 and the user terminal 4000, and can transmit and receive information. Also, the overall control system 2000 can transmit control commands to the unmanned boat system 1000 deployed at sea via an Internet line, a communication satellite 6100, a ground base station 6200, etc., and can receive the operation status, measurement data, etc. from the unmanned boat system 1000.

[0015] The unmanned boat system 1000 includes a single or multiple unmanned boats 1010. When the unmanned boat system 1000 is configured with multiple unmanned boats 1010, the multiple unmanned boats 1010 are connected to each other by wireless communication and can form a communication network.

[0016] The unmanned vessel 1010 can measure the amount of water vapor in the atmosphere using measurement sensors installed on board (optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter wave sensors and microwave sensors, acoustic sensors such as sonar, GNSS signal receivers, hygrometers, spectrometers, radiosonde receivers, etc.).

[0017] Various types of information, including measurement data of the measurement target 7000 acquired by the unmanned watercraft system 1000 and the operating status of the unmanned watercraft system 1000, are transmitted to the overall control system 2000 via a communications satellite 6100, a terrestrial base station 6200, or an Internet line. The overall control system 2000 determines control commands for the unmanned watercraft 1010 that constitutes the unmanned watercraft system 1000 based on the measurement data acquired from the unmanned watercraft system 1000, user request information, and information received from external systems, and can control the operation of the unmanned watercraft 1010. The generated control commands and other information are displayed on a display unit 2530 (described later) and can also receive command input from the user via a user input receiving unit 2540.

[0018] The data analysis system 3000 acquires measurement data relating to the measurement target 7000 acquired by the unmanned boat system 1000 via the overall control system 2000. It also processes and interprets the acquired measurement data to generate processed data, and can provide the processed data to one or more external systems 5000 or one or more user terminals 4000. It also has a function to accept requests for future ocean data acquisition from the external systems 5000 or the user terminals 4000, and transmit the request information to the overall control system 2000.

[0019] (A-1-2. Configuration of the unmanned boat system 1000) Figure 2 is a diagram showing an example of the configuration of the unmanned watercraft system 1000. As shown in Figure 2, the multiple unmanned watercraft 1010 that make up the unmanned watercraft system 1000 are configured to serve as parent units 1001 that can communicate wirelessly with a communication satellite 6100 or a terrestrial base station 6200, or as child units 1002 that can communicate directly or indirectly with the parent unit 1001. A wireless communication network is established between the multiple child units 1002 and the multiple unmanned watercrafts 1010 that serve as parent units 1001, allowing them to communicate wirelessly with each other. Each unmanned watercraft group (1000a, 1000b) has at least one parent unit 1001 and multiple child units 1002. The master unit 1001 is connected via wireless communication to the communication satellite 6100 or the terrestrial base station 6200, and has the function of aggregating various information collected from multiple slave units 1002 and transmitting it to the communication satellite 6100 or the terrestrial base station 6200, as well as transmitting information related to control commands obtained from the communication satellite 6100 or the terrestrial base station 6200 directly or indirectly to each slave unit 1002. Note that the wireless communication path between the terrestrial-side overall control system 2000 and the unmanned boat system 1000 can be either the communication path via the communication satellite 6100 or the communication path via the terrestrial base station 6200, but is not limited to this and other communication paths can also be used, and these communication paths can also be made redundant to send and receive information.

[0020] 2 includes a primary-connected slave device 1002 that is communicatively connected to a master device 1001, a secondary-connected slave device 1002 that is communicatively connected to the primary-connected slave device 1002, and a tertiary-connected slave device 1002 that is communicatively connected to the secondary-connected slave device 1002. Each slave device (primary-connected slave device 1002, secondary-connected slave device 1002, tertiary-connected slave device 1002) has the function of relaying information received from other master devices 1001 or slave devices 1002 to the other master devices 1001 or slave devices 1002, thereby forming a communication network that can connect to all unmanned crafts 1010 belonging to unmanned craft group a (1000a).

[0021] (A-1-3. Example of deployment of Unmanned Boat System 1000 to the sea area) Fig. 3 is a diagram showing an example of the operational state when the unmanned boat system 1000 is deployed in an offshore area. In the example shown in Fig. 3, on the ground side shown in the upper right of the drawing, a terrestrial base station 6200, an internet line connected to the communication satellite 6100 or the terrestrial base station 6200, a supervisory control system 2000, a data analysis system 3000, and an external system 5000 are provided.

[0022] On the ocean side shown in the lower left of the drawing, an unmanned boat system 1000 consisting of multiple unmanned boats (parent unit 1001, child unit 1002) is deployed on the sea, and a measurement sensor 1110 mounted on an unmanned boat 1010 within the unmanned boat system 1000 measures the amount of moisture in the atmosphere, which is the measurement target 7000. Information such as measurement data of the measurement object 7000 detected by the measurement sensor 1110 is collected in the host unit 1001 via a wireless communication network within the unmanned watercraft system 1000, and is then transmitted from the host unit 1001 via a communication satellite 6100 or a terrestrial base station 6200 to the overall control system 2000, and then to the data analysis system 3000. Each unmanned watercraft 1010 is also equipped with a navigation unit 1300 that can control its navigation in any direction, and can perform tasks related to measuring the measurement object 7000 or other tasks based on control commands generated by the overall control system 2000.

[0023] In the example shown in Figure 3, the overall control system 2000 is implemented in a facility on land, but this is not limited to this. All or part of the functions implemented in the overall control system 2000 shown in this embodiment can also be installed at other coastal field bases on land (not shown) or on manned mother ships at sea, and the unmanned boat system 1000 can be operated and managed at the coastal field base or manned mother ship.

[0024] The environmental observing system 1 of this embodiment described in FIGS. 1 to 3 uses a communication satellite 6100 as an example of a non-terrestrial network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft system 1000. The communication satellite 6100 may be, for example, a communication satellite 6100 placed in a geosynchronous orbit, a medium earth orbit (MEO), a low earth orbit, or another orbit, or another communication satellite. The communication network applicable to the present invention is not limited to this, and a non-terrestrial network using an unmanned air vehicle called a High Altitude Platform Station (HAPS) may also be used. In this case, for example, an unmanned air vehicle circling at an altitude of approximately 8 to 50 km may be used.

[0025] Furthermore, the path for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft system 1000 is not limited to the path using the communication satellite 6100 or terrestrial base station 6200 shown in Figure 3 or the HAPS described above, but may also include a method of direct communication with the unmanned watercraft system 1000 using a dedicated communication antenna installed on the overall control system 2000, a method of connecting the unmanned watercraft system 1000 to the terrestrial base station 6200 or the overall control system 2000 via an ad hoc network that relays wireless communications using multiple unmanned watercraft 1010, or a communication method of connecting the unmanned watercraft system 1000 to an offshore base that can communicate with the overall control system 2000 wirelessly or via a wired connection.

[0026] Furthermore, as the communications network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft system 1000, it is possible to use a communications network that directly connects the terrestrial base station 6200 and the unmanned watercraft system 1000 via wireless communication, rather than a communications network via a non-terrestrial network such as a communication satellite 6100 or HAPS. The terrestrial base station 6200 is not limited to an immobile fixed base station, and may be configured as a mobile base station. Furthermore, as the communications network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft system 1000, any of the above-mentioned multiple communications networks (non-terrestrial network using the communications satellite 6100, non-terrestrial network using an unmanned air vehicle, and communications network directly connecting the terrestrial base station 6200 and the unmanned watercraft system 1000 via wireless communication) can be used. However, the present invention is not limited to this, and it is also possible to combine the above-mentioned multiple communications networks to provide redundant communication paths.

[0027] (A-2. Configuration of Unmanned Vehicle 1010) Next, the functions and details implemented in the unmanned watercraft 1010 will be described using Figure 4. In the present invention, an unmanned watercraft refers to a mobile body capable of navigating on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile body such as a mobile buoy that can move using a battery, an internal combustion engine, or a thrust generating unit that utilizes wind or wave power.

[0028] Fig. 4 is a functional block diagram showing the functional configuration of the unmanned watercraft 1010. Although Fig. 4 illustrates the functional block diagram of the unmanned watercraft 1010, whether the unmanned watercraft 1010 is used as the parent device 1001 or the child device 1002, the functions implemented in the unmanned watercraft 1010 can be similar to those shown in Fig. 4. The unmanned watercraft 1010 includes a measurement unit 1100, a vessel state determination unit 1200, a navigation unit 1300, a communication unit 1400, a data processing unit 1500, and a recording unit 1600.

[0029] The measurement unit 1100 is a functional unit that measures a measurement target 7000 such as atmospheric state quantities using a measurement sensor 1110 and acquires measurement data related to the measurement target 7000. The measurement unit 1100 includes the measurement sensor 1110 and a measurement control unit 1120.

[0030] As an example, the measurement sensor 1110 can be configured as a laser sensor using laser light. In this case, for example, a Doppler LiDAR that measures the amount of water vapor in the atmosphere and wind conditions (wind direction and wind speed) by utilizing the diffusion of laser light irradiated toward the sky can be applied as the measurement sensor 1110. As another example, a differential absorption LiDAR that measures the amount of water vapor in the atmosphere by comparing the amount of light of different wavelengths by utilizing the property that light of a specific wavelength of laser light irradiated toward the sky is absorbed by water vapor and light of other wavelengths is not absorbed by water vapor can be applied as the measurement sensor 1110.

[0031] Furthermore, the measurement sensor 1110 can be configured as a radar sensor that uses radio waves. In this case, for example, a weather radar or a cloud radar that measures raindrops, snow, hail, cloud particles, etc. in the atmosphere by irradiating radio waves (microwaves, millimeter waves, etc.) into the sky and measuring the radio waves reflected by raindrops, snow, hail, cloud particles, etc. in the atmosphere can be applied as the measurement sensor 1110. As another example, a microwave radiometer that can measure the radiance temperature of the atmosphere and estimate the amount of water vapor in the atmosphere can be applied as the measurement sensor 1110.

[0032] Furthermore, the measurement sensor 1110 can be configured as a satellite signal measurement device that receives GNSS carrier waves transmitted from an artificial satellite. In this case, for example, the satellite signal measurement device can measure the GNSS carrier waves transmitted from the artificial satellite. Furthermore, the amount of water vapor in the atmosphere can be estimated from the propagation delay time of the measured GNSS carrier waves.

[0033] Furthermore, the measurement sensor 1110 can be configured as a spectrometer that measures the amount of moisture in the atmosphere from the absorption state of light of a specific wavelength. In this case, for example, the spectrometer can disperse sunlight into individual wavelengths and measure each of them. Furthermore, by utilizing the property that light of a specific wavelength, such as infrared light, is absorbed by waiting water vapor molecules, the amount of water vapor in the atmosphere can be estimated by comparing the amount of absorption of each wavelength of measured light.

[0034] Furthermore, the measurement sensor 1110 may be configured as a radiosonde measurement data receiving device that communicates wirelessly with a radiosonde flying in the sky and receives measurement data such as humidity, temperature, and air pressure in the sky directly measured by the radiosonde.

[0035] Furthermore, the measurement sensor 1110 may be configured as a sensor that measures state quantities such as the moisture content of the air above the unmanned craft as described above, as well as a sensor that measures state quantities of the air near the sea surface as auxiliary measurement state quantities, such as the air pressure, humidity, water vapor content, dew point temperature, wind speed, wind direction, air temperature, solar radiation, and whether or not there is rainfall in the air above the sea surface around the unmanned craft. Here, the sensor that measures humidity may be configured as a wet-bulb thermometer that determines relative humidity from the temperature difference between the wet bulb and dry bulb, or an electronic hygrometer that measures humidity from changes in electrical resistance or capacitance. The sensor that measures dew point temperature may be configured as a dew-point thermometer that cools the air and measures the temperature at which dew forms.

[0036] In addition to measuring state quantities such as the moisture content of the air above the unmanned vessel as described above, the measurement sensor 1110 may also be configured as a sensor that measures state quantities of seawater below the sea surface around the unmanned vessel, such as water temperature, seawater density, flow velocity, pH value, and tide level, as auxiliary measurement state quantities.

[0037] In addition to the various sensors for observing the atmospheric and underwater conditions described above, the measurement sensor 1110 may also include one (monocular) or multiple optical sensors such as electro-optical sensors, optical cameras, infrared sensors (IR sensors), and stereo cameras that acquire image data of the measurement object 7000 located within the measurable range on the sea surface, laser sensors such as LiDAR that acquire point cloud data, and optical ranging sensors such as ToF sensors (Time of Flight sensors).

[0038] In addition to the above-described sensors, the measurement sensor 1110 may also include an acoustic sensor (also referred to as an acoustic measurement unit) that includes a sonar that uses sound waves such as ultrasonic waves. The acoustic sensor can be used not only underwater but also in the air above the water. When used in the air, the acoustic sensor can be used as a distance sensor that measures the distance to an object by generating sound waves that are reflected off the object and returning. When used underwater, the acoustic sensor may be either an active sonar that generates sound waves and measures the sound waves that reverberate off underwater objects, or a passive sonar that measures sounds generated by underwater objects. The active sonar may be, for example, a side-scan sonar, a multi-beam sonar, or a single-beam sonar. The acoustic sensor may also be configured with a USBL transceiver, an acoustic communication modem, or the like.

[0039] The measurement control unit 1120 can also control at least one of the attitude angles of the measurement sensor 1110 around three axes relative to the unmanned watercraft 1010 by operating a sensor attitude changing device that can change the attitude of the measurement sensor 1110. It can also control measurement operations such as the measurement frequency and measurement timing of the measurement sensor. For example, if the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, etc. If the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. If the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. The measurement control unit 1120 can also adjust the measurement sensitivity of the measurement sensor to a desired control amount. If the measurement sensor is an optical sensor, the measurement control unit 1120 can also change the zoom amount and resolution of the optical sensor to a desired control amount.

[0040] Next, the unmanned watercraft state determination unit 1200 includes a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state, internal state, and external state of the unmanned watercraft 1010. The navigation state determination unit 1210 determines the position (two-dimensional or three-dimensional), movement speed, heading, movement direction, movement acceleration / deceleration, turning speed, and other state quantities related to the navigation state of the unmanned watercraft. The internal state determination unit 1220 determines the remaining energy and fuel levels of the battery installed in the unmanned watercraft, the possible travel distance that can be calculated from the remaining energy and fuel levels, temporary abnormal states of equipment installed in the unmanned watercraft (temperature abnormality, communication abnormality, etc.), and equipment failure states. In addition, the external condition determination unit 1230 determines the communication conditions such as the communication strength (dB value, etc.), communication speed, and communication delay of wireless communication with other unmanned boats 1010 within the unmanned boat system 1000, or wireless communication with the overall control system 2000 via a communication satellite 6100 or a terrestrial base station 6200, or the ocean currents and tides (flow speed, flow direction), wind speed (wind speed, wind direction), wave height, and weather (rain, snow, cloudy, etc.) around the unmanned boat.

[0041] The method by which the navigation state determination unit 1210 determines the position, moving speed, moving direction, and acceleration / deceleration of the aircraft itself is not particularly limited, but for example, the current position, moving speed, and moving direction of the aircraft itself can be determined using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. Here, the aircraft's own position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Furthermore, the acceleration / deceleration can be calculated based on the amount of change over time in the determined moving speed.

[0042] The method for measuring the aircraft's heading is to determine the aircraft's heading at the current time using, for example, a geomagnetic sensor, a GNSS compass, or SLAM technology using the seabed shape. The heading includes an attitude angle (orientation) in a planar view around at least the Z axis, and preferably may be attitude information around three axes: the X axis, the Y axis, and the Z axis. The turning speed can be calculated based on the amount of change over time in the determined heading information.

[0043] Next, the navigation unit 1300 includes a thrust generating unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the aircraft in any direction in accordance with operational commands received via the communication unit 1400. The thrust generating unit 1310 can be any means capable of generating thrust, and as an example, can be configured with a propeller driven by the power of an engine or an electric motor. The thrust generating unit 1310 can also be configured with a sail that receives wind to generate thrust, or with a wave glider that receives wave power to generate thrust.

[0044] The attitude control mechanism 1320 is composed of a rudder mounted on the airframe, a propeller attitude change mechanism that can change the attitude angle of the propeller (mainly the yaw angle around the Z axis), etc., and can control the nose direction (yaw angle) of the aircraft by changing these angles. In addition, a center of gravity position change mechanism that changes the position of a heavy object inside the aircraft using an actuator can also control the attitude angles of the aircraft, such as the roll angle around the X axis and the pitch angle around the Y axis.

[0045] The navigation control unit 1330 is a functional unit that controls the thrust generation unit 1310 and the attitude control mechanism 1320 to control the navigation operation of the aircraft. The navigation control unit 1330 has one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), an MPU, or a DSP), and is equipped with a processing unit that can access a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more processing steps.

[0046] The processing unit includes a control module configured to control the navigation status of the aircraft. For example, the control module adjusts the aircraft's position on the sea surface, movement speed, movement acceleration / deceleration, heading, turning speed, and attitude angle around three axes. That is, the navigation control unit 1330 controls the navigation operation of the aircraft by causing the aircraft to perform various operations such as forward movement, reverse movement, acceleration, deceleration, and turning.

[0047] Next, the communication unit 1400 includes an unmanned craft-to-unmanned craft communication unit 1410 and an overall control communication unit 1420, and is a functional unit that communicates with other unmanned crafts 1010 in the unmanned craft system 1000 and the overall control system 2000. The unmanned craft-to-unmanned craft communication unit 1410 includes a communication antenna used for a maritime wireless communication network, and communicates with other unmanned crafts 1010 in the unmanned craft system 1000. The overall control communication unit 1420 includes a satellite communication antenna capable of communicating with a communication satellite 6100 or a communication antenna capable of communicating with a terrestrial base station 6200, and communicates with the overall control system 2000 via the communication satellite 6100 or the terrestrial base station 6200. In addition to the above-mentioned communication units, the communication unit may also include an AIS antenna or a VHF antenna, and may include a communication unit that communicates with external surveillance crafts and AIS base stations.

[0048] Next, the data processing unit 1500 is a functional unit that performs data processing such as primary processing and data compression of the measurement data acquired by the measurement sensor 1110. The data processing unit 1500 can, for example, perform data processing of raw measurement data (measurement data) acquired by the measurement sensor 1110 and perform primary processing to generate transmission data to be wirelessly transmitted from the unmanned boat system 1000 to the overall control system 2000. The data processing unit 1500 can also perform data compression processing to compress the raw measurement data (measurement data) to generate transmission data so as to reduce the transmission load when wirelessly transmitting transmission data from the unmanned boat system 1000 to the overall control system 2000. Furthermore, the data processing unit 1500 may have a function to interpret the state of the measurement target 7000 by performing primary processing of the measurement data and, based on the interpretation results, determine whether or not to transmit the measurement data or transmission data from the unmanned boat system 1000 to the overall control system 2000, or select the data to be transmitted.

[0049] Next, the recording unit 1600 includes a measurement data recording unit 1610 and a host device status recording unit 1620. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100 and the transmission data processed by the data processing unit 1500. The host device status recording unit 1620 records various status information related to the host device determined by the host device status determination unit 1200.

[0050] Next, the power supply unit 1700 is a functional unit that supplies power to each functional unit of the unmanned watercraft 1010. The power supply unit 1700 includes a power storage device 1710, a power generation device 1720, and a power control unit 1730. The power storage device 1710 can be configured as a battery or other device with a power storage function. The power generation device 1720 can be configured as a solar panel that generates power using sunlight or a wave power generation device that generates power using wave power. The power control unit 1730 is a functional unit that controls the charging and discharging of the power storage device 1710 and also controls the power generation operation of the power generation device 1720.

[0051] (A-3. External system configuration) Next, a specific example of the external system 5000 will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the configuration of the external system 5000. As shown in Fig. 5, the external system 5000 includes a maritime situation awareness system (MDA system) 4100, a weather information providing system 4200, a water vapor observation collaboration system 4300, a GNSS virtual reference station positioning information providing system 4400, and a ship information management system 4500.

[0052] The Maritime Domain Awareness (MDA) system 4100 is a system operated by various countries and organizations that collects, aggregates, and shares various types of information related to the ocean for the purpose of effectively and efficiently understanding the state of the ocean. The Maritime Domain Awareness (MDA) system 4100 has the function of acquiring various types of information related to the state of the ocean from the data analysis system 3000 and other external systems, and aggregating and sharing the various types of information by sea area (location) and date and time.

[0053] The information collected and shared by the ocean situation awareness system 4100 includes various types of information, such as seawater conditions, which measure seawater conditions such as seawater salinity, hydrogen ion index (pH), water temperature, seawater components, and density; oceanographic conditions such as ocean currents, tides, wave height, wave period, sea ice, and the speed of ocean or tidal currents; meteorological conditions such as temperature, humidity, wind speed, solar radiation, atmospheric pressure, rainfall, clouds, fog, other weather conditions, and air quality at sea; the state of marine ecosystems such as underwater seaweed beds, tidal flats, wetlands, coral reefs, plankton, and chlorophyll concentration, or information on the ecological state of other marine organisms; and information on topography and geology such as stranding points (reef shape), seabed shape, contour lines, low-tide lines, and coastlines.

[0054] The marine situation awareness system 5100 can acquire marine measurement data, processed data obtained by processing the measurement data, or processed image data created using the processed data from the data analysis system 3000. The marine situation awareness system 5100 can also transmit measurement request information for new measurement data to be acquired to the data analysis system 3000. For example, the measurement request information can include at least one of the requested position or requested area for which measurement is requested, as well as the measurement time period for measurement, the measurement frequency, and the specified information for the atmospheric state quantities for measurement.

[0055] Here, when the requested location and requested area for measurement are determined by the marine situation awareness system 5100, for example, the marine situation awareness system 5100 can determine locations and areas that are likely to have a high amount of moisture in the atmosphere based on measurement information regarding the water temperature at the sea surface and the humidity and temperature of the air above the sea surface, and determine those locations and areas as the requested location and requested area.

[0056] The weather information providing system 5200 is a system that collects various weather-related observation data, estimates weather conditions for each area based on the collected observation data, and predicts future weather conditions. Examples of the weather information providing system 5200 include AMeDAS (a regional weather observation system) provided by the Japan Meteorological Agency, a system that distributes measurement data from the Himawari meteorological satellite, and a system that provides weather-related observation data provided by government agencies and private organizations outside Japan.

[0057] Here, when the requested location and requested area for measurement are determined by the weather information providing system 5200, for example, the weather information providing system 5200 can identify the location and area where the occurrence of precipitation bands or clouds has been observed or predicted from wide-area satellite images or sea surface temperature measurement results using an IR sensor, determine the location and area as the requested location and requested area, and transmit them to the data analysis system 3000.

[0058] The water vapor observation collaboration system 5300 is a system that observes the amount of moisture in the atmosphere, such as water vapor in the sky, clouds, and raindrops. The water vapor observation collaboration system 5300 is a system that observes the amount of moisture based on atmospheric state quantities, such as temperature, humidity, and air pressure, measured by a radiosonde, for example. The water vapor observation collaboration system 5300 is also a system that observes the amount of moisture in the atmosphere not only using a radiosonde, but also using a sensor that can observe the amount of moisture in the atmosphere based on the propagation delay of a GNSS carrier wave received by a GNSS receiver, or other sensors that can observe the amount of moisture in the atmosphere. When observing the amount of moisture in an area above the sea, the water vapor observation collaboration system 5300 may be a system that uses a manned ship or an unmanned, autonomously navigable USV.

[0059] Here, when the requested location and requested area for measurement are determined by the water vapor observation collaboration system 5300, the location and area where areas with high moisture content or where the occurrence of precipitation bands has been observed or predicted can be identified, and those locations and areas can be determined as the requested location and requested area and transmitted to the data analysis system 3000.

[0060] Furthermore, for example, the water vapor observation collaboration system 5300 can determine, as a requested location or requested area, a sparse measurement location where the density of moisture measurement locations is less than a predetermined value, or an area including a sparse measurement location, as determined based on historical information about atmospheric moisture content measured in the past, or a location where the amount of change in moisture content over time in the measurement results is greater than or equal to a predetermined value, or an area including a large change in moisture content over time.As another example of a case in which the water vapor observation collaboration system 5300 determines a requested location or requested area for which measurement is requested, for example, the water vapor observation collaboration system 5300 can determine, as a measurement request time period in the measurement request information, a low measurement frequency time period where the frequency of moisture content measurements is less than a predetermined value, or a large change in moisture content over time time period where the amount of change in moisture content over time in the measurement results is greater than or equal to a predetermined value, as determined based on measurement history information about atmospheric moisture content measured in the past.

[0061] The GNSS Virtual Reference Station (VRS) positioning information providing system 5400 is a system that provides positioning information at a GNSS Virtual Reference Station (VRS) and information about GNSS carrier waves. It may also have a function to provide GNSS time observation information continuously measured at electronic reference stations installed in various locations operated by the Geospatial Information Authority of Japan.

[0062] The vessel information management system 5500 is a system that includes an AIS (Automatic Identification System), which acquires vessel information about vessels via wireless communication from vessels navigating in the operation area of ​​the unmanned watercraft system 1000 and its surrounding areas, and manages this vessel information. The vessel information management system 5500 may have a function to provide the data analysis system 3000 with vessel information about current vessels and fishing boats navigating in the operation area of ​​the unmanned watercraft system 1000 and its surrounding areas, information about future operation schedules, or information about other events currently taking place or scheduled to take place in the operation area and its surrounding areas.

[0063] In addition, the external system 5000 may include, in addition to the systems described above, a system that provides communication environment information in the operation area and its surrounding areas, a system that provides topographical and geographical information such as islands and the seabed in the operation area and its surrounding areas, and a system that provides information on the number and positions of artificial satellites from which ships at sea can receive GNSS signals, and the reception environment of GNSS carrier waves (reception strength, propagation delay, etc.).

[0064] (A-4. Configuration of the integrated control system 2000) Next, the functions and contents of the overall control system 2000 will be described with reference to Fig. 6. Fig. 6 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 6, the overall control system 2000 includes an information acquisition unit 2100, a measurement plan generation unit 2200, a measurement execution unit 2300, and an information input / output unit 2400.

[0065] (A-4-1. Information acquisition department 2100) The information acquisition unit 2100 is a functional unit that acquires various types of information required for processing by each functional unit of the overall control system 2000 from a user input acceptance unit 2540 (described later), a data analysis system 3000, a user terminal 4000, and an external system 5000. The information acquisition unit 2100 includes a prior information acquisition unit 2110, a measurement request information acquisition unit 2120, and an update information acquisition unit 2130.

[0066] The prior information acquisition unit 2110 is a functional unit that acquires prior information before environmental observation is performed by the unmanned watercraft system 1000. Fig. 7 is a diagram showing an example of the content of the prior information acquired by the prior information acquisition unit 2110. As shown in Fig. 7, the prior information acquired by the prior information acquisition unit 2110 includes surrounding information, unmanned watercraft-related information, and past investigation history information.

[0067] The surrounding information includes environmental information, operation control information, and satellite information. The environmental information includes information about the surrounding environment in the operation area of ​​the unmanned watercraft system 1000, such as sea state information and sea state forecast information obtained from the ocean situation assessment system 5100 of the external system 5000, weather information and weather forecast information obtained from the weather information providing system 5200, and communication environment information and geographic information obtained from the external system 5000.

[0068] The traffic management information includes AIS information and information about other nearby ships obtained from the ship information management system 5500. The satellite information includes information about the number and positions of satellites that transmit GNSS carrier waves that can be received by the measurement sensor 1110, which is a satellite signal measurement device that receives GNSS carrier waves transmitted from satellites of the unmanned boat 1010 from the external system 5000, or information about the reception environment of the GNSS carrier waves (reception strength, propagation delay, etc.).

[0069] Next, the unmanned watercraft-related information includes information about the unmanned watercraft system 1000, such as information about the system configuration, onboard measurement sensors, and aircraft performance. The system configuration includes information about the number of unmanned watercraft 1010 belonging to the unmanned watercraft system 1000, and the number of parent and child watercraft. The onboard measurement sensors are type information about the measurement sensors 1110 mounted on the unmanned watercraft 1010, such as laser sensors (such as LiDAR), radar sensors, satellite signal measurement devices, spectroscopic devices, radiosonde measurement data receivers, hygrometers, and thermometers. The aircraft performance is information about various performance aspects of the unmanned watercraft 1010, such as the navigation performance of the navigation unit 1300 of the unmanned watercraft 1010, the communication performance of the communication unit 1400, the measurement performance of the measurement unit 1100, the power storage performance and power generation performance of the power supply unit 1700, and the like.

[0070] Next, the past investigation history information includes history information about measurement operations previously performed by the environment observing system 1, such as the measurement location, measurement time, and information about the moisture content distribution that is the measurement result.

[0071] The measurement request information acquisition unit 2120 is a functional unit that acquires measurement request information generated by the measurement request management unit 3100 of the data analysis system 3000, or measurement request information input from an external system 5000, a user terminal 4000, or the like via the measurement request management unit 3100. For example, the measurement request information acquisition unit 2120 can acquire measurement request information including a requested position or requested area on a two-dimensional plane or in three-dimensional space where measurement of the amount of moisture in the atmosphere is requested.

[0072] Fig. 8 is a diagram showing an example of the contents of measurement request information acquired by the measurement request information acquisition unit 2120. As shown in Fig. 8, the measurement request information acquired by the measurement request information acquisition unit 2120 includes a measurement target, a measurement condition, and a measurement sensor type.

[0073] The information on the measurement target includes information specifying the state quantity to be the measurement target 7000 in environmental observation, such as the amount of moisture in the atmosphere. Here, the amount of moisture in the atmosphere is not limited to moisture in a liquid or solid state, such as cloud particles, raindrops, or snow, but also includes moisture in a gaseous state, such as water vapor.

[0074] The information on the measurement target may also include meteorological and oceanographic conditions. Meteorological conditions include, for example, atmospheric pressure, humidity, water vapor content, dew point temperature, wind speed, wind direction, air temperature, solar radiation, and whether or not there is rain. Oceanographic conditions include, for example, the speed and direction of ocean or tidal currents, water temperature, seawater density, pH value, and tide level.

[0075] Next, the information on measurement conditions includes various condition information for performing measurements for environmental observation, such as area, time, measurement completion conditions, measurement frequency, measurement method, synchronous / asynchronous measurement, etc. The area information is information that specifies the position or area of ​​the measurement target, and can be specified as a specific designated planar position or area in a two-dimensional area on the sea surface, or a designated three-dimensional position or area in a three-dimensional area in the sky.

[0076] The time information includes information specifying the date, time, and time period for the measurement. The measurement frequency information includes information on how often the measurement is performed, and is specified, for example, by the number of measurements to be performed per day. The measurement completion condition information includes condition information for determining that the measurement for environmental observation has been completed, and can be specified, for example, by the area to be measured, date, time, and frequency.

[0077] The measurement method information also includes information that specifies the behavior of the unmanned vessel 1010 when taking measurements, such as interval mooring measurement, in which measurements are taken periodically while the unmanned vessel 1010 is moored, continuous measurement, in which measurements are taken constantly in real time while the unmanned vessel 1010 is sailing, arbitrary time measurement, in which measurements are taken at any specified time, trigger measurement, in which measurements are taken when a specified trigger is detected, and speed correction measurement, in which measurements are taken while the vessel is traveling and measurement errors caused by the traveling speed are corrected.

[0078] The information on the measurement method may also include a synchronous measurement request indicating whether measurement sensors mounted on multiple unmanned vessels 1010 should measure synchronously or asynchronously. When synchronous measurement is performed, the types of synchronous measurement may include synchronization of measurement timing between different unmanned vessels, synchronization of measurement direction, synchronous measurement of sea surface state quantities and air state quantities, and synchronous measurement of sea surface state quantities and underwater state quantities.

[0079] Next, information on the type of measurement sensor includes satellite signal measurement devices that receive GNSS carrier waves, laser light sensors that measure reflected laser light, radar sensors that use radio waves such as millimeter waves and microwaves, balloon-type radiosondes, spectrometers that measure the amount of moisture in the atmosphere from the absorption state of light of specific wavelengths, meteorological measurement sensors, and oceanographic measurement sensors.

[0080] The meteorological measurement sensors include sensors that measure at least one of the atmospheric pressure, humidity, water vapor content, dew point temperature, wind speed, wind direction, air temperature, solar radiation, and rainfall in the atmosphere above the sea surface. The oceanographic measurement sensors include sensors that measure at least one of the water temperature, seawater density, flow speed, pH value, and tide level in the seawater below the sea surface. They may also include sensors that measure the ocean current direction, enzyme concentration, salinity concentration, wave height, wave period, etc. in the seawater below the sea surface.

[0081] The measurement request information may include request information other than the information shown in Fig. 8. In this case, for example, the measurement request information may include a provision method request that specifies the method of data provision that the user will receive. The provision method request may include, for example, a stored data provision type that receives measurement data stored in a recording unit, a real-time data transmission type that receives measurement data in real time, and a data analysis type that receives analysis results based on the measurement data.

[0082] In addition, the measurement request information may include a request for environmental observation operations in cooperation with unmanned aerial vehicles or underwater drones other than unmanned boats, or a request for environmental observation operations in cooperation with an external observation system such as the water vapor observation cooperation system 5300 of the external system 5000.

[0083] The measurement request information may also include a request for a corresponding action when the measurement data indicates an abnormal value or when the data analysis result in the measurement data analysis processing unit 3300 indicates an abnormal value. In this case, the request for a corresponding action may include a request to reacquire the measurement data, a request to acquire additional data with changed measurement conditions, a request to specify a corresponding action to the user, a command request notification to the user, a warning notification to the user, etc.

[0084] The update information acquisition unit 2130 is a functional unit that receives, in real time, update information about the surrounding area of ​​the operation area during operation of the unmanned watercraft system 1000. The update information acquisition unit 2130 can acquire update information about the surrounding information (environmental information, operation control information, satellite information) shown in Fig. 7.

[0085] (A-4-2. Measurement plan generation unit 2200) The measurement plan generation unit 2200 is a functional unit that generates a measurement plan including the placement of multiple unmanned boats based on the requested position or requested area included in the measurement request information. The measurement plan generation unit 2200 includes a measurement condition determination unit 2210, an unmanned boat placement determination unit 2220, a measurement schedule determination unit 2230, and an unmanned boat replacement schedule determination unit 2240.

[0086] The measurement condition determination unit 2210 is a functional unit that determines measurement conditions based on the advance information and measurement request information acquired by the information acquisition unit 2100.

[0087] The measurement condition determination unit 2210 can determine, for example, based on information on the system configuration of the unmanned boat, the onboard measurement sensors, and the aircraft performance contained in the advance information, whether or not measurements can be performed in accordance with the requirements for the measurement target, measurement conditions, and measurement sensor type contained in the measurement request information, and determine the measurement conditions.

[0088] Here, the measurement conditions determined by the measurement condition determination unit 2210 can include the measurement target, measurement conditions, and measurement sensor type, similar to the information items included in the measurement request information. The measurement sensor type determined by the measurement condition determination unit 2210 includes type information of the measurement sensor used to measure the amount of moisture in the atmosphere above the unmanned watercraft. This measurement sensor type information includes, for example, type information of at least one of the following measurement sensors: a laser sensor using laser light, a radar sensor using radio waves, a satellite signal measurement device that receives GNSS carrier waves from an artificial satellite, a spectrometer that measures the amount of moisture in the atmosphere from the absorption state of light of a specific wavelength, and a radiosonde that communicates wirelessly with the unmanned watercraft.

[0089] In addition, the measurement condition determination unit 2210 may have a function to determine the measurement method using a measurement sensor to measure the amount of moisture in the atmosphere above the unmanned boat as described above, that is, whether to perform measurement in a single direction (the zenith direction), to perform measurement in multiple diagonally upward directions with different azimuth angles and elevation angles, or to perform measurement in multiple directions including the zenith direction and diagonally upward directions.

[0090] Here, the measurement sensor types determined by the measurement condition determination unit 2210 include information specifying measurement sensors used to measure the moisture content in the atmosphere above the unmanned boat as described above, as well as information specifying measurement sensors used to measure auxiliary measurement state quantities that are used auxiliary to calculate the moisture content in the atmosphere. This measurement sensor type information includes, for example, information specifying the type of measurement sensors used to measure auxiliary measurement state quantities of at least one of the atmospheric pressure, humidity, water vapor content, dew point temperature, wind speed, wind direction, air temperature, solar radiation, and presence or absence of rainfall of the atmosphere above the sea surface, or at least one of the water temperature, seawater density, flow speed, pH value, and tide level of seawater below the sea surface.

[0091] Here, the measurement condition determination unit 2210 determines areas where clouds exist from satellite images acquired from the external system 5000 or sky images acquired by a camera mounted on the unmanned watercraft 1010, or determines a permitted navigation area in which navigation of the unmanned watercraft is permitted based on weather information or weather forecast information acquired by the update information acquisition unit 2130, and determines at least a portion of the area where the requested position or requested area overlaps with the permitted navigation area as the measurement execution area. With this function, an area that overlaps with the permitted navigation area from among the areas for which measurement is requested can be determined as the measurement execution area, making it possible to generate a measurement plan for safely navigating the unmanned watercraft 1010.

[0092] The unmanned boat placement determination unit 2220 has the function of determining a measurement plan including the placement of multiple unmanned boats 1010. The unmanned boat placement determination unit 2220 can determine the placement of the unmanned boats 1010 and the number of boats required to measure the entire requested area as a measurement plan, based on, for example, information on the requested position or requested area included in the measurement request information and information on the system configuration, onboard measurement sensors, and onboard vehicle performance included in the advance information.

[0093] The unmanned boat placement determination unit 2220 can determine the unmanned boat to perform the measurement operation based on information on the placement and number of unmanned boats 1010 required to measure the entire requested area, and status information such as the current state of charge (SOC) of the unmanned boat 1010, and determine the placement position for each unmanned boat.

[0094] Furthermore, the unmanned craft placement determination unit 2220 can determine a movement plan that includes not only the placement and number of unmanned crafts 1010, but also information regarding the placement of the multiple unmanned crafts, as well as at least one of a time-based movement schedule and a movement route for the multiple unmanned crafts. Here, a movement route is a route along which each unmanned craft 1010 will move in the future, and a movement schedule is information indicating the movement position of the unmanned craft 1010 at each time.

[0095] Furthermore, based on information on the predicted location and predicted time of occurrence of rain clouds, rainfall, linear precipitation bands, etc. predicted by the rain cloud occurrence prediction unit 3330 described below, the unmanned vessel placement determination unit 2220 can determine a movement schedule for multiple unmanned vessels 1010 to follow rain clouds, rainfall, or linear precipitation bands, or a movement schedule for moving ahead of rain clouds, rainfall, or linear precipitation bands, so that the atmospheric state quantities at the predicted occurrence location can be measured at the predicted occurrence time.

[0096] In addition, the unmanned vessel placement determination unit 2220 can determine the position of a typhoon or the like based on satellite images obtained from the external system 5000 or aerial images obtained by a camera mounted on the unmanned vessel 1010, and measure the atmospheric state quantities near the typhoon by determining a movement schedule that causes the unmanned vessel 1010 to follow the typhoon, or a movement schedule that causes the unmanned vessel 1010 to get ahead of the typhoon's predicted movement path.

[0097] Next, the measurement schedule determination unit 2230 can determine a measurement implementation plan that includes at least one of the measurement date and time, time-based measurement schedule, measurement frequency, and measurement order for measurements to be performed by the measurement sensors mounted on the multiple unmanned watercraft 1010. Here, the measurement order means the order in which measurements are performed among multiple measurement positions or measurement areas.

[0098] In addition, the measurement schedule determination unit 2230 can include a storage schedule plan for storing measurement data measured by the unmanned boat 1010 in the measurement data storage unit 3220 described below, a transmission schedule plan for transmitting measurement data measured by the unmanned boat from the unmanned boat 1010 to the data analysis system 3000, an analysis schedule plan for analyzing the measurement data by the measurement data analysis processing unit 3300, and an external output schedule plan for transmitting and outputting the analyzed data to the user terminal 4000 or an external system 5000.

[0099] Here, the transmission schedule plan can include, for example, real-time transmission, in which measurement data is transmitted from the unmanned vessel to the data analysis system 3000 immediately after measurement, transmission after area movement, in which the unmanned vessel is moved to an area with a good communication environment after measurement and then the measurement data is transmitted from the unmanned vessel to the data analysis system 3000, and time-shift transmission, in which the measurement data is recorded in the recording unit 1600 inside the unmanned vessel after measurement and then transmitted from the unmanned vessel to the data analysis system 3000 after a predetermined period of time has passed.

[0100] Next, when multiple unmanned vessels 1010 deployed in the operational area are replaced with spare unmanned vessels waiting in a waiting area or on board the mother ship, the unmanned vessel replacement schedule determination unit 2240 can determine replacement plan information including at least one of the time-based replacement schedule for the multiple unmanned vessels, the number of unmanned vessels to be replaced, and the waiting location of the replacement unmanned vessel.

[0101] Here, the unmanned vessel replacement schedule determination unit 2240 can predict the power consumption status of the unmanned vessel and the recovery status of the stored power (SOC) due to power generation by solar panels, etc., based on information such as the size of the requested area and the length of the requested time contained in the measurement request information, and information on the unmanned vessel's power storage and power generation performance contained in the advance information, predict changes in the stored power amount over time, and determine the unmanned vessel replacement schedule by time, the number of unmanned vessels to be replaced, and the waiting position of the replacement unmanned vessel, so that the unmanned vessel is replaced before the stored power amount reaches zero.

[0102] Furthermore, when multiple unmanned craft 1010 deployed in an operation area are replaced, in addition to the case where an unmanned craft deployed in an operation area is replaced with a spare unmanned craft waiting in a waiting area or on board a mother ship, an unmanned craft deployed in an operation area with a low SOC may be subjected to recovery charging operation for a predetermined period using a solar panel or other such power generation device 1720. For this reason, the unmanned craft replacement schedule determination unit 2240 can generate a schedule for performing at least one of the replacement operation of replacing the unmanned craft with a spare unmanned craft and the recovery charging operation of performing recovery charging for a predetermined period, or both.

[0103] (A-4-3. Measurement execution unit 2300) The measurement execution unit 2300 is a functional unit that measures atmospheric state quantities using the measurement sensors 1110 mounted on multiple unmanned boats, based on the measurement plan generated by the measurement plan generation unit 2200. The measurement execution unit 2300 includes a vessel avoidance necessity determination unit 2310, a wave avoidance necessity determination unit 2320, a measurement plan correction unit 2330, and a measurement execution control unit 2340.

[0104] The other vessel avoidance necessity determination unit 2310 is a functional unit that determines whether interference or close proximity will occur between the unmanned vessel 1010 and other vessels navigating the surrounding area, based on the latest operation management information acquired by the update information acquisition unit 2130, and determines whether avoidance action to avoid the other vessels is necessary.

[0105] The wave avoidance necessity determination unit 2320 is a functional unit that grasps or determines the wave area caused by a typhoon or the like based on the latest environmental information acquired by the update information acquisition unit 2130, or satellite images acquired from the external system 5000 or aerial images acquired by a camera mounted on the unmanned vessel 1010, determines whether the unmanned vessel 1010 will enter the wave area, and determines whether avoidance action is necessary to avoid the wave area.

[0106] If the measurement plan correction unit 2330 determines that avoidance action to avoid other ships is necessary based on the judgment results of the other ship avoidance necessity judgment unit 2310 and the wave avoidance necessity judgment unit 2320, it corrects the movement plan included in the measurement plan so that avoidance action to avoid other ships is performed, and if it determines that avoidance action to avoid a wave area is necessary, it corrects the movement plan included in the measurement plan so that avoidance action to avoid the wave area is performed.

[0107] The measurement execution control unit 2340 is a functional unit that transmits a measurement execution command to the unmanned craft 1010 to execute measurements according to the measurement plan corrected by the measurement plan correction unit 2330, or according to the measurement plan before correction if it is determined that correction of the measurement plan is not necessary.

[0108] Here, if the other ship avoidance necessity determination unit 2310 determines that avoidance action is required to avoid other ships, or if the wave avoidance necessity determination unit 2320 determines that avoidance action is required to avoid a wave area, information regarding the planned movement area of ​​other ships and wave areas where environmental observation by the unmanned boat system 1000 cannot be performed can be output to the external system 5000, and a signal requesting environmental observation can be sent to the external system 5000.

[0109] The measurement execution control unit 2340 may also have a function for managing the transition of operational states when performing environmental observation using the unmanned watercraft system 1000. Fig. 9 is a state transition diagram showing the transition of operational states during an environmental observation mission. As shown in Fig. 9, the operational status of an environmental observation mission is broadly divided into three states: pre-measurement preparation state, measurement mission execution state, and measurement mission abort / end state.

[0110] The pre-measurement preparation state includes the operation status of a movement state (ST1601) in which the unmanned craft 1010 moves to the measurement target area after processing starts, and a deployment state (ST1602) in which the unmanned craft 1010 is deployed after moving to the measurement target area.

[0111] In addition, the measurement mission execution state includes the operating states of anchored measurement for acquiring observation data (ST1603), moving measurement for ocean data measurement (ST1604), recovery charging state using a charging device (such as a solar panel or wave power generation device) installed on the unmanned vessel 1010 (ST1605), standby state including when measurement is suspended (ST1606), moving state between data acquisition locations (ST1607), and measurement data analysis and distribution state (ST1608).

[0112] The measurement mission abort / end state also includes the operational states of a return state (ST1609) in which the unmanned vehicle 1010 is moved to a position where it can be recovered, and a recovery state (ST1610) in which the unmanned vehicle 1010 is recovered after returning.

[0113] Here, if the measurement condition determination unit 2210 determines that the measurement sensor 1110 to be used for measurement is a satellite signal measurement device that receives GNSS carrier waves from a satellite, the measurement execution control unit 2340 can control the measurement operation during the berthing measurement (ST1603) state for acquiring observation data so that the unmanned vessel 1010 measures the GNSS carrier waves using the satellite signal measurement device while the unmanned vessel 1010 is berthed or its traveling speed is below a predetermined speed. Because the content of the received GNSS carrier wave signal changes when the vessel's position changes, it is desirable to perform the GNSS carrier wave reception operation in a state close to berthing, where the vessel's position does not change. For the same reason, it is also desirable to receive other GNSS carrier waves and VRS information used in the delay amount analysis process by the measurement data analysis processing unit 3300 (described later) while the unmanned vessel 1010 is berthed or its traveling speed is below a predetermined speed.

[0114] Furthermore, in the state of measurement while moving (ST1604) for acquiring observation data, when the GNSS carrier wave is measured using a satellite signal measurement device while the unmanned vessel 1010 is moving and navigating, the moisture content can be estimated accurately even while moving by performing a process to correct the received signal of the GNSS carrier wave according to the moving speed.

[0115] In addition, the measurement execution control unit 2340 can determine the measurement method, and in addition to the above-mentioned anchored measurement and measurement while moving, it has the function of determining the measurement method as an interval measurement, which performs measurement periodically, continuous measurement, arbitrary time measurement, which performs measurement at an arbitrary specified time, and trigger measurement, which performs measurement when a specified trigger is detected.

[0116] Here, when an execution request for another mission other than the environmental observation mission is received from the user terminal 4000 or the like, the measurement execution control unit 2340 can execute the measurement operation of the atmospheric state quantities in the environmental observation mission and the multiple other missions simultaneously or with a time lag. Note that information on whether measurement operations related to the other missions can be performed in parallel is set in association with each operation state of the environmental observation mission shown in Fig. 9, and based on this information, the measurement execution control unit 2340 can determine whether to use a multiple mission execution mode in which multiple missions are executed simultaneously or with a time lag, or an environmental observation mission selection execution mode in which only the environmental observation mission is executed.

[0117] Here, an example of another mission different from the environmental observation mission will be described using Fig. 10. Fig. 10 is a diagram showing an example of another mission different from the environmental observation mission. In the example shown in Fig. 10, the other missions different from the environmental observation mission include ocean monitoring, communication infrastructure provision, offshore facility inspection, fisheries support, and biological ecology surveys.

[0118] The mission of maritime search and surveillance is to search for and monitor specific objects in any area of ​​the sea, sky, or underwater. The measurement objects may also include information on the seabed topography (including reefs, the seabed, stranding points, and coastlines) and ocean acoustic information. The measurement sensors used in maritime search and surveillance missions may be the same as those used in environmental observation missions, or they may be different sensors.

[0119] The mission of providing communication infrastructure is to provide a connection environment with a wireless communication network using communication devices mounted on the unmanned vessel 1010. The areas in which the communication environment is provided include the sea, the sky, and underwater.

[0120] The mission of offshore facility inspection is to inspect and measure offshore facilities installed on or underwater. Inspection and measurement targets include offshore wind power generation systems consisting of numerous wind power generation facilities scattered across the ocean, offshore runways, and offshore oil plants. The measurement sensors used in offshore facility inspection missions may be the same as or different from the measurement sensors used in environmental observation missions. Furthermore, offshore facility inspection missions are not limited to the inspection and measurement of the various offshore facilities described above, and may also include the mission of monitoring intruders who have invaded the facilities.

[0121] Fisheries support missions include marine analysis (fish detection, etc.) for offshore / deep sea fishing, coastal fishing, and aquaculture support, aquaculture feeding, and aquaculture and fishing ground monitoring (including monitoring for theft and poaching in aquaculture and fishing grounds). The measurement sensors used in fisheries support missions may be the same as those used in environmental observation missions, or they may be different sensors.

[0122] Bioecological survey missions include those for investigating the ecology of marine animals (including whales, sea turtles, seaweed beds, and microorganisms such as plankton), as well as animals living on the coast or in land areas near the coast. Note that the measurement sensors used in bioecological survey missions may be the same as those used in environmental observation missions, or they may be different sensors.

[0123] (A-4-4. Information input / output unit 2400) The information input / output unit 2400 is a functional unit that has the functions of inputting and outputting information between the unmanned watercraft 1010 and the data analysis system 3000, displaying and outputting information to the user, and receiving information input from the user. The information input / output unit 2400 includes a measurement data acquisition unit 2410, a measurement data transmission unit 2420, a display unit 2430, and a user input reception unit 2440.

[0124] The measurement data acquisition unit 2410 is a functional unit that acquires measurement data measured by the measurement unit 1100 of the unmanned watercraft 1010 from the unmanned watercraft 1010 .

[0125] The measurement data transmission unit 2420 is a functional unit that transmits the measurement data acquired by the measurement data acquisition unit 2410 to the data analysis system 3000.

[0126] The display unit 2430 is a functional unit that displays and outputs information acquired and generated by each functional unit of the integrated control system 2000. For example, the display unit 2430 can display and output advance information acquired by the advance information acquisition unit 2110 as shown in Fig. 7, measurement request information acquired by the measurement request information acquisition unit 2120 as shown in Fig. 8, update information acquired by the update information acquisition unit 2130, etc.

[0127] As another example, the display unit 2430 can display and output information related to the measurement plan generated by the measurement plan generating unit 2200 and information related to the measurement plan corrected by the measurement plan correcting unit 2330 of the measurement executing unit 2300.

[0128] As another example, the display unit 2430 can also display information relating to the position of the unmanned watercraft 1010 and other operational status information acquired from the watercraft status determination unit 1200 of the unmanned watercraft 1010 to the user in real time.

[0129] As another example, the display unit 2430 may have a function to display and output information regarding areas where other ships are expected to move or wave areas where environmental observation by the unmanned boat system 1000 is not possible, as determined by the other ship avoidance necessity determination unit 2310 or the wave avoidance necessity determination unit 2320.

[0130] The user input accepting unit 2440 is a functional unit that accepts any user input information related to various information displayed on the display unit 2430 or unrelated to the displayed information. For example, the user input accepting unit 2440 can accept a command to change the displayed measurement plan. The user input information accepted by the user input accepting unit 2440 can include an operation intervention command from the user to the unmanned watercraft 1010 or the unmanned watercraft system 1000. The user input accepting unit 2440 may be a portable mobile terminal such as a smartphone, tablet terminal, or laptop PC. User input information can also be accepted via operation buttons provided on the display screen of the display unit 2430.

[0131] (A-5. Overview of Data Analysis System 3000) Next, an overview of the data analysis system 3000 will be described using Fig. 11. Fig. 11 is a functional block diagram showing the functional configuration of the data analysis system 3000. The data analysis system 3000 includes a measurement request management unit 3100, a measurement data management unit 3200, a measurement data analysis processing unit 3300, and an information output unit 3400.

[0132] (A-5-1. Measurement Request Management Unit 3100) The measurement request management unit 3100 is a functional unit that generates measurement request information or receives it from the external system 5000 or the user terminal 4000, and transmits the measurement request information to the measurement request information acquisition unit 2120 of the overall control system 2000. The measurement request management unit 3100 includes a measurement request information reception unit 3110, a measurement request condition determination unit 3120, and a measurement request transmission unit 3130.

[0133] The measurement request information receiving unit 3110 is a functional unit that receives measurement request information from the external system 5000 or the user terminal 4000. The measurement request information received by the measurement request information receiving unit 3110 includes at least one of the following: a requested position or area for measurement, a measurement time period for measurement, a measurement frequency, and designated information for the atmospheric state quantity for measurement. The external system

[0134] The measurement request condition determination unit 3120 can determine the required location or required area so that it includes at least a portion of a sparse measurement location or an area including a sparse measurement location where the density of moisture measurement locations is less than a predetermined value, or a location with a large change over time where the change in moisture content over time in the measurement results is greater than a predetermined value or an area including a large change over time location, which can be determined based on historical information about the moisture content in the atmosphere previously measured by the water vapor observation collaboration system 5300 of the external system 5000, or historical information about the moisture content in the atmosphere previously measured by the data analysis system 3000.

[0135] In this way, by determining an area where few measurements have been taken in the past (a sparsely measured location) as the requested location or required area, it is possible to generate measurement request information that prioritizes measurement of areas where measurement data is insufficient and resolves the lack of measurement data.Furthermore, by determining a location where there is a large change over time in moisture content in past measurement results that is greater than a predetermined value as the requested location or required area, it is possible to prioritize measurement of areas that are prone to insufficient responsiveness in grasping changing conditions and resolve the lack of responsiveness to changes in state quantities.

[0136] The measurement request condition determination unit 3120 can determine the measurement request time period of the measurement request information so as to include at least a portion of a low measurement frequency time period in which moisture content measurements are performed less frequently than a predetermined value or a high time-varying time period in which the amount of change in moisture content over time in the measurement results is greater than or equal to a predetermined value, which can be determined based on history information on the amount of moisture content in the atmosphere measured in the past by the water vapor observation collaboration system 5300 of the external system 5000 or history information on the amount of moisture content in the atmosphere measured in the past by the data analysis system 3000. In this way, by determining a time period in which measurements were performed infrequently in the past (low measurement frequency time period) as the measurement request time period, or by determining a high time-varying time period in which the amount of change in moisture content over time in the past measurement results is greater than or equal to a predetermined value as the measurement request time period, it is possible to generate measurement request information that resolves a lack of measurement data or a lack of responsiveness to changes in state quantities.

[0137] In addition, when the measurement request condition determination unit 3120 obtains satellite images, weather information, weather forecast information, or observation information on sea surface temperature (measured by an IR sensor from a satellite), water vapor volume, or precipitation bands from external systems such as the weather information providing system 5200 or the water vapor observation collaboration system 5300, it can identify areas with high water vapor volume or areas with a high probability of linear precipitation bands occurring based on the information, and determine the requested location or requested area for requesting measurement of the identified area.

[0138] The measurement request sending unit 3130 is a functional unit that sends the measurement request information received by the measurement request information receiving unit 3110 and the measurement request information generated by the measurement request condition determining unit 3120 to the measurement request information acquiring unit 2120 of the overall control system 2000.

[0139] (A-5-2. Measurement data management unit 3200) The measurement data management unit 3200 is a functional unit that manages measurement data acquired from the unmanned boat system 1000 via the overall control system 2000. The measurement data management unit 3200 includes a measurement data acquisition unit 3210 and a measurement data accumulation unit 3220.

[0140] The measurement data acquisition unit 3210 is a functional unit that acquires measurement data measured by the unmanned boat system 1000 from the measurement data transmission unit 2420 of the overall control system 2000 .

[0141] The measurement data storage unit 3220 is a functional unit that records the measurement data acquired by the measurement data acquisition unit 3210.

[0142] (A-5-3. Measurement data analysis processing unit 3300) The measurement data analysis processing unit 3300 is a functional unit that calculates the moisture content and wind conditions in the atmosphere above the unmanned boat 1010 based on measurement data relating to various state quantities measured by multiple unmanned boats 1010. The measurement data analysis processing unit 3300 includes a moisture content distribution calculation unit 3310, an airflow estimation unit 3320, a rain cloud occurrence prediction unit 3330, and an output information generation unit 3340.

[0143] (A-5-3-1. Moisture distribution calculation unit 3310) The moisture content distribution calculation unit 3310 can calculate the two-dimensional distribution of moisture content in three-dimensional space in the atmosphere, including positions above the unmanned watercraft, based on atmospheric state quantities measured by the multiple measurement sensors 1110 mounted on the multiple unmanned watercraft 1010 and the position information of the unmanned watercraft 1010 determined by the unmanned watercraft state determination unit 1200 of the multiple unmanned watercraft 1010. For example, the measurement results of the moisture content in three-dimensional space in the atmosphere can be calculated as a two-dimensional distribution in a horizontal plane.

[0144] 12 to 14, a method for calculating the measurement results of moisture content in a three-dimensional space in the atmosphere as a two-dimensional distribution on a horizontal plane by the moisture content distribution calculation unit 3310 will be described. FIG. 12 is a diagram showing how state quantities in the atmosphere in a vertically upward direction are measured by multiple unmanned watercraft. The example shown in FIG. 12 particularly shows an example in which the state quantities (moisture content in the atmosphere) in a vertically upward or approximately vertically upward direction of the multiple satellite signal measurement devices are estimated by measuring GNSS carrier waves from artificial satellites located vertically upward or approximately vertically upward by the satellite signal measurement devices mounted on the unmanned watercraft 1010.

[0145] Below, we will explain GNSS-PWV (Global Navigation Satellite System - Precipitable Water Vapor), a method of estimating the amount of moisture in the atmosphere vertically or approximately vertically above multiple satellite signal measurement devices by measuring GNSS carrier waves using satellite signal measurement devices installed on an unmanned boat 1010.

[0146] The basic principle of GNSS-PWV measurement is to estimate the amount of water vapor in the atmosphere using the propagation delay of radio waves, including GNSS carrier waves. When GNSS carrier waves (radio waves) reach the measurement sensor on the unmanned vessel from a satellite, they are subject to ionospheric delay, delay due to the dry atmosphere (dry delay), and delay due to water vapor (wet delay) as they pass through the atmosphere. Therefore, assuming there is no ionospheric delay, the total zenith delay (ZTD) is the sum of the zenith dry delay (ZHD) and the zenith wet delay (ZWD).

[0147] In GNSS-PWV, first, the zenith total delay (ZTD) is calculated by analyzing the GNSS carrier waves measured by a satellite signal measurement device. Here, one method for calculating the zenith total delay (ZTD) is to measure at least multiple GNSS carrier waves with different frequencies transmitted from a common satellite using the satellite signal measurement device, and then compare the multiple GNSS carrier waves using the moisture distribution calculation unit 3310 to determine the transmission delay between the multiple GNSS carrier waves.

[0148] Another method for calculating the zenith direction total delay (ZTD) is to use a satellite signal measurement device to measure the GNSS carrier waves transmitted from a first satellite and a second satellite that is located within a specified angle range of the first satellite as seen from the unmanned vessel 1010 (i.e., approximately in the zenith direction, like the first satellite), and then use the moisture distribution calculation unit 3310 to compare the measured multiple GNSS carrier waves to determine the amount of transmission delay between the multiple GNSS carrier waves.

[0149] Furthermore, another method for calculating the zenith direction total delay (ZTD) is to measure the GNSS carrier wave transmitted from the first artificial satellite using a satellite signal measurement device, and compare the GNSS carrier wave at a virtual reference station generated in a position surrounding the satellite signal measurement device obtained from the GNSS virtual reference station (VRS) positioning information provision system 5400 with the GNSS carrier wave measured by the satellite signal measurement device to determine the amount of transmission delay between multiple GNSS carrier waves.

[0150] Next, the zenith dry delay (ZHD) is estimated using atmospheric pressure data measured by a meteorological measurement sensor, which is a measurement sensor of the unmanned boat 1010, and an estimation model such as the Saastamoinen model. ZHD can be calculated, for example, by the following equation (Equation 1): In the following equation (Equation 1), [Po] is the atmospheric pressure at sea level at the observation point, [φ] is the latitude of the observation point, and [ht] is the altitude of the observation point.

[0151] JPEG0007736367000002.jpg35170

[0152] Next, the zenith dry delay (ZHD) is subtracted from the zenith total delay (ZTD) to calculate the zenith wet delay (ZWD).

[0153] Next, the relationship between the zenith wet delay (ZWD) and the precipitable water vapor (PWV) can be expressed by the following equation (Equation 2), and therefore the precipitable water vapor (PWV) can be calculated by multiplying the zenith wet delay (ZWD) by the conversion coefficient Π. Here, the conversion coefficient Π can be calculated from measurement data of the temperature and atmospheric pressure measured by the meteorological measurement sensor, which is a measurement sensor of the unmanned boat 1010.

[0154] JPEG0007736367000003.jpg2950

[0155] As described above, by using GNSS-PWV or the like, the moisture content in the atmosphere between the satellite transmitting the GNSS carrier and the satellite signal measurement device can be calculated based on the propagation delay of the GNSS carrier measured by the satellite signal measurement device. Here, to improve the accuracy of the moisture content calculation using the GNSS carrier as described above, for example, the GNSS signals from multiple types of satellites can be used to calculate the moisture content and compare the calculation results. Furthermore, the accuracy of the moisture content calculation using the GNSS carrier can be improved by updating a mapping function that converts the atmospheric delay in the zenith direction into the oblique delay in the satellite direction using the measurement results of the atmospheric moisture content in oblique directions. Furthermore, the accuracy of the moisture content calculation using the GNSS carrier can be improved by using precise ephemeris information, which is orbital information that accurately indicates the position and velocity of the satellite.

[0156] FIG. 13 shows an example of a two-dimensional distribution of moisture content in a horizontal plane in a three-dimensional space in the atmosphere, calculated using the above-described method or the like. FIG. 13 is a diagram showing an example of the calculation results of moisture content in a three-dimensional space, shown as a horizontal distribution. The example shown in FIG. 13 shows the results of calculations of precipitable water vapor (PWV) in the zenith or near-zenith direction from each unmanned craft by the moisture content distribution calculation unit 3310, with darker mesh areas indicating higher moisture content and lighter mesh areas indicating lower moisture content. Furthermore, because the number of unmanned crafts is limited, the calculation results of precipitable water vapor (PWV) are obtained for the mesh part where the unmanned craft 1010 is located.

[0157] The moisture distribution calculation unit 3310 can further estimate the precipitable water vapor (PWV) for locations where the unmanned craft 1010 is not present and where GNSS carrier wave measurement is not being performed, based on the PWV calculation results shown in Fig. 13, and estimate the distribution of precipitable water vapor (PWV) over the entire operation area of ​​the unmanned craft system 1000 and its surrounding area. Fig. 14 is a diagram showing an example of the estimated distribution of precipitable water vapor (PWV) over the entire wide area.

[0158] For example, based on the calculation results of the precipitable water vapor (PWV) shown in Figure 13, the moisture content distribution calculation unit 3310 estimates that the moisture content is high in a band-shaped area where areas with high moisture content are concentrated, and similarly estimates that the moisture content is low in areas where areas with low moisture content are concentrated, thereby estimating the moisture content in areas where measurements have not been taken, and can generate an estimated distribution of precipitable water vapor (PWV) in a wide area as shown in Figure 14.

[0159] Here, the moisture distribution calculation unit 3310 may estimate the shape and range of a belt-shaped area where areas with high moisture content are concentrated, based on information about the position and flow of clouds in satellite images and the wind direction and speed in the sky obtained from the weather information providing system 5200 of the external system 5000. It is known that the amount of moisture in the stratosphere is only about one-hundredth to one-thousandth of the amount of moisture in the troposphere. Therefore, it is desirable to use information about the wind direction and speed in an altitude range where moisture content is high to estimate the shape and range of a belt-shaped area where areas with high moisture content are concentrated.

[0160] 12 to 14 show examples of the distribution of moisture content in the atmosphere on a two-dimensional plane, but the moisture content distribution calculation unit 3310 can also calculate the distribution of moisture content in the atmosphere in a three-dimensional space. Therefore, a method for calculating the distribution of moisture content in the atmosphere in a three-dimensional space by the moisture content distribution calculation unit 3310 will be described below with reference to FIGS. 15 to 17.

[0161] Fig. 15 is a diagram showing how multiple unmanned watercraft measure atmospheric state quantities in multiple directions with different azimuth angles or elevation angles. The example shown in Fig. 15 shows an example in which GNSS carrier waves from multiple artificial satellites located in multiple directions with different azimuth angles and elevation angles, not just the vertical upward direction, are measured by a satellite signal measurement device mounted on the unmanned watercraft 1010, thereby estimating atmospheric state quantities (amount of moisture in the atmosphere) in multiple directions at the positions of the multiple satellite signal measurement devices.

[0162] Fig. 16 is a diagram showing an example of the results of calculating the amount of moisture in the atmosphere at each position in three-dimensional space. In the example shown in Fig. 16, unmanned boat 1010a receives a GNSS carrier wave from a satellite in the zenith direction, and the moisture distribution calculation unit 3310 calculates the amount of moisture in the atmosphere in a cylindrical range in the zenith direction from the position of unmanned boat 1010a. Similarly, unmanned boat 1010b receives GNSS carrier waves from three satellites diagonally upward, and the moisture distribution calculation unit 3310 calculates the amount of moisture in the atmosphere in three cylindrical ranges diagonally upward from the position of unmanned boat 1010b. Here, if the zenith-direction cylindrical range from the position of unmanned boat 1010a overlaps with the three cylindrical ranges diagonally upward from the position of unmanned boat 1010b, it is possible to estimate the amount of moisture in the area where the cylindrical ranges overlap by comparing the moisture amounts in each cylindrical range. For example, if the moisture content is high in the cylindrical range toward the zenith at the position of unmanned boat 1010a, and the moisture content is low in two of the three cylindrical ranges diagonally upward from the position of unmanned boat 1010b, and the moisture content is high in one cylindrical range, it can be estimated that the moisture content is high in the area where the cylindrical range diagonally upward from the position of unmanned boat 1010b with a high moisture content overlaps with the cylindrical range toward the zenith at the position of unmanned boat 1010a.

[0163] Furthermore, if the zenith-direction cylindrical range at the position of the unmanned vessel 1010b overlaps with two cylindrical ranges diagonally upward from the position of the unmanned vessel 1010c, it is possible to estimate the moisture content of areas where the cylindrical ranges do not overlap by comparing the moisture content of each cylindrical range. For example, if the moisture content of the zenith-direction cylindrical range at the position of the unmanned vessel 1010b is high and the moisture content of both cylindrical ranges diagonally upward from the position of the unmanned vessel 1010c is low, it can be estimated that the moisture content is high in the area between the position where the two cylindrical ranges diagonally upward from the position of the unmanned vessel 1010c with high moisture content overlap with the zenith-direction cylindrical range at the position of the unmanned vessel 1010b. In this way, by comparing the moisture content measurement results of cylindrical ranges extending in multiple directions from the positions of multiple unmanned vessels 1010, it is possible to estimate not only the moisture content distribution on a horizontal map but also the moisture content distribution on a three-dimensional map including the vertical direction. In addition, by measuring the GNSS carrier waves transmitted from satellites positioned in an approximately horizontal direction, rather than just the zenith direction or diagonally upward, it is possible to determine the amount of moisture in the atmosphere in an approximately horizontal direction.By combining this with the measurement results of the GNSS carrier waves from satellites positioned in the zenith direction or diagonally upward, it is possible to obtain a detailed understanding of the distribution of moisture over a wider area.

[0164] FIG. 17 is a diagram illustrating an example of the estimated three-dimensional distribution of precipitable water vapor (PWV) over an entire wide area. The example illustrated in FIG. 17 shows the result of estimating the distribution of moisture in three-dimensional space in the atmosphere by the moisture distribution calculation unit 3310 based on the estimated information on moisture at each three-dimensional position obtained by the method illustrated in FIG. 16. Here, the moisture distribution calculation unit 3310 can estimate the shape and range of three-dimensional areas where areas with high moisture content are concentrated based on the three-dimensional positions and flow of clouds in satellite images obtained from the weather information providing system 5200 of the external system 5000 and information on wind direction and wind speed at each three-dimensional position in the sky. It is known that the amount of moisture in the stratosphere is only about one-hundredth to one-thousandth of the amount of moisture in the troposphere. Therefore, it is desirable to use information on wind direction and wind speed in the altitude range where moisture is abundant to estimate the shape and range of the belt-shaped area where areas with high moisture content are concentrated.

[0165] In the examples shown in Figures 12 to 17, the distribution of moisture in the atmosphere is estimated using measurement data from a satellite signal measurement device that measures GNSS carrier waves, but the measurement sensor 1110 is not limited to a satellite signal measurement device, and other sensors that can measure the moisture content in the atmosphere in the upper atmosphere (laser sensor, radar sensor, spectrometer, etc.) can be used to estimate two-dimensional or three-dimensional moisture content distribution in a manner similar to that shown in Figures 12 to 17.

[0166] (A-5-3-2. Airflow Estimation Unit 3320) The air current estimation unit 3320 is a functional unit that estimates the two-dimensional wind distribution in the sea surface area, the location of rising air currents, or the wind distribution in the air above the unmanned boat. For example, the air current estimation unit 3320 can calculate the two-dimensional wind distribution in the sea surface area or the location of rising air currents based on measurement data of at least one of wind condition data, atmospheric pressure data, air temperature, seawater temperature, and humidity measured by multiple measurement sensors mounted on multiple unmanned boats 1010, and on position information of the multiple unmanned boats. Below, a method for estimating the two-dimensional wind distribution and the location of rising air currents in the sea surface area by the air current estimation unit 3320 will be described using Figures 18 and 19.

[0167] Fig. 18 is a diagram showing an example of wind condition data measured by multiple unmanned watercraft. In the example shown in Fig. 18, wind direction and wind speed measurement data measured by meteorological measurement sensors mounted on each unmanned watercraft 1010 are displayed on a two-dimensional map based on the position of each unmanned watercraft at the time of measurement. Arrows extending from the position of each unmanned watercraft indicate wind condition data, with the direction of the arrow indicating wind direction and the length of the arrow indicating wind speed.

[0168] Next, Fig. 19 is a diagram showing an example of the estimation result of the generation location of an updraft. In the example shown in Fig. 19, the position where wind is flowing in on the sea surface is determined based on wind condition data measured by multiple unmanned watercraft, and that position can be estimated as the generation location of the updraft. Air that flows in and gathers on the sea surface from the surroundings creates a flow that rises in the vertical direction, so the center position of the position where the wind is flowing in on the sea surface area can be estimated as the generation location of the updraft.

[0169] 19 illustrates a method for estimating the location of an updraft based on wind data measured by multiple unmanned watercraft. However, the method for estimating the location of an updraft is not limited to this. It is also possible to estimate the location of an updraft as a location where the atmospheric pressure is lower than the surrounding area based on the distribution of atmospheric pressure over the sea surface measured by multiple unmanned watercraft. This is because wind flows into a location where the atmospheric pressure is lower than the surrounding area, and an updraft is generated from the location where the wind flows in. Furthermore, it is also possible to estimate the location of an updraft as a location where the air temperature, humidity, or seawater temperature is higher than the surrounding area based on the distribution of air temperature, humidity, or seawater temperature over the sea surface measured by multiple unmanned watercraft. This is because at locations where the air temperature, humidity, or seawater temperature are higher than the surrounding area, the amount of water evaporating from the sea surface is greater, making it more likely that an updraft is occurring.

[0170] In addition, the airflow estimation unit 3320 can calculate the wind distribution in the sky based on measurement data of wind direction and wind speed at a position above the unmanned boats 1010 measured by Doppler LiDAR mounted on multiple unmanned boats 1010.

[0171] (A-5-3-3. Rain cloud occurrence forecast unit 3330) The rain cloud formation predicting unit 3330 is a functional unit that predicts the location and time of rain cloud or rainfall formation based on the information on the moisture content in the atmosphere calculated by the moisture content distribution calculating unit 3310.

[0172] For example, the rain cloud occurrence prediction unit 3330 can predict the location and timing of rain cloud or rainfall occurrence based on the moisture content distribution information of each position on a two-dimensional plane such as in FIG. 13 or 14 calculated by the moisture content distribution calculation unit 3310, or the moisture content distribution information of each position on a three-dimensional space such as in FIG. 16 or 17. In this case, the rain cloud occurrence prediction unit 3330 can predict, for example, a position on a two-dimensional plane where air contains a moisture content equal to or greater than a predetermined value as the location where rain clouds or rainfall will occur. Alternatively, when air containing a moisture content equal to or greater than a predetermined value in three-dimensional space is present in the sky at a predetermined altitude or higher, the rain cloud occurrence prediction unit 3330 can predict this location as the location where rain clouds or rainfall will occur.

[0173] Furthermore, the rain cloud formation prediction unit 3330 can predict the location and timing of rain cloud or rainfall occurrence based on the moisture content distribution information of each position on a two-dimensional plane such as in Fig. 13 or 14 calculated by the moisture content distribution calculation unit 3310, or the moisture content distribution information of each position in a three-dimensional space such as in Fig. 16 or 17, and the wind distribution or updraft occurrence position calculated by the airflow estimation unit 3320. In this case, for example, when an updraft is occurring around a position of air containing a moisture content equal to or greater than a predetermined value on a two-dimensional plane or in three-dimensional space, the rain cloud formation prediction unit 3330 can predict the occurrence position of the updraft as the occurrence position of rain clouds or rainfall.

[0174] Furthermore, the rain cloud occurrence prediction unit 3330 may have the function of predicting the location and time of occurrence of a linear rain band by continuously predicting the location of rain clouds or rainfall predicted using the method described above.

[0175] (A-5-3-4. Output information generation unit 3340) The output information generation unit 3340 is a functional unit that generates output information to be output to a user terminal or an external system 5000 by the information output unit 3400 described later, based on the information of the processing results generated by the measurement data analysis processing unit 3300.

[0176] For example, the output information generation unit 3340 generates planar map display information showing the two-dimensional distribution of moisture content in the atmosphere as shown in FIG. 14, calculated by the moisture content distribution calculation unit 3310, or three-dimensional space map display information showing the three-dimensional distribution of moisture content in the atmosphere as shown in FIG. 17.

[0177] The output information generation unit 3340 can also generate display information for a wind distribution map on the sea surface, as shown in Fig. 18, calculated by the air current estimation unit 3320 based on the measurement data of wind direction and wind speed measured by each unmanned boat 1010 and the position of each unmanned boat at the time of measurement. The output information generation unit 3340 can also generate display information for the location of rising air currents, as shown in Fig. 19, calculated by the air current estimation unit 3320. The output information generation unit 3340 can also generate display information for the wind distribution at a position above the unmanned boat, as calculated by the air current estimation unit 3320.

[0178] Furthermore, the output information generating unit 3340 can generate display information of the results of the prediction of the occurrence position of rain clouds or rainfall calculated by the rain cloud occurrence predicting unit 3330.

[0179] (A-5-4. Information output unit 3400) The information output unit 3400 is a functional unit that transmits and outputs, or displays and outputs, various display information such as information on the moisture content in the atmosphere and wind distribution generated by the output information generation unit 3340 to the user terminal 4000 or the external system 5000. The information output unit 3400 includes a user terminal information output unit 3410, an external information output unit 3420, and a display unit 3430.

[0180] The user terminal information output unit 3410 is a functional unit that transmits and outputs various display information, such as information on the amount of moisture in the atmosphere, generated by the output information generation unit 3340, to the user terminal 4000. In particular, the user terminal information output unit 3410 may have a function of transmitting notification information to the user terminal 4000 when the measurement data analysis processing unit 3300 predicts the occurrence of rain clouds, rainfall, or a linear rain band. The external information output unit 3420 is a functional unit that transmits and outputs various display information, such as information regarding the amount of moisture in the atmosphere generated by the output information generation unit 3340, to an external system 5000 (particularly, the ocean situation assessment system 5100, the weather information provision system 5200, the water vapor observation collaboration system 5300, etc.).

[0181] The display unit 3430 is a functional unit that displays and outputs various display information on a display screen, such as information on the moisture content in the atmosphere generated by the output information generation unit 3340. In particular, when the measurement data analysis processing unit 3300 predicts the occurrence of rain clouds, rainfall, or a linear rain band, the display unit 3430 may have a function to notify the user.

[0182] (A-6. Control flow of environmental observation system 1) Next, the upper level control flow of the entire environment observing system 1 will be described with reference to FIGS.

[0183] (A-6-1. High-level control flow of environmental observation system 1) FIG. 20 is a flowchart showing the processing flow of the environment observing system 1.

[0184] First, the prior information acquisition unit 2110 acquires prior information including information about the surrounding area of ​​the area where the unmanned boat system 1000 is deployed, information related to the unmanned boat, and past investigation history information (step 101). In this step, for example, various types of prior information such as those shown in Fig. 7 are acquired.

[0185] Next, the measurement request information acquisition unit 2120 acquires measurement request information including a requested position or requested area on a two-dimensional plane or three-dimensional space where measurement of the moisture content in the atmosphere is requested (step 102). In this step, the measurement request management unit 3100 of the data analysis system 3000 acquires measurement request information generated based on weather-related information obtained from the external system 5000, or measurement request information input from the external system 5000, the user terminal 4000, etc. via the measurement request management unit 3100.

[0186] Next, the measurement condition determination unit 2210 determines the measurement conditions based on the advance information and measurement request information acquired by the information acquisition unit 2100 (step 103). The detailed processing content of this step will be described later.

[0187] Next, the measurement plan generating unit 2200 generates a measurement plan including the location of a plurality of unmanned boats based on the requested position or requested area included in the measurement request information (step 104). The detailed processing of this step will be described later.

[0188] Next, the measurement execution unit 2300 measures atmospheric state quantities using measurement sensors mounted on the multiple unmanned watercraft based on the measurement plan (step 105). The detailed processing of this step will be described later.

[0189] Next, the moisture distribution calculation unit 3310 of the measurement data analysis processing unit 3300 calculates the moisture distribution in the three-dimensional space in the atmosphere based on the measured atmospheric state quantities and the position information of the multiple unmanned watercraft 1010 (step 106). The detailed processing of this step will be described later.

[0190] Next, the rain cloud occurrence prediction unit 3330 of the measurement data analysis processing unit 3300 predicts the location of rain cloud or rainfall occurrence based on the information on the moisture content in the atmosphere calculated by the moisture content distribution calculation unit 3310 (step 107). The detailed processing content of this step will be described later.

[0191] Next, the information output unit 3400 transmits the determination result including the amount of moisture in the atmosphere determined by the measurement data analysis processing unit 3300 to the outside or outputs and displays it on a display device (step 108).

[0192] (A-6-2. Control flow of the measurement condition determination unit 2210) 21 is a flowchart showing the measurement condition determination process flow by the measurement condition determination unit 2210. In particular, FIG. 21 shows detailed processing of step 103 in the flowchart of FIG.

[0193] First, the measurement condition determination unit 2210 determines an unnavigable area (step 201). In this step, it is possible to determine an unnavigable wave area for the unmanned vessel 1010 based on, for example, sea conditions and weather information acquired from the ocean condition assessment system 5100, the weather information providing system 5200, etc.

[0194] Next, the measurement execution area is determined by the measurement condition determination unit 2210 (step 202). In this step, for example, at least a part of the area where the requested position or requested area included in the measurement request information overlaps with the navigation-permitted area can be determined as the measurement execution area.

[0195] Next, the measurement date and time is determined by the measurement condition determination unit 2210 (step 203). In this step, the measurement execution date and time can be determined based on, for example, the measurement request date and time included in the measurement request information and the date and time when the unmanned watercraft system 1000 is available.

[0196] Next, the measurement condition determination unit 2210 determines the type of measurement sensor to be used for measurement (step 204). In this step, the type of measurement sensor to be used for measurement can be determined, for example, based on the measurement sensor request information included in the measurement request information and information on the measurement sensors mounted or mountable on the unmanned watercraft 1010. In this step, the type of measurement sensor to be used for measurement can be determined, for example, a laser sensor, radar sensor, satellite signal measurement device, spectrometer, radiosonde, or the like that can be used to measure the amount of moisture in the atmosphere above the unmanned watercraft.

[0197] Next, the measurement condition determination unit 2210 determines the condition for completing the measurement of the environmental observation mission (step 204). In this step, for example, the measurement completion condition can be the completion of measurement for a specified period in a specified area.

[0198] (A-6-3. Control flow for determining measurement method) 22 is a flowchart showing the flow of measurement plan generation processing by the measurement plan generating unit 2200. In particular, FIG. 22 shows detailed processing of step 104 in the flowchart of FIG.

[0199] First, the unmanned boat placement determination unit 2220 determines the placement of multiple unmanned boats (step 301). In this step, the placement of the unmanned boats 1010 and the number of boats required to measure the entire requested area can be determined as a measurement plan, for example, based on information on the requested position or requested area included in the measurement request information and information on the system configuration, onboard measurement sensors, and onboard vehicle performance included in the advance information.

[0200] Next, the unmanned watercraft placement determination unit 2220 determines a movement schedule for the multiple unmanned watercrafts (step 302). In this step, for example, a movement plan including at least one of the time-based movement schedules and movement routes for the multiple unmanned watercrafts can be determined.

[0201] Next, the measurement schedule determination unit 2230 determines a measurement schedule using the multiple unmanned watercraft (step 303). In this step, a measurement implementation plan can be determined that includes at least one of the measurement date and time when measurements will be performed using the measurement sensors mounted on the multiple unmanned watercrafts 1010, the measurement schedule by time, the measurement frequency, and the measurement order.

[0202] Next, the unmanned craft replacement schedule determination unit 2240 determines a replacement schedule for the multiple unmanned crafts deployed in the operation area (step 304). In this step, replacement plan information can be determined that includes, for example, at least one of the timetable for replacing the multiple unmanned crafts, the number of unmanned crafts to be replaced, and the waiting positions of the replacement unmanned crafts.

[0203] (A-6-4. Control flow of the measurement execution unit 2300) 23 is a flowchart showing a control flow when a measurement operation is performed by the measurement execution unit 2300. In particular, FIG. 23 shows detailed processing of step 105 in the flowchart of FIG.

[0204] First, the measurement execution control unit 2340 determines whether multiple missions, including an environmental observation mission and another mission different from the environmental observation mission, can be executed (step 401). In this step, for example, when an execution request for the other mission is received from the user terminal 4000, a determination can be made as to whether multiple missions can be executed based on judgment conditions such as whether the types of measurement sensors required for the other mission and the environmental observation mission are installed on the unmanned craft.

[0205] Next, the latest status of the external environment is grasped (step 402). In this step, for example, the latest traffic control information and the latest environmental information are acquired by the update information acquisition unit 2130.

[0206] Next, an update determination is made for the no-navigation areas (step 403). In this step, for example, the predicted navigation areas of other ships navigating in the surrounding area are updated and determined based on the latest traffic management information acquired by the update information acquisition unit 2130. Also, the wave areas in which the unmanned boat 1010 cannot navigate are updated and determined based on the latest environmental information acquired by the update information acquisition unit 2130.

[0207] Next, it is determined whether the measurement plan needs to be changed (step 404). In this step, it is determined whether the measurement plan for the unmanned vessel 1010 needs to be changed based on criteria such as whether the planned movement route of the unmanned vessel 1010 included in the measurement plan will interfere with the planned navigation area of ​​other vessels, or whether the planned movement route of the unmanned vessel 1010 included in the measurement plan will enter an area with waves. If the determination result in this step is that the measurement plan needs to be changed, the process transitions to step 405. If the determination result is that the plan does not need to be changed, the process transitions to step 406. If the measurement cannot be continued, the process transitions to step 408.

[0208] Next, if the determination result in step 404 is that the measurement plan needs to be changed, the measurement plan correction unit 2330 corrects the measurement plan (step 405). In this step, for example, if it is determined that avoidance action is necessary to avoid interference with the planned navigation area of ​​other ships, the movement plan included in the measurement plan is corrected so that avoidance action is taken to avoid the planned navigation area of ​​other ships, and if it is determined that avoidance action is necessary to avoid the wave area, the movement plan included in the measurement plan is corrected so that avoidance action is taken to avoid the wave area.

[0209] Next, the measurement execution control unit 2340 outputs a command to execute the measurement operation to the unmanned watercraft 1010 (step 406).

[0210] Next, the measurement execution control unit 2340 determines whether the environmental observation mission is complete (step 407). In this step, it is determined whether the environmental observation mission is complete, for example, according to the measurement completion conditions determined in step 204 shown in Fig. 21. If the determination result in this step is that the mission is incomplete, the process transitions to step 401, and if the determination result is that the mission is complete, the process transitions to step 408.

[0211] Next, if the result of the determination in step 407 is that the mission is complete, a return command for the unmanned craft is output to the unmanned craft (step 408).

[0212] (A-6-5. Control flow of the moisture content distribution calculation unit 3310) 24 is a flowchart showing the process flow for calculating the moisture distribution in the atmosphere by the moisture distribution calculation unit 3310. In particular, FIG. 24 shows detailed processing of step 106 in the flowchart of FIG.

[0213] First, the measurement data acquisition unit 3210 acquires measurement data relating to state quantities in the atmosphere above measured by a plurality of unmanned crafts 1010 (step 501).

[0214] Next, the moisture distribution calculation unit 3310 calculates the amount of water vapor in a substantially vertical direction from the unmanned boat (step 502). In this step, the amount of moisture in the atmosphere in a cylindrical range in a substantially vertical direction from each unmanned boat, as shown in Fig. 13, is calculated using a method such as GNSS-PWV, based on measurement data of atmospheric state quantities in a cylindrical range in a substantially vertical direction from the unmanned boat, as shown in Fig. 12.

[0215] Next, the moisture content distribution calculation unit 3310 calculates the distribution of moisture content in the atmosphere on a two-dimensional plane (step 503). In this step, the moisture content in the atmosphere in an area where no measurement has been performed is estimated based on the calculation result of the moisture content in the atmosphere in the approximately vertical direction obtained in step 502, and the two-dimensional distribution of moisture content in a wide area as shown in Fig. 14 is calculated.

[0216] Next, the amount of water vapor in multiple directions in the sky is calculated from the unmanned boat (step 504). In this step, the amount of water vapor at each position in three-dimensional space, including the height direction, is calculated using a method such as GNSS-PWV, based on measurement data of state quantities in the atmosphere in a cylindrical range in multiple directions with different azimuth angles and / or elevation angles, as shown in Fig. 15, obtained by multiple unmanned boats.

[0217] Next, the moisture content distribution calculation unit 3310 calculates the distribution of moisture content in the atmosphere in three-dimensional space (step 505). In this step, based on the calculation results of the moisture content in the atmosphere in the cylindrical range in multiple directions obtained in step 504, the moisture content in the atmosphere at three-dimensional positions where no measurement has been performed is estimated, and the moisture content distribution in the three-dimensional space of a wide area as shown in Fig. 17 is calculated.

[0218] (A-6-6. Control flow of the airflow estimation unit 3320 and the rain cloud occurrence prediction unit 3330) 25 is a flowchart showing a process flow for predicting the location of rain clouds or rainfall occurrence, etc., performed by the airflow estimation unit 3320 and the rain cloud occurrence prediction unit 3330. In particular, FIG. 25 shows detailed processing of step 107 in the flowchart of FIG.

[0219] First, wind condition data measured by a plurality of unmanned crafts 1010 is acquired by the measurement data acquisition unit 3210 (step 601). In this step, measurement data of wind direction and wind speed measured by meteorological measurement sensors mounted on the unmanned crafts 1010 is acquired.

[0220] Next, the airflow estimation unit 3320 calculates a two-dimensional wind distribution in the sea surface area (step 602). In this step, the two-dimensional wind distribution in the sea surface area as shown in Fig. 18 is calculated based on, for example, wind condition data measured by multiple measurement sensors mounted on multiple unmanned watercraft 1010 and position information of the multiple unmanned watercraft.

[0221] Next, the air current estimation unit 3320 calculates the location of the updraft (step 603). In this step, the location of the updraft, as shown in Fig. 19, is calculated based on, for example, at least one of wind condition data and atmospheric pressure data measured by a plurality of measurement sensors mounted on a plurality of unmanned watercraft 1010, and the position information of the plurality of unmanned watercraft.

[0222] Next, the rain cloud occurrence prediction unit 3330 predicts the location where rain clouds or rain will occur (step 604). In this step, the location where rain clouds or rain will occur can be predicted based on, for example, the distribution information of the moisture content in the atmosphere calculated by the moisture content distribution calculation unit 3310 and the wind distribution or the location where an updraft will occur calculated by the airflow estimation unit 3320.

[0223] (A-7. Hardware Configuration) 26 is a hardware configuration diagram of an overall control system 2000 and a data analysis system 3000. Here, the overall control system 2000 in the present invention is an information processing device such as a server device or a PC. As shown in the figure, the overall control system 2000 has an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0224] The input device 100 can constitute the user input receiving unit 2440, and is a device that allows a user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0225] The output device 200 is a device that outputs various information generated by the integrated control system 2000, and can constitute the display unit 2430 or the display unit 3430. Specifically, the output device 200 can constitute the display unit 2430 or the display unit 3430 using a display device for eyewear, AR, or VR, or can also be a printer or a speaker.

[0226] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing arithmetic processing.

[0227] The main memory device 400 is a memory device including RAM and ROM that reads and writes temporarily to memory elements at any address during processing, without requiring any waiting time depending on the access pattern. For example, RAM is temporarily written to and read from during programs, application programs, and various other processes executed by the processing device 300. ROM is a non-volatile memory that does not lose recorded information even if the device loses power. The auxiliary memory device 500 is a non-volatile memory device capable of storing digital information, such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory.

[0228] The communication device 600 is a device that performs wireless or wired information communication with the outside, and can constitute the information communication unit 2800 described above.

[0229] The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.

[0230] [A-2. Effects of this embodiment] According to the above-described embodiment, the amount of moisture in the atmosphere and the distribution of wind conditions can be grasped more quickly or over a wider area by using multiple unmanned watercraft. As an example, the function of generating a measurement plan including the allocation of multiple unmanned watercraft based on the requested location or requested area included in the measurement request information makes it possible to quickly estimate the amount of moisture in the atmosphere and the distribution of wind conditions. [Explanation of symbols]

[0231] 1...Environmental Observation System (System) 100...input device 200...output device 300...Processing device 400...Main storage device 500...Auxiliary storage device 600...Communication device 700...bus 1000...Unmanned boat system 1001...Base unit 1002...Sub unit 1010...Unmanned boat 1100...Measuring unit 1110...Measuring sensor 1120...Measurement control unit 1200...Own aircraft state determination unit 1210...Navigation state determination unit 1220: Internal state determination unit 1230: External state determination unit 1300...Navigation section 1310...Thrust generation section 1320: Attitude control mechanism 1330: Navigation control unit 1400...Communication unit 1410...Unmanned vehicle communication unit 1420…General Control and Communications Department 1500...Data processing unit 1600...Recording section 1610...Measurement data recording section 1620...Own aircraft status recording section 1700...power supply unit 1710...electricity storage device 1720...power generating device 1730...power control unit 2000...Comprehensive control system 2100...information acquisition unit 2110...advance information acquisition unit 2120: Measurement request information acquisition unit 2130: Update information acquisition unit 2200... Measurement plan generation unit 2210... Measurement condition determination unit 2220: Unmanned boat placement decision unit 2230: Measurement schedule decision unit 2240…Unmanned Boat Replacement Schedule Decision Department 2300: Measurement execution unit 2310: Other vessel avoidance necessity determination unit 2320... Wave avoidance necessity determination unit 2330... Measurement plan correction unit 2340...Measurement execution control unit 2400...Information input / output unit 2410...Measurement data acquisition unit 2420: Measurement data transmission unit 2430: Display unit 2440...User input reception unit 3000...Data analysis system 3100: Measurement request management unit 3110: Measurement request information reception unit 3120: Measurement request condition determination unit 3130: Measurement request transmission unit 3200: Measurement data management unit 3210: Measurement data acquisition unit 3220: Measurement data storage unit 3300... Measurement data analysis processing unit 3310... Moisture content distribution calculation unit 3320: Airflow estimation unit 3330: Rain cloud occurrence prediction unit 3340...Output information generation unit 3400: Information output unit 3410: User terminal information output unit 3420: External information output unit 3430: Display unit 4000...User terminal 5000…External system 5100...Ocean Situation Monitoring System 5200...Weather Information Provision System 5300...Water Vapor Observation System 5400...GNSS Virtual Reference Station (VRS) Positioning Information Provision System 5500...Ship information management system 6100: Communications satellite 6200: Ground base station 7000...Measurement target

Claims

1. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels that can navigate on the sea, a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that uses measurement devices mounted on the plurality of unmanned watercrafts to measure atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content in the atmosphere above the unmanned watercraft in a vertically or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with The measurement plan generation unit An environmental observation system that determines a movement schedule for multiple unmanned craft to follow rain clouds, rainfall, or linear precipitation bands, or a movement schedule for moving ahead of rain clouds, rainfall, or linear precipitation bands, based on information on the predicted location of the occurrence of rain clouds, rainfall, or linear precipitation bands, so as to be able to measure the atmospheric state quantities at the predicted location of the occurrence.

2. In the environmental observation system according to claim 1, The measurement plan generation unit An environmental observation system that determines, based on information about the predicted location and predicted time of occurrence of rain clouds, rainfall, or linear precipitation bands, a movement schedule for causing multiple unmanned boats to follow rain clouds, rainfall, or linear precipitation bands, or a movement schedule for causing multiple unmanned boats to get ahead of rain clouds, rainfall, or linear precipitation bands, so that the atmospheric state quantities at the predicted location of occurrence can be measured at the predicted time of occurrence.

3. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels capable of navigating the sea, a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that uses measurement devices mounted on the plurality of unmanned watercrafts to measure atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft in a vertically upward or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with The measurement request acquisition unit An environmental observation system that determines the requested location or requested area included in the measurement request information so as to include a location where the change in moisture content over time is greater than a predetermined value, or at least a portion of an area including the location where the change in moisture content over time is greater than a predetermined value, which can be determined based on historical information about the moisture content in the atmosphere previously measured externally or by the system itself.

4. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels capable of navigating the sea, a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that uses measurement devices mounted on the plurality of unmanned watercrafts to measure atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft in a vertically upward or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with the measurement request information includes a measurement request time period in which measurement is to be performed in addition to the requested position or the requested area, The measurement request acquisition unit An environmental observation system that determines the measurement request time period of the measurement request information so that it includes at least a portion of a time period during which the change in moisture content over time is greater than a predetermined value, which can be determined from measurement history information of the moisture content in the atmosphere previously measured by an external device or the system itself.

5. 5. The environment monitoring system according to claim 1, The measurement plan generation unit determining a navigation permission area in which navigation of the unmanned watercraft is permitted based on meteorological information or weather forecast information for the requested position, the requested area, or a surrounding area thereof, which is included in the measurement request information; An environmental observation system that determines at least a portion of the area where the requested position or the requested area overlaps with the permitted navigation area as a measurement execution area.

6. 5. The environment monitoring system according to claim 1, An environmental observation system, wherein the measurement plan generated by the measurement plan generation unit includes information on the location of the plurality of unmanned watercraft, as well as information on a movement plan including at least one of a time-based movement schedule and a movement route for the plurality of unmanned watercraft.

7. 5. The environment monitoring system according to claim 1, An environmental observation system in which the measurement plan generated by the measurement plan generation unit includes information regarding the placement of multiple unmanned watercraft, as well as information regarding a measurement implementation plan including at least one of the measurement date and time when measurements will be performed by the measurement devices mounted on the multiple unmanned watercraft, an hourly measurement schedule, a measurement frequency, and a measurement order.

8. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels capable of navigating the sea, comprising: a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that uses measurement devices mounted on the plurality of unmanned watercrafts to measure atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft in a vertically upward or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with an environmental observation system in which the measurement plan generated by the measurement plan generation unit includes, in addition to information regarding the arrangement of the plurality of unmanned vessels, replacement plan information including at least one of an hourly replacement schedule for the plurality of unmanned vessels determined to replace the unmanned vessels before the predicted hourly battery charge of the unmanned vessels reaches zero, taking into account power generation by solar panels mounted on the unmanned vessels; the number of unmanned vessels to be replaced; and waiting positions of the replacement unmanned vessels.

9. 5. The environment monitoring system according to claim 1, When a request to execute a mission other than environmental observation that measures the state quantities in the atmosphere is received, The measurement execution unit is an environmental observation system that simultaneously or at staggered times executes multiple missions including the measurement of atmospheric state quantities and the operations of the other missions.

10. 5. The environment monitoring system according to claim 1, When the measurement plan generation unit determines that a satellite signal measurement device that receives a GNSS carrier wave from an artificial satellite is the measurement device to be used for measurement, An environmental observation system in which the measurement data analysis processing unit calculates the amount of moisture in the atmosphere using the GNSS carrier wave measured by the satellite signal measurement device when the unmanned vessel is anchored or when the unmanned vessel's movement speed is below a predetermined speed.

11. 5. The environment monitoring system according to claim 1, The measurement data analysis processing unit An environmental observation system that calculates the two-dimensional distribution of the moisture content in three-dimensional space in the atmosphere based on the state quantities measured by the multiple measuring devices mounted on the multiple unmanned boats and position information of the multiple unmanned boats.

12. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels capable of navigating the sea, comprising: a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that measures atmospheric state quantities using measurement devices mounted on the plurality of unmanned crafts based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with The measurement data analysis processing unit An environmental observation system that calculates the distribution of the moisture content in the atmosphere in three-dimensional space based on measurement data of the state quantities in the atmosphere of a vertical cylindrical area extending in a zenith direction measured by a plurality of measuring devices mounted on a plurality of the unmanned boats, measurement data of the state quantities in the atmosphere of an oblique cylindrical area extending in an obliquely upward direction measured by a plurality of measuring devices mounted on a plurality of the unmanned boats, the oblique cylindrical area extending in an obliquely upward direction and at least a portion of which overlaps with the vertical cylindrical area, position information of the plurality of unmanned boats, and information regarding the obliquely upward direction at the time of measurement of the oblique cylindrical area.

13. 5. The environment monitoring system according to claim 1, the measurement execution unit measures at least a plurality of GNSS carrier waves having different frequencies transmitted from a common first artificial satellite using the measurement device; the measurement data analysis processing unit compares the plurality of GNSS carrier waves to determine a transmission delay amount between the plurality of GNSS carrier waves; An environmental observation system that calculates the amount of moisture in the atmosphere in the space between the first artificial satellite and the measurement device based on the amount of transmission delay.

14. 5. The environment monitoring system according to claim 1, the measurement execution unit measures, by the measurement device, GNSS carrier waves transmitted from a first artificial satellite and a second artificial satellite that is located within a predetermined angle range from the first artificial satellite as seen from the unmanned craft; the measurement data analysis processing unit compares the measured multiple GNSS carrier waves to determine a transmission delay amount between the multiple GNSS carrier waves; An environmental observation system that calculates the amount of moisture in the atmosphere in the space between the first artificial satellite and the measurement device based on the amount of transmission delay.

15. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels capable of navigating the sea, comprising: a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that measures atmospheric state quantities using measurement devices mounted on the plurality of unmanned crafts based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with the measurement execution unit measures a GNSS carrier wave transmitted from a first artificial satellite using the measurement device; the measurement data analysis processing unit compares a GNSS carrier wave at a virtual reference station generated at a peripheral position of the measurement device with the GNSS carrier wave measured by the measurement device to determine a transmission delay amount between the plurality of GNSS carrier waves; An environmental observation system that calculates the amount of moisture in the atmosphere in the space between the first artificial satellite and the measurement device based on the amount of transmission delay.

16. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels capable of navigating the sea, comprising: a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that measures atmospheric state quantities using measurement devices mounted on the plurality of unmanned crafts based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with an environmental observation system in which the measurement data analysis processing unit estimates the location of the rising air current based on measurement data of at least one of wind conditions, atmospheric pressure, air temperature, humidity, and sea surface temperature measured by the plurality of measuring devices mounted on the plurality of unmanned watercraft and on position information of the plurality of unmanned watercraft.

17. 5. The environment monitoring system according to claim 1, The measurement data analysis processing unit predicts the location of rain clouds or rainfall based on the calculated information on the amount of moisture in the atmosphere.

18. 5. The environment monitoring system according to claim 1, The measurement data analysis processing unit calculating a moisture content distribution in the atmosphere on a two-dimensional plane or in three-dimensional space based on the state quantities measured by the plurality of measuring devices mounted on the plurality of unmanned watercraft and position information of the plurality of unmanned watercraft; An environmental observation system that predicts the location or time of occurrence of rain clouds or rainfall based on the calculated information on the moisture distribution in the atmosphere.

19. An environmental observation system that measures atmospheric state quantities using a plurality of unmanned vessels capable of navigating the sea, comprising: a measurement request acquisition unit that acquires measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation unit that generates a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution unit that measures atmospheric state quantities using measurement devices mounted on the plurality of unmanned crafts based on the measurement plan; a measurement data analysis processing unit that calculates information about the moisture content or wind conditions in the atmosphere above the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output unit that transmits information about the calculated moisture content to an external device or displays and outputs the information; Equipped with The measurement data analysis processing unit calculating a distribution of the moisture content in the atmosphere on a two-dimensional plane or in three-dimensional space based on the state quantities measured by the plurality of measuring devices mounted on the plurality of unmanned watercraft and position information of the plurality of unmanned watercraft; estimating the location of an updraft in the sea surface area based on at least one of wind condition data and atmospheric pressure data measured by the plurality of measuring devices mounted on the plurality of unmanned watercraft and position information of the plurality of unmanned watercraft; predicting the location or time of occurrence of rain clouds or rainfall based on the calculated distribution of moisture content in the atmosphere and information on the location of updraft occurrence; Environmental observation system.

20. 5. The environment monitoring system according to claim 1, The information output unit transmits or displays information on the distribution of the moisture content in the atmosphere calculated by the measurement data analysis processing unit to an external device.

21. 17. The environment monitoring system according to claim 16, The information output unit is an environmental observation system that transmits or displays to the outside information on the two-dimensional wind distribution on the sea surface, or the location of updrafts, or the wind distribution at a position above the unmanned boat, calculated by the measurement data analysis processing unit.

22. 20. The environment monitoring system according to claim 19, The information output unit transmits or displays to the outside the predicted information on the location of rain clouds or rainfall calculated by the measurement data analysis processing unit, in an environmental observation system.

23. An environmental observation method for measuring the amount of moisture in the atmosphere using a plurality of unmanned vessels capable of navigating the sea, comprising: The computer a measurement request acquisition step of acquiring measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation step of generating a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution step of measuring atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices mounted on the plurality of unmanned watercrafts based on the measurement plan; a measurement data analysis processing step of calculating the amount of moisture in the atmosphere in a vertically upward or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output step of transmitting or displaying information about the calculated moisture content to an external device; Run An environmental observation method in which, in a measurement request acquisition step, the requested location or requested area included in the measurement request information is determined so as to include a location where the change in moisture content over time is greater than a predetermined value, or at least a portion of an area including the location where the change in moisture content over time is greater than a predetermined value, which can be determined based on historical information about the moisture content in the atmosphere previously measured externally or by the system itself.

24. An environmental observation method for measuring the amount of moisture in the atmosphere using a plurality of unmanned vessels capable of navigating the sea, comprising: The computer a measurement request acquisition step of acquiring measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the moisture content in the atmosphere is requested; a measurement plan generation step of generating a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution step of measuring atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices mounted on the plurality of unmanned watercrafts based on the measurement plan; a measurement data analysis processing step of calculating the amount of moisture in the atmosphere in a vertically upward or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output step of transmitting or displaying information about the calculated moisture content to an external device; Run the measurement request information includes a measurement request time period in which measurement is to be performed in addition to the requested position or the requested area, An environmental observation method in which, in a measurement request acquisition step, the measurement request time period of the measurement request information is determined so as to include at least a portion of a time period during which the change in moisture content over time is greater than a predetermined value, which can be determined from measurement history information of the moisture content in the atmosphere previously measured externally or by the system itself.

25. A program used for environmental observation to measure the amount of moisture in the atmosphere using a plurality of unmanned vessels capable of sailing on the sea, On the computer, a measurement request acquisition command for acquiring measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation command for generating a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution command for measuring atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices mounted on the plurality of unmanned watercrafts based on the measurement plan; a measurement data analysis processing command for calculating the amount of moisture in the atmosphere in a vertically upward or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output command for transmitting or displaying information about the calculated moisture content to an external device; Execute An environmental observation method in which, by a measurement request acquisition command, the requested location or requested area included in the measurement request information is determined so as to include a location where the change in moisture content over time is greater than a predetermined value, or at least a portion of an area including the location where the change in moisture content over time is greater than a predetermined value, which can be determined based on historical information about the moisture content in the atmosphere previously measured externally or by the system itself.

26. A program used for environmental observation to measure the amount of moisture in the atmosphere using a plurality of unmanned vessels capable of sailing on the sea, On the computer, a measurement request acquisition command for acquiring measurement request information including a requested position or requested area in a two-dimensional plane or three-dimensional space where measurement of the amount of moisture in the atmosphere is requested; a measurement plan generation command for generating a measurement plan including an arrangement of the plurality of unmanned watercrafts based on the requested position or the requested area included in the measurement request information; a measurement execution command for measuring atmospheric state quantities in a vertically or substantially vertically upward direction of the measurement devices mounted on the plurality of unmanned watercrafts based on the measurement plan; a measurement data analysis processing command for calculating the amount of moisture in the atmosphere in a vertically upward or substantially vertically upward direction from the unmanned watercraft based on the state quantities measured by the plurality of unmanned watercraft; an information output command for transmitting or displaying information about the calculated moisture content to an external device; Execute the measurement request information includes a measurement request time period in which measurement is to be performed in addition to the requested position or the requested area, An environmental observation method in which, by a measurement request acquisition command, the measurement request time period of the measurement request information is determined so as to include at least a portion of a time period during which the change in moisture content over time is greater than a predetermined value, as can be determined from measurement history information of the moisture content in the atmosphere previously measured by an external device or the system itself.

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