Mobile Tracking System

Abstract

To provide a technique for autonomously executing movable body identification based on movable body foresight information and selection and monitoring command transmission of a subsequent satellite for movable body tracking monitoring.SOLUTION: A satellite constellation 20 includes, in a plurality of satellites 30, a ground communication satellite 30A which has a ground communication device 55C that communicates with at least either of a ground facility 200 and a user terminal 91, and a monitor satellite 40 which has a monitoring device 41 that monitors a movable body 100. The ground communication satellite 30A receives a movable body tracking command 81 transmitted from the ground facility 200 or the user terminal 91 by the ground communication device 55C. The monitor satellite 40 receives the movable body tracking command 81 via a mesh communication network 22 from the ground communication satellite 30A, acquires monitoring information of the movable body 100 by the monitoring device 41 according to the movable body tracking command 81, and transmits the acquired monitoring information to a data center 90, the ground facility 200 and the user terminal 91 via the mesh communication network 22.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object tracking system. Regarding. [Background technology]

[0002] Prior art discloses a mobile body imaging system that includes an airborne vehicle equipped with an imaging device that images the Earth's surface and images the Earth's surface using the imaging device; a mobile body that receives ranging radio waves emitted from a navigation satellite to measure its coordinate position and transmits an imaging request signal requesting that the mobile body capture the Earth's surface including the measured coordinate position; and a ground station device that receives the imaging request signal and transmits an imaging instruction signal including the coordinate position of the mobile body to the airborne vehicle, causing the imaging device mounted on the airborne vehicle to capture the Earth's surface including the coordinate position of the mobile body, and receives the image captured by the imaging device from the airborne vehicle (for example, Patent Document 1).

[0003] In recent years, there has been a demand for a system that monitors and tracks moving objects from a satellite, and also for a technology that can autonomously identify moving objects based on advance information on the moving object, select a follow-up satellite for tracking and monitoring the moving object, and send monitoring commands.

[0004] However, Patent Document 1 does not disclose a technology for autonomously identifying a moving object based on moving object look-ahead information, selecting a subsequent satellite for tracking and monitoring the moving object, and transmitting a monitoring command. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2010 / 097921 Brochure Summary of the Invention [Problem to be solved by the invention]

[0006] The present disclosure aims to provide a technology for autonomously identifying a moving object based on moving object look-ahead information, selecting a subsequent satellite for tracking and monitoring the moving object, and transmitting a monitoring command. [Means for solving the problem]

[0007] The moving object tracking system according to the present disclosure includes: a satellite constellation in which a circular communication network is formed by each of a plurality of satellites flying in the same orbital plane, each of which is equipped with a front-rear communication device for communicating with satellites in front and behind it in the direction of flight, and each of the plurality of satellites is equipped with a left-right communication device for communicating with both a left satellite flying in an adjacent orbit on the left side and a right satellite flying in an adjacent orbit on the right side, thereby forming a mesh communication network in which adjacent circular communication networks are connected to each other so that they can communicate with each other; a data center connected to the mesh communication network and storing mobile object information indicating an analysis result of monitoring information that is a result of monitoring a mobile object; Equipped with The satellite constellation The plurality of satellites include a terrestrial communication satellite having a terrestrial communication device for communicating with at least one of a ground facility and a user terminal, and a monitoring satellite having a monitoring device for monitoring a moving object, The terrestrial communications satellite receiving a moving object tracking command transmitted from the ground equipment or the user terminal by the ground communication device; The monitoring satellite The moving object tracking command is received from the terrestrial communication satellite via the mesh communication network, and monitoring information of the moving object is acquired by the monitoring device in accordance with the received moving object tracking command, and the acquired monitoring information is transmitted via the mesh communication network to the data center and either the ground equipment or the user terminal that is the sender of the moving object tracking command. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to provide a technology for autonomously identifying a moving object based on moving object look-ahead information, selecting a subsequent satellite for tracking and monitoring the moving object, and transmitting a monitoring command. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram of a first embodiment, showing an outline of the system configuration of a moving object tracking system 1000. [Figure 2] FIG. 1 is a diagram of the first embodiment, showing four views of a satellite 30. [Figure 3] FIG. 1 is a diagram of the first embodiment, illustrating forward and backward communication in the same orbital plane of a satellite 30. [Figure 4] FIG. 10 is a diagram of the first embodiment, illustrating left-right communication of the satellite 30. [Figure 5] FIG. 2 is a diagram of the first embodiment, illustrating a ring communication network 21 and a mesh communication network 22. [Figure 6] FIG. 1 is a diagram of the first embodiment, showing that the ground facilities 200 constitute a terrestrial cloud. [Figure 7] FIG. 10 is a diagram of the first embodiment, showing that a data center satellite 30B forms a space cloud. [Figure 8] FIG. 1 is a diagram of the first embodiment, showing a configuration in which a data center 90 and a computer 31 are located on different satellites 30. [Figure 9] FIG. 1 is a diagram of the first embodiment, showing the configuration of space IoT using a satellite constellation 20. [Figure 10] FIG. 2 is a diagram of the first embodiment, showing examples 1 and 2 as examples of moving body models. [Figure 11] FIG. 10 is a diagram of the first embodiment, showing Example 1 and Example 2 of wavelength characteristics of the jet plume of a flying object. [Figure 12] 1A to 1C are diagrams according to the first embodiment, showing examples 1, 2, and 3 of time-series flight distances of flying objects. [Figure 13] FIG. 2 is a diagram of the first embodiment, showing the hardware configuration of a satellite 30. [Figure 14] FIG. 2 is a diagram of the first embodiment, showing the hardware configuration of a monitoring satellite 40. [Figure 15] FIG. 1 is a diagram of the first embodiment, showing the hardware configuration of the ground equipment 200. DETAILED DESCRIPTION OF THE INVENTION

[0010] In the description of the embodiments and drawings, the same elements and corresponding elements are denoted by the same reference numerals. The description of elements denoted by the same reference numerals will be omitted or simplified as appropriate. In the following embodiments, the word "unit" may be read as "circuit," "step," "procedure," "process," or "circuitry" as appropriate.

[0011] Embodiment 1 A moving object tracking system 1000 according to the first embodiment will be described with reference to FIGS.

[0012] (Mobile object identification) There is a strong demand for systems that can track and monitor moving objects, such as aircraft and ships, traveling long distances on a global scale. Furthermore, there is a strong demand for systems that use image information from observation satellites to locate moving objects and victims and confirm the surrounding situation in situations requiring search and rescue following disasters or accidents. For cooperative targets that transmit their own positions measured by GNSS, monitoring information can be collected by pointing a monitoring device at their position coordinates in the Earth-fixed coordinate system (WGS84). On the other hand, for uncooperative targets, such as aircraft and suspicious ships, the direction of the monitoring device's line of sight vector is unknown in advance. Therefore, it is necessary to narrow the monitoring area using foresight information, identify the target moving object, and collect tracking information by repeatedly acquiring monitoring information from multiple satellites equipped with monitoring devices.

[0013] (Method for identifying moving objects) When identifying moving objects, the type can be identified by comparing and evaluating foresight information such as model, external dimensions, reflection characteristics, and frequency characteristics with monitoring information. For other types of moving objects, foresight information is used, such as the area of ​​constant movement, for example, the location of a port where a specific ship is usually anchored. In this case, when a ship is no longer at its usual anchorage, it is necessary to collect monitoring information from the area near the anchorage and identify the moving object ID. For this type of identification, it is reasonable to use machine learning-based identification processing using artificial intelligence.

[0014] (Thermal radiation into space) In conventional technology, artificial intelligence processing and data processing utilizing huge amounts of data are performed on the ground, and in recent years, centralized cloud computing has become common. However, the increase in power consumption and heat generated in anticipation of faster processing speeds and increased data volumes beyond 5G and 6G has become an issue. To solve this problem, measures such as deploying data centers in cold regions to reduce greenhouse gas emissions through cooling measures are being considered. Therefore, by equipping satellites with data centers and computers, the burden of ground processing can be reduced and heat can be radiated directly into space, thereby reducing greenhouse gas emissions on the ground and contributing to the SDGs.

[0015] (IoT) In recent years, decentralized processing has become a trend through distributed computing, and edge computing, which equips devices with edge servers, has been attracting particular attention in the Internet of Things (IoT). In the future, satellites will be considered part of the IoT, equipped with edge servers, and capable of performing distributed computing in orbit, reducing the burden on ground processing and radiating heat directly into space. This is expected to reduce greenhouse gas emissions on the ground and contribute to the SDGs.

[0016] (Space communications network) Deploying data centers and edge servers in space and aggregating monitoring information from satellites equipped with multiple monitoring devices requires the development of a communication network in space. Therefore, in a low-earth orbit satellite constellation, a circular communication network can be formed by communicating with satellites in the same orbital plane, and a mesh communication network can be formed by communicating with satellites in adjacent orbital planes. In a low-earth orbit satellite constellation, each satellite orbits the Earth approximately every 100 minutes. Therefore, to track and monitor a specific moving object, multiple satellites must continuously acquire monitoring information. To do this, it is necessary to track and monitor the moving object by identifying the satellite IDs and timing of passing by the target. Therefore, orbital information for the satellites that make up the satellite constellation is stored in a data center or edge server, and the system can extract the location information of nearby passing satellites that have discovered the moving object and command subsequent satellites to acquire monitoring information. In this case, it is also reasonable to utilize artificial intelligence.

[0017] Specific examples will be explained below.

[0018] The moving object tracking system 1000 of the first embodiment is a system that monitors and tracks moving objects from a satellite. In the first embodiment, the satellite is regarded as an IoT. The satellite includes an edge server and an AI computer. The moving object tracking system 1000 of the first embodiment autonomously identifies the moving object based on the foreseeable information of the moving object, selects a subsequent monitoring satellite for tracking and monitoring the moving object, and transmits a monitoring command.

[0019] <Moving object tracking system> FIG. 1 shows an outline of the system configuration of a moving object tracking system 1000. As shown in FIG. FIG. 2 is a four-view diagram of the satellite 30. FIG. 3 is a diagram illustrating the forward and backward communication. FIG. 4 is a diagram illustrating left-right communication. FIG. 5 is a diagram illustrating the ring communication network 21 and the mesh communication network 22. As shown in FIG.

[0020] As shown in FIG. 1 , the mobile object tracking system 1000 includes a satellite constellation 20, which is a low-earth orbit satellite constellation, and a data center 90. The satellite constellation 20 includes a ring-shaped communication network 21 and a mesh communication network 22. The ring-shaped communication network 21 is formed by equipping each of a plurality of satellites 30 flying in the same orbital plane with a front-rear communication device 33 that communicates with satellites in front and behind it in the direction of travel. The mesh communication network 22 is formed by equipping each of the plurality of satellites 30 with a left-right communication device 34 that communicates with both a left satellite flying in an adjacent orbit on the left side and a right satellite flying in an adjacent orbit on the right side, thereby connecting the ring-shaped communication networks 21 to each other so that they can communicate with each other. Since the mesh communication network 22 is formed by a plurality of ring-shaped communication networks 21, communication via the mesh communication network 22 is also communication via the ring-shaped communication network 21. The data center 90 is connected to the mesh communication network 22. The data center 90 stores mobile object information 101 that indicates the analysis results of monitoring information 46, which is the monitoring results of the mobile object 100. As will be described later, the data center 90 may be located on the ground (terrestrial cloud) or in space (space cloud).

[0021] The satellite constellation 20 includes, among the multiple satellites 30 constituting the satellite constellation 20, a terrestrial communication satellite 30A equipped with a terrestrial communication device 55C that communicates with at least one of the terrestrial facility 200 and the user terminal 91, and a monitoring satellite 40 equipped with a monitoring device 41 that monitors the moving object 100. The terrestrial communication satellite 30A, the monitoring satellite 40, and a data center satellite 30B (described later) are all satellites 30. As shown in FIG. 1 , the terrestrial communication satellite 30A receives a moving object tracking command 81 transmitted from the terrestrial facility 200 or the user terminal 91 via the terrestrial communication device 55C. The monitoring satellite 40 receives the moving object tracking command 81 from the terrestrial communication satellite 30A via the mesh communication network 22. In accordance with the moving object tracking command 81, the monitoring satellite 40 acquires monitoring information 46 of the moving object 100 using the monitoring device 41. The monitoring satellite 40 transmits the acquired monitoring information 46 to the data center 90 and either the ground facility 200 or the user terminal 91 that is the source of the moving object tracking command 81 via the mesh communication network 22 .

[0022] (Configuration of satellite 30) The communication device provided on satellite 30 will be described with reference to Fig. 2. Satellite 30 is a communication satellite. Fig. 2 explains an example in which satellite 30 is a terrestrial communication satellite 30A equipped with terrestrial communication device 55C. Note that if satellite 30 does not communicate with the ground, terrestrial communication device 55C is not necessary for satellite 30.

[0023] In the XYZ coordinate system shown in FIG. 2 , the X-axis direction indicates the direction of satellite 30's flight, and the Z-axis direction indicates the direction toward the Earth. Black circles indicate visible communication devices, and white circles indicate invisible communication devices for convenience. Satellite 30 includes a first communication device 51C, a second communication device 52C, a third communication device 53C, a fourth communication device 54C, and a terrestrial communication device 55C. As shown in the XZ plane, the first communication device 51C, the second communication device 52C, and the terrestrial communication device 55C are arranged on the Earth-oriented plane 18 facing the Earth 600. The first communication device 51C and the second communication device 52C implement the front-rear communication device 33. The first communication device 51C communicates with the second communication device 52C of the satellite 30 flying ahead of satellite 30, and the second communication device 52C communicates with the first communication device 51C of the satellite 30 flying behind satellite 30. A third communication device 53C and a fourth communication device 54C are arranged on an anti-earth-pointing surface 19 on the opposite side of the earth-pointing surface 18. The third communication device 53C and the fourth communication device 54C realize the left-right communication device 34. As will be described later, the third communication device 53C communicates with the fourth communication device 54C of the satellite 30 flying in an adjacent orbit on the right (east side), and the fourth communication device 54C communicates with the third communication device 53C of the satellite 30 flying in an adjacent orbit on the left (west side).

[0024] The first communication device 51C is disposed ahead of the satellite 30 in the direction of flight. The first communication device 51C has a communication field of view 51 in the direction of flight of the satellite 30. The second communication device 52C is disposed behind the first communication device 51C in the direction of flight of the satellite 30. The second communication device 52C has a communication field of view 52 in the opposite direction to the direction of flight of the satellite 30.

[0025] The third communication device 53C and the fourth communication device 54C are arranged on the opposite earth-pointing plane 19, which is the back side of the earth-pointing plane 18 and faces in the opposite direction of the geocentric direction +Z. The third communication device 53C is arranged forward in the direction of flight. The third communication device 53C has a communication field of view 53 forward in the direction of flight. The third communication device 53C establishes crosslink communication in the northeasterly direction with a satellite 30 flying in an adjacent orbit on the east side, which is the right side. The fourth communication device 54C is arranged behind the third communication device 53C in the direction of flight. The fourth communication device 54C has a communication field of view 54 in the opposite direction to the direction of flight. The fourth communication device 54C establishes crosslink communication in the southwesterly direction with a satellite 30 flying in an adjacent orbit on the west side, which is the left side.

[0026] <Ground Communication Device 55C> The satellite 30 in the orbital plane is equipped with a ground communication device 55C that communicates with a terrestrial data center 90. In an inclined circular orbit with an orbital inclination angle of 40 degrees or more and 60 degrees or less, the north-south flight direction reverses at the north-south ends of the orbital plane, causing the satellite 30 to temporarily fly from west to east. In this case, a satellite-dense zone where satellites fly from west to east is formed above an area on the Earth's surface between latitudes of 40 degrees or more and 60 degrees or less. Therefore, ground facilities located between latitudes of 40 degrees or more and 60 degrees north or between latitudes of 40 degrees or more and 60 degrees south can frequently establish crosslink communications with the satellite constellation.

[0027] <Ring Network 21> Referring to Figure 3, a case will be described in which a flying satellite 30 communicates with a satellite flying before and after it in the same orbital plane. As shown in Figure 3, the front-rear communication device 33 communicates with the satellite 30 flying before and after it in the same orbital plane. Specifically, the front-rear communication device 33 of the satellite 30 forms a bidirectional communication link 71 with the front-rear communication device 33 of the satellite 30 flying before and after it in the same orbital plane. By forming the communication link 71, the satellites flying before and after it in the same orbital plane can communicate bidirectionally. In the low-earth orbit satellite constellation 20, six or more satellites 30 flying in the same orbital plane can form a circular communication network 21 that circles the Earth 600 by forming communication links 71 with the satellites 30 before and after it.

[0028] FIG. 4 shows an example in which satellite 30 communicates with satellites flying in adjacent orbits on the left and right (east and west). As shown in FIG. 4, left-right communication devices 34 communicate with satellites 30 flying in adjacent orbits. Specifically, left-right communication devices 34 of satellite 30 form bidirectional communication links 72 with left-right communication devices 34 provided on satellites 30 flying in adjacent orbits. In FIG. 4, left-right communication devices 34 of satellite 30 form bidirectional communication links 72 with left-right communication devices 34 provided on satellites 30 flying in adjacent orbits on the east and west sides. By forming communication links 72, bidirectional communication with satellites flying in adjacent orbits becomes possible.

[0029] The mesh communication network 22 will be described with reference to Fig. 5. In the satellite constellation 20, the circular communication networks 21 in the same orbital plane described in Fig. 3 are connected by the communication links 72 described in Fig. 4, thereby forming the mesh communication network 22 shown in Fig. 5.

[0030] <Ring communication network 21 and mesh communication network 22> In the satellite constellation 20 shown in FIG. 1, each of the multiple satellites 30 flying in the same orbital plane is equipped with a first communication device 51C and a second communication device 52C, which are front-rear communication devices 33 that communicate with the satellites 30 ahead and behind it in the direction of travel. The satellites 30 are equipped with the front-rear communication devices 33, which form a circular communication network 21 in the satellite constellation 20, as shown in FIG. 5. Furthermore, in the satellite constellation 20, each of the multiple satellites 30 flying in the same orbital plane is equipped with a third communication device 53C and a fourth communication device 54C, which are left-right communication devices 34 that communicate with both the left-side communication satellite 30 flying in the adjacent orbit on the left side and the right-side communication satellite 30 flying in the adjacent orbit on the right side. The satellites 30 are equipped with the left-right communication devices 34, which form a mesh communication network 22 in the low-earth orbit satellite constellation 20, in which adjacent circular communication networks 21 are communicatively connected to each other, as shown in FIG. 5.

[0031] In the same orbital plane, a satellite communicates with the satellites in front and behind it, forming a circular communication network 21. In the same orbital plane, a satellite communicates with a satellite in an adjacent orbit, forming a global mesh communication network 22. Information about the moving body 100 includes: (1) The type of moving object, such as an aircraft, ship, vehicle, personal mobile device, or projectile; (2) Type of mobile multi-car, (3) Mobile ID, (4) External dimensions and shape (5) Reflective properties, (6) Frequency characteristics etc. The monitoring information 46 is analyzed, and information that can identify the type, model, etc. is stored in the data center 90. Furthermore, information such as the location and range of movement during normal times can be used to identify the mobile unit ID. For example, in the case of a ship, the port and location where the ship normally anchors are stored as foresight information, so that if the ship disappears from that location, it is known that the ship with that ID has moved. Therefore, by finding a ship with a matching model near the normal anchorage location, the mobile unit ID can be identified. The data center 90 may be space-based or ground-based, as long as it is connected via a communication line. The data center 90 can communicate with all satellites 30 via the mesh communication network 22. Furthermore, a user terminal 91 can communicate with all satellites 30 and the data center 90 via the mesh communication network 22 via a communication line connection. For example, a user who is lost in a mountainous area can send a rescue request and their location from the user terminal 91. This allows the monitoring satellite 40 equipped with the monitoring device 41 to obtain monitoring information 46 of the rescue location, allowing the surrounding conditions of the rescue requester to be visually grasped, thereby enabling prompt rescue operations.

[0032] <Ground Cloud> The moving object tracking system 1000 may have the following configuration. 6 is a diagram showing how the ground facilities 200 constitute a terrestrial cloud. The ground facilities 200 include a computer 201 and a data center 90.

[0033] FIG. 6 illustrates centralized cloud computing. In centralized cloud computing, a ground facility 200 includes a data center 90 and a computer 201. If necessary, the computer 201 may be a supercomputer equipped with artificial intelligence. For example, when operating a global environment or climate simulator, the computer 201 can communicate with all satellites 30 via a mesh communication network 22. This allows the computer 201 to obtain monitoring information related to the global environment and climate, such as clouds, vegetation, or greenhouse gases, from monitoring satellites 40 equipped with monitoring devices 41. This allows the computer 201 to update the simulator information in real time.

[0034] <Space Cloud> The moving object tracking system 1000 may have the following configuration. 7 is a diagram showing how a data center satellite 30B forms a space cloud. The satellite constellation 20 includes, among multiple satellites 30, a data center satellite 30B equipped with a data center 90 and a computer 31. The data center satellite 30B is configured such that the ground facility 200 in FIG. 6 is replaced by the data center satellite 30B.

[0035] With the increase in communication traffic following 5G, cooling measures for data centers and computers due to increased power consumption and heat generation have become an issue in centralized cloud computing. Deploying data centers in cold regions is being considered as a solution to this problem, and deploying data centers and computers in space would achieve a similar cooling effect. Heat emitted in space can be dissipated into deep space through radiative cooling. The power required for the computers 31 and data center 90 can be generated by solar cells, and the amount of heat emitted can be increased by expanding the heat dissipation radiator panels. This reduces the load on the ground equipment 200 and reduces greenhouse gas emissions, thereby contributing to the SDGs. The data center 90 and computer 31 may be deployed on separate satellites 30 as long as they are connected to the mesh communication network 22. 8 shows a configuration in which the data center 90 and the computer 31 are located on separate satellites 30. That is, the satellite constellation 20 includes multiple satellites 30, some of which have the data center 90 installed and some of which have the computer 31 installed.

[0036] The space cloud in Figure 7 is as follows. As the amount of information increases with the advancement of the information society, issues such as increased power consumption and heat dissipation have become a challenge. In particular, in centralized systems, the increased power consumption and heat dissipation of supercomputers and large-scale data centers have become serious issues. Meanwhile, in space, heat can be dissipated into deep space through radiative cooling. For this reason, a supercomputer (computer 31) and data center 90 to realize a cloud environment are placed on the satellite constellation side, and after processing in orbit, only the necessary data is transmitted to users on the ground. This has the effect of contributing to the SDGs on the ground by maintaining the cloud environment and reducing greenhouse gas emissions.

[0037] Furthermore, with the hybrid constellation shown in Figure 5, satellite 30 can exchange information with any terrestrial user via the ring communication network 21 or mesh communication network 22. This also has the advantage of enabling distributed computing, in which each satellite constellation is considered an IoT, to achieve centralized data management with low latency. Some of the functions of cloud data centers, which have traditionally been installed on the ground, are provided in satellite 30, a geostationary satellite, as a space data center. This allows information to be processed in orbit and only the processing results to be transmitted to the ground, thereby contributing to reducing the burden on terrestrial processing. For example, it is reasonable to aggregate and manage the orbital information of individual communication satellites constituting a communication satellite constellation in a space data center, and for a computer to refer to the orbital information and search for the shortest route when transmitting information via the ring communication network 21 or mesh communication network 22 formed by the communication satellite constellation.

[0038] It is also reasonable to share orbital information to avoid collisions between satellites that make up a communications satellite constellation. If a collision risk is predicted by performing a collision analysis in the data center satellite 30B, which is a space data center, it is possible to avoid the collision by sending an operation command for the propulsion device of the relevant communications satellite. According to conventional technology, this orbital information is collected and transmitted from the satellite to the ground, where it is analyzed and evaluated and then transmitted to the satellite. Therefore, according to the above method, the processing is handled autonomously in space, reducing the amount of data and the burden on ground processing.

[0039] <Space ioT> The moving object tracking system 1000 may have the following configuration. FIG. 9 shows the configuration of a space IoT system using a satellite constellation 20. In FIG. 9, a data center 90 is configured with an edge server 32 mounted on a satellite 30 belonging to the satellite constellation 20 and a terrestrial data center 90A located in a terrestrial facility 200. The data center 90 is configured with one or more edge servers 32 and the terrestrial data center 90A. The satellite 30 equipped with the edge server 32 and the terrestrial facility 200 in which the terrestrial data center 90A is located are each equipped with computers 31 and 201. The edge server 32 mounted on the satellite 30 and the terrestrial data center 90A located in the terrestrial facility 200 are connected by a communication line, either directly or via a mesh communication network 22.

[0040] As the load of centralized cloud computing increases, attention is being paid to load distribution through distributed computing, and distributed computing equipped with an edge server on the device side is being utilized in IoT. If we consider a satellite 30 as an IoT, by equipping the satellite 30 with an edge server 32 and a computer 31 and performing distributed computing, it is possible to achieve an increase in the amount of calculation and a higher speed. If satellite 30 could perform edge computing, it could perform synthetic aperture processing of information acquired by synthetic aperture radar and super-resolution processing using multiple image data from optical observation devices, which are typically performed by ground equipment 200, in space, and transmit only the processing results required by the user directly. This would reduce the burden on ground processing. Furthermore, in emergencies where the moving object is an aerial vehicle and requires rapid response, satellites could process launch detection information in orbit, predict its flight path, and generate commands for tracking and monitoring by subsequent satellites, autonomously instructing them to acquire monitoring information. This would enable rapid tracking of the aerial vehicle. Furthermore, in large-scale satellite constellations with multiple satellites orbiting at the same altitude and with multiple orbital planes with different normal vectors, there is a risk of satellites colliding with each other at the intersection of the orbital planes. Therefore, it is rational to share orbital information from all satellites in orbit and perform collision analysis to autonomously ensure flight safety.

[0041] The space clouds in Figures 8 and 9 are as follows. Edge computing, which equips IoT devices with edge servers, is gaining attention as a method for realizing a distributed architecture. Conventional IoT systems typically use centralized mechanisms, where data collected by sensors is transmitted to the cloud via the Internet for analysis. In contrast, edge computing achieves real-time, low-load data processing by distributing data processing on the device itself or on edge servers installed between the device and the cloud. Furthermore, as the volume of information increases with the advancement of the information society, increasing power consumption and heat dissipation have become issues. In particular, centralized systems face serious challenges, such as the increased power consumption and heat dissipation of supercomputers and large-scale data centers. Meanwhile, in space, heat can be dissipated into deep space through radiative cooling. Therefore, it is reasonable to treat satellites 30 as IoT devices, deploy edge servers on the satellite constellation side, and transmit only necessary data to Earth after performing distributed computing processing in orbit.

[0042] According to the hybrid constellation, information can be exchanged with a cloud equipped with a data center in the ground facility 200 via a circular communication network 21 or a mesh communication network 22, which has the advantage of realizing low latency and centralized data management.

[0043] The purpose of processing with distributed computing is to The following are (1)(2)(3)(4). (1) By performing distributed computing in orbit instead of cloud computing processing on the ground, the burden on ground processing can be reduced. (2) By performing distributed computing processing on orbit of the satellite information acquired by the mission satellite, the amount of data transmitted to the ground can be reduced. (3) Autonomous system management in orbit, such as collision prevention within a satellite constellation. (4) Like a flying object tracking system, in an emergency, information acquired on orbit can be quickly processed, and autonomous decisions can be made based on the information that should be reflected in the next step on orbit using distributed computing, thereby eliminating the need to exchange information with ground systems and speeding up decision-making. The effects of distributed computing by satellites, which are treated as IoT devices in orbit, include the following (1)(2)(3)(4). (1) Solving the problem of heat exhaust caused by increased power consumption and concentration of ground equipment. (2) Reducing the load on ground processing by reducing the amount of satellite information transmitted to the ground. (3) Reduction of ground processing load through autonomous system management of satellite constellations. (4) Speeding up response in emergencies. Furthermore, by reducing the burden of the above-mentioned (2) and (3) ground processing, greenhouse gas emissions can be reduced, contributing to the achievement of the SDGs on land.

[0044] <Artificial Intelligence> The moving object tracking system 1000 may have the following configuration: The computer 31 (FIG. 7) mounted on the satellite 30 or the computer 201 (FIG. 6) located in the ground facility 200 is equipped with artificial intelligence.

[0045] In the process of identifying moving objects by comparing the surveillance information 46 with the foresight information of the moving object stored in advance in the edge server 32 or data center 90, machine learning enables rapid and accurate identification. For example, in ship identification using synthetic aperture radar, by storing a ship model capturing characteristics such as the exterior dimensions and bridge layout as foresight information in advance, the type can be identified quickly and accurately by pattern matching with the image acquired by the synthetic aperture radar.

[0046] <Cooperative Target> The moving object tracking system 1000 may have the following configuration. The moving object information 101 stored in the data center 90 or the terrestrial data center 90A includes an identification ID that identifies the moving object 100. The satellite constellation 20 receives the identification ID and location information transmitted by the moving object 100. Specifically, as shown in FIG. 7, the terrestrial communication satellite 30A receives the identification ID and location information from the moving object 100. The terrestrial communication satellite 30A transmits the received identification ID and location information to the monitoring satellite 40 via the mesh communication network 22. The monitoring satellite 40 can acquire monitoring information 46 of the moving object 100 that transmits the identification ID and location information by referring to the location information of the moving object 100 received from the terrestrial communication satellite 30A.

[0047] The above applies to cases where location information is attached to rescue requests and search requests in the event of a disaster, accident, or incident, such as a rescue request for a ship stranded in the mountains or at sea, or a rescue request for a ship caught in an incident by pirates. The location information that indicates the location allows for monitoring information to be obtained by satellites equipped with monitoring devices, enabling a prompt response.

[0048] <Model Identification> The moving object tracking system 1000 may have the following configuration. The moving object information 101 stored in the data center 90 and the terrestrial data center 90A includes first a priori information, which is moving object attribute information including model information, external dimension information, reflection characteristic information, and frequency characteristic information, and a moving object model including dimensions, shape, reflection characteristics, and frequency characteristics. The computer 31 or the computer 201 compares the moving object information 101 with the monitoring information 46 acquired by the monitoring device 41 to identify the model of the moving object 100. This can be implemented in both a terrestrial cloud (FIG. 6) and a space cloud (FIG. 7).

[0049] The above type identification will be explained with reference to FIGS. Figure 10 shows two examples, Example 1 and Example 2, of moving body models. The moving body is a ship. In each example, W represents width, H represents height, and L represents length. In each example, the top corresponds to a plan view, and the bottom corresponds to a side view. In each example, the moving body model has attribute information such as type ID, reflection characteristics, frequency characteristics, external dimensions, and shape model. For example, if tracking and monitoring of an aircraft carrier is required, automatic identification using synthetic aperture radar is possible if the ship's length, width, bridge location, deck reflection characteristics, etc. are stored in advance in a moving body model such as the one shown in Figure 10.

[0050] FIG. 11 is a diagram showing examples 1 and 2 of wavelength characteristics of the jet plume of a flying object. In each example, the horizontal axis represents wavelength and the vertical axis represents brightness. FIG. 12 is a diagram showing examples 1, 2, and 3 of the time-series flight distance of a flying object. In each example, the horizontal axis represents the range and the vertical axis represents the altitude. Examples 1, 2, and 3 represent a first type of flying object, a second type of flying object, and a third type of flying object, respectively. When detecting and tracking a flying object's launch, the propellant type can be identified based on the wavelength characteristics of the spray called the plume at launch, as shown in FIG. 11, which is useful for identifying the type of flying object. Furthermore, if flight patterns such as the typical time-series flight distance or altitude profile shown in FIG. 12 are modeled for each type and stored as a mobile object model in an edge server or data center, the computer 31 can quickly identify the type on orbit, which is useful for estimating the flying object's flight path and impact point.

[0051] <ID Identification> The moving object tracking system 1000 may have the following configuration. The moving object information 101 stored in the data center 90 and the ground data center 90A includes first foresight information which is moving object attribute information including model information, external dimension information, reflection characteristic information, and frequency characteristic information, and second foresight information which is moving object attribute information including a moving object ID, model information, and moving range information obtained by quantifying the moving range of the moving object. The computer 31 or the computer 201 identifies the moving object ID of the moving object 100 by referring to the first foresight information, the second foresight information, and the monitoring information 46 acquired by the monitoring device 41.

[0052] The above ID identification is as follows. For example, when tracking an aircraft carrier, if the harbor and location where it usually anchors are grasped in advance as foresight information, it can be grasped that the ship with the ID has moved when it is absent. Also, if the normal moving range and moving route are grasped as foresight information, it is easier to discover it after moving.

[0053] <Tracking>[[ID=E14]] The moving object tracking system 1000 may have the following configuration. The monitoring satellite 40 acquires the monitoring information 46 of the moving object identified by the moving object ID, and stores the acquired monitoring information 46 in the data center 90 via the mesh communication network 22. The computer 31 or the computer 201 derives the position coordinates of the moving object 100 by analyzing the stored monitoring information 46, and stores the derived position coordinates in the data center 90 or the ground data center 90A.

[0054] The tracking described above is as follows. In detecting and tracking a projectile, an infrared monitoring device detects the high-temperature spray known as a plume when the projectile is launched. After the launch, the monitoring satellite 40 repeats the process of detecting the projectile's temperature by detecting the temperature of the projectile itself. The monitoring satellite 40 that detected the launch transmits the detection information to a subsequent monitoring satellite, which then acquires monitoring information on the projectile as it moves over time. This repetition enables the projectile's position information to be referenced over time, enabling flight path prediction and impact location estimation. Each satellite stores the projectile's position information and detection time information during launch or flight in an edge server or data center (the "tracking" described above). At the same time, it selects a satellite among the subsequent satellites that can monitor the projectile after its movement and sends a monitoring command (the "artificial intelligence" described below). Multiple monitoring satellites then repeat the tracking and monitoring process, transmitting the projectile's time-series position information to the user (the "tracking information" described below). If the user is equipped with missile response assets, they will be able to respond to missiles. Therefore, by autonomously executing each process in orbit without the intervention of ground facilities or human judgment, a rapid response in an emergency will be possible.

[0055] <Artificial Intelligence> The moving object tracking system 1000 may have the following configuration. The data center 90 or the terrestrial data center 90A stores orbital information of the monitoring satellite 40. The computer 31 or the computer 201 is equipped with artificial intelligence. The computer 31 or the computer 201 derives the satellite ID of a monitoring satellite capable of monitoring the position of a moving object identified by the moving object ID and the time period during which monitoring is possible, using the artificial intelligence that references the stored orbital information. The data center 90 or the terrestrial data center 90A transmits a monitoring command to the monitoring satellite 40 having the derived satellite ID.

[0056] <Tracking information> The moving object tracking system 1000 may have the following configuration: The computer 31 or the computer 201 uses the monitoring information 46 of the moving object 100 stored in the data center 90 to transmit moving object tracking information indicating, in time series, position coordinates corresponding to the same moving object ID to the ground equipment 200 or the user terminal 91.

[0057] <Infrared surveillance device> The mobile object tracking system 1000 may have the following configuration. The surveillance device 41 equipped on the surveillance satellite 40 is an infrared surveillance device that detects and tracks the launch of a flying object.

[0058] <Optical observation device> The surveillance device 41 equipped on the surveillance satellite 40 is either a synthetic aperture radar or an optical observation device. The computer 31 or the computer 201 uses the image data obtained from the surveillance information 46 acquired by the surveillance device 41 and the AIS information to identify a ship. ]

[0059] The following supplements are made for <ID identification> to <tracking information>. An example of identifying and tracking a specific ship to be monitored among ships navigating in the waters off Japan will be described. For example, when the specific ship is an aircraft carrier, main specifications such as the ship's captain and shape can be collected in advance, and the characteristics of the acquired information when monitored by a synthetic aperture radar, such as the reflection characteristics of the bridge and deck and the position of the bridge relative to the overall length, can be analyzed in advance. Furthermore, the position of the port where the specific ship is berthed during normal times can be confirmed from the surveillance information, and these foresight information are stored in the edge server as a mobile object model. If the acquired information of the synthetic aperture radar equipped on the surveillance satellite 40, which is a circumferential satellite, is imaged, the specific ship can be identified by comparing and evaluating it with the mobile object model stored in the edge server in advance, such as the overall length, the position of the bridge, and the reflection characteristics. When the specific ship is found in the acquired information of the circumferential satellite at a position different from the position of the port where it is usually berthed, the time and position information of the discovery are stored in the edge server and transmitted to the subsequent circumferential satellites scheduled to pass nearby. Subsequent orbiting satellites similarly identify specific vessels, store the time of discovery and location information in the edge server, and repeat the process of transmitting this information to subsequent orbiting satellites scheduled to pass nearby. Tracking information is formed by listing the time and location information of specific vessels acquired by multiple monitoring satellites in chronological order. After the above series of operations is performed automatically in orbit without exchanging information with a ground system, only the tracking information is transmitted to the user on the ground. As a result, specific vessels can be tracked in orbit, and the tracking information can be transmitted to the user without the burden of ground processing.

[0060] <Supplementary information on the satellite hardware configuration> 13 shows the hardware configuration when the satellite 60 is the satellite 30. The hardware configuration of the satellite 30 will be described with reference to FIG.

[0061] The satellite 60 includes a satellite control device 61, a communication device 62, a propulsion device 63, an attitude control device 64, and a power supply device 65. The satellite 60 may include other components that realize various functions, but Fig. 13 will explain the satellite control device 61, the communication device 62, the propulsion device 63, the attitude control device 64, and the power supply device 65.

[0062] (1) The satellite control device 61 is a computer that controls the propulsion device 63 and the attitude control device 64, and includes a processing circuit. Specifically, the satellite control device 61 controls the propulsion device 63 and the attitude control device 64 in accordance with various commands transmitted from the ground facility 200. (2) The communication device 62 corresponds to the first communication device 51C, the second communication device 52C, the third communication device 53C, the fourth communication device 54C, and the ground communication device 55C. (3) The propulsion device 63 is a device that provides thrust to the satellite 60 and changes the speed of the satellite 60. (4) The attitude control device 64 is a device for controlling attitude elements such as the attitude of the satellite 60, the angular velocity of the satellite 60, and the line of sight (LOS). The attitude control device 64 changes each attitude element to a desired direction. Alternatively, the attitude control device 64 maintains each attitude element in a desired direction. The attitude control device 64 includes an attitude sensor, an actuator, and a controller. The attitude sensor is a device such as a gyroscope, an earth sensor, a sun sensor, a star tracker, a thruster, and a magnetic sensor. The actuator is a device such as an attitude control thruster, a momentum wheel, a reaction wheel, and a control moment gyro. The controller controls the actuator according to the measurement data of the attitude sensor or various commands from the ground equipment 200. (5) The power supply unit 65 includes devices such as a solar cell, a battery, and a power control device, and supplies power to each device mounted on the satellite 60.

[0063] The processing circuitry provided in the satellite control device 61 will now be described. The processing circuitry may be dedicated hardware, or a processor that executes programs stored in memory. In the processing circuitry, some functions may be realized by dedicated hardware, and the remaining functions may be realized by software or firmware. In other words, the processing circuitry may be realized by hardware, software, firmware, or a combination of these. The dedicated hardware may be a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these. ASIC stands for Application Specific Integrated Circuit. FPGA stands for Field Programmable Gate Array.

[0064] FIG. 14 shows the hardware configuration when the satellite 60 is a monitoring satellite 40. In the following, the satellite 60 is assumed to be the monitoring satellite 40. In the case of an observation satellite, the satellite 60 includes an observation device 6. The satellite 60 in FIG. 14 includes a monitoring device 66 in addition to the configuration shown in FIG. 13. The monitoring device 66 is the same as the monitoring device 41 described in the description of the moving object tracking system 1000. The monitoring device 66 is a device for monitoring objects. Specifically, the monitoring device 66 is a device for monitoring or observing objects such as space objects, flying objects, or land, sea, and air vehicles. The monitoring device 66 is also referred to as an observation device. For example, the monitoring device 66 is an infrared monitoring device that uses infrared rays to detect the temperature rise caused by atmospheric friction when a flying object enters the atmosphere. The monitoring device 66 detects the temperature of the plume or the flying object itself at the time of launch. Alternatively, the monitoring device 66 may be a light wave or radio wave information gathering device. The monitoring device 66 may also be a device that detects objects using an optical system. The monitoring device 66 uses an optical system to capture images of objects flying at an altitude different from the orbital altitude of the observation satellite. Specifically, the monitoring device 66 may be a visible optical sensor.

[0065] <Hardware configuration of ground equipment 200>

[0066] 15 shows the hardware configuration of the ground facility 200. The ground facility 200 communicates with the monitoring satellite 40 and the satellites 30 that make up the low-earth orbit satellite constellation 20, and controls the operations of the satellites 30 and the monitoring satellites 40. The terrestrial data center 920 has the same configuration as the ground facility 200. The ground facility 200 is connected to a ground-side communication device 810, and communicates with the satellites 60 via the ground-side communication device 810. The ground facility 200 may include a mobile terminal.

[0067] The ground facility 200 forms the satellite constellation 20 by communicating with each satellite 60. The ground facility 200 includes a processor 710 as well as other hardware such as a main memory device 720, an auxiliary memory device 730, an input interface 740, an output interface 750, and a communication interface 760. In Fig. 15, the interfaces are denoted as IF. The processor 710 is connected to other hardware via a signal line 770 and controls this other hardware.

[0068] The ground facility 200 includes, as a functional element, a control unit 711. The functions of the control unit 711 are realized by hardware or software.

[0069] The above describes embodiment 1. Of the multiple technical features of embodiment 1, one may be partially implemented, or two or more of the multiple technical features of embodiment 1 may be combined and implemented. [Explanation of symbols]

[0070] 18 Earth pointing plane, 19 Anti-Earth pointing plane, 20 Satellite constellation, 21 Ring communication network, 22 Mesh communication network, 30 Satellite, 30A Ground communication satellite, 30B Data center satellite, 31 Computer, 32 Edge server, 33 Front and rear communication device, 34 Left and right communication device, 40 Surveillance satellite, 41 Surveillance device, 42 Synthetic aperture radar, 43 Optical observation device, 46 Surveillance information, 47 Infrared surveillance device, 51 Communication field of view, 51C First communication device, 52 Communication field of view, 52C Second communication device, 53 Communication field of view, 53A Right communication direction, 53C Third communication device, 54 Communication field of view, 54A Left communication direction, 54C Fourth communication device, 55C Ground communication device, 60 Satellite, 61 Satellite control device, 62 Communication device, 63 Propulsion device, 64 Attitude control device, 65 Power supply unit, 66 monitoring device, 71 communication link, 72 communication link, 81 mobile object tracking command, 90 data center, 90A ground data center, 91 user terminal, 100 mobile object, 101 mobile object information, 200 ground equipment, 201 computer, 600 Earth, 710 processor, 720 main memory device, 730 auxiliary memory device, 740 input interface, 750 output interface, 760 communication interface, 770 signal line, 810 ground communication device, 1000 mobile object tracking system.

Claims

1. A satellite constellation having a plurality of satellites each equipped with an edge server and flying in the same orbital plane, each of the plurality of satellites being equipped with a front-rear communication device for communicating with satellites in front and behind it in the direction of travel, thereby forming a circular communication network, and each of the plurality of satellites being equipped with a left-right communication device for communicating with both a left satellite flying in an adjacent orbit on the left side and a right satellite flying in an adjacent orbit on the right side, thereby forming a mesh communication network in which adjacent circular communication networks are connected to each other so that they can communicate with each other, and a plurality of edge servers of the plurality of satellites performing distributed computing processing; a data center connected to the mesh communication network and storing mobile object information including first foresight information that indicates an analysis result of monitoring information that is a result of monitoring a mobile object and is mobile object attribute information that includes model information, external dimension information, reflection characteristic information, and frequency characteristic information, and second foresight information that is mobile object attribute information that includes a mobile object ID, model information, and movement range information that quantifies the movement range of the mobile object; Equipped with The satellite constellation The plurality of satellites include a terrestrial communication satellite equipped with a terrestrial communication device that communicates with at least one of a terrestrial facility and a user terminal, a monitoring satellite equipped with a monitoring device that monitors a moving object, a satellite equipped with the data center that stores orbital information of the monitoring satellite and information about the moving object, and a satellite equipped with a computer equipped with artificial intelligence, At least one of heat generated by the data center and heat generated by the computer is radiated into space; The terrestrial communications satellite receiving a moving object tracking command transmitted from the ground equipment or the user terminal by the ground communication device; The monitoring satellite receiving the moving object tracking command from the terrestrial communications satellite via the mesh communications network, acquiring monitoring information of the moving object by the monitoring device in accordance with the received moving object tracking command, and transmitting the acquired monitoring information to the data center and either the ground equipment or the user terminal that is the source of the moving object tracking command via the mesh communications network; The computer Identifying a mobile object ID of a mobile object by referring to the first foresight information, the second foresight information, and the monitoring information acquired by the monitoring device; deriving a satellite ID of a monitoring satellite capable of monitoring the position of the moving object identified by the moving object ID and a time period during which the monitoring is possible using the artificial intelligence that refers to the orbit information; The data center autonomously performs a process of transmitting a monitoring command to a monitoring satellite having the derived satellite ID; The computer Using the monitoring information of the moving object stored in the data center, moving object tracking information indicating position coordinates corresponding to the same moving object ID in chronological order is transmitted to the ground facility or the user terminal. Mobile tracking system.

2. The mobile object information stored in the data center is An identification ID for identifying a moving object is included, The satellite constellation receiving an identification ID and location information transmitted by a mobile unit; The monitoring satellite Obtaining monitoring information of the mobile object that transmits the identification ID and the location information by referring to the location information of the mobile object. The mobile object tracking system according to claim 1 .

3. The mobile object information stored in the data center is The first prediction information is moving object attribute information including model information, external dimension information, reflection characteristic information, and frequency characteristic information, and a moving object model including dimensions, shape, reflection characteristic, and frequency characteristic; The computer The mobile object information is compared with the monitoring information acquired by the monitoring device to identify the type of the mobile object. The mobile object tracking system according to claim 1 .

4. The monitoring satellite Obtaining monitoring information of a mobile object identified by a mobile object ID, and storing the obtained monitoring information in the data center; The computer The stored monitoring information is analyzed to derive position coordinates of the mobile object, and the derived position coordinates are stored in the data center. The mobile object tracking system according to claim 1 .

5. The monitoring device provided on the monitoring satellite is It is an infrared surveillance device that detects and tracks projectile launches. The moving object tracking system according to any one of claims 1 to 4.

6. The monitoring device provided on the monitoring satellite is It is either a synthetic aperture radar or an optical observation device, The computer The image data obtained from the monitoring information acquired by the monitoring device and the AIS information are used to identify the ship. The moving object tracking system according to any one of claims 1 to 4.

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