Space Situation Monitoring System

Abstract

To provide a technique of avoiding a collision risk in a satellite constellation.SOLUTION: An SSA business device 47, between at least one business device of the plurality of business devices 40 and an own device, for orbit information about space objects and rule information 515 expressing space traffic management, exchanges information to be opened about a flight safety measure of avoiding collision of space objects with a measure in which artificial satellites in the space objects on orbital planes with different normal vectors adopt different orbital altitudes to resolve an intersection of orbits, and a flight safety measure of avoiding the collision of the space objects with a measure in which a plurality of satellites having the same normal vector and flying at the same orbital altitude flies by maintaining a relative phase angle at which the satellites become an approximately even arrangement in the orbital plane.SELECTED DRAWING: Figure 30

Description

Technical Field

[0001] The present disclosure relates to a space situation monitoring device and a space traffic management system.

Background Art

[0002] In recent years, large-scale satellite constellations consisting of hundreds to thousands of satellites have been proposed. Also, in STM (Space Traffic Management), there is an increasing need for international rule-making to avoid the risk of collision due to the coexistence of multiple satellite constellations.

[0003] Patent Document 1 discloses a technique for forming a satellite constellation consisting of multiple satellites in the same circular orbit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a satellite constellation, it is common for the orbital altitudes of different orbital planes to be all the same. Therefore, there is a risk of collision between satellites flying at the same orbital altitude in different orbital planes. As the number of orbital planes and the number of satellites within an orbital plane increase, the risk of collision increases, which has become a problem.

[0006] The present disclosure aims to avoid the risk of collision in a satellite constellation.

Means for Solving the Problems

[0007] The space situational awareness system relating to this disclosure is a space situational awareness system in which a space situational awareness operator collects and provides orbital information concerning space objects such as artificial satellites or debris, in association with the identification numbers of the space objects. A space traffic management device, comprising each of several other business devices that collect and provide orbital information associated with the identification number of the aforementioned space object, performs space traffic management by controlling the orbit of a satellite in the aforementioned space object and providing orbital information in accordance with rule information representing space traffic management, which includes at least one of the following: a rule for space traffic management in which satellites in orbital planes with different normal vectors adopt different orbital altitudes; a rule for space traffic management in which multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles so as to be roughly evenly distributed within the orbital plane; and a rule for a business operator managing satellites flying in a densely populated area to disclose satellite orbital information. Equipped with compatible space traffic management devices, A space traffic management system comprising the aforementioned multiple other business devices, wherein the space traffic management systems of the aforementioned multiple business devices are connected to each other by communication lines, and the space traffic management system is connected to the space traffic management system of the device itself via its own device's space traffic management system. Between at least one of the aforementioned multiple business units and its own unit, information is exchanged that is made public to each other regarding orbital information concerning the space object and the rule information, specifically concerning flight safety measures to avoid collisions with space objects by eliminating orbital intersections by having artificial satellites with different normal vectors in orbital planes adopt different orbital altitudes, or flight safety measures to avoid collisions with space objects by having multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles that result in roughly equal distribution within the orbital plane. [Effects of the Invention]

[0008] The space situational awareness business equipment relating to this disclosure comprises a space traffic management device equipped in each of several other business equipment that collect and provide orbital information associated with the identification numbers of space objects, which performs space traffic management by controlling the orbits of satellites in the space objects it manages for the aforementioned identification numbers and providing orbital information in accordance with rule information representing space traffic management, which includes at least one of the following: a space traffic management rule that satellites in orbital planes with different normal vectors adopt different orbital altitudes; a space traffic management rule that multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles so as to be roughly evenly distributed within the orbital plane; and a rule that operators managing satellites flying in densely populated areas of satellites disclose satellite orbital information; and a compatible space traffic management device. A space traffic management system comprising the aforementioned multiple other business devices, wherein the space traffic management system is connected to the space traffic management devices of the aforementioned multiple business devices via a communication line, and the system is connected to at least one business device of the aforementioned multiple business devices and the system itself, exchanging mutually disclosed information regarding orbital information and rule information concerning the space object, including flight safety measures to avoid collisions with space objects by eliminating orbital intersections by having artificial satellites in orbital planes with different normal vectors adopt different orbital altitudes, or flight safety measures to avoid collisions with space objects by having multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles that are roughly evenly distributed within the orbital plane. Therefore, the space situational awareness business device according to this disclosure has the effect of efficiently and accurately avoiding collision risks for satellites in a satellite constellation. [Brief explanation of the drawing]

[0009] [Figure 1] An example of multiple satellites providing global communication services to the ground. [Figure 2] An example of multiple satellites in a single orbit plane enabling Earth observation services. [Figure 3]A schematic diagram showing an example of multiple orbital planes of a satellite constellation according to Embodiment 1. [Figure 4] A schematic diagram showing another example of multiple orbital planes of a satellite constellation according to Embodiment 1. [Figure 5] An example of multiple satellites flying in one of the orbital planes of a satellite constellation according to Embodiment 1. [Figure 6] Configuration diagram of the satellite constellation formation system according to Embodiment 1. [Figure 7] A diagram illustrating the operation of the satellite constellation formation system according to Embodiment 1. [Figure 8] A diagram showing the relative altitude difference between multiple track surfaces according to Embodiment 2. [Figure 9] A diagram showing the ground service scope of the comparative example. [Figure 10] A diagram showing the ground service range according to Embodiment 3. [Figure 11] A diagram showing an orbital plane that satisfies the conditions for a sun-synchronous orbit according to Embodiment 4. [Figure 12] An example of a satellite constellation formed by the satellite constellation formation system according to Embodiment 5. [Figure 13] A schematic diagram illustrating an example of collision conditions in a satellite constellation. [Figure 14] A schematic diagram illustrating an example of collision conditions in a satellite constellation. [Figure 15] An example of a satellite constellation formed by the satellite constellation formation system according to Embodiment 6. [Figure 16] A diagram showing the surface service range provided by the satellite constellation according to Embodiment 7. [Figure 17] A diagram showing the pole passage timing when the number of orbital planes is even in the satellite constellation according to Embodiment 7. [Figure 18] A diagram showing the timing of pole passages in the satellite constellation according to Embodiment 7 when the number of orbital planes is odd. [Figure 19] A diagram illustrating the concept of deorbit due to free fall. [Figure 20] A diagram showing the risk of collision when a satellite in a satellite constellation deorbits. [Figure 21] A diagram showing changes in orbital altitude due to satellite acceleration and deceleration. [Figure 22] A diagram showing the change in orbital inclination angle by the jet of a propulsion device. [Figure 23] A diagram showing the configuration of ground facilities according to Embodiment 10. [Figure 24] An example of a satellite constellation formed by a satellite constellation formation system according to Embodiment 6. [Figure 25] A schematic diagram showing a specific example of satellite constellation 20 according to Embodiment 11. [Figure 26] An example of the configuration of a satellite of a satellite constellation formation system. [Figure 27] An example of the configuration of ground facilities included in a satellite constellation formation system. [Figure 28] An example of the functional configuration of a satellite constellation formation system. [Figure 29] An example of the overall configuration of a space traffic management system according to Embodiment 12. [Figure 30] An example of the configuration of a space traffic management device according to Embodiment 12. [Figure 31] A comparative example of Example 2 of space traffic management processing, and a diagram showing the satellite arrangement in the orbital plane. [Figure 32] A diagram showing the satellite arrangement in the orbital plane in Example 2 of space traffic management processing according to Embodiment 12. [Figure 33] A diagram showing a plurality of orbital planes with the same normal vector and different orbital altitudes. [Figure 34] A diagram showing the state of intrusion into a dense area (dangerous area) during the satellite orbit descent process by a high-altitude megaconstellation satellite. [Figure 35] A diagram showing space traffic management processing for avoiding intrusion into a dense area during the satellite orbit descent process according to Embodiment 12. [Figure 36] A diagram showing the configuration of the observation system 100 in Embodiment 13. [Figure 37] Configuration diagram of the observation satellite 200 in Embodiment 13. [Figure 38] A figure showing Example 1(1) of the observation method in Embodiment 13. [Figure 39] A figure showing Example 1(2) of the observation method in Embodiment 13. [Figure 40] A figure showing Example 1(3) of the observation method in Embodiment 13. [Figure 41] A figure showing Example 1(4) of the observation method in Embodiment 13. [Figure 42] A figure showing Example 1(5) of the observation method in Embodiment 13. [Figure 43] A figure showing Example 2(1) of the observation method in Embodiment 13. [Figure 44] A figure showing Example 2(2) of the observation method in Embodiment 13. [Figure 45] A figure showing Example 2(3) of the observation method in Embodiment 13. [Figure 46] A figure showing Example 2(4) of the observation method in Embodiment 13. [Figure 47] A figure showing Example 2(5) of the observation method in Embodiment 13. [Figure 48] Configuration diagram of the communications satellite 120 in Embodiment 14. [Figure 49] Configuration diagram of the observation satellite 110 in Embodiment 14. [Figure 50] Diagram illustrating data processing of a camera with a fisheye lens in Embodiment 14. [Figure 51] A diagram showing the following observation satellite according to Embodiment 14. [Figure 52] A diagram showing the following observation satellite according to Embodiment 14. [Figure 53] A diagram illustrating an example of the operation of a camera equipped with a fisheye lens according to Embodiment 14. [Figure 54] A diagram showing another example of the operation of a camera equipped with a fisheye lens according to Embodiment 14. [Figure 55]A graph plotting information about a space object, with distance on the horizontal axis and azimuth on the vertical axis. [Figure 56] A graph plotting information about a space object, with distance on the horizontal axis and azimuth on the vertical axis. [Figure 57] An example of the operation of a camera equipped with a fisheye lens according to Embodiment 14. [Figure 58] The graph corresponding to Figure 57. [Figure 59] An example of the operation of a camera equipped with a fisheye lens according to Embodiment 14, and a corresponding graph. [Figure 60] An example of the operation of a camera equipped with a fisheye lens according to Embodiment 14, and a corresponding graph. [Figure 61] An example of the functional configuration of a space traffic management system according to Embodiment 12. [Figure 62] An example of a space information recorder for a mega-constellation project system according to Embodiment 12. [Modes for carrying out the invention]

[0010] The embodiments of this disclosure will be described below with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate. Also, the size relationships of the components in the following drawings may differ from those of the actual components. In addition, in the description of the embodiments, directions or positions such as "top," "bottom," "left," "right," "front," "back," "front," and "back" may be indicated. These notations are used for the convenience of explanation only and do not limit the arrangement and orientation of components such as devices, equipment, or parts.

[0011] Embodiment 1. Figure 1 shows an example of how multiple satellites work together to provide global communication services to the Earth. Figure 1 shows the satellite constellation 20 that provides global communication services. For multiple satellites orbiting in the same orbital plane at the same altitude, the communication service range to the ground from each satellite overlaps with the communication service range of the following satellite. Therefore, with such multiple satellites, communication services can be provided to a specific point on the ground by having multiple satellites on the same orbital plane take turns providing services alternately in a time-division manner. However, providing communication services in a single orbital plane is limited to the area directly below the satellite's orbit. Therefore, another orbital plane, rotated east-west relative to the Earth, is added adjacent to the first orbital plane, and communication services are simultaneously provided by multiple satellites on that adjacent orbital plane. By creating such adjacent orbital planes, it becomes possible to comprehensively cover communication services to the ground between adjacent orbits. Similarly, by roughly evenly distributing numerous orbital planes around the Earth, communication services to the ground can be provided globally. From the perspective of a specific point on the ground, individual satellites fly away in a short amount of time. However, if multiple satellites in orbit provide communication services by taking turns in a time-division system, it becomes possible to continuously provide communication services to any point on the ground. In this case, each satellite exchanges necessary signals and information using an inter-satellite communication method to share communication services with successor satellites.

[0012] When communication services are implemented using a satellite constellation orbiting in low Earth orbit, the service area of ​​all satellites covers the entire globe, and the communication services of any given ground user are shared and continuously provided by successively arriving satellites, taking over signals and information. As a result, continuous communication services can be provided to ground users. In addition to satellite-to-ground communication functions, each satellite is equipped with inter-satellite communication functions, enabling signals and information to be passed between satellites passing in the vicinity. The transfer of signals and information that contributes to the mission coordination of communication services will henceforth be referred to as handover.

[0013] In a satellite constellation, it is common practice to assume that all satellites in different orbital planes have the same orbital altitude. Since satellites flying at the same orbital altitude have similar ground velocities, the service range over the ground moves according to the satellite ground velocities while maintaining the relative positional relationship between the service ranges of individual satellites. If the service ranges of subsequent satellites in the same orbital plane, or satellites in adjacent orbital planes, comprehensively cover the Earth's surface, then the service range will always be maintained from any point on the ground.

[0014] Figure 2 shows an example of multiple satellites in a single orbit plane providing Earth observation services. Figure 2 shows a satellite constellation 20 that provides Earth observation services. In the satellite constellation in Figure 2, satellites equipped with Earth observation instruments, such as optical sensors or radio sensors like synthetic aperture radar, fly in the same orbital plane at the same altitude. In this way, with a satellite constellation where the imaging range of the ground overlaps with that of subsequent satellites with a time delay, Earth observation services are provided by multiple satellites in orbit taking alternating, time-division multiplexed positions to capture ground images for a specific point on the ground. However, service provision in a single orbital plane is limited to the vicinity directly below the satellite's orbit. In contrast, by placing another orbital plane adjacent to the Earth, where the orbital plane is rotated in the east-west direction, and simultaneously providing similar services by multiple satellites, it becomes possible to comprehensively cover ground services between adjacent orbits. Similarly, by arranging a large number of orbital planes around the Earth in a roughly equal manner, comprehensive Earth observation services can be provided globally. From the perspective of a specific point on the ground, individual satellites fly away in a short amount of time, but if multiple satellites in orbit take alternating, time-division multiplexed positions to provide services, it becomes possible to provide Earth observation services to any point on the ground at any time.

[0015] ***Explanation of the structure*** The satellite constellation formation system 100 according to this embodiment forms a satellite constellation 20 having multiple orbital planes 21. In addition, multiple satellites 30 fly at the same orbital altitude in each of the multiple orbital planes 21.

[0016] Here, we will briefly describe the satellite constellation 20 formed by the satellite constellation formation system 100 according to this embodiment. The satellite constellation 20 according to this embodiment is composed of a satellite group 300 consisting of multiple satellites 30 in each orbital plane 21. The satellite constellation 20 according to this embodiment provides services through the cooperation of the satellite group 300. Specifically, the satellite constellation 20 refers to a satellite constellation consisting of one satellite group provided by a telecommunications service company, as shown in Figure 1. Also, specifically, the satellite constellation 20 refers to a satellite constellation consisting of one satellite group provided by an observation service company, as shown in Figure 2.

[0017] Figure 3 is a schematic diagram showing an example of multiple orbital planes 21 of a satellite constellation 20 according to this embodiment. In Figure 3, each of the multiple orbital planes 21 in the satellite constellation 20 is located on approximately the same plane. For example, each orbital plane 21 may contain 20 or more satellites orbiting as multiple satellites.

[0018] Figure 4 shows another example of multiple orbital planes 21 of the satellite constellation 20 according to this embodiment. In Figure 4, each orbital plane 21 in the satellite constellation 20 is located on a different plane from the others. In Figure 4, the orbital inclination angle of each orbital plane 21 is approximately 90 degrees, but the orbital planes are offset. That is, the multiple orbital planes 21 intersect with each other. For example, each orbital plane 21 may have 20 or more satellites orbiting as multiple satellites. Also, the satellite constellation 20 in Figure 4 may have 20 or more orbital planes 21 as an example.

[0019] Figure 5 shows an example of multiple satellites 30 flying in one of the orbital planes 21 of a satellite constellation 20 according to this embodiment. Multiple satellites 30 flying at the same altitude in the same orbital plane will fly at the same relative speed while maintaining their relative phase in the orbital plane. Therefore, multiple satellites 30 flying at the same altitude in the same orbital plane will not collide.

[0020] The configuration of the satellite constellation formation system 100 according to this embodiment will be explained using Figure 6. The satellite constellation formation system 100 is equipped with a computer. Although Figure 6 shows the configuration of one computer, in reality, each of the multiple satellites 30 that make up the satellite constellation 20, and each of the ground facilities that communicate with the satellites 30, are equipped with a computer. The computers equipped in each of the multiple satellites 30 and each of the ground facilities that communicate with the satellites 30 work together to realize the functions of the satellite constellation formation system 100 according to this embodiment. Below, an example of the configuration of the computer that realizes the functions of the satellite constellation formation system 100 will be described.

[0021] The satellite constellation formation system 100 includes a processor 910, as well as other hardware such as memory 921, auxiliary storage device 922, input interface 930, output interface 940, and communication device 950. The processor 910 is connected to and controls the other hardware via signal lines.

[0022] The satellite constellation formation system 100 includes a satellite constellation formation unit 110 as a functional element. The functions of the satellite constellation formation unit 110 are realized by hardware or software.

[0023] The processor 910 is a device that executes the satellite constellation formation program. The satellite constellation formation program is a program that realizes the functions of the satellite constellation formation unit 110. The processor 910 is an integrated circuit (IC) that performs arithmetic processing. Specific examples of the processor 910 include the CPU, DSP (Digital Signal Processor), and GPU (Graphics Processing Unit).

[0024] Memory 921 is a storage device that temporarily stores data. Specific examples of memory 921 include SRAM (Static Random Access Memory) or DRAM (Dynamic Random Access Memory). The auxiliary storage device 922 is a storage device for storing data. A specific example of the auxiliary storage device 922 is an HDD. Alternatively, the auxiliary storage device 922 may be a portable storage medium such as an SD® memory card, CF, NAND flash, flexible disk, optical disk, compact disk, Blu-ray® disc, or DVD. HDD is an abbreviation for Hard Disk Drive. SD® is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash®. DVD is an abbreviation for Digital Versatile Disk.

[0025] The input interface 930 is a port to which input devices such as a mouse, keyboard, or touch panel are connected. Specifically, the input interface 930 is a USB (Universal Serial Bus) terminal. Alternatively, the input interface 930 may be a port connected to a LAN (Local Area Network). Output interface 940 is a port to which the cable of an output device, such as a display, is connected. Specifically, output interface 940 is a USB terminal or an HDMI® (High Definition Multimedia Interface) terminal. Specifically, the display is an LCD (Liquid Crystal Display).

[0026] The communication device 950 has a receiver and a transmitter. Specifically, the communication device 950 is a communication chip or a NIC (Network Interface Card). The satellite constellation formation system 100 communicates between ground equipment and satellites, or between satellites themselves, via the communication device 950.

[0027] The satellite constellation formation program is loaded into the processor 910 and executed by the processor 910. Memory 921 stores not only the satellite constellation formation program but also the OS (Operating System). The processor 910 executes the satellite constellation formation program while simultaneously running the OS. The satellite constellation formation program and OS may also be stored in auxiliary storage. The satellite constellation formation program and OS stored in auxiliary storage are loaded into memory 921 and executed by the processor 910. Note that part or all of the satellite constellation formation program may be incorporated into the OS.

[0028] The satellite constellation formation system 100 may have multiple processors that replace the processor 910. These multiple processors share the task of executing the satellite constellation formation program. Each processor is a device that executes the satellite constellation formation program, just like the processor 910.

[0029] Data, information, signal values, and variable values ​​used, processed, or output by the satellite constellation formation program are stored in memory 921, auxiliary storage device 922, or registers or cache memory within the processor 910.

[0030] The word "part" in "satellite constellation formation part 110" may be read as "process," "procedure," or "step." Similarly, the word "process" in "satellite constellation formation process" may be read as "program," "program product," or "computer-readable storage medium on which a program is recorded." The satellite constellation formation program causes a computer to execute each process, procedure, or process, replacing "part" in the above-mentioned satellite constellation formation section with "process," "procedure," or "step." The satellite constellation formation method is performed by the satellite constellation formation system 100 executing the satellite constellation formation program. The satellite constellation formation program may be provided stored on a computer-readable recording medium or storage medium. Alternatively, the satellite constellation formation program may be provided as a program product.

[0031] ***Explanation of operation*** The operation of the satellite constellation formation system 100 according to this embodiment will be explained using Figure 7.

[0032] In step S101, the satellite constellation formation system 100 is configured with parameters such that the orbital altitudes of each orbital plane 21 of the satellite constellation 20 are different from each other. In step S102, the satellite constellation formation unit 110 forms a satellite constellation 20 in which the orbital altitudes of each of the multiple orbital planes 21 are different from each other. The satellite constellation formation unit 110 forms a satellite constellation 20 in which the orbital altitudes of each of the multiple orbital planes 21 are different from each other using preset parameters. For example, each orbital plane 21 may have 20 or more satellites flying as multiple satellites. Also, the satellite constellation 20 in Figure 4 may have 20 or more orbital planes 21 as an example.

[0033] The case in which the satellite constellation forming unit 110 forms a satellite constellation 20 (see Figure 4) in which each of the multiple orbital planes 21 is on a different plane from the others will be explained in more detail. As described above, the multiple satellites 30 of the satellite constellation 20 in Figure 4 provide services to ground locations by taking turns in a time-division multiplexing manner.

[0034] To prevent collisions by having two objects fly at different altitudes, it is necessary to consider not only the dimensions and shapes of the two objects, but also the accuracy of position determination during ground tracking and control. For example, if the dimensions of the objects are about 1 meter, and their precise positions can be determined, a collision can be avoided by maintaining an altitude difference of 3 meters or more. However, if there are errors in the four elements of position coordinates and time (x, y, z, t), a collision remains possible.

[0035] A satellite constellation operator can maintain a positioning accuracy of approximately 100m for their own satellites at any given time. Therefore, by setting the altitude difference between different orbital planes to 200m or more, a satellite constellation 20 having multiple orbital planes 21 with different orbital altitudes according to this embodiment can be formed. Alternatively, to allow for some margin, the altitude difference between different orbital planes can be set to 300m or more to form a satellite constellation 20 having multiple orbital planes 21 with different orbital altitudes according to this embodiment. If the satellite constellation 20 has approximately 20 orbital planes, the satellite constellation formation unit 110 can construct the satellite constellation 20 within an altitude difference range of approximately 6km.

[0036] On the other hand, if a satellite operator that does not possess a method for improving satellite positioning avoids collisions based on publicly available information, the positioning accuracy at any given time is expected to deteriorate to about 500m to 1km. For this reason, by setting the altitude difference between different orbital planes to 2km or more, a satellite constellation 20 having multiple orbital planes 21 with different orbital altitudes according to this embodiment can be formed. Alternatively, to allow for some margin, the altitude difference between different orbital planes may be set to 3km or more to form a satellite constellation 20 having multiple orbital planes 21 with different orbital altitudes according to this embodiment. If the satellite constellation 20 has about 20 orbital planes, the satellite constellation formation unit 110 can construct the satellite constellation 20 within a range of altitude differences of about 60km. In recent years, a technology called SSA (Space Situation Awareness) for monitoring objects in orbit has been attracting attention. If this leads to improved monitoring accuracy, known as the Space Fence concept, it will enable satellite operators who do not possess methods for improving satellite positioning to realize satellite constellations with reduced altitude differences.

[0037] Next, we will explain in more detail the case in which the satellite constellation forming unit 110 forms a satellite constellation 20 (see Figure 3) in which each of the multiple orbital planes 21 are on the same plane. As described above, the multiple satellites 30 of the satellite constellation 20 in Figure 3 provide services to ground locations by taking turns in a time-division manner.

[0038] Unlike communication services, the Earth observation service realized by the satellite constellation 20 in Figure 3 does not necessarily require continuous service at all times. On the other hand, Earth observation services require the ability to "image any point, anywhere, at any time." For this reason, it is preferable to configure the satellite constellation 20 with satellites equipped with Earth observation instruments that have a device to change the field of view direction in a cross-track direction perpendicular to the satellite's direction of travel. In this way, by having a satellite equipped with a field of view direction changing function that includes the distance between adjacent orbits above the equator, it becomes possible to image any point in the globe, anytime, anywhere. Compared to a satellite constellation with individual Earth observation instruments with fixed fields of view, this has the effect of being able to construct a satellite constellation with fewer orbital planes, thus reducing system construction costs. Furthermore, the imaging field of view does not necessarily need to cover the entire imaging range in the direction of satellite movement. If imaging becomes possible when a following satellite or a satellite in an adjacent orbital plane changes its field of view direction, it is possible to reduce the number of satellites in the same orbital plane. If the field of view change range is equivalent to about 2000 km on the Earth's surface, it may be possible to cover the entire globe with just two or three satellites per orbital plane.

[0039] ***Other configurations*** In this embodiment, the functions of the satellite constellation formation unit 110 are implemented in software. As a modification, the functions of the satellite constellation formation unit 110 may be implemented in hardware.

[0040] The satellite constellation formation system 100 is equipped with electronic circuits in place of the processor 910. The electronic circuit is a dedicated electronic circuit that realizes the functions of the satellite constellation formation unit 110. Electronic circuits specifically include single circuits, complex circuits, programmed processors, parallel programmed processors, logic ICs, GAs, ASICs, or FPGAs. GA stands for Gate Array. ASIC stands for Application Specific Integrated Circuit. FPGA stands for Field-Programmable Gate Array. The functions of the satellite constellation forming unit 110 may be realized by a single electronic circuit or by being distributed across multiple electronic circuits. As another variation, some functions of the satellite constellation forming unit 110 may be implemented by electronic circuits, while the remaining functions are implemented by software.

[0041] The processor and electronic circuit are also called processing circuits. In other words, in the satellite constellation formation system 100, the functions of the satellite constellation formation unit 110 are realized by processing circuits.

[0042] ***Description of the effects of this embodiment*** In the satellite constellation formation system according to this embodiment, multiple satellites in orbit provide services to a specific point on the ground by taking turns in a time-division multiplexing manner. Furthermore, in any orbital plane, multiple satellites flying at the same altitude fly at approximately equal intervals. In addition, a satellite constellation is formed consisting of multiple orbital planes with different orbital altitudes.

[0043] In the satellite constellation formation system according to this embodiment, satellites flying at the same altitude in the same orbital plane will not collide because they maintain the same relative speed and relative phase in the orbital plane. Furthermore, although collisions are possible at the intersection of two orbital planes, satellites flying at different orbital altitudes will not collide. Thus, if the orbital altitudes are different in different orbital planes, the risk of collision can be avoided for all satellites in the satellite constellation. Furthermore, similar to the satellite constellation according to this embodiment, the principle that satellites flying in the same orbital plane but at different orbital altitudes will not collide also applies to different satellite constellations. Therefore, the basic concept according to this embodiment is also effective in avoiding collisions between multiple satellite constellations. In recent years, the need for international rules in the increasingly congested outer space has been emphasized in STM (Satellite Telescopes), and this provides a method for multiple satellite constellations to coexist and avoid collisions. In other words, the satellite constellation formation system according to this embodiment has the effect of avoiding satellite collisions even when a vast number of satellites, such as thousands, are densely packed at nearby altitudes.

[0044] Embodiment 2. This embodiment will primarily describe the differences or additions compared to Embodiment 1. Note that components similar to those in Embodiment 1 are denoted by the same reference numerals, and their descriptions may be omitted.

[0045] In this embodiment, we will describe an aspect in which the satellite constellation forming unit 110 forms a satellite constellation 20 in which the relative altitude difference between adjacent orbital planes in a plurality of orbital planes is sinusoidal.

[0046] Figure 8 is a diagram showing the relative altitude differences of multiple track surfaces according to this embodiment. Figure 8 shows the relative altitude differences of each orbital plane in satellite constellation 20, which has 17 orbital planes. The vertical axis represents the altitude of orbital plane 1, with altitude decreasing in descending order, and does not represent distance. Figure 8 shows that when plotting the difference in orbital altitude between adjacent orbital planes, such as orbital plane 1 and orbital plane 2, and between orbital plane 2 and orbital plane 3, with orbital plane 1 as the reference, the pattern is sinusoidal.

[0047] If the altitudes of adjacent orbital planes differ significantly, the distance for handover via inter-satellite communication becomes longer, and the range of drive angles required for the communication antennas to face each other also widens, which is a disadvantage. In contrast, with the satellite constellation 20 according to this embodiment, the altitude difference between adjacent orbits is limited, so the relative difference changes gradually. Therefore, handovers that contribute to mission coordination with nearby satellites become easier.

[0048] Furthermore, in Earth observation satellites, for example, the image quality of optical sensors depends on the satellite's altitude. Therefore, a small altitude difference between adjacent orbits results in the ability to obtain high-quality images without inconsistencies between image scenes. A satellite constellation equipped with optical sensors capable of acquiring images of the Earth's surface and imaging a wider area than the distance between adjacent orbits above the equator would enable comprehensive imaging of the entire globe. Since the resolution and observation width of optical sensors depend on orbital altitude, for a satellite constellation employing optical sensors with the same specifications, the highest resolution and smallest observation width are achieved when imaging at the lowest orbital altitude. Therefore, if the observation width of the optical sensor at the lowest orbital altitude above the equator is greater than the distance between adjacent orbits, it becomes possible to comprehensively image the Earth's surface, including the area above the equator.

[0049] When the altitudes of adjacent orbits differ significantly, discontinuities accompanied by differences in resolution tend to become apparent at the image seams. However, in the satellite constellation formation system according to this embodiment, the altitude difference between adjacent orbits is limited, resulting in the acquisition of global image data with less noticeable seams and higher image quality. Furthermore, the greater the difference in satellite altitude, the faster the relative movement speed of the ground service area. Therefore, in the satellite constellation formation system according to this embodiment, the relative movement amount of the adjacent service area can be minimized, making data transfer to a subsequent satellite, known as handover in communications, easier and reducing errors.

[0050] Embodiment 3. This embodiment will primarily describe the differences or additions compared to Embodiments 1 and 2. Note that components similar to those in Embodiments 1 and 2 are denoted by the same reference numerals, and their descriptions may be omitted.

[0051] In this embodiment, the satellite constellation forming unit 110 forms a satellite constellation 20 such that the radius of the ground service range per satellite is approximately √2 / 2 or greater than the distance between adjacent orbits above the equator. Specifically, in this satellite constellation 20, the radius of the ground service range per satellite in the orbital plane with the lowest orbital altitude ensures coverage of approximately √2 / 2 or greater than the distance between adjacent orbits above the equator.

[0052] Figure 9 shows the ground service range of the comparative example. When the relative positions of satellites are optimal, the service area can cover the entire globe if the radius of the ground service range is set to be equivalent to the distance between adjacent orbits above the equator. Furthermore, if the satellite altitude is the same in all orbital planes, the service area maintains its relative relationship, making it possible to continuously provide globally covering service. However, in orbital planes with different altitudes, the satellite's velocity varies depending on the altitude, which can cause a gap P, or an area that cannot be served, to occur as the service area, which was comprehensively secured when the relative positions of satellites were optimal, moves relative to the satellite.

[0053] Figure 9 shows the ground service ranges of three orbital planes. The radius ra of the ground service range is half the distance Ra between adjacent orbits above the equator. In this case, as shown in Figure 9, if the ground service range of the middle orbital plane shifts 45 degrees forward, an area (gap) that cannot be served will be created.

[0054] Figure 10 shows the ground service range according to this embodiment. In Figure 10, the radius rb of the ground service area is √2 / 2 of the distance Rb between adjacent orbits above the equator. In this case, as shown in Figure 10, even if the ground service area of ​​each orbital plane is shifted by 45 degrees, no unserviceable areas (gaps) will occur.

[0055] As described above, with the satellite constellation formation system according to this embodiment, even in the worst-case scenario of relative satellite arrangement, that is, when the service area of ​​an adjacent orbit is located approximately 45 degrees ahead, no gaps in the service area occur. Therefore, the satellite constellation formation system according to this embodiment has the effect of being able to continue providing uninterrupted, globally comprehensive service even if the service area of ​​an adjacent orbit moves relative to the direction of satellite movement.

[0056] Embodiment 4. This embodiment will primarily describe the differences or additions from Embodiments 1 to 3. Note that components similar to those in Embodiments 1 to 3 are denoted by the same reference numerals, and their descriptions may be omitted.

[0057] In this embodiment, the satellite constellation forming unit 110 will be described in a manner in which the orbital altitude of each of the multiple orbital planes satisfies the conditions for a sun-synchronous orbit. Furthermore, the satellite constellation forming unit 110 will be described in a manner in which the orbital altitude of each of the multiple orbital planes consists only of sun-synchronous quasi-recurrent orbits.

[0058] Figure 11 shows an orbital plane that satisfies the conditions for a sun-synchronous orbit according to this embodiment. For optical Earth observation satellites, it is desirable to continue observations under conditions where the angle of incidence of sunlight is nearly constant. For this reason, the orbits of satellites called sun-synchronous satellites are frequently used. In the orbit of a sun-synchronous satellite, the angle between the orbital plane normal and the direction of the sun is approximately constant, with the orbital plane rotating once a year in sync with the Earth's revolution. In addition, the orbit of a sun-synchronous satellite is such that the Earth's local time (LST) remains the same throughout the year. Orbital altitudes that satisfy the conditions for a sun-synchronous orbit exist intermittently. In this embodiment, a satellite constellation 20 is formed by configuring the orbital plane only with orbital altitudes that meet the conditions for a sun-synchronous orbit. With such a satellite constellation 20, it becomes possible to realize a satellite constellation in which each orbital plane can continue to provide service at the desired LST and without the risk of collision.

[0059] Optical sensors exhibit image brightness and signal-to-noise ratio characteristics that vary depending on the angle of incidence of sunlight. Therefore, sun-synchronous orbits are often used to provide continuous Earth observation services under conditions of a constant angle of incidence of sunlight relative to the orbital plane. Furthermore, the orbital plane between LST 10:00 and 11:00 is frequently used because it provides sufficient light and avoids direct reflection from the sea surface. However, satellites near LST 10:30 alone cannot capture images "anytime, anywhere." Therefore, combining satellites in different orbital planes of the LST is an effective way to improve imaging frequency.

[0060] For example, in addition to LST10:30, we can add LST9:00 and LST12:00 orbital planes. In this case, it would be possible to take images approximately every 90 minutes. If we assume that it takes about 90 to 100 minutes for a low-Earth orbit satellite to orbit the Earth, this would have the effect of improving the imaging frequency of any given point, including imaging opportunities in the next orbit. Furthermore, if we increase the number of satellites in the same orbital plane, it becomes possible to cover a wider area, and if we distribute LSTs evenly using a similar approach, in principle, imaging would be possible "anytime, anywhere." While optical sensors capable of capturing only visible images cannot capture images at night, infrared sensors or radio wave sensors can capture images at any time, including at night.

[0061] A satellite constellation equipped with optical sensors capable of acquiring images of the Earth's surface and imaging a wider area than the distance between adjacent orbits above the equator can comprehensively image the entire globe. Since the resolution and observation width of the optical sensors depend on the orbital altitude, in the case of a satellite constellation employing optical sensors with the same specifications, the highest resolution and smallest observation width are achieved when imaging under the lowest orbital altitude conditions. Therefore, if the observation width of the optical sensor under the lowest orbital altitude conditions above the equator is greater than the distance between adjacent orbits, it becomes possible to comprehensively image the Earth's surface, including the area above the equator. Furthermore, if the altitudes of adjacent orbits differ significantly, discontinuities accompanied by differences in resolution tend to become apparent at the image seams. However, even in this embodiment, by employing the satellite constellation according to Embodiment 2, the altitude difference between adjacent orbits is limited, resulting in the acquisition of global image data with less noticeable image seams and high image quality.

[0062] ***Variations of this embodiment*** As a modification of this embodiment, the satellite constellation forming unit 110 will be described in which the orbital altitude of each of the multiple orbital planes is composed only of sun-synchronous quasi-recurrent orbits to form a satellite constellation 20.

[0063] A sun-synchronous quasi-recurrent orbit is an orbit in which the ground projection line of the satellite orbit revisits after multiple orbits, and is frequently used for Earth observation satellites. The orbital altitudes that meet the conditions for a sun-synchronous quasi-recurrent orbit are a subset of the orbital altitudes that meet the conditions for a sun-synchronous orbit. According to satellite constellation 20, in which the orbital altitudes of each of the multiple orbital planes consist solely of sun-synchronous quasi-recurrent orbits, operational planning, imaging planning, and data processing for repeated, long-term observations of the same location by Earth observation satellites become easier. Moreover, it has the effect of realizing a satellite constellation without collision risk.

[0064] If the number of days of recurrence is not a concern, the orbital altitudes of sun-synchronous quasi-recurrent orbits can be configured as follows: approximately 540 km (15-day recurrence), approximately 539 km (14-day recurrence), approximately 537 km (13-day recurrence), approximately 535 km (12-day recurrence), approximately 533 km (11-day recurrence), and approximately 530 km (10-day recurrence). With these six orbital planes, satellite constellation 20 can be realized within a range of a maximum altitude difference of approximately 10 km. Furthermore, for example, if we were to use only orbits with a 13-day return cycle, we could create a satellite constellation 20 with six orbital planes and an altitude difference of at most approximately 115 km, by configuring them at approximately 537 km, 514 km, 491 km, 467 km, 445 km, and 422 km.

[0065] Embodiment 5. This embodiment will primarily describe the differences or additions compared to Embodiment 1. Note that components similar to those in Embodiment 1 are denoted by the same reference numerals, and their descriptions may be omitted.

[0066] Figure 12 shows an example of a satellite constellation 20 formed by the satellite constellation formation system 100 according to this embodiment. The satellite constellation 20 according to this embodiment is composed of a group of satellites 300. In the satellite constellation 20, the group of satellites 300 work together to provide services. The satellite constellation 20 also has multiple orbital planes 21 in which multiple satellites 30 fly at the same orbital altitude. Furthermore, in the satellite constellation 20 according to this embodiment, the orbital altitude of each orbital plane 21 of the multiple orbital planes is the same, and each orbital plane 21 of the multiple orbital planes is located on a different plane from one another.

[0067] In the satellite constellation 20 shown in Figure 12, the orbital inclination angle of each orbital plane 21 is approximately 90 degrees, and each orbital plane 21 is on a different plane from the others. Therefore, in the polar regions, the multiple orbital planes 21 intersect in the satellite constellation 20 shown in Figure 12.

[0068] Figures 13 and 14 are schematic diagrams illustrating examples of collision conditions in a satellite constellation. Satellites flying at the same altitude in the same orbital plane will not collide because they maintain a relative phase in the orbital plane while flying at the same speed. However, satellites flying at the same altitude in different orbital planes may collide at intersections where their orbital altitudes coincide on the lines of intersection of orbital planes, as shown in Figures 13 and 14. In particular, as shown in Figure 14, low Earth orbit satellites flying at altitudes of approximately 100 km to 2000 km with an orbital inclination of about 90 degrees have intersections near the polar regions, thus posing a collision risk near the North and South Poles.

[0069] However, if the timing of the satellites passing over intersection points is always staggered, the two objects will not collide. The satellite constellation forming unit 110 forms a satellite constellation 20 in which no two objects collide. Specifically, the time at which satellites flying in different orbital planes pass over intersection points of two different orbital planes is a multiple of "waiting time T1 until the next satellite arrives / number of orbital planes" in the same orbital plane, and the satellite passage times do not coincide at any intersection of two orbital planes.

[0070] The satellite constellation 20 shown in Figure 12 has an orbital inclination of approximately 90 degrees and has multiple orbital planes that are different from each other. In this satellite constellation 20, all satellites in all orbital planes pass near the polar regions. Therefore, the satellite constellation forming unit 110 staggers the polar region passage times of satellites in multiple orbital planes by having them fly at intervals of "waiting time T1 until the next satellite arrives / number of orbital planes" within the same orbital plane. Specifically, assuming that a low Earth orbit satellite takes about 100 minutes to complete one orbit, and assuming 20 satellites are flying in each orbital plane, it would take about 5 minutes for a satellite to pass a specific point and for a subsequent satellite to arrive. If there were 20 orbital planes, the satellite constellation 20 according to this embodiment can be realized by dividing 300 seconds into roughly equal intervals of 15 seconds each.

[0071] In the satellite constellation 20 formed by the satellite constellation formation system 100 according to this embodiment, multiple satellites in the same orbital plane fly synchronously at the same altitude, and satellites in different orbital planes also maintain the same orbital altitude and satellite velocity. Therefore, if the initial settings are configured so that satellites in each orbital plane pass through intersection points at different timings, the relative timing is always maintained, which has the effect of avoiding the risk of collision for any two satellites in any orbital plane.

[0072] In this embodiment, we have shown an example of timing in which the waiting time until the next satellite arrives is evenly distributed across the number of orbital planes. However, there are various ways to choose the interval for staggering the polar region passage times and the order of the orbital planes.

[0073] Embodiment 6. This embodiment will primarily describe the differences or additions compared to Embodiment 5. Note that components similar to those in Embodiment 5 will be denoted by the same reference numerals, and their descriptions may be omitted.

[0074] Figures 15 and 24 show examples of satellite constellations 20 formed by the satellite constellation formation system 100 according to this embodiment. In the satellite constellation 20 shown in Figures 15 and 24, the orbital inclination angle of each orbital plane 21 of the multiple orbital planes is not approximately 90 degrees, and each orbital plane 21 of the multiple orbital planes is on a different plane from the others. In this satellite constellation 20, any two orbital planes intersect at a point other than the polar region. Therefore, the satellite constellation forming unit 110 forms the satellite constellation 20 such that the time at which satellites on both orbital planes pass over the intersection point of two different orbital planes is a multiple of "waiting time T1 / number of orbital planes" for the same orbital plane, and the satellite passage times do not coincide at any intersection point of any two orbital planes.

[0075] As shown in Figures 15 and 24, the intersections of multiple orbital planes with orbital inclinations greater than 90 degrees move away from the polar regions in proportion to the orbital inclination. Furthermore, depending on the combination of orbital planes, intersections may exist in a variety of locations, including near the equator. For this reason, the locations where collisions may occur are more diverse compared to the satellite constellation of Embodiment 5. However, since the number of intersections does not increase, the probability of collision does not increase in proportion to the diversification of locations. When many satellites fly synchronously in the same orbital plane, to avoid collisions between two specific orbital planes, the timing of the satellites passing through the two orbital planes at a specific intersection can be staggered, preventing collisions between the satellites in those two orbits. However, it should be noted that the risk of subsequent satellites colliding with satellites in other orbital planes remains. It is necessary to check all possible combinations of orbital planes to ensure that the timing of passing through intersections does not coincide, and if this cannot be resolved by timing adjustment, it is necessary to change either the orbital plane or the number of satellites in a single orbital plane. If it is confirmed that no collisions occur at any intersection, then all satellites within and between orbital planes will operate synchronously thereafter, thus avoiding the risk of collisions.

[0076] In this embodiment, we have shown an example of timing in which the waiting time until the next satellite arrives is evenly distributed across the number of orbital planes. However, there are various ways to choose the interval for staggering the polar region passage times and the order of the orbital planes.

[0077] Here, as a specific example, we will describe the case of an Earth observation satellite employing a sun-synchronous quasi-recurrent orbit with an orbital inclination of approximately 98 degrees and an orbital period of approximately 98 minutes. When a constellation of multiple satellites is constructed using this orbit, all orbital planes will not meet in the polar regions due to the orbital inclination of approximately 98 degrees. However, there will always be an intersection line between two different orbital planes, and an intersection point will exist at the same altitude, so the risk of collision still exists. Furthermore, since the risk of collision exists for all combinations of two different orbital planes, in this embodiment, collisions are avoided by staggering the timing of satellite passages at any intersection point between two planes. Furthermore, there are Earth observation satellites that orbit at an orbital inclination of approximately 45 degrees, and in this orbit they are solar asynchronous satellites. In the case of low orbital inclination, the intersections of two different orbital planes exist on the lower latitude side, and there is a possibility that intersections will occur at multiple latitudes. Depending on the combination of the number of orbital planes and the number of satellites orbiting in each orbital plane, collisions cannot always be avoided. Therefore, in the satellite constellation 20 according to this embodiment, a combination of the number of orbital planes and the number of satellites per orbital plane is found in which no collisions occur at all intersections of two orbital planes, and then collisions are avoided by maintaining the timing of passage at each intersection. If the number of satellites increases drastically, a brute-force collision avoidance calculation becomes complicated, so Embodiment 1, which uses different orbital planes, may be adopted.

[0078] Embodiment 7. This embodiment will primarily describe the differences or additions compared to Embodiment 5. Note that components similar to those in Embodiment 5 will be denoted by the same reference numerals, and their descriptions may be omitted.

[0079] This embodiment describes how to stagger satellite waiting times in the case of the satellite constellation 20 shown in Figure 14, where multiple orbital planes intersect in the polar region. In this embodiment, when the multiple orbital planes are numbered in the order they are arranged, the waiting time for the next satellite to arrive at the time of pole passage is shifted by approximately half for odd-numbered orbital planes and even-numbered orbital planes. By forming the satellite constellation 20 in this way, the ground service area is arranged alternately between adjacent odd-numbered and even-numbered planes, which has the effect of rationally covering the ground service area.

[0080] Figure 16 shows the ground service range provided by the satellite constellation 20 according to this embodiment. Figure 16 shows an example where there are 18 orbital planes, and the angle of the orbital planes changes by 10 degrees relative to each plane. If the waiting time until the following satellite arrives is divided into 18 equal parts for the pole transit timing, and the satellites transit sequentially from timing 1 for odd-numbered planes and from timing 10 for even-numbered planes, the resulting ground service area will be filled alternately by even and odd planes, thus comprehensively covering the Earth's surface.

[0081] Figure 17 is a diagram showing the pole passage timing when the number of orbital planes is even in the satellite constellation 20 according to this embodiment. Figure 18 shows the pole passage timing when the number of orbital planes is odd in the satellite constellation 20 according to this embodiment. As shown in Figures 17 and 18, in the satellite constellation 20 according to this embodiment, it is preferable that the number of orbital faces be odd. In the example in Figure 17, the service areas of the 1st face adjacent to the 18th face may be adjacent, potentially causing inconsistencies in global coverage. Therefore, by making the number of orbital faces odd, as shown in Figure 18, the ground service areas of the final face and the 1st face are arranged alternately, as with the others, resulting in the effect of rationally achieving global coverage.

[0082] Embodiment 8. This embodiment mainly describes additions to those described in Embodiments 1 to 7. Note that components similar to those in Embodiments 1 to 7 are denoted by the same reference numerals, and their descriptions may be omitted.

[0083] This embodiment describes a variation of a debris removal method that allows a satellite to deorbit (leave its orbit) while avoiding collisions.

[0084] Figure 19 illustrates the concept of deorbit due to free fall. Figure 20 shows the collision risk when a satellite deorbits above satellite constellation 20.

[0085] <Example 1 of a debris removal method> The debris removal method of Example 1 according to this embodiment includes a capture device or external force application device for changing the orbital plane of a malfunctioning satellite that has become uncontrollable due to a failure or the like, before it descends and passes through an orbital plane where satellites are densely packed, and a propulsion device for propelling the malfunctioning satellite.

[0086] Sun-synchronous quasi-recurrent orbits with a LST of approximately 10:00 to 11:00 offer a relationship between the angle of solar incidence and the orbital plane that is well-suited for imaging by Earth observation optical sensors, resulting in a dense orbital plane where numerous Earth observation optical satellites fly. Orbital altitudes are concentrated between 500km and 1000km, which are ideal for high-resolution imaging and have low atmospheric resistance. However, there are also examples of very low-altitude satellites flying at orbital altitudes of around 200km.

[0087] In some cases, the satellites constituting the satellite constellation 20 described in Embodiments 1 to 7 may malfunction and become uncontrollable. In this case, the malfunctioning satellite will pass through a dense orbital plane while changing its orbital altitude, as shown in Figure 19, during the process from freefall from a high altitude of 1000 km to 2000 km until it re-enters the Earth's atmosphere and disappears. At that time, as shown in Figure 20, there is a high risk of collision because the malfunctioning satellite may meet with satellites of multiple orbital altitudes. Therefore, the debris removal method according to this embodiment has the effect of avoiding collisions in dense orbits by changing the orbital plane in advance so as not to pass through such dense orbits.

[0088] Figure 21 shows the change in orbital altitude due to acceleration and deceleration of a satellite. Figure 22 shows the change in orbital inclination angle due to the thrust of the propulsion system. One effective method for removing debris involves using a debris recovery satellite equipped with a capture device to capture other satellites and a propulsion device to provide thrust to other satellites. The damaged satellite is then captured, and its orbit is artificially altered using the propulsion device. If the satellite's speed is increased relative to its direction of travel, its orbital altitude will temporarily rise. This causes the orbital plane to rotate approximately around the Earth's axis due to perturbation at a different period than that of the dense orbit, making it possible to avoid the dense orbit. If the satellite's speed is decreased relative to its direction of travel, its orbital altitude will temporarily drop. This causes the orbital plane to rotate approximately around the Earth's axis due to perturbation at a different period than that of the dense orbit, making it possible to avoid the dense orbit. Depending on the time leeway before the malfunctioning satellite is predicted to pass through the dense orbit, the collision avoidance method can be selected: either descending before encountering the dense orbit or descending after passing through the dense orbit. Therefore, this method has the effect of reliably avoiding a collision. However, the perturbation method has the disadvantage of a long dwell time, so a method of actively firing the propulsion system to rotate the orbital plane out of plane is also possible. In this case, the propellant consumption is high, so the debris removal method, including the propulsion system tanks, will become larger.

[0089] Furthermore, the recovery of one's own satellite is equivalent to the recovery of a so-called cooperative target. Therefore, it is effective for debris recovery satellites to be equipped with attachments that are compatible with the debris removal method in advance to facilitate capture. In addition, it is effective for debris recovery satellites to transmit information indicating the position of their own satellite or the target to be captured, making it easier for their own satellite to approach or attach. However, there are exceptions, such as when the satellite has lost its control capability and is rotating.

[0090] <Example 2 of a debris removal method> The debris removal method of Example 2 according to this embodiment comprises a capture device or external force application device for changing the orbital plane of an object floating at an altitude of approximately 100 km to 2000 km while tracing an elliptical orbit, before the object passes through the orbital plane constituting the satellite constellation, and a propulsion device for applying thrust to the object. Note that the external force application device may include not only "force" but also "torque" or "changes in mass properties" resulting from accretion as "external force". The external force application device is also called a disturbance application device.

[0091] Obstacle removal is a challenge in STM (Surface-to-Surface Telescopes). When the orbital plane of an object flying in an elliptical orbit coincides with the orbital plane of numerous satellites flying in a nearly circular orbit at a specific altitude, the risk of collision becomes very high. The debris removal method of Example 2 in this embodiment has the effect of safely removing obstacles with a high risk of collision.

[0092] Specific examples of debris removal methods are the same as in <Example 1 of Debris Removal Method>. In <Example 1 of Debris Removal Method>, since the satellite itself is to be captured, it is possible to equip it with attachments that make it easy to capture, as it is a so-called cooperative target. However, floating objects other than the satellite are so-called uncooperative targets, and are difficult to capture, such as objects with complex shapes, rotating objects, heavy objects, or objects that do not have a suitable structure for capture. For this reason, the capture device to be equipped needs to be highly sophisticated. Specific examples of methods that can be implemented include methods using robots to grasp the object, methods of covering the target with a capture net-like device, and methods of piercing and pulling with a spear-like rod with a wire attached.

[0093] Embodiment 9. This embodiment will primarily describe the differences or additions from Embodiments 1 to 8. Note that components similar to those in Embodiments 1 to 8 are denoted by the same reference numerals, and their descriptions may be omitted.

[0094] This embodiment describes variations of a satellite constellation construction method in which the debris removal method described in Example 1 or Example 2 of the debris removal method in Embodiment 8 is applied to a satellite constellation constructed by the satellite constellation formation system described in Embodiments 1 to 7.

[0095] <Example 1 of a satellite constellation construction method> In Example 1 of the satellite constellation construction method according to this embodiment, the satellites constituting the satellite constellation 20 are placed into orbit at a different orbital altitude near the orbital plane of the constituent elements, and at an orbital altitude different from the orbital altitude of the satellites in the nearby orbital plane. Then, in Example 1 of the satellite constellation construction method, the constituent satellites are added by increasing or decreasing speed to change the angle between the orbital altitude and the orbital plane around the Earth's axis.

[0096] In the process of sequentially launching satellites to construct a predetermined satellite constellation, the process of inserting additional satellites into the orbital plane after multiple satellites have been deployed carries a high risk of collision. In Example 1 of the satellite constellation construction method according to this embodiment, the risk of collision at launch can be significantly reduced by inserting the satellites into an orbit that is slightly angled away from the orbital plane of the already deployed satellites. Furthermore, by gradually approaching the desired orbit from a satellite altitude that does not match the altitude of the already deployed satellites, the risk of collision during the transient phase can be reduced.

[0097] <Example 2 of a satellite constellation construction method> In Example 2 of the satellite constellation construction method according to this embodiment, a database is provided which contains pre-collected information such as the orbit, orbital altitude, and number of satellites in flight, as adopted by other country systems or similar systems. In Example 2 of the satellite constellation construction method according to this embodiment, the satellites are placed into orbit at an orbital altitude that is different from the orbital plane in which existing satellites fly, and is in the vicinity of the orbital plane of the constituent satellites, and is different from the orbital altitude in which satellites in the nearby orbital plane fly. In Example 2 of the satellite constellation construction method according to this embodiment, constituent satellites are added by increasing or decreasing speed to change the angle between the orbital altitude and the orbital plane around the Earth's axis.

[0098] According to Example 2 of the satellite constellation construction method of this embodiment, multiple satellite constellations are constructed, and in an environment where the entire outer space is congested, it is possible to construct satellite constellations without collision risk.

[0099] In addition, in Example 1 of the satellite constellation construction method, data processing equipment for the orbit and position of the satellites is provided on the ground. In addition, in Example 2 of the satellite constellation construction method, data processing equipment for the orbits and positions of flying objects in space is provided on the ground.

[0100] Embodiment 10. This embodiment mainly describes additions to those in Embodiments 1 to 9. Note that components similar to those in Embodiments 1 to 9 are denoted by the same reference numerals, and their descriptions may be omitted.

[0101] This embodiment describes a variation of ground equipment 500 that transmits an orbit control command 51 to a satellite 30 that is part of a satellite constellation 20 and has reached the end of its design life. The orbit control command 51 is a command that deorbits the satellite 30 by operating the propulsion system of the satellite 30.

[0102] <Example 1 of 500 ground equipment> Figure 23 is a diagram showing the configuration of Example 1 of the ground equipment 500 according to this embodiment. The configuration of the ground equipment 500 in Example 1 is the same as in Embodiment 10.

[0103] The communication device 950 transmits and receives signals for tracking, controlling, and operating the satellites 30 that make up the satellite constellation 20. The orbit control command transmission unit 510 transmits orbit control commands 51 to satellites 30 that are to be deorbited, such as those that have reached the end of their design life. The analysis and prediction unit 520 analyzes and predicts the trajectory of the satellite 30 after receiving the command to deorbit.

[0104] As a specific example, let's consider a case where the analysis and prediction unit 520 determines that satellite 30 will pass through the orbital plane near LST10:30 of a crowded orbit in a sun-synchronous orbit at an orbital altitude of 500 km to 800 km. At this time, the orbit control command transmission unit 510 transmits an orbit control command 51 to satellite 30 to perform an active deorbit operation to avoid collision risk by shifting the timing of passing through the crowded orbit or the orbital plane. Upon receiving the orbit control command 51, satellite 30 uses its orbit control device to increase or decrease its orbital altitude by increasing or decreasing its speed. Alternatively, satellite 30 changes its orbital inclination angle by applying acceleration out of the orbital plane by firing its thrusters in a direction approximately perpendicular to the satellite's direction of travel. In this way, satellite 30 performs an active deorbit operation to avoid collision risk by shifting the timing of passing through the crowded orbit or the orbital plane.

[0105] In constructing megaconstellations, the need to mandate Post-Mission Disposal (PMD) to prevent an unlimited increase in the total amount of space debris is being discussed, including the deorbiting of, for example, more than 99% of satellites from orbit. Furthermore, considering the probability of satellites remaining functional at the end of their lifespan, the need for Active Debris Removal (ADR), which involves externally deorbiting satellites that are unable to autonomously deorbit due to failure or other malfunctions, is also being discussed. However, PMD and ADR only appeal to the need for methods that allow free fall and burn up in the atmosphere, and do not offer any avoidance measures for when the object passes through a congested orbit during its descent. Furthermore, in the case of geostationary satellites, when the risk of collision with debris is foreseen, predicted trajectory information of the debris is published along with a collision warning, and there are cases in which the satellite to be hit takes collision avoidance action. However, in the case of low Earth orbit satellites, if another satellite constellation is constructed, there is a high risk that the avoidance action of the satellite to be hit will cause a secondary collision. That is, the risk of collision with satellites in front of or behind in a tandem parking arrangement, or collision with satellite constellations at different altitudes within the same plane. Furthermore, there is a high probability that a large number of satellites to be hit will pass through the area in a short period of time. If multiple satellites take evasive action simultaneously, predicting the behavior of nearby satellites becomes difficult, leading to a secondary collision risk. Furthermore, as a result of evasive action, not only the orbital altitude and in-orbital phase but also the LST may move due to the rotation of the orbital plane, posing a risk of difficulty in recovery or disruption to the continuation of the services intended by the satellite constellation. Furthermore, there are cases where numerous satellites, such as CubeSats, which are experimental satellites lacking avoidance capabilities, are in orbit. Furthermore, if the accuracy of orbital prediction due to free fall is poor, the area and time period for which collision warnings should be issued may be wide and long, resulting in frequent collision warnings being issued to the satellite being hit, making it impossible to respond.

[0106] According to Example 1 of the ground equipment 500 in this embodiment, orbital control during descent is possible even during altitude reduction due to deorbiting, which has the effect of avoiding passage through congested orbits and thus avoiding collisions. In addition, it has the effect of avoiding collisions even if the satellite being hit does not take evasive action.

[0107] <Example 2 of Ground Equipment 500> In Example 2 of the ground equipment 500 of this embodiment, a capture command 52 and an orbit control command 51 are transmitted to the debris recovery satellite 31 to deorbit a malfunctioning satellite that has lost its orbital control function. The debris recovery satellite 31 is, for example, a satellite equipped with a device for recovering satellites that have lost their orbital control function due to malfunction. The debris recovery satellite 31 is equipped with a capture device and a propulsion device for capturing the malfunctioning satellite.

[0108] Example 2 of the ground equipment 500 transmits a capture command 52 and an orbit control command 51 to the debris recovery satellite 31, which deorbits the malfunctioning satellite by operating the capture device and propulsion device of the debris recovery satellite. The communication device 950 transmits and receives signals for tracking and controlling the debris recovery satellite. The orbit control command transmission unit 510 transmits either an orbit control command 51 or a capture command 52. The analysis and prediction unit 520 analyzes and predicts the trajectory of the debris recovery satellite after it has captured the malfunctioning satellite.

[0109] As a specific example, let's consider a case where the analysis and prediction unit 520 determines that the debris collection satellite 31 will pass through the orbital plane near LST10:30 in a congested orbit in a sun-synchronous orbit at an orbital altitude of 500 km to 800 km. In this case, the orbit control command transmission unit 510 transmits an orbit control command 51 to the debris collection satellite 31 to perform an active deorbit operation to avoid collision risk by shifting the timing of passing through the congested orbit or the orbital plane. Upon receiving the orbit control command 51, the debris collection satellite 31 uses its orbit control device to increase or decrease its orbital altitude by increasing or decreasing its speed. Alternatively, the satellite 30 changes its orbital inclination angle by applying acceleration out of the orbital plane by firing its thrusters in a direction approximately perpendicular to the satellite's direction of travel. In this way, the debris collection satellite 31 performs an active deorbit operation to avoid collision risk by shifting the timing of passing through the congested orbit or the orbital plane.

[0110] According to Example 2 of the ground equipment 500 of this embodiment, the satellites constituting the satellite constellation are equipped with equipment such as attachments for capturing debris on the debris recovery satellite. Therefore, Example 2 of the ground equipment 500 of this embodiment is effective in recovering the satellites constituting the satellite constellation.

[0111] <Example 3 of Ground Equipment 500> In Example 3 of the ground equipment 500 according to this embodiment, the communication device 950 transmits and receives signals for tracking and controlling a debris recovery satellite equipped with a device for recovering rocket debris flying above a congested orbit of 800 km or more. The orbital control command transmission unit 510 transmits capture commands and orbital control commands to the debris recovery satellite, which will cause the rocket debris to deorbit by activating the capture device and propulsion device equipped on the debris recovery satellite. The analysis and prediction unit 520 analyzes and predicts the trajectory of the debris recovery satellite after it has captured the malfunctioning satellite.

[0112] As a specific example, we will explain the case where the analysis and prediction unit 520 determines that the congested orbit in the sun-synchronous orbit passes through the orbital plane near LST10:30 at an orbital altitude of 500 km to 800 km. In Example 3 of the ground equipment 500 according to this embodiment, the orbit control device provided by the satellite increases or decreases the orbital altitude by increasing or decreasing the satellite speed, or changes the orbital inclination angle by applying acceleration out of the orbital plane by firing the thrusters in a direction approximately perpendicular to the satellite's direction of travel. Furthermore, in Example 3 of the ground equipment 500 according to this embodiment, active deorbit operations are performed to avoid collision risks by timing passage through a congested orbit or by shifting the orbital plane.

[0113] Rocket debris typically does not have the capture attachments of debris recovery satellites and is difficult to capture because it rotates in orbit, making it more technically challenging than Example 2 of Ground Equipment 500. According to Example 3 of Ground Equipment 500 in this embodiment, possible capture devices include methods such as wrapping the debris in a net-like object like a casting net, piercing and pulling with a spear-like rod with a wire attached, or adhering to the outer surface of the target with an adhesive substance or glue. Furthermore, even if it is a deorbit of a satellite component satellite of a satellite constellation equipped with a capture attachment, if it is allowed to free fall without attitude control, its attitude becomes uncertain, making it highly likely that the debris recovery satellite cannot easily access the capture attachment. In such cases, the capture device of Example 3 of Ground Equipment 500 in this embodiment is effective.

[0114] <Example 4 of Ground Equipment 500> Here, we will describe a case where, as explained in Examples 1 to 3 of the ground equipment 500, the analysis and prediction unit 520 determines that the satellite will pass through a dense polar region of another satellite constellation constructed at a low altitude during its descent, either for or for or for debris recovery. In Example 4 of Ground Equipment 500, the orbital inclination is changed by applying acceleration out of the orbital plane by firing the thrusters in a direction roughly perpendicular to the satellite's direction of travel, resulting in an orbital inclination different from that of the satellite constellation. As a result, in Example 4 of Ground Equipment 500, an active deorbit operation is implemented to avoid collision risk by either changing the orbital plane inclination or shifting the timing of passages compared to a congested orbit.

[0115] Examples 1 to 3 of the ground equipment 500 not only cover avoiding congested orbits near LST10:30, but also avoid collisions when passing through densely populated polar regions.

[0116] Examples 1 to 4 of the above ground equipment 500 can be combined in any way. For example, the following ground equipment can be implemented.

[0117] The ground equipment includes a communication device for sending and receiving signals for tracking and controlling the satellites that make up the satellite constellation, an orbit control command transmission unit for transmitting orbit control commands, and an analysis and prediction unit for analyzing and predicting the trajectory of the satellite after receiving a command for deorbiting. The ground equipment transmits the orbit control command to deorbit the satellite that has reached the end of its design life by operating the propulsion system of the satellite. If analysis and predictions indicate that a satellite will pass through a densely populated polar region or congested orbital plane of another satellite constellation built at a low altitude during its descent for orbital deorbit due to debris collection, the ground equipment will implement an active deorbit operation to avoid collision risk. Specifically, the ground equipment will change the orbital inclination angle by applying acceleration out of the orbital plane in a direction approximately perpendicular to the satellite's direction of travel, thereby altering the orbital plane's inclination relative to the constellation or shifting the timing of passage to avoid collision risk.

[0118] The ground equipment includes a communication device for sending and receiving signals to track and control the debris recovery satellite, which is equipped with a device for recovering satellites that have malfunctioned and lost their orbital control function; an orbital control command transmission unit; and an analysis and prediction unit for analyzing and predicting the trajectory of the debris recovery satellite once it has captured the malfunctioning satellite. The ground equipment transmits a capture command and an orbital control command to the debris recovery satellite to deorbit the malfunctioning satellite by activating its capture device and propulsion device. If analysis and predictions indicate that a satellite will pass through a densely populated polar region or congested orbital plane of another satellite constellation built at a low altitude during its descent for orbital deorbit due to debris collection, the ground equipment will implement an active deorbit operation to avoid collision risk. Specifically, the ground equipment will change the orbital inclination angle by applying acceleration out of the orbital plane in a direction approximately perpendicular to the satellite's direction of travel, thereby altering the orbital plane's inclination relative to the constellation or shifting the timing of passage to avoid collision risk.

[0119] The ground equipment includes a communication device for sending and receiving signals to track and control a debris recovery satellite equipped with a device for recovering rocket debris flying above congested orbits of 800 km or higher, an orbit control command transmission unit, and an analysis and prediction unit for analyzing and predicting the trajectory of the debris recovery satellite when it has captured a malfunctioning satellite. The ground equipment transmits capture commands and orbit control commands to the debris recovery satellite to deorbit the rocket debris by activating the capture device and propulsion device equipped on the debris recovery satellite. If analysis and predictions indicate that a satellite will pass through a densely populated polar region or congested orbital plane of another satellite constellation built at a low altitude during its descent for orbital deorbit due to debris collection, the ground equipment will implement an active deorbit operation to avoid collision risk. Specifically, the ground equipment will change the orbital inclination angle by applying acceleration out of the orbital plane in a direction approximately perpendicular to the satellite's direction of travel, thereby altering the orbital plane's inclination relative to the constellation or shifting the timing of passage to avoid collision risk.

[0120] Now, the effects of this embodiment will be explained further. The deorbiting method for low Earth orbit satellites typically involves operating the thrusters in the opposite direction of the satellite's travel to lower its orbital altitude, causing it to burn up upon re-entering the atmosphere. However, the mega-satellite constellations currently being planned have orbital altitudes of over 1000 km, which is higher than that of low Earth orbit satellites. Therefore, when deorbiting at the end of their lifespan or in the event of a malfunction, there is a risk of collision with satellites flying at even lower altitudes. Furthermore, mega-satellite constellations have diverse orbital planes, and numerous satellites fly in formation within each orbital plane, resulting in a wide variety of orbital paths that satellites will take during deorbit. The probability of collision is particularly high when a satellite may pass through congested areas of low Earth orbit satellites, such as near LST10:30 in a sun-synchronous orbit or in the polar regions. If deorbiting relies on free fall, the orbital plane rotates as the altitude gradually decreases, meaning that any satellite deorbiting from any orbital plane may pass through the crowded orbits of sun-synchronous satellites. Furthermore, when deorbiting a satellite in a satellite constellation consisting of orbital planes with orbital inclinations of approximately 90 degrees that pass near the polar regions, the probability of collision with a polar-orbiting satellite in a lower Earth orbit is high because the orbital inclination remains roughly the same even if the orbital altitude decreases.

[0121] In this embodiment, to avoid passing through a congested orbital plane, the rotation of the orbital plane is used to either accelerate the descent before passing through the congested orbit or, conversely, allow the orbital plane to become less congested and drop after the congested orbital plane has passed, thereby avoiding a collision. As a method of changing the timing of passing through a congested orbital plane, accelerating the deorbiting satellite increases its orbital altitude, delaying the descent timing. Conversely, decelerating accelerates the descent in orbital altitude, thus accelerating the descent timing. Furthermore, depending on the time spent at the orbital altitude, the orbital plane rotates due to perturbation, making it possible to wait for the passage of the congested orbit. In addition, by operating the thrusters perpendicular to the direction of travel when the deorbiting satellite passes the ascending or descending node, the orbital inclination angle can be changed, making it possible to accelerate the rotation of the orbital plane.

[0122] In particular, in Example 4 of Ground Equipment 500, collisions are avoided by intentionally changing the orbital inclination angle, thereby altering the orbital plane to avoid passing through the polar regions at altitudes where polar regions are congested. One method for changing the orbital inclination angle is to operate the thrusters perpendicular to the direction of travel when the deorbiting satellite passes its ascending or descending node, which effectively changes the orbital inclination angle.

[0123] Next, the effects of the above embodiments 1 to 10 will be explained further. In recent years, concepts for large-scale satellite constellations involving thousands of satellites have been announced. However, satellites flying at the same altitude face the risk of collision at two points where their altitudes coincide on the intersection of their orbital planes. In large-scale constellations, the probability of collision becomes extremely high, especially in the polar regions where all orbital planes meet with a high probability. A well-known example of multiple satellites orbiting in the same orbital plane is the geostationary satellites orbiting at an altitude of approximately 36,000 km above the equator, with about 300 satellites orbiting in the same orbital plane. Because they are synchronized with the Earth's rotation, they appear to be stationary in space when viewed from the ground, but because they orbit in a nearly circular path at the same altitude, geostationary satellites do not collide and continue to operate. Also, although they appear to be close together because the angle from Earth is only about 1 to 2 degrees apart, the distance between two satellites in orbit is sufficiently large.

[0124] In contrast, low Earth orbit (LE) satellite constellations, which have been increasing in recent years, consist of thousands of satellites even in a single constellation, and the total number of satellites in a multi-satellite constellation concept approaches 10,000. Because the orbital altitude is about 1 / 20 to 1 / 100 times lower than that of geostationary satellites, and the distance between two satellites is significantly closer, the risk of collision is higher compared to geostationary orbit. Furthermore, unlike geostationary orbits, multiple orbital planes are used simultaneously, creating a possibility of collisions at the intersection of the two planes. In satellite constellations with orbital inclinations near 90°, multiple orbital planes intersect near the Earth's axis of rotation, and all satellites pass over the South Pole and the North Pole, making collisions highly likely if their orbital altitudes coincide. Furthermore, the sun-synchronous orbits with a maximum orbital time of 10:00-11:00, which are frequently used by Earth observation satellites, have many orbital planes where satellites are densely packed. This means that if an object that gradually changes its orbital altitude enters the same orbital plane, the risk of collision is high. Furthermore, in the completed form of a satellite constellation, collisions will not occur unless the position coordinates and time of any two satellites coincide simultaneously (x1, y1, z1, t1) = (x2, y2, z2, t2). Therefore, collisions can be avoided by artificially manipulating orbital altitude, timing, or phase within the orbital plane. However, the risk of collisions is high during the transitional phase of satellite constellation construction, specifically in the process of adding new satellites to the constellation. Furthermore, if a satellite flying at a higher altitude than a large constellation experiences an uncontrollable malfunction and goes into free fall, passing through a dense orbital plane while changing altitude may result in a high risk of collision with multiple satellites at different orbital altitudes within the same orbital plane.

[0125] Even though the absolute probability of a collision remains quite small due to the vastness of outer space, once a collision occurs, it can cause massive destruction, and the scattered debris could collide with nearby satellites, potentially causing secondary damage. In the worst-case scenario, there are concerns that the chain reaction of collisions and destruction could violate the entire nearby orbit. If the entire nearby orbit becomes biorated and a large amount of debris floats around, there is a risk that no satellites will be able to operate for an extended period, which will have a negative impact on all aspects of society, which are increasingly dependent on space infrastructure. Furthermore, because satellites themselves are expensive, and the total cost of launching and operating them by rocket is enormous, a collision would lead to massive economic losses. Furthermore, since multiple satellites work together to achieve purposes such as communication services, the loss of satellites due to a collision would disrupt the originally intended service and degrade its quality.

[0126] In the embodiments 1 to 10 described above, collisions of satellite constellations can be avoided by providing methods such as combining orbital planes at different altitudes, artificially shifting the time of intersection passage, removing malfunctioning satellites, and inserting new satellites into orbits.

[0127] Embodiment 11. This embodiment mainly describes additions to embodiments 1 to 10. Note that components similar to those in embodiments 1 to 10 are denoted by the same reference numerals, and their descriptions may be omitted.

[0128] As described in Embodiment 1, the satellite constellation formation system 100 is composed of a group of satellites 300, and the group of satellites 300 cooperate to form a satellite constellation 20 that provides services. The satellite constellation formation system 100 forms a satellite constellation 20 having multiple orbital planes in each orbital plane 21, in which multiple satellites fly at the same orbital altitude. Furthermore, the satellite constellation forming unit 110 according to this embodiment forms a satellite constellation 20 in which the orbital altitudes of each orbital plane 21 of the multiple orbital planes are different from each other, and each orbital plane has an orbital inclination angle such that the orbital periods of each orbital plane 21 of the multiple orbital planes are equal to each other. For example, each orbital plane of the multiple orbital planes is a sun-synchronous orbit as shown in Figure 11.

[0129] The satellite constellation formation system 100 is configured with parameters such that the orbital altitudes of each orbital plane 21 of the satellite constellation 20 are different from each other, and each orbital plane has an orbital inclination angle such that the orbital periods of each orbital plane 21 are equal to each other. The satellite constellation forming unit 110 then uses the set parameters to form a satellite constellation 20 in which the orbital altitudes of each orbital plane 21 are different from each other, and each orbital plane has an orbital inclination angle such that the orbital periods of each orbital plane 21 are equal to each other.

[0130] Figure 25 is a schematic diagram showing a specific example of the satellite constellation 20 according to this embodiment. Sun-synchronous orbital planes will have the same orbital period even if their orbital altitudes differ. Below are examples of multiple orbital planes with different altitudes that are sun-synchronous. The constraints for sun synchronization are generally determined by the correlation between orbital altitude and orbital inclination; therefore, by appropriately setting the orbital inclination according to the orbital altitude, a sun-synchronous orbit can be formed. Orbital altitude 1000km: Orbital inclination approximately 99.5° Orbital altitude 1100km: Orbital inclination approximately 99.9° Orbital altitude 1200km: Orbital inclination approximately 100.4° Orbital altitude 1300km: Orbital inclination approximately 100.9° Orbital altitude 1400km: Orbital inclination approximately 101.4° Orbital altitude 1500km: Orbital inclination approximately 102.0°

[0131] For example, if the six orbital planes of the above-mentioned orbital altitudes are set in LST as follows, a group of orbital planes will be formed in which the angles in the latitudinal direction differ by approximately 30° from each other, and the relative angles between these orbital planes will always be maintained. In other words, six orbital planes with equal orbital periods will be formed. Sun-synchronous orbital plane at orbital altitude of 1000 km: LST06:00 Sun-synchronous orbital plane at orbital altitude of 1100 km: LST08:00 Sun-synchronous orbital plane at orbital altitude of 1200 km: LST10:00 Sun-synchronous orbital plane at orbital altitude of 1300 km: LST12:00 Sun-synchronous orbital plane at orbital altitude of 1400 km: LST14:00 Sun-synchronous orbital plane at orbital altitude of 1500 km: LST16:00

[0132] Here, we have used sun-synchronous orbits as a typical example of orbits with equal orbital periods, but even with asynchronous orbits, it is possible to select multiple orbital altitudes that result in equal orbital periods.

[0133] The satellite constellation forming unit 110 may also form a satellite constellation 20 in which the orbital altitudes of each of the multiple orbital planes 21 are different from each other, and each orbital plane has an orbital inclination angle such that the rotations of each of the multiple orbital planes 21 are synchronized.

[0134] Next, we will describe the ground equipment 500 that tracks and controls the satellite constellation 20 constructed by the satellite constellation formation system 100 according to this embodiment. The ground equipment 500 according to this embodiment generates commands to adjust the altitude of each satellite so as to maintain the relative phase of the multiple satellites in each of the multiple orbital planes, and to adjust the orbital altitude and orbital inclination angle of each orbital plane so as to maintain the relative angle between the multiple orbital planes, and transmits these commands to each satellite in the satellite group.

[0135] <Example 5 of Ground Equipment 500> Figure 23 is a diagram showing the configuration of Example 5 of the ground equipment 500 according to this embodiment. The configuration of Example 5 of the ground equipment 500 is the same as that of Example 1 of the ground equipment 500 in Embodiment 10.

[0136] The communication device 950 transmits and receives signals for tracking, controlling, and operating the satellites 30 that make up the satellite constellation 20. The orbit control command transmission unit 510 transmits orbit control commands 51 to the satellite 30, which adjust the altitude of each satellite to maintain the relative phase of the multiple satellites in each of the multiple orbital planes, and adjust the orbital altitude and orbital inclination angle of each orbital plane to maintain the relative angles between the multiple orbital planes.

[0137] ***Description of the effects of this embodiment*** Orbital planes with different orbital altitudes and the same orbital inclination have different orbital periods. Therefore, the relative angle between orbital planes changes over long-term operation. As a result, when multiple satellites work together to provide services, the satellite configuration may change, potentially disrupting the service. Furthermore, if orbital planes need to be adjusted using separate thrusters to maintain the appropriate orbital configuration, there is a risk that service may be interrupted during the adjustment period. According to the satellite constellation formation system of this embodiment, the relative relationship between orbital planes is maintained, making it possible to avoid collision risks while continuing to provide services without disruption.

[0138] Embodiment 12. This embodiment mainly describes the points that are added to or different from Embodiments 1 to 11. Note that components similar to those in Embodiments 1 to 11 are denoted by the same reference numerals, and their descriptions may be omitted.

[0139] ***Explanation of the structure*** Figure 26 shows an example configuration of satellite 30 in the satellite constellation forming system 600. Here, we will describe the configuration of the satellites 30 that form the satellite constellation system 600. Satellite 30 comprises a satellite control device 310, a satellite communication device 32, a propulsion device 33, an attitude control device 34, and a power supply device 35. While it also includes other components for various functions, Figure 6 illustrates the satellite control device 310, satellite communication device 32, propulsion device 33, attitude control device 34, and power supply device 35. Satellite 30 is an example of a space object 60.

[0140] The satellite control device 310 is a computer that controls the propulsion system 33 and the attitude control device 34, and is equipped with processing circuits. Specifically, the satellite control device 310 controls the propulsion system 33 and the attitude control device 34 according to various commands transmitted from the ground equipment 500. The satellite communication device 32 is a device that communicates with the ground equipment 500. Specifically, the satellite communication device 32 transmits various data related to its own satellite to the ground equipment 500. The satellite communication device 32 also receives various commands transmitted from the ground equipment 500. The propulsion system 33 is a device that provides thrust to the satellite 30 and changes the speed of the satellite 30. Specifically, the propulsion system 33 is an apogee kick motor, a chemical propulsion system, or an electric propulsion system. An apogee kick motor (AKM) is an upper-stage propulsion system used to insert an artificial satellite into orbit, and is also called an apogee motor (when using a solid rocket motor) or an apogee engine (when using a liquid engine). Chemical propulsion systems are thrusters that use mono-liquid or di-liquid fuels. Electric propulsion systems include ion engines or Hall thrusters. An apogee kick motor is a device used for orbital transitions and is sometimes a type of chemical propulsion system. The attitude control device 34 is a device for controlling attitude elements such as the attitude of the satellite 30, its angular velocity, and its line of sight. The attitude control device 34 changes each attitude element in a desired direction, or maintains each attitude element in a desired direction. The attitude control device 34 comprises attitude sensors, actuators, and a controller. The attitude sensors include devices such as a gyroscope, Earth sensor, solar sensor, star tracker, thruster, and magnetic sensor. The actuators include devices such as attitude control thrusters, momentum wheels, reaction wheels, and control moment gyros. The controller controls the actuators according to the measurement data from the attitude sensors or various commands from the ground equipment 500. The power supply unit 35 is equipped with devices such as solar cells, batteries, and a power control device, and supplies power to each device mounted on the satellite 30.

[0141] The processing circuits provided in the satellite control device 310 will now be described. The processing circuit may be dedicated hardware, or it may be a processor that executes a program stored in memory. In a processing circuit, some functions may be implemented by dedicated hardware, while the remaining functions are implemented by software or firmware. In other words, a processing circuit can be implemented using hardware, software, firmware, or a combination thereof. The dedicated hardware specifically includes single circuits, complex circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array.

[0142] Figure 27 shows an example configuration of the ground equipment 500 provided by the satellite constellation forming system 600. Ground equipment 500 programmatically controls a large number of satellites in all orbital planes. Ground equipment 500 is an example of ground equipment. Ground equipment consists of ground stations such as ground antenna equipment, communication equipment connected to the ground antenna equipment, or computers, and ground equipment such as servers or terminals connected to the ground stations via a network. Ground equipment may also include communication equipment mounted on mobile devices such as aircraft, self-propelled vehicles, or mobile terminals.

[0143] The ground equipment 500 forms a satellite constellation 20 by communicating with each satellite 30. The ground equipment 500 is installed in the space traffic management system 200. The ground equipment 500 includes a processor 910, as well as other hardware such as memory 921, auxiliary storage device 922, input interface 930, output interface 940, and communication device 950. The processor 910 is connected to and controls the other hardware via signal lines. The hardware of the ground equipment 500 is the same as the hardware of the satellite constellation formation system 100 described in Figure 6.

[0144] The ground equipment 500 includes, as functional elements, an orbit control command transmission unit 510 and an analysis and prediction unit 520. The functions of the orbit control command transmission unit 510 and the analysis and prediction unit 520 are realized by hardware or software.

[0145] The communication device 950 transmits and receives signals to track and control each satellite 30 of the satellite constellation 20. The communication device 950 also transmits orbit control commands 55 to each satellite 30. The analysis and prediction unit 520 analyzes and predicts the orbit of the satellite 30. The orbit control command transmission unit 510 generates an orbit control command 55 to be transmitted to the satellite 30. The orbit control command transmission unit 510 and the analysis and prediction unit 520 realize the functions of the satellite constellation formation unit 11. In other words, the orbit control command transmission unit 510 and the analysis and prediction unit 520 are examples of the satellite constellation formation unit 11.

[0146] Figure 28 shows an example of the functional configuration of the satellite constellation formation system 600. Satellite 30 further includes a satellite constellation forming unit 11b that forms a satellite constellation 20. The satellite constellation forming unit 11b of each satellite 30 and the satellite constellation forming unit 11 provided in each of the ground facilities 500 work together to realize the functions of the satellite constellation forming system 600. The satellite constellation forming unit 11b of satellite 30 may also be provided in the satellite control device 310.

[0147] Figure 29 shows an example of the overall configuration of the space traffic management system 800 according to this embodiment. The space traffic management system 800 is equipped with multiple space traffic management devices 200. Each of the multiple space traffic management devices 200 is implemented in the respective business devices 40 of multiple operators that manage space objects 60 flying in space. The multiple space traffic management devices 200 are connected to each other by communication lines.

[0148] Figure 30 shows an example of the configuration of the space traffic management device 200 according to this embodiment. The space traffic management device 200 communicates with other operational devices 40. The space traffic management device 200 may be mounted on ground equipment 701. Alternatively, the space traffic management device 200 may be mounted on the satellite constellation formation system 600.

[0149] The business device 40 provides information about space objects 60, such as artificial satellites or space debris. The business device 40 is a computer of a business that collects information about space objects 60, such as artificial satellites or space debris. The business equipment 40 includes equipment such as the megaconstellation business equipment 41, the LEO constellation business equipment 42, the satellite business equipment 43, the orbit transfer business equipment 44, the debris removal business equipment 45, the rocket launch business equipment 46, and the SSA business equipment 47. LEO is an abbreviation for Low Earth Orbit. SSA is an abbreviation for Space Situational Awareness. The SSA business is also called the space situational awareness business or the SSA management business. The SSA business equipment is also called the space situational awareness business equipment or the SSA management business equipment.

[0150] The mega-constellation business equipment 41 is the computer of a mega-constellation business operator that conducts large-scale satellite constellations, i.e., mega-constellation businesses. The LEO constellation business equipment 42 is the computer of the LEO constellation business operator that conducts low orbit constellation, i.e., LEO constellation business. The satellite operation equipment 43 is a computer used by satellite operators that manage one to several satellites. The orbital transfer operation device 44 is the computer of the orbital transfer operator that issues warnings about intrusions of space objects into the satellite. The debris removal equipment 45 is a computer for a debris removal business that carries out the business of recovering debris. The rocket launch operation device 46 is a computer for a rocket launch operator that conducts rocket launch operations. SSA business equipment 47 is the computer of the SSA business, that is, the space situational awareness business.

[0151] The business device 40 may be any other device that collects information about space objects such as artificial satellites or debris and provides the collected information to the space traffic management system 800. In addition, if the space traffic management device 200 is installed on the SSA's public server, the space traffic management device 200 may be configured to function as the SSA's public server.

[0152] The space traffic management device 200 includes a processor 910, as well as other hardware such as memory 921, auxiliary storage device 922, input interface 930, output interface 940, and communication device 950. The processor 910 is connected to the other hardware via signal lines and controls this other hardware.

[0153] The space traffic management device 200 includes, as an example of its functional elements, a space traffic management unit 120 and a memory unit 140. The memory unit 140 stores rule information 515 and dense area identification information 525.

[0154] The functions of the space traffic management unit 120 are implemented by software. The storage unit 140 is provided in memory 921. Alternatively, the storage unit 140 may be provided in auxiliary storage device 922. Furthermore, the storage unit 140 may be divided and provided in memory 921 and auxiliary storage device 922.

[0155] The space traffic management unit 120 manages the space objects 60 according to, for example, the rule information 515. Alternatively, the space traffic management unit 120 manages the space objects 60 according to the rule information 515 using the dense area identification information 525.

[0156] The processor 910 is a device that executes the space traffic management program. The space traffic management program is a program that implements the functions of each component of the space traffic management device 200 and the space traffic management system 800.

[0157] The hardware of the space traffic management device 200 is the same as that of the satellite constellation formation system 100 described in Figure 6.

[0158] The space traffic management program is loaded into the processor 910 and executed by the processor 910. Memory 921 stores not only the space traffic management program but also the OS (Operating System). The processor 910 executes the space traffic management program while simultaneously running the OS. The space traffic management program and OS may also be stored in auxiliary storage device 922. The space traffic management program and OS stored in auxiliary storage device 922 are loaded into memory 921 and executed by the processor 910. Note that part or all of the space traffic management program may be incorporated into the OS.

[0159] The space traffic management device 200 may have multiple processors that replace the processor 910. These multiple processors share the task of executing the program. Each processor is a device that executes the program, just like the processor 910.

[0160] The word "part" in "each part of the space traffic management device" may be replaced with "process," "procedure," "means," "stage," or "process." Furthermore, the word "process" in "passage determination process," "alarm generation process," and "alarm notification process" may be replaced with "program," "program product," or "computer-readable recording medium containing the program." "Process," "procedure," "means," "stage," or "process" are interchangeable. The space traffic management program causes a computer to execute each process, procedure, means, stage, or process, replacing the "part" in each part of the space traffic management system with "process," "procedure," "means," "stage," or "process." The space traffic management method is performed by the space traffic management device 200 executing the space traffic management program. The space traffic management program may be provided on a computer-readable storage medium. Alternatively, each program may be provided as a program product.

[0161] <Overview of the functions of the space traffic management system in this embodiment> Sun-synchronous orbits are frequently used in Earth observations, and the following regions are particularly concentrated in them. • The region near the sun-synchronous orbit LST10:30, at orbital altitudes between 500km and 1000km. • The region near the sun-synchronous orbit LST13:30, at orbital altitudes between 500km and 1000km. • The region near the sun-synchronous orbit LST06:00, at orbital altitudes between 500km and 1000km. • The region near the sun-synchronous orbit LST18:00, at orbital altitudes between 500km and 1000km.

[0162] Because sun-synchronous orbits have an orbital inclination of nearly 90 degrees, satellites flying at the same orbital altitude have a high risk of collision in the polar regions due to the concentration of intersection points between their orbital planes. Therefore, as a rule for STM (Space Traffic Management), satellites with different orbital planes and normal vectors must adopt different orbital altitudes. By eliminating orbital intersections, the probability of collision during normal operations becomes zero, thus eliminating the risk of collision. In reality, collision risks still occur during non-normal operations such as orbit insertion and deorbiting, but if the probability of collision during normal operations is zero, the risk is drastically reduced.

[0163] Another method to avoid collisions is to artificially adjust the timing of polar region transits. However, since many operators from multiple countries operate satellites in sun-synchronous orbits, the risk of collision remains if mutual coordination is not fully established. Furthermore, there is a challenge in that if unforeseen accidents such as collisions with debris occur, human control becomes impossible, leading to a high risk of collision. Therefore, if the probability of collision during normal operation is zero, it has the effect of being able to avoid collision accidents even if human control becomes impossible.

[0164] Specifically, as shown in Figures 29 and 30, the space traffic management system 800 according to this embodiment uses information such as rule information 515 and dense area identification information 525 to perform space traffic management for space objects 60. In other words, in the space traffic management system 800, multiple space traffic management devices 200 use common rule information 515 and dense area identification information 525 to manage the traffic of space objects 60. The rule information 515 is also called space traffic management rule 501.

[0165] <Example 1 of space traffic management processing> The Space Traffic Management Unit 120 performs space traffic management processing for space objects 60 so that satellites with different orbital planes and normal vectors adopt different orbital altitudes.

[0166] Specifically, rule information 515 contains information representing the rule that satellites with different orbital planes and normal vectors adopt different orbital altitudes. The Space Traffic Management Unit 120 manages the space object 60 in accordance with rule information 515.

[0167] According to Example 1 of space traffic management processing, satellites with different orbital planes and normal vectors adopt different orbital altitudes, resulting in zero collision probability in the polar regions and eliminating collision risk during normal operations.

[0168] <Example 2 of space traffic management processing> The space traffic management unit 120 performs space traffic management processing for space objects 60 so that multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles that result in approximately equal distribution within the orbital plane.

[0169] Specifically, rule information 515 contains information representing a rule that states that multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles that result in roughly equal distribution within the orbital plane. The Space Traffic Management Unit 120 manages the space object 60 in accordance with rule information 515.

[0170] Figure 31 is a diagram showing the satellite arrangement in the orbital plane in a comparative example of Example 2 of space traffic management processing. Figure 32 is a diagram showing the satellite arrangement in the orbital plane in Example 2 of the space traffic management process according to this embodiment. Figure 33 is a diagram showing multiple orbital planes that have the same normal vector but different orbital altitudes.

[0171] As shown in Figures 31 and 32, multiple satellites flying in the same orbital plane and at the same orbital altitude can avoid collisions by flying in synchronization. However, if multiple satellites managed by different operators fly without managing their relative phase angles, there is a risk of collision. According to Example 2 of space traffic management processing, space traffic management rule 501 is used to identify multiple satellites flying in the same orbital plane, and these multiple satellites flying at the same orbital altitude maintain relative phase angles that result in roughly equal distribution within the orbital plane. This has the effect of avoiding collisions.

[0172] <Example 3 of space traffic management processing> The dense area identification information 525 is information that identifies the following areas as dense areas. • The region near the sun-synchronous orbit LST10:30, at orbital altitudes between 500km and 1000km. • The region near the sun-synchronous orbit LST13:30, at orbital altitudes between 500km and 1000km. • The region near the sun-synchronous orbit LST06:00, at orbital altitudes between 500km and 1000km. • The region near the sun-synchronous orbit LST18:00, at orbital altitudes between 500km and 1000km. • The region above 80 degrees north latitude, with an orbital altitude of 500 km to 1000 km. • The region above 80 degrees south latitude, with an orbital altitude of 500 km to 1000 km. The orbits near LST10:30 and LST13:30 are frequently used by various Earth observation satellite constellations, also known as optical satellites or A-Trains. The orbits near LST06:00 and LST18:00 are frequently used by radar satellite constellations equipped with synthetic aperture radar.

[0173] Rule Information 515 includes Space Traffic Management Rule 501, which outlines the rules for operators managing satellites flying in densely populated areas to make satellite information public. The Space Traffic Management Unit 120 uses dense area identification information 525 and rule information 515 to provide a means for operators managing satellites flying in the same orbital plane to exchange information on flight safety measures.

[0174] In Example 3 of space traffic management processing, the space traffic management device 200 is equipped with dense area identification information 525. Furthermore, the space traffic management device 200 is equipped with space traffic management rules 501 in which operators managing satellites flying in a dense area make satellite information public, and means by which operators managing satellites flying in the same orbital plane can exchange information on flight safety measures. Thus, since it is dangerous for multiple operators to fly satellites in the orbit without coordination, satellite orbit information should be made public as a traffic rule, and an environment should be established where measures to ensure flight safety can be coordinated. Therefore, according to Example 3 of space traffic management processing, this has the effect of enabling collision avoidance. As a means of exchanging information regarding flight safety measures, the Space Traffic Management System 800 portal may be equipped with a chat function, or a message may be sent to host a coordination meeting.

[0175] <Example 4 of space traffic management processing> The space traffic management unit 120 uses dense area identification information 525 to capture the space object 60 before it enters any of the dense areas during its transition from orbit to atmospheric re-entry, thereby enabling collision avoidance during orbital descent. This method of achieving collision avoidance during orbital descent is called the collision avoidance operation method during orbital descent. Specific examples of densely populated areas are similar to those described in Example 3 of space traffic management processing.

[0176] Figure 34 shows the process of a high-altitude mega-constellation satellite entering a densely populated area (hazardous area) during its descent into orbit. Figure 35 is a diagram illustrating the space traffic management process for avoiding intrusion into densely populated areas during the satellite orbit descent process according to this embodiment.

[0177] Specifically, Rule Information 515 includes Space Traffic Management Rule 501, which outlines the rules for capturing space object 60 before it enters any densely populated areas during its transition from orbit to atmospheric re-entry, thereby enabling collision avoidance operations during orbital descent. Collision avoidance operations during orbital descent are also known as active deorbit operations. The space traffic management unit 120 uses the dense area identification information 525 and the rule information 515 to capture the space object 60 before it enters any of the dense areas during the process of leaving orbit and re-entering the atmosphere, thereby enabling collision avoidance operations during orbital descent.

[0178] Let's explain this in detail using Figure 35. (1) The space traffic management device 200 of the mega-constellation project device 41 foresees that a high-altitude mega-constellation satellite will malfunction and enter a dense area (hazardous area). This intrusion prediction information is shared via a communication line with all space traffic management devices 200 of the space traffic management system 800. (2) The space traffic management device 200 of the debris removal operation device 45 will capture the space object 60 before it enters any of the dense areas, based on the rule information 515, and implement collision avoidance operations during orbital descent. Specifically, a rapid-response debris removal satellite will be launched. (3) The rapid-response debris removal satellite will capture and combine with the malfunctioning satellite, and then re-enter the atmosphere while avoiding dense areas. This will enable collision avoidance operations during orbital descent.

[0179] Here, we will provide a supplementary explanation of the space traffic management system according to this embodiment using Figures 61 and 62.

[0180] Figure 61 shows an example of the functional configuration of a space traffic management system according to this embodiment. Figure 62 shows an example of a space information recorder for a mega-constellation project system according to this embodiment.

[0181] The multiple space traffic management devices 200 in the space traffic management system are connected to each other via a common communication line. The space traffic management devices 200 are installed in the mega-constellation business device, the space object business device, and the collision avoidance support business device, respectively.

[0182] <Mega Constellation Business Equipment> The space traffic management system 200 of the mega-constellation project equipment includes a space information recorder 101, a hazard warning device 102, a hazard analysis device 103 for analyzing the orbit of space objects, a hazard avoidance action support device 104, and hazard avoidance action implementation plan information 105.

[0183] The space information recorder 101 of the megaconstellation project equipment records orbital information of the satellites that make up the megaconstellation. The space information recorder 101 contains orbital forecast information. The space information recorder 101 includes public orbit information 61 associated with a satellite constellation ID that identifies a group of satellites, and real-time high-precision orbit information 63 associated with a satellite ID that identifies a satellite. Public orbital information 61 is orbital information that can be made public to other business devices. Public orbital information 61 includes constituent satellite information such as the number of satellites and satellite IDs that make up the satellite constellation, as well as the upper and lower limits of the orbital altitude of the satellite constellation and the upper and lower limits of the orbital inclination angle of the satellite constellation. Real-time high-precision orbit information 63 consists of predicted orbit information and actual orbit information for each satellite that makes up the satellite constellation.

[0184] The danger warning device 102 notifies of the risk of approaching or colliding with an object in space. The danger warning device 102 includes orbital information associated with an object ID that identifies the object in space. It also includes public access information that sets the conditions for disclosing the orbital information.

[0185] The risk analysis device 103 analyzes the orbits of space objects. For example, the risk analysis device 103 is an example of a collision analysis unit that analyzes the collision between a specific space object S and individual satellites constituting the megaconstellation satellite group.

[0186] The risk avoidance action support device 104 formulates the role sharing of the avoidance actions of space objects. For example, the risk avoidance action support device 104 is an example of a countermeasure formulation unit that formulates collision avoidance countermeasures when a collision between the megaconstellation and a specific space object S is predicted. The risk avoidance action implementation plan information 105 is set with an avoidance action plan formulated by the risk avoidance action support device 104.

[0187] FIG. 62 is an example of the space information recorder of the megaconstellation business device according to the first embodiment. In FIG. 62, in particular, the details of the real-time high-precision orbit information 63 are described. In the real-time high-precision orbit information 63, predicted orbit information and actual orbit information are set corresponding to the satellite ID. These predicted orbit information and actual orbit information are set in real time and with high precision.

[0188] <Space object business device> The space traffic management device 200 of the space object business device includes a space information recorder 101. The space object business device manages satellites of a normal satellite constellation or satellites for which it is not appropriate to disclose orbit information or whose orbit information is encrypted. Therefore, the space information recorder 101 of the space traffic management device 200 of the space object business device includes non-public orbit information 62 associated with a space object ID that is the ID of a specific space object S.

[0189] The non-public orbit information 62 is set with the predicted orbit information of the space object S. The predicted orbit information is set with an epoch, orbit elements, and a prediction error.

[0190] <Collision avoidance support business device> The space traffic management device 200 of the collision avoidance support business device comprises a space information recorder 101, a hazard warning device 102, and a hazard analysis device 103.

[0191] The space information recorder 101 of the collision avoidance support system records non-public orbital information 62 of space object S, which is received from the space object system via a communication line. The non-public orbital information 62 of space object S is associated with a space object ID, which represents the ID of space object S. Furthermore, the space information recorder 101 of the collision avoidance support system records public orbit information 61, which is associated with the satellite constellation ID, received from the mega-constellation system. The public orbit information 61 contains the orbital information or flight region information of the mega-constellation.

[0192] Thus, the database of the space traffic management device 200, a collision avoidance support system, records the following information: - Non-public orbital information 62 of a specific space object S received via a communication line from the space object business device. • Orbital information or flight area information of satellite constellations obtained from the Mega Constellation project equipment.

[0193] The hazard analysis device 103 performs orbital analysis of space objects. The hazard analysis device 103 is an example of an orbital analysis unit 431 that performs orbital analysis of a specific space object S. For example, the hazard analysis device 103 analyzes whether a specific space object S will enter the orbital altitude region where a constellation of satellites is flying.

[0194] The danger warning device 102 notifies of the risk of approaching or colliding with an object in space. The danger warning device 102 is an example of a notification unit that, when it is foreseen that a specific object S intrudes into the orbital altitude region in which a constellation of satellites is flying, notifies the megaconstellation operator of an intrusion warning and confidential orbital information 62 of the specific object S via a communication line. The communication line may be made confidential using an encryption key.

[0195] In the embodiments described above, the following SSA business equipment was explained. The SSA business equipment is business equipment used by SSA operators to manage space object information, It is equipped with a space traffic management device that is compatible with the space traffic management devices equipped with multiple business devices that manage space objects, The space traffic management system, which connects multiple space traffic management devices equipped with various operational devices via communication lines, is connected to the aforementioned space traffic management device.

[0196] The aforementioned space traffic management device A space information recorder that records orbital information of space objects and Hazard analysis device and Danger alarm system that notifies of abnormal approach, collision, or intrusion into a dangerous area by an extraterrestrial object. It is equipped with, and further A device to support dangerous behavior, Information on risk avoidance action plans, Security management information, It comprises all or part of the following.

[0197] The SSA business device uses multiple pieces of space object information acquired by the aforementioned space information recorder. The aforementioned hazard analysis device performs approach, collision, or intrusion analysis, If a dangerous approach, collision, or intrusion is foreseen, The danger alarm system notifies the operational equipment of the space object involved of the danger.

[0198] The SSA business device is the operator managing the space object that is the party that reported the danger using the danger alarm device, The aforementioned risk avoidance behavior support device adjusts the risk avoidance behavior, Information on the risk avoidance action plan will be made public.

[0199] The SSA project equipment notifies the debris removal project equipment or the mega-constellation project equipment of a danger alert. We request that you take action to avoid danger.

[0200] The SSA business device reports danger warnings to the space insurance business device and assists in damage compensation measures in case of a collision accident.

[0201] The SSA business device is a business device for an SSA operator to manage space object information, and includes a space traffic management device that is compatible with the space traffic management devices included in multiple business devices for managing space objects. It is connected to a space traffic management system in which the space traffic management devices included in multiple business devices are connected by a communication line, and is connected to the space traffic management device included in a specific business device by a secure line.

[0202] According to such an SSA business device, when the user of SSA information is a manager of space objects with confidentiality, or when it is necessary to keep confidential the information of space objects to be monitored, there is an effect that information can be exchanged only with the necessary business devices according to the need-to-know principle.

[0203] The SSA business device is a business device for an SSA operator to manage space object information, and includes a space traffic management device that is compatible with the space traffic management devices included in multiple business devices for managing space objects. It is connected to a space traffic management system in which the space traffic management devices included in multiple business devices are connected by a communication line.

[0204] It is a business device for an SSA operator to manage space object information, and the danger warning device reports the rocket launch planned orbit information or the orbit information of a space object that deorbits and descends in orbit to the megaconstellation operator.

[0205] Also, in the above embodiments, the following space traffic business device has been described.

[0206] The space transport business system manages space transport and includes a control system or collision avoidance support system for space shuttles, and also incorporates the functions of a space transport operation (SSA) system.

[0207] Space traffic management equipment includes control systems installed at spaceports of spaceplanes and other reciprocating aircraft. This assumes that the U.S. Federal Aviation Administration (FAA) is responsible for space traffic management. The FAA is an air traffic control organization and does not possess space objects, but it manages space traffic.

[0208] Furthermore, the following debris removal equipment and ground facilities were described in the above embodiments.

[0209] Debris removal equipment is used by debris removal companies to remove space objects. A debris removal business device that manages a debris removal satellite, The aforementioned debris removal satellite is equipped with a capture device for capturing space objects, a propulsion system, an orbit control device, and a communication device. The aforementioned cosmic object During the process of leaving orbit and re-entering the atmosphere, In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. Before entering any of the following, The aforementioned space object will be captured and used to avoid collisions during orbital descent.

[0210] Debris removal equipment is used by debris removal companies to remove space objects. A debris removal business device that manages a debris removal satellite, The aforementioned debris removal satellite is a ready-to-launch satellite that is prepared for launch and on standby on the ground. After it was foreseen that the aforementioned space object would enter a region of dense satellite populations Launch the aforementioned space object into its predicted orbit, Capture the aforementioned space object Collision avoidance operations will be implemented during orbital descent.

[0211] Ground facilities are used by debris removal operators who remove space objects using debris removal satellites. Ground equipment for operating and controlling the aforementioned debris removal satellite, Space objects During the process of leaving orbit and re-entering the atmosphere, In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. If the analysis and prediction reveal that the course will pass through one of the following paths, Send a command to the orbital control device equipped on the debris removal satellite. By increasing or decreasing satellite speed to raise or lower orbital altitude, or by changing the orbital inclination angle by applying acceleration out of the orbital plane through thruster firing in a direction roughly perpendicular to the satellite's direction of travel, the timing of passing through congested orbits or the orbital plane can be shifted to avoid collision risks. Collision avoidance operations will be implemented during orbital descent.

[0212] Ground facilities are used by debris removal operators who remove space objects using debris removal satellites. Ground equipment for operating and controlling the aforementioned debris removal satellite, The aforementioned debris removal satellite is equipped with a capture device that restrains space objects in six degrees of freedom, The aforementioned ground equipment It is equipped with means for analyzing the center of gravity of a debris removal satellite in a state where it has captured a space object, Send a command to the orbital control device equipped on the debris removal satellite. The thrust vector of the propulsion system passes through the center of gravity of the captured state. Operate and control the track control system.

[0213] Ground facilities are used by debris removal operators who remove space objects using debris removal satellites. Ground equipment for operating and controlling the aforementioned debris removal satellite, The aforementioned debris removal satellite is a ready-to-launch satellite that is prepared for launch and on standby on the ground. After it was foreseen that the aforementioned space object would enter a region of dense satellite populations Launch the aforementioned space object into its predicted orbit, Capture the aforementioned space object Collision avoidance operations will be implemented during orbital descent.

[0214] Debris removal equipment is used by debris removal companies to remove space objects. A debris removal business device that manages a debris removal satellite, It is equipped with the aforementioned ground facilities.

[0215] Debris removal equipment is used by debris removal companies to remove space objects. A debris removal business device that manages a debris removal satellite, It is equipped with a space traffic management device that is compatible with the space traffic management devices equipped with multiple business devices that manage space objects, The space traffic management system, which connects multiple space traffic management devices equipped with various operational devices via communication lines, is connected to the aforementioned space traffic management device.

[0216] The aforementioned space traffic management device A space information recorder that records orbital information of space objects and A warning system for when an extraterrestrial object approaches a dangerous area. Hazard analysis device and A device to support dangerous behavior, Information on risk avoidance action plans, Security management information, A debris removal device comprising all or part of the above.

[0217] The debris removal equipment is equipped with a space traffic management system. The danger warning system acquires information predicting the approach or collision of multiple space objects. The orbital information of the approaching space object and the orbital information of the space object being approached are acquired by the space information recorder. The hazard analysis device analyzes the time and on-orbit position at which a hazard is foreseeable. We will take hazard avoidance actions using a debris removal satellite.

[0218] The debris removal equipment is equipped with a space traffic management system. The danger alarm system acquires information about the intrusion of space objects into dangerous areas. The orbital information of the approaching space object and the orbital information of the space object being approached are acquired by the space information recorder. The hazard analysis device analyzes the time and on-orbit position at which a hazard is foreseeable. The hazard avoidance behavior support device facilitates coordination between businesses involved in hazard avoidance. Develop a plan for implementing risk avoidance actions, We will take hazard avoidance actions using a debris removal satellite.

[0219] Furthermore, the following debris removal equipment and ground facilities were described in the above embodiments.

[0220] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The system includes a space object management unit that manages a satellite constellation to ensure that multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles that result in approximately equal distribution within the orbital plane. Mega-constellation satellite project equipment.

[0221] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, It has a space object management unit that manages satellite constellations so that satellites with different orbital planes and normal vectors adopt different orbital altitudes. Mega-constellation satellite project equipment.

[0222] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, In a satellite constellation where a group of satellites cooperate to provide services, and in a satellite constellation formation system where multiple satellites fly in multiple orbital planes at the same nominal orbital altitude in each orbital plane, By controlling the orbital altitude and timing of passages of satellite constellations flying through regions where multiple orbital planes intersect, We will continue providing services while avoiding collisions. Equipped with a satellite constellation forming section Mega-constellation satellite project equipment.

[0223] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, In a satellite constellation where a group of satellites cooperate to provide services, and in a satellite constellation formation system where multiple satellites fly in multiple orbital planes at the same nominal orbital altitude in each orbital plane, After a collision is foreseen with a space object descending into orbit, a rocket in the process of launch, a satellite in orbital transition, or space debris, By controlling the orbits and timing of the satellite constellation's passages We will continue providing services while avoiding collisions. Equipped with a satellite constellation forming section Mega-constellation satellite project equipment.

[0224] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, During the process of a satellite that makes up a megaconstellation leaving orbit and re-entering the atmosphere, In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. Before the satellite enters any of the above, The aforementioned satellite is equipped with a space object management unit for collision avoidance operations during orbital descent. Mega-constellation satellite project equipment.

[0225] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, Ground equipment comprising a communication device for sending and receiving signals for tracking and controlling satellites constituting a satellite constellation, an orbit control command transmission unit for transmitting orbit control commands, and an analysis and prediction unit for analyzing and predicting the trajectory of the satellite after receiving an orbit deorbit command, wherein the ground equipment transmits the orbit control command to deorbit a satellite that has reached the end of its design life by operating the propulsion system of the satellite, The aforementioned trajectory control command transmission unit, When the analysis and prediction unit determines that the satellite is passing through the orbital plane of the satellite constellation, the ground equipment transmits the orbital control command to perform an orbital control operation to avoid collision risk by adjusting the timing of passing through a congested orbit or shifting the orbital plane. This command is performed by increasing or decreasing the satellite's velocity to raise or lower its orbital altitude, or by changing the orbital inclination angle by applying acceleration out of the orbital plane by firing the thrusters in a direction approximately perpendicular to the satellite's direction of travel. Mega-constellation satellite project equipment.

[0226] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The system includes a space traffic management device that connects the space traffic management devices of each business operator managing space objects via communication lines, forming a space traffic management system. The aforementioned space traffic management device is In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. Dense area identification information that identifies a dense area, The operator managing satellites flying in the aforementioned densely populated area has rule information, which is a space traffic management rule that represents the rules for disclosing satellite information, The system includes a space object management unit that uses the aforementioned dense area identification information and rule information to enable operators managing satellites flying in the same orbital plane to exchange information regarding flight safety measures. Mega-constellation satellite project equipment.

[0227] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The system includes a space traffic management device that connects the space traffic management devices of each business operator managing space objects via communication lines, forming a space traffic management system. The aforementioned space traffic management device is It is equipped with a space information recorder that records satellite orbit information, In addition to this Space traffic management rules information, Hazard analysis device and Danger warning device, A device to support dangerous behavior, Information on risk avoidance action plans, Security management information, Having all or part of, Mega-constellation satellite project equipment.

[0228] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The system includes a space traffic management device that connects the space traffic management devices of each business operator managing space objects via communication lines, forming a space traffic management system. The aforementioned space traffic management device includes rule information representing rules for multiple satellites with the same normal vector and flying at the same orbital altitude to maintain relative phase angles that result in approximately equal distribution within the orbital plane, Rule information for satellites with different orbital planes and normal vectors to adopt different orbital altitudes, A mega-constellation satellite operational instrument equipped with this system.

[0229] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The system includes a space traffic management device that connects the space traffic management devices of each business operator managing space objects via communication lines, forming a space traffic management system. The aforementioned space traffic management device is During the process of a satellite that makes up a megaconstellation leaving orbit and re-entering the atmosphere, In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. Before the satellite enters any of the above, The aforementioned satellite is equipped with rule information for collision avoidance operations during orbital descent. Mega-constellation satellite project equipment.

[0230] A satellite constellation consisting of a group of satellites, wherein the group of satellites cooperates to provide services, and the satellite constellation formation system has multiple orbital planes in which multiple satellites fly at the same orbital altitude, A satellite constellation forming system comprising a satellite constellation forming unit that forms the satellite constellation in which the orbital altitudes of each of the plurality of orbital planes are different from each other.

[0231] A satellite constellation formation method for a satellite constellation formation system, which forms a satellite constellation composed of a group of satellites, the satellite group of satellites cooperating to provide services, and the satellite constellation having multiple orbital planes in which multiple satellites fly at the same orbital altitude, A satellite constellation forming method wherein the satellite constellation forming unit forms a satellite constellation in which the orbital altitude of each of the plurality of orbital planes is the same, and each of the plurality of orbital planes is on a different plane from one another, wherein the satellite passage times when satellites flying on each orbital plane pass over the intersections of the plurality of orbital planes are multiples of the time difference value obtained by dividing the waiting time until the next satellite arrives on the same orbital plane by the number of orbital planes, and the satellite passage times do not coincide at any intersection of any two of the plurality of orbital planes.

[0232] A debris removal method comprising a capture device or external force application device and a propulsion device for changing the orbital plane of an object before the object descends from above the orbital plane in which the satellite flies and passes through the orbital plane.

[0233] In a satellite constellation construction method to which the debris removal method described above is applied to a satellite constellation constructed by a satellite constellation formation system, A satellite constellation construction method that involves inserting a satellite into an orbital altitude in a different orbital plane near the orbital plane of a component satellite, and then increasing or decreasing its speed to change the angle between the orbital altitude and the orbital plane around the Earth's axis, thereby adding a component satellite.

[0234] Ground equipment comprising a communication device for sending and receiving signals for tracking and controlling satellites constituting a satellite constellation, an orbit control command transmission unit for transmitting orbit control commands, and an analysis and prediction unit for analyzing and predicting the trajectory of the satellite after receiving an orbit deorbit command, wherein the ground equipment transmits the orbit control command to deorbit a satellite that has reached the end of its design life by operating the propulsion system of the satellite, The aforementioned trajectory control command transmission unit, When the analysis and prediction unit determines that the satellite is passing through the orbital plane of the satellite constellation, the ground equipment transmits the orbit control command to perform an active deorbit operation to avoid collision risk by adjusting the timing of passing through a congested orbit or shifting the orbital plane, by increasing or decreasing the orbital altitude by increasing or decreasing the satellite speed, or by changing the orbital inclination angle by applying acceleration in the out-of-plane direction of the orbital plane by firing the thrusters in a direction approximately perpendicular to the direction of satellite movement.

[0235] Ground equipment comprising: a communication device for sending and receiving signals for tracking and controlling a debris recovery satellite equipped with a device for recovering a malfunctioning satellite that has lost its orbital control function; an orbital control command transmission unit; and an analysis and prediction unit for analyzing and predicting the trajectory of the debris recovery satellite when it has captured the malfunctioning satellite; and transmitting a capture command and orbital control command to the debris recovery satellite to deorbit the malfunctioning satellite by operating the capture device and propulsion device equipped on the debris recovery satellite, Ground equipment for performing active deorbit operations to avoid collision risk by shifting the timing of passing through a congested orbit or the orbital plane, when analysis and predictions indicate that the satellite will pass through the orbital plane near LST10:30 of a congested orbit in a sun-synchronous orbit at an orbital altitude of 500 km to 800 km, by using the orbit control device of the above-mentioned satellite to increase or decrease the orbital altitude by increasing or decreasing the satellite speed, or by changing the orbital inclination angle by applying acceleration in the out-of-plane direction of the orbital plane by firing the thrusters in a direction approximately perpendicular to the direction of satellite movement.

[0236] A space traffic management system that connects the space traffic management devices equipped in the respective business devices of multiple operators managing space objects via communication lines, Each of the multiple space traffic management devices is, Rule information representing the rules for satellites with different orbital planes having different normal vectors to adopt different orbital altitudes, In accordance with the aforementioned rule information, the Space Object Management Unit manages the Space Object and A space traffic management system equipped with [unspecified features].

[0237] A space traffic management system that connects the space traffic management devices equipped in the respective business devices of multiple operators managing space objects via communication lines, Each of the multiple space traffic management devices is, Rule information representing the rules by which multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles that result in approximately equal distribution within the orbital plane, In accordance with the aforementioned rule information, the Space Object Management Unit manages the Space Object and A space traffic management system equipped with [unspecified features].

[0238] A space traffic management system that connects the space traffic management devices equipped in the respective business devices of multiple operators managing space objects via communication lines, Each of the multiple space traffic management devices is, During the process of a space object leaving its orbit and re-entering the atmosphere, In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. Before the aforementioned space object enters any of the following, A space traffic management system equipped with a space object management unit that captures the aforementioned space object and performs collision avoidance operations during orbital descent.

[0239] A space object management unit equipped in a business device for managing space objects, During the process of the aforementioned space object leaving its orbit and re-entering the atmosphere, In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. Before the aforementioned space object enters any of the following, A space object management unit that captures the aforementioned space object and performs collision avoidance operations during orbital descent.

[0240] A method for operating a space traffic management system to avoid collisions during orbital descent, which connects the space traffic management devices equipped in the respective business devices of multiple operators managing space objects via communication lines, Each of the space object management units of multiple space traffic management devices, During the process of a space object leaving its orbit and re-entering the atmosphere, In the vicinity of the sun-synchronous orbit LST10:30, the region with an orbital altitude of 500 km to 1000 km, In the vicinity of the sun-synchronous orbit LST13:30, in the region between orbital altitudes of 500 km and 1000 km, The region near the sun-synchronous orbit LST06:00, with an orbital altitude of between 500 km and 1000 km, The region near the sun-synchronous orbit LST18:00, with an orbital altitude of between 500 km and 1000 km, The region above 80 degrees north latitude and at orbital altitudes of 500 km to 1000 km, The region above 80 degrees south latitude and with an orbital altitude of 500 km to 1000 km. Before the aforementioned space object enters any of the following, A method for avoiding collisions during orbital descent by capturing the aforementioned space object and performing collision avoidance operations during orbital descent.

[0241] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, Managing the satellite constellation formation system Mega-constellation satellite project equipment.

[0242] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The method for forming the satellite constellation described above is executed. Mega-constellation satellite project equipment.

[0243] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The aforementioned satellite constellation construction method is adopted. Mega-constellation satellite project equipment.

[0244] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, Equipped with the aforementioned ground facilities Mega-constellation satellite project equipment.

[0245] A mega-constellation satellite business device is a business device that manages a constellation of more than 100 satellites, The space traffic management system comprises a space traffic management device. Mega-constellation satellite project equipment.

[0246] A constellation satellite business device is a business device that manages a constellation of 10 or more satellites, Equipped with the aforementioned ground facilities Constellation satellite project equipment.

[0247] A constellation satellite business device is a business device that manages a constellation of 10 or more satellites, The space traffic management system comprises a space traffic management device. Constellation satellite project equipment.

[0248] Satellite business equipment is a business equipment that manages fewer than 10 satellites, Equipped with the aforementioned ground facilities Satellite business equipment.

[0249] Satellite business equipment is a business equipment that manages fewer than 10 satellites, The space traffic management system comprises a space traffic management device. Satellite business equipment.

[0250] A mega-constellation satellite business unit is a business unit that manages a constellation of more than 100 satellites, or A constellation satellite business unit is a business unit that manages a constellation of 10 or more satellites, or Satellite business equipment is a business device that manages satellite constellations with fewer than 10 satellites. And, The aforementioned collision avoidance operation method during orbital descent is adopted. Satellite business equipment.

[0251] A business device for a space debris removal satellite equipped with means for capturing space objects, The aforementioned debris removal method is adopted. Debris removal equipment.

[0252] A business device for a space debris removal satellite equipped with means for capturing space objects, Equipped with the aforementioned ground facilities Debris removal equipment.

[0253] A business device for a space debris removal satellite equipped with means for capturing space objects, The space traffic management system comprises a space traffic management device. Debris removal equipment.

[0254] A business device for a space debris removal satellite equipped with means for capturing space objects, The aforementioned space object management unit is provided Debris removal equipment.

[0255] A business device for a space debris removal satellite equipped with means for capturing space objects, The aforementioned collision avoidance operation method during orbital descent is adopted. Debris removal equipment.

[0256] A business device used by an SSA operator to manage information on space objects, The space traffic management system comprises a space traffic management device. SSA business equipment.

[0257] A business device for managing information on space objects other than satellites or rockets, including space stations, space transport vehicles, or spacecraft, The aforementioned collision avoidance operation method during orbital descent is adopted. Space object business equipment.

[0258] A space transportation business system that manages space traffic and includes a control system or collision avoidance support system for space shuttles, The space traffic management system comprises a space traffic management device. Space transportation business equipment.

[0259] Embodiment 13. This embodiment mainly describes the additions or differences between Embodiments 1 to 12. Note that components similar to those in Embodiments 1 to 12 are denoted by the same reference numerals, and their descriptions may be omitted.

[0260] The configuration for observing the space object 110 will be explained based on Figures 36 to 47.

[0261] ***Explanation of the structure*** Based on Figure 36, the configuration of the observation system 100 will be explained. Observation system 100 is a system for observing space object 110. "Observation" includes concepts such as "surveillance" or "photography."

[0262] Space object 110 is an object that exists in space. A specific example of space object 110 is space debris. Space object 110 flies in geostationary orbit 103 and orbits Earth 101.

[0263] The observation system 100 is equipped with an observation satellite 200. Observation satellite 200 is an artificial satellite that orbits the Earth at point 101. Observation satellite 200 will orbit Earth 101, flying in or near geostationary orbit 103. Observation satellite 200 will optically photograph space object 110 from an altitude different from the altitude at which space object 110 is located.

[0264] The altitude of geostationary orbit 103 is approximately 36,000 kilometers. A geostationary satellite is an artificial satellite that orbits the Earth in a geostationary orbit (103) in sync with the Earth's rotation (101). In other words, a geostationary satellite completes one orbit in geostationary orbit (103) per day. To put it another way, a geostationary satellite completes one orbit in geostationary orbit (103) every 24 hours. Space object 110, like a geostationary satellite, orbits geostationary orbit 103 once per day. Observation satellite 200 orbits geostationary orbit 103 or near geostationary orbit 103 once per day. The directions in which space object 110 and observation satellite 200 orbit are the same as the directions in which geostationary satellites orbit.

[0265] The light from Sun 102 is called sunlight. The side of Earth 101 that receives sunlight is called the near side of Earth 101. The side of Earth 101 that is not exposed to sunlight is called the far side of Earth 101. In Figure 36, the space object 110 and the observation satellite 200 are both orbiting the near side of Earth 101.

[0266] Based on Figure 37, the configuration of observation satellite 200 will be explained. The observation satellite 200 is equipped with an observation instrument 201, a satellite control device 202, a communication device 203, a propulsion device 204, an attitude control device 205, and a power supply device 206.

[0267] Observation device 201 is a device for observing space object 110. The observation instrument 201 optically photographs the space object 110 flying at an altitude different from the orbital altitude of the observation satellite 200. Specifically, the observation instrument 201 is a visible optical sensor. The observation device 201 generates observational data. Observational data is data obtained through observations performed by the observation device 201. For example, the observational data corresponds to data representing an image of the space object 110.

[0268] The satellite control device 202 is a computer that controls the observation satellite 200. The satellite control device 202 controls the observation device 201, the propulsion device 204, and the attitude control device 205 according to predetermined procedures or various commands transmitted from ground equipment.

[0269] Communication device 203 is a device that communicates with ground facilities. The communication device 203 transmits observation data to ground equipment. The communication device 203 also receives various commands transmitted from ground equipment.

[0270] The propulsion device 204 is a device that provides thrust to the observation satellite 200 and changes the speed of the observation satellite 200. Specifically, the propulsion system 204 is an electric propulsion system. For example, the propulsion system 204 is an ion engine or a Hall thruster.

[0271] The attitude control device 205 is a device for controlling the attitude elements of the observation satellite 200. The attitude control device 205 changes the attitude elements of the observation satellite 200 in a desired direction. Alternatively, the attitude control device 205 maintains the attitude elements of the observation satellite 200 in a desired direction. Specifically, the attitude elements of the observation satellite 200 are the attitude of the observation satellite 200, the angular velocity of the observation satellite 200, and the line of sight of the observation instrument 201. The attitude control device 205 comprises attitude sensors, actuators, and a controller. The attitude sensors include gyroscopes, earth sensors, solar sensors, star trackers, thrusters, or magnetic sensors. The actuators include attitude control thrusters, momentum wheels, reaction wheels, or control moment gyros. The controller controls the actuators by executing a control program based on measurement data obtained from the attitude sensors or according to control commands from ground equipment.

[0272] The power supply unit 206 is equipped with solar cells, batteries, and a power control device, and supplies power to each device of the observation satellite 200.

[0273] Let me add some information about the satellite control device 202. The satellite control device 202 is equipped with a processing circuit. The processing circuit may be dedicated hardware or a processor that executes a program stored in memory. The processing circuit functions as an observation and control unit that controls the propulsion device 204. In a processing circuit, some functions may be implemented by dedicated hardware, while the remaining functions are implemented by software or firmware. In other words, a processing circuit can be implemented using hardware, software, firmware, or a combination thereof. Dedicated hardware includes, for example, single circuits, complex circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array.

[0274] I will provide additional information about the pointing function of observation satellite 200. Observation satellite 200 has a pointing function to orient its observation direction toward space object 110. For example, observation satellite 200 is equipped with reaction wheels. Reaction wheels are devices used to control the attitude of observation satellite 200. The attitude of observation satellite 200 is controlled by the reaction wheels, enabling body pointing. For example, the observation device 201 is equipped with a pointing mechanism. The pointing mechanism is a mechanism for changing the line of sight of the observation device 201. For example, a drive mirror or the like may be used in the pointing mechanism.

[0275] I will provide additional information about the observation functions of observation device 201. The observation device 201 has a variable resolution function and an autofocus function. The variable resolution function allows you to change the resolution during observation. The autofocus function is a feature that focuses on space object 110.

[0276] ***Explanation of operation*** The operation of the observation system 100, and in particular the operation of the observation satellite 200, corresponds to the observation method.

[0277] I will now explain the overview of the observation method. The propulsion system 204 changes the flight speed of the observation satellite 200 after it has begun orbiting either the near side or the far side of Earth 101. This causes the orbital altitude of the observation satellite 200 to change from the altitude of geostationary orbit 103. The propulsion system 204 changes the flight speed of the observation satellite 200 before it begins orbiting the other side of Earth 101, which is either the near side or the far side. This causes the observation satellite 200's orbital altitude to return to the altitude of geostationary orbit 103. The observation device 201 optically photographs the space object 110 flying at an altitude different from the orbital altitude of the observation satellite 200.

[0278] The observation method will be explained based on Figures 38 to 47. The four times "00:00", "06:00", "12:00", and "18:00" assigned to geostationary orbit 103 represent the time in a specific region of Earth 101 (for example, Japan). Observation satellite 200 orbits the near side of Earth 101 during daylight hours (06:00 to 18:00) in a specific region. In other words, observation satellite 200 begins orbiting the near side of Earth 101 around 6:00 and finishes orbiting the near side of Earth 101 around 18:00. Observation satellite 200 orbits the far side of Earth 101 during nighttime hours (18:00 to 06:00) in a specific region. In other words, observation satellite 200 begins orbiting the far side of Earth 101 around 18:00 and finishes orbiting the far side of Earth 101 around 6:00.

[0279] <Example 1> Example 1 will be described based on Figures 38 to 42. Example 1 is an example in which the observation satellite 200 orbits the near side of the Earth 101.

[0280] After the observation satellite 200 begins orbiting the near side of Earth 101, the propulsion system 204 increases the flight speed of the observation satellite 200. Specifically, the satellite control device 202 determines whether or not the observation satellite 200 has begun orbiting the near side of the Earth 101. For example, the satellite control device 202 makes this determination by referring to the time. If the observation satellite 200 has begun orbiting the near side of the Earth 101, the satellite control device 202 instructs the propulsion device 204 to increase its speed. The propulsion device 204 then increases the flight speed of the observation satellite 200. As a result, the orbital altitude of observation satellite 200 will rise from the altitude of geostationary orbit 103.

[0281] As the orbital altitude of observation satellite 200 rises from the altitude of geostationary orbit 103, the ground velocity of observation satellite 200 decreases. In other words, the ground velocity of observation satellite 200 will be slower than the ground velocity of space object 110.

[0282] Figure 40 shows how space object 110, having caught up with observation satellite 200, is photographed by observation satellite 200. Figure 41 shows how space object 110, which has overtaken observation satellite 200, is photographed by observation satellite 200. While the observation satellite 200 is orbiting the near side of the Earth 101, the observation instrument 201 photographs the space object 110 flying at an altitude lower than the orbital altitude of the observation satellite 200. As a result, the observation instrument 201 photographs the space object 110 in direct sunlight. Specifically, while the observation satellite 200 is orbiting the near side of Earth 101, the observation instrument 201 takes pictures in the direction of Earth 101. As a result, the observation instrument 201 takes pictures of space object 110 that is flying in geostationary orbit 103 and overtaking the observation satellite 200.

[0283] Before observation satellite 200 begins orbiting the far side of Earth 101, the propulsion system 204 slows down the flight speed of observation satellite 200. Specifically, the satellite control device 202 determines whether or not the observation satellite 200 is about to begin orbiting the far side of Earth 101. For example, the satellite control device 202 makes this determination by referring to the time. Before the observation satellite 200 begins orbiting the far side of Earth 101, the satellite control device 202 instructs the propulsion device 204 to decelerate. The propulsion device 204 then reduces the flight speed of the observation satellite 200. As a result, the orbital altitude of observation satellite 200 will descend to the altitude of geostationary orbit 103.

[0284] <Example 2> Example 2 will be described based on Figures 43 to 47. Example 2 is an example in which observation satellite 200 orbits on the far side of Earth 101.

[0285] After observation satellite 200 begins orbiting the far side of Earth 101, the propulsion system 204 slows down the flight speed of observation satellite 200. Specifically, the satellite control device 202 determines whether or not the observation satellite 200 has begun orbiting the far side of the Earth 101. For example, the satellite control device 202 makes this determination by referring to the time. If the observation satellite 200 has begun orbiting the far side of the Earth 101, the satellite control device 202 instructs the propulsion system 204 to decelerate. The propulsion system 204 then reduces the flight speed of the observation satellite 200. As a result, the orbital altitude of observation satellite 200 will decrease from the altitude of geostationary orbit 103.

[0286] As the orbital altitude of observation satellite 200 descends from the altitude of geostationary orbit 103, the ground velocity of observation satellite 200 increases. In other words, the ground velocity of observation satellite 200 will be faster than the ground velocity of space object 110.

[0287] Figure 45 shows the space object 110 being overtaken by observation satellite 200 and being photographed by observation satellite 200. Figure 46 shows how space object 110, which has been overtaken by observation satellite 200, is photographed by observation satellite 200. While observation satellite 200 is orbiting on the far side of Earth 101, observation instrument 201 photographs space object 110 flying at an altitude higher than the orbital altitude of observation satellite 200. As a result, observation instrument 201 photographs space object 110 in direct sunlight. Specifically, while the observation satellite 200 is orbiting on the far side of Earth 101, the observation instrument 201 photographs the opposite side from Earth 101. As a result, the observation instrument 201 photographs the space object 110 as it is overtaken by the observation satellite 200 while flying in geostationary orbit 103.

[0288] Before the observation satellite 200 begins orbiting the near side of Earth 101, the propulsion system 204 increases the flight speed of the observation satellite 200. Specifically, the satellite control device 202 determines whether or not the observation satellite 200 is about to begin orbiting the near side of Earth 101. For example, the satellite control device 202 makes this determination by referring to the time. Before the observation satellite 200 begins orbiting the near side of Earth 101, the satellite control device 202 instructs the propulsion device 204 to increase its speed. The propulsion device 204 then increases the flight speed of the observation satellite 200. This will raise the orbital altitude of observation satellite 200 to the altitude of geostationary orbit 103.

[0289] ***Effects of Embodiment 1*** Observation satellite 200 will fly in or near geostationary orbit 103. Observation satellite 200 will increase its speed and rise its orbital altitude after 6:00. Then, observation satellite 200 will photograph space object 110 as it flies through geostationary orbit 103 and overtakes observation satellite 200. Finally, observation satellite 200 will decelerate and descend its orbital altitude before 18:00. As observation satellite 200 increases its speed, its orbital altitude rises. As the orbital altitude of observation satellite 200 increases, its velocity relative to the ground decreases. Therefore, observation satellite 200 is overtaken by space object 110 flying in geostationary orbit 103. Observation satellite 200 flies at an orbital altitude higher than the altitude of geostationary orbit 103 between 6:00 and 18:00. Observation satellite 200 receives solar reflected light from space object 110 flying in geostationary orbit 103. This allows observation satellite 200 to observe space object 110 under favorable conditions.

[0290] Observation satellite 200 will decelerate after 18:00 and descend its orbital altitude. Then, observation satellite 200 will photograph space object 110 as it flies through geostationary orbit 103 and is overtaken by observation satellite 200. After that, observation satellite 200 will accelerate before 6:00 the following day and ascend its orbital altitude. As observation satellite 200 decelerates, its orbital altitude decreases. As the orbital altitude of observation satellite 200 decreases, its velocity over the ground increases. Therefore, observation satellite 200 overtakes space object 110 flying in geostationary orbit 103. Observation satellite 200 flies at an orbital altitude lower than the altitude of geostationary orbit 103 between 18:00 and 6:00 the following day. Observation satellite 200 receives reflected sunlight from space object 110 flying in geostationary orbit 103. This allows observation satellite 200 to observe space object 110 under favorable conditions.

[0291] ***Supplement to Embodiment 1*** Observation satellite 200 may fly in orbits other than geostationary orbit 103, or in the vicinity thereof. Space object 110 may fly in an orbit other than geostationary orbit 103. Also, space object 110 may fly in an orbit other than geostationary orbit.

[0292] Furthermore, the following SSA business equipment can be realized from the embodiments 1 to 13 described above.

[0293] SSA operators who acquire space object information using monitoring devices A business device for managing information on space objects, Equipped with a monitoring device that flies near geostationary orbit, As the aforementioned monitoring device moves eastward relative to the space object, Between 18:00 Local Sun Time (LST) and 06:00 the following morning (LST) In the atmosphere above the opposite side of the Earth, the side that does not receive sunlight. Activate the monitoring device. SSA business equipment.

[0294] SSA operators who acquire space object information using monitoring devices A business device for managing information on space objects, Equipped with a monitoring device that flies near geostationary orbit, As the aforementioned monitoring device moves westward relative to the space object, Between 06:00 Local Sun Time (LST) and 18:00 LST In the upper atmosphere above the Earth's near side, the side that receives sunlight. Activate the monitoring device. SSA business equipment.

[0295] SSA operators who acquire space object information using monitoring devices A business device for managing information on space objects, A monitoring device flying near geostationary orbit, The aforementioned monitoring device is equipped with ground equipment for controlling its trajectory and monitoring, Moving eastward relative to the space object, Between 18:00 Local Sun Time (LST) and 06:00 the following morning (LST) In the atmosphere above the opposite side of the Earth, the side that does not receive sunlight. Activate the monitoring device, Moving westward relative to the space object, Between 06:00 Local Sun Time (LST) and 18:00 LST In the upper atmosphere above the Earth's near side, the side that receives sunlight. Activate the monitoring device, And adjust the average orbital period of the monitoring device. SSA business equipment.

[0296] SSA operators who acquire space object information using monitoring devices A business device for managing information on space objects, A monitoring device flying near geostationary orbit, The aforementioned monitoring device is equipped with ground equipment for controlling its trajectory and monitoring, Moving eastward relative to the space object, Between 18:00 Local Sun Time (LST) and 06:00 the following morning (LST) In the atmosphere above the opposite side of the Earth, the side that does not receive sunlight. Activate the monitoring device, Moving westward relative to the space object, Between 06:00 Local Sun Time (LST) and 18:00 LST In the upper atmosphere above the Earth's near side, the side that receives sunlight. Activate the monitoring device, Maintaining the average relative position to the aforementioned ground equipment. SSA business equipment.

[0297] SSA operators who acquire space object information using monitoring devices A business device for managing information on space objects, A monitoring device equipped with communication equipment and flying near geostationary orbit, A geostationary satellite equipped with communication equipment, It is equipped with ground facilities for communicating with the aforementioned geostationary satellite, The command for controlling the track and monitoring of the aforementioned monitoring device The data is transmitted to the monitoring device via the geostationary satellite, The monitoring data acquired by the aforementioned monitoring device The ground equipment receives via the geostationary satellite, SSA business equipment.

[0298] The monitoring device communicates with the communication device equipped with it. The antenna of the communication equipment installed on the geostationary satellite, This is an omnidirectional antenna or a fixed antenna without a drive mechanism. SSA business equipment.

[0299] Send commands to the monitoring device via a communications satellite, Ground equipment constituting the SSA business device that receives monitoring data acquired by the monitoring device via a communications satellite.

[0300] Embodiment 14. This embodiment mainly describes the additions or differences between Embodiments 1 to 12. Note that components similar to those in Embodiments 1 to 12 are denoted by the same reference numerals, and their descriptions may be omitted.

[0301] ***Explanation of the structure*** Based on Figure 48, the configuration of the communications satellite 120 will be explained. The communications satellite 120 is equipped with a camera 124. Camera 124 is a wide-angle camera that points in the same direction as the first directional antenna 121E or the second directional antenna 121W.

[0302] The communications satellite 120 allows for the visual observation of the observation satellite 110 and other space objects flying in geostationary orbit 103 or an orbit near geostationary orbit 103. Therefore, it is possible to visually confirm that the environment around the communications satellite 120 is free from communication interference and noise. The other space objects are different from space object 109, which is observed by observation satellite 110.

[0303] The communications satellite 120 is equipped with a camera 124. However, camera 124 is a camera equipped with a fisheye lens. Furthermore, camera 124 is positioned such that the line of sight vector is from the communication satellite 120 to the Earth 101. A camera 124 equipped with a fisheye lens provides image information in the elevation direction within a 360-degree field of view around the line of sight vector. By positioning the camera 124 so that the line of sight vector is from the communications satellite 120 to the Earth 101, the observation satellite 110 and other space objects flying in geostationary orbit 103 or an orbit near geostationary orbit 103 can be visually captured. Furthermore, it becomes possible to estimate the positions of other space objects in orbit. Therefore, it is possible to visually confirm that the environment around the communications satellite 120 is free from communication interference and noise.

[0304] Based on Figure 49, the configuration of observation satellite 110 will be explained. The observation satellite 110 is further equipped with a camera 117. Camera 117 is a wide-angle camera pointed towards the communications satellite 120.

[0305] Camera 117 allows for the visual capture of the communications satellite 120 and other space objects flying in geostationary orbit 103 or an orbit near geostationary orbit 103. This allows for visual confirmation that the environment around the observation satellite 110 is free from interference and noise from communications. The observation satellite 110 is equipped with a camera 117. However, camera 117 is a camera equipped with a fisheye lens. Furthermore, camera 117 is positioned such that the line of sight vector is from the observation satellite 110 to the communication satellite 120.

[0306] A camera 117 equipped with a fisheye lens provides image information in the elevation direction within a 360-degree field of view around the line of sight vector. By positioning the camera 117 such that the line of sight vector is from the observation satellite 110 to the communications satellite 120, it is possible to visually capture the communications satellite 120 and other space objects flying in geostationary orbit 103 or an orbit near geostationary orbit 103. Furthermore, it becomes possible to estimate the positions of other space objects in orbit. Therefore, it is possible to visually confirm that the environment around the observation satellite 110 is free from communication interference and noise.

[0307] In Figure 50, the camera 117 having a fisheye lens is referred to as the "camera with a fisheye lens".

[0308] The meaning of each figure is as follows: The dashed line represents a geostationary orbit. The dotted line represents the orbit of observation satellite 110. (Wn) represents a space object flying in geostationary orbit west of communications satellite 120. (En) represents a space object flying in geostationary orbit east of communications satellite 120. A specific example of a space object is an artificial satellite. The thick border centered on observation satellite 110 represents the field of view of the fisheye lens camera, which is 195. The frame within the field of view 195 represents the communication range 196 of the communication device 113 installed on the observation satellite 110.

[0309] Furthermore, the following observation satellites can be realized from the embodiments 1 to 14 described above.

[0310] Figure 51 shows the following observation satellite according to this embodiment. Observe space objects orbiting the Earth and flying near geostationary orbit. It is an observation satellite, Equipped with observation equipment and propulsion equipment, By controlling the propulsion system so that the observation satellite decelerates, Lower the orbital altitude of the observation satellite, As the orbital altitude decreases, the Earth's rotation speed changes relative to the observation satellite. As the lap speed increases, As the aforementioned observation satellite moves eastward relative to the space object, Between 18:00 Local Sun Time (LST) and 06:00 the following morning (LST) In the atmosphere above the opposite side of the Earth, the side that does not receive sunlight. Activate the monitoring device. Observation satellite.

[0311] Figure 52 shows the following observation satellite according to this embodiment. Observe space objects orbiting the Earth and flying near geostationary orbit. It is an observation satellite, Equipped with observation equipment and propulsion equipment, By operating the propulsion system so that the observation satellite increases its speed, By increasing the orbital altitude of the observation satellite, As the orbital altitude increases, the observation satellite's relationship to the Earth's rotation speed changes. As the lap speed decreases, As the aforementioned observation satellite moves westward relative to the space object, Between 06:00 Local Sun Time (LST) and 18:00 LST In the upper atmosphere above the Earth's near side, the side that receives sunlight. Activate the monitoring device. Observation satellite.

[0312] Observe space objects orbiting the Earth and flying near geostationary orbit. It is an observation satellite, Equipped with observation equipment and propulsion equipment, By operating the propulsion system so that the observation satellite decelerates, Lower the orbital altitude of the observation satellite, As the orbital altitude decreases, the Earth's rotation speed changes relative to the observation satellite. As the lap speed increases, The aforementioned observation satellite moves eastward relative to the space object, By operating the propulsion system so that the observation satellite increases its speed, By increasing the orbital altitude of the observation satellite, As the orbital altitude increases, the observation satellite's relationship to the Earth's rotation speed changes. As the lap speed decreases, The aforementioned observation satellite moves westward relative to the space object, The monitoring device is activated at any time during eastward and westward movement. Furthermore, it adjusts the average orbital period. Observation satellite.

[0313] Observe space objects orbiting the Earth and flying near geostationary orbit. It is an observation satellite, Equipped with observation equipment and propulsion equipment, By operating the propulsion system so that the observation satellite decelerates, Lower the orbital altitude of the observation satellite, As the orbital altitude decreases, the Earth's rotation speed changes relative to the observation satellite. As the lap speed increases, The aforementioned observation satellite moves eastward relative to the space object, By operating the propulsion system so that the observation satellite increases its speed, By increasing the orbital altitude of the observation satellite, As the orbital altitude increases, the observation satellite's relationship to the Earth's rotation speed changes. As the lap speed decreases, The aforementioned observation satellite moves westward relative to the space object, The monitoring device is activated at any time during eastward and westward movement. and maintain the average relative position to the monitored object. Observation satellite.

[0314] Furthermore, observation satellites equipped with a fisheye lens camera or a wide-angle camera pointed forward in the direction of travel can be realized.

[0315] Figure 53 shows an example of the operation of a camera equipped with a fisheye lens according to this embodiment. If all space objects were flying in a geostationary orbit with an orbital inclination of 0 degrees, and the observation satellite, which is flying at an orbital altitude lower than geostationary orbit and moving relatively eastward while monitoring space objects near geostationary orbit, were captured by a fisheye lens camera, the space objects would be aligned in a single line within the field of view of the fisheye lens, as shown in Figure 53.

[0316] Figure 54 shows another example of the operation of a camera equipped with a fisheye lens according to this embodiment. If a space object has an orbital inclination angle other than 0 degrees, the space object will not be aligned in a line in the image acquired by the fisheye camera, but will be scattered as shown in Figure 54. If the origin is the center of the field of view of the image from the fisheye lens camera, and the horizontal axis represents the geostationary orbit plane with an orbital inclination of 0 degrees, then the angle from the horizontal axis corresponds to the azimuth angle of the space object, and the distance from the center corresponds to the distance between the observation satellite and the space object.

[0317] Figures 55 and 56 are graphs plotting information about space objects on a graph with distance on the horizontal axis and azimuth on the vertical axis. When information about a space object is plotted on a graph with distance on the horizontal axis and azimuth on the vertical axis, the information is concentrated around 0 degrees and 180 degrees of azimuth, as shown in Figure 55. Analyzing this graph, as shown in Figure 56, we can see that objects near an azimuth of 0 degrees are located in the east, and objects near an azimuth of 180 degrees are located in the west. The deviation in azimuth angles is due to the fact that the orbital inclination is not 0 degrees.

[0318] Figure 57 shows an example of the operation of a camera equipped with a fisheye lens according to this embodiment. Figure 58 is a graph corresponding to Figure 57. When an observation satellite moves eastward and takes multiple images after a time delay, the western space objects will move further away while maintaining roughly the same relative distribution, while the eastern space objects will move closer while maintaining roughly the same relative distribution, and then move westward after the observation satellite overtakes them. Strictly speaking, a space object flying in an orbit with an orbital inclination of θ degrees will experience an azimuth angle fluctuation of ±θ degrees over a year, but the fluctuation during multiple imaging sessions in a short period of time is negligible.

[0319] Figure 59 shows an example of the operation of a camera equipped with a fisheye lens according to this embodiment, and a corresponding graph. Next, we will consider the case where the space object is in motion. As mentioned above, in images taken multiple times with a time difference, the eastern space object should generally maintain a relative distribution and its distance should decrease. However, if the space object's orbital altitude differs from that of a geostationary orbit, or if the space object is moving by activating its propulsion system, it will deviate from the relative distribution.

[0320] Figure 60 shows an example of the operation of a camera equipped with a fisheye lens according to this embodiment, and a corresponding graph. If relative relationships are maintained, the position of a space object can be predicted in advance, and if the measured value deviates from this prediction, it indicates that the space object is a moving object. If the approach speed is slower than predicted in the east, meaning the distance is greater than predicted, the orbital altitude of the object is estimated to be lower than that of a geostationary orbit, and is estimated to be between the orbital altitude of the observation satellite and the geostationary orbit. Furthermore, while deviations in the azimuth direction indicate movement in the out-of-plane direction, it is generally difficult for artificial satellites to achieve large out-of-plane movements in a short period of time. Therefore, in this case, it is presumed that the debris crossed the orbit near geostationary orbit and possessed an out-of-plane velocity component. It goes without saying that the same analysis can be performed even with a wide-angle camera that does not have a fisheye lens.

[0321] In embodiments 1 to 14 described above, each system and each device, such as the satellite constellation formation system and the space traffic management system, was described as an independent functional block. However, the configuration of each system and each device does not have to be as described in the embodiments above. The functional blocks of each system and each device can have any configuration as long as they can realize the functions described in the embodiments above. Furthermore, each system and each device may be a single device or a system composed of multiple devices. Furthermore, multiple parts of Embodiments 1 to 14 may be combined and implemented. Alternatively, only one part of these embodiments may be implemented. In addition, these embodiments may be combined and implemented in any way, either as a whole or in part. In other words, in embodiments 1 to 14, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment.

[0322] The embodiments described above are essentially preferred examples and are not intended to limit the scope of the Disclosure, the scope of the Applications of the Disclosure, or the scope of Uses of the Disclosure. The embodiments described above can be modified in various ways as needed. [Explanation of symbols]

[0323] 11,11b Satellite constellation formation unit, 20 Satellite constellation, 21 Orbital plane, 30 Satellite, 31 Debris recovery satellite, 32 Satellite communication equipment, 33 Propulsion system, 34 Attitude control system, 40 Business equipment, 41 Mega constellation business equipment, 42 LEO constellation business equipment, 43 Satellite business equipment, 44 Orbital transfer business equipment, 45 Debris removal business equipment, 46 Rocket launch business equipment, 47 SSA business equipment, 51 Orbital control command, 52 Capture command, 60 Space object, 70 Earth, 100 Satellite constellation formation system, 200 Space traffic management equipment, 110 Satellite constellation formation unit, 120 Space traffic management unit, 140 Memory unit, 300 Satellite constellation, 310 Satellite control equipment, 500 Ground equipment, 501 Space traffic management rules, 510 Orbital control command transmission unit, 515 Rule information, 525 Dense area identification information, 520 Analysis and prediction unit, 600 Satellite constellation formation system, 800 Space traffic management system, 910 Processor, 921 Memory, 922 Auxiliary storage device, 930 Input interface, 940 Output interface, 950 Communication device, 61 Public orbit information, 62 Private orbit information, 63 Real-time high-precision orbit information, 101 Space information recorder, 102 Danger warning device, 103 Danger analysis device, 104 Danger avoidance action support device, 105 Danger avoidance action implementation plan information, 100 Observation system, 101 Earth, 102 Sun, 103 Geostationary orbit, 110 Space object, 200 Observation satellite, 201 Observation device, 202 Satellite control device, 203 Communication device, 204 Propulsion device, 205 Attitude control device, 206 Power supply device.

Claims

1. A space situational awareness (SAS) system that collects and provides orbital information about space objects such as artificial satellites or debris, associated with the identification numbers of these space objects, A space traffic management device, comprising each of several other business devices that collect and provide orbital information associated with the identification number of the aforementioned space object, performs space traffic management by controlling the orbit of a satellite in the aforementioned space object and providing orbital information in accordance with rule information representing space traffic management, which includes at least one of the following: a rule for space traffic management in which satellites in orbital planes with different normal vectors adopt different orbital altitudes; a rule for space traffic management in which multiple satellites with the same normal vector and flying at the same orbital altitude maintain relative phase angles so as to be roughly evenly distributed within the orbital plane; and a rule for a business operator managing satellites flying in a densely populated area to disclose satellite orbital information. Equipped with compatible space traffic management devices, A space traffic management system comprising the aforementioned multiple other business devices, wherein the space traffic management systems of the aforementioned multiple business devices are connected to each other by communication lines, and the space traffic management system is connected to the space traffic management system of the device itself via its own device's space traffic management system. A space situational awareness business device that exchanges mutually public information between at least one of the aforementioned multiple business devices and its own device regarding orbital information about the space object and the rule information, concerning flight safety measures to avoid collisions with space objects by eliminating orbital intersections by having artificial satellites in orbital planes with different normal vectors adopt different orbital altitudes, or flight safety measures to avoid collisions with space objects by having multiple satellites with the same normal vector and flying at the same orbital altitude fly while maintaining relative phase angles that result in roughly equal distribution within the orbital plane.

2. The aforementioned space traffic management device, A space information recorder that records orbital information associated with the identification number of the aforementioned space object, Hazard analysis device and A danger warning system that issues a danger alert indicating a dangerous situation due to an abnormal approach, collision, or intrusion into a collision risk zone by an extraterrestrial object. It is equipped with, and further The aforementioned risk analysis device uses the orbital information of multiple space objects acquired by the space information recorder to perform an analysis of approach, collision, or entry into a collision risk area between space objects. If a dangerous approach, collision, or entry into a collision risk area is foreseen, the danger warning device will be notified of the danger warning. The aforementioned danger alarm device notifies the business device that is responsible for managing the identification number of the space object to be reported. The space situation monitoring device according to claim 1.

3. Equipped with a danger avoidance behavior support device that adjusts danger avoidance behavior, The hazard avoidance action support device coordinates the hazard avoidance actions of the space object whose identification number is managed with the space traffic management device that has notified the hazard warning device, and makes public the information of the implementation plan for the coordinated hazard avoidance actions. The space situation monitoring device according to claim 2.

4. The space situation monitoring system according to claim 2 or 3, which notifies the debris removal system that removes debris using debris collection satellites or the mega-constellation system that manages a constellation of 100 or more satellites of the danger warning, requests the debris removal system to take danger avoidance action to remove the debris, or requests the mega-constellation system to take danger avoidance action to control the orbit and the timing of passing through polar regions, crowded orbits, or orbital intersections with other satellites.

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