Patent ID: 12227309

DESCRIPTION OF EMBODIMENTS

In the description of embodiments and the drawings, same elements and corresponding elements are denoted by same reference characters. A description of elements denoted by same reference characters will be appropriately omitted or simplified. In the following embodiments, the term “unit” may be appropriately replaced with the term “circuit”, “step”, “procedure”, “process”, or “circuitry”.

Embodiment 1

FIG.1illustrates a configuration example of a flying object coping system1000. The flying object coping system1000includes a surveillance system310, a communication system320, and a coping system330. The surveillance system310has a plurality of surveillance satellites100, each including a surveillance device and a communication device. The communication system320has a plurality of communication satellites200, each including a communication device. The coping system330includes a land-sea-and-air coping asset332which copes with a flying object520.

The flying object coping system1000transmits flying object information generated through surveillance of the flying object520by the surveillance system310to the coping system330via the communication system320. The flying object coping system1000also has a satellite constellation business apparatus430including a communication route search device470which searches for a satellite information communication route. The satellite constellation business apparatus430transmits an instructive command to the group of surveillance satellites of the surveillance system310and the group of communication satellites of the communication system320on the basis of a communication route obtained through a search by the communication route search device470.

The surveillance system310has the plurality of surveillance satellites100, each including an infrared surveillance device. The surveillance system310detects, as high-temperature objects, a plume at launching of the flying object520and the flying object520that rises in temperature and flies. The surveillance system310sends time information and position information related to the flying object520as flying object information. Specifically, the surveillance satellite100detects, with the infrared surveillance device, a plume at launching of the flying object520and the flying object520that rises in temperature and flies as high-temperature objects. The surveillance system310transmits flying object information including time information and position information related to the flying object520to the coping system330via the communication system320.

Examples of a satellite620and a ground facility700in a satellite constellation formation system600which forms a satellite constellation610will be described usingFIGS.2to4. The satellite constellation610is a unified satellite constellation. The satellite constellation formation system600may be simply called a satellite constellation.

FIG.2is a configuration example of the satellite constellation formation system600. The satellite constellation formation system600includes computers. Although a configuration of one computer is illustrated inFIG.2, each satellite620of a plurality of satellites constituting the satellite constellation610and the ground facility700which communicates with the satellites620are each actually provided with a computer. The computer provided in each of each satellite620of the plurality of satellites and the ground facility700that is to communicate with the satellites620collaborates to implement functions of the satellite constellation formation system600. One example of a configuration of computers which implement the functions of the satellite constellation formation system600will be described below.

The satellite constellation formation system600includes the satellites620and the ground facility700. Each satellite620includes a communication device622which communicates with a communication device950of the ground facility700. Of components of the satellite620, the communication device622is illustrated inFIG.2.

The satellite constellation formation system600includes a processor910and includes other pieces of hardware, such as a memory921, an auxiliary storage device922, an input interface930, an output interface940, and the communication device950. The processor910is connected to the other pieces of hardware via signal lines and controls the other pieces of hardware.

The satellite constellation formation system600includes a satellite constellation formation unit911as a functional element. A function of the satellite constellation formation unit911is implemented by hardware or software. The satellite constellation formation unit911controls formation of the satellite constellation610while communicating with the satellites620.

FIG.3is one example of a configuration of the satellite620of the satellite constellation formation system600. The satellite620includes a satellite control device621, the communication device622, a propulsion device623, an attitude control device624, and a power supply device625. Although the satellite620may include other constituent elements which implement various types of functions, the satellite control device621, the communication device622, the propulsion device623, the attitude control device624, and the power supply device625will be illustrated inFIG.3. The satellite620inFIG.3is an example of the communication satellite200that includes the communication device622.

The satellite control device621is a computer which controls the propulsion device623and the attitude control device624and includes a processing circuit. Specifically, the satellite control device621controls the propulsion device623and the attitude control device624in accordance with various types of commands transmitted from the ground facility700.

The communication device622is a device which communicates with the ground facility700. Alternatively, the communication device622is a device which communicates with the satellite620ahead or behind on a same orbital plane or the satellite620on an adjacent orbital plane. Specifically, the communication device622sends various types of data related to its satellite to the ground facility700or the different satellite620. The communication device622also receives various types of commands transmitted from the ground facility700. The propulsion device623is a device which gives propulsive force to the satellite620and changes a velocity of the satellite620. The attitude control device624is a device for controlling an attitude of the satellite620and attitude elements, such as an angular velocity and a line of sight, of the satellite620. The attitude control device624changes each attitude element in a desired direction. Alternatively, the attitude control device624maintains each attitude element in a desired direction. The attitude control device624includes an attitude sensor, an actuator, and a controller. The attitude sensor is a device, such as a gyroscope, an earth sensor, a solar sensor, a star tracker, a thruster, and a magnetic sensor. The actuator is a device, such as an attitude control thruster, a momentum wheel, a reaction wheel, and a control moment gyro. The controller controls the actuator in accordance with measurement data from the attitude sensor or various types of commands from the ground facility700. The power supply device625includes instruments, such as a solar cell, a battery, and a power control device, and supplies power to instruments mounted on the satellite620.

The processing circuit provided in the satellite control device621will be described. The processing circuit may be dedicated hardware or a processor which executes a program stored in a memory. In the processing circuit, some functions may be implemented by dedicated hardware, and the other functions may be implemented by software or firmware. That is, the processing circuit can be implemented by hardware, software, firmware, or a combination thereof. Specifically, dedicated hardware is a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC, an FPGA, or a combination thereof. ASIC stands for Application Specific Integrated Circuit. FPGA stands for Field Programmable Gate Array.

FIG.4is another example of the configuration of the satellite620of the satellite constellation formation system600. The satellite620inFIG.4includes a surveillance device626, in addition to the components inFIG.3. The surveillance device626is a device which performs surveillance over a body. Specifically, the surveillance device626is a device for performing surveillance over or observing a body, such as a cosmic body, a flying object, or a land-sea-and-air movable body. The surveillance device626is also referred to as an observation device. For example, the surveillance device626is an infrared surveillance device which senses, via infrared, a rise in temperature due to atmospheric friction when a flying object enters into the atmosphere. The surveillance device626senses a plume at launching of a flying object or a temperature of a flying object body. Alternatively, the surveillance device626may be a light wave or radio wave information collection device. The surveillance device626may be a device which senses a body with an optical system. The surveillance device626shoots a body which flies at an altitude different from an orbital altitude of an observation satellite with the optical system. Specifically, the surveillance device626may be a visible optical sensor. The satellite620inFIG.4is an example of the surveillance satellite100including the surveillance device626and the communication device622. The surveillance satellite100may include a plurality of surveillance devices626. The surveillance satellite100may include a plurality of types of surveillance devices.

<Method for Forming Satellite Constellation>

The satellite constellation610to be formed by the satellite constellation formation system600will be described. The satellite constellation610is formed through control of the satellites620by the ground facility700.

FIG.5is a diagram illustrating an example of the satellite constellation610having a plurality of orbital planes intersecting outside a polar region as one example of the satellite constellation610. The surveillance system310and the communication system320are formed as the satellite constellation610. In the satellite constellation610inFIG.5, each orbit is an inclined orbit.

In the satellite constellation610according to Embodiment 1 illustrated inFIG.1, a plurality of satellite constellation business apparatuses430which manage individual satellite constellations, each having eight or more communication satellites on one orbital plane, are present. All of the plurality of individual satellite constellations form a unified satellite constellation with eight or more orbital planes. The satellite constellation610is a unified satellite constellation. In the satellite constellation610, satellite constellations with eight or more orbital planes are formed. Artificial satellites (hereinafter referred to as satellites) on a same orbital plane each form inter-satellite cross-links with satellites ahead and behind flying in orbits. Satellites on adjacent orbital planes each form inter-satellite cross-links with satellites in left and right adjacent orbits.

With these cross-links, the plurality of satellite constellation business apparatuses430construct a total of N orbital planes and form a mesh communication network in collaboration. A communication satellite business apparatus410provides a communication service using the communication network as a communication medium. For this reason, the communication satellite business apparatus410performs unified control over the plurality of satellite constellation business apparatuses430and forms a unified satellite constellation serving as a one-piece communication medium. A communication satellite business apparatus may be read as a communication service provision system.

A method for forming the satellite constellation610will be described below.

As described above, the satellite constellation610is formed by the ground facility700. More specifically, the satellite constellation610is formed by the satellite constellation formation unit911of the ground facility700.

FIG.6illustrates steps in which the satellite constellation formation unit911forms the satellite constellation610.

FIG.7illustrates a state in which the satellite constellation business apparatuses430manage orbital planes90. The satellite constellation business apparatuses430are ground facilities700.

<Step S01>

In step S01, the satellite constellation formation unit911determines an orbital plane A serving as a representative among orbital planes with a largest number of communication satellites constituting each of the orbital planes. The orbital plane A will be referred to as the representative plane A hereinafter. The representative orbital plane A may be denoted by O/P(A). InFIG.7, an orbital plane90managed by a satellite constellation business apparatus430<1> is determined as the representative plane A.

<Step S02>

In step S02, the satellite constellation formation unit911determines the satellite constellation business apparatus430<1> including the representative plane A as a satellite constellation business apparatus serving as a representative. InFIG.7, the satellite constellation business apparatus430<1> serving as the representative is denoted by C/DEV(A).

<Step S03>

In step S03, the satellite constellation formation unit911determines a communication satellite A serving as a representative among the communication satellites200constituting the representative plane A. The communication satellite A serving as the representative may be denoted by SAT(A) or may be referred to as the representative communication satellite A.

In step S04, the satellite constellation formation unit911performs control such that an average orbital altitude and an average orbital inclination of all the communication satellites200constituting the communication satellite business apparatus410are equal to an average orbital altitude and an average orbital inclination of the communication satellite A.

<Step S05>

In step S05, the satellite constellation formation unit911performs control such that angular distances between normal vectors of all orbital planes constituting the communication satellite business apparatus410are equally spaced in a longitudinal direction with reference to a normal vector of the representative plane A.

<Step S06>

In step S06, the satellite constellation formation unit911performs control such that in-orbital-plane phases of all the communication satellites200constituting the representative plane A (O/P(A)) are equally spaced with reference to the communication satellite A.

<Step S07>

In step S07, the satellite constellation formation unit911performs control, for each of an orbital plane B to an orbital plane N other than the representative plane A, such that in-orbital-plane phases of the communication satellites200are equivalent to those in the orbital plane A and, if the number of satellites on the orbital plane is insufficient, arranges a virtual satellite.

<Step S08>

In step S08, the satellite constellation formation unit911determines a communication satellite B to a communication satellite N serving as respective representatives for the orbital plane B to the orbital plane N other than the representative plane A. The representative satellites may be denoted by SAT(B) to SAT(N).

<Step S09>

In step S09, the satellite constellation formation unit911of each of all the satellite constellation business apparatuses430performs control such that an average orbital altitude and an average orbital inclination of the communication satellites200to be managed are equal to the average orbital altitude and the average orbital inclination of the communication satellite A.

<Step S10>

In step S10, the satellite constellation formation unit911performs control such that ascending node passage times at the time of crossing of the sky above the equator from south to north for the communication satellite A to the communication satellite N have same time lags with reference to the communication satellite A. The time lags mean that there are equal time lags between the communication satellite A and the communication satellite B, between the communication satellite B and the communication satellite C, . . . , between a communication satellite N−1 and the communication satellite N with reference to the communication satellite A.

<Mesh Communication Network Formation Method>

A mesh communication network is formed on the basis of SAT(A), SAT(B), . . . , SAT(N) that are representative satellites determined by the satellite constellation formation units911.FIG.8is a flowchart in which the satellite constellation formation unit911forms a mesh communication network.

FIG.9is a diagram illustrating the formation of the mesh communication network.FIG.9illustrates orbits of SAT(A) and SAT(B).

In step S21, as illustrated inFIG.9, on the respective orbital planes, SAT(A), SAT(B), . . . , SAT(N) serving as the representatives each establish cross-links with the communication satellites200flying ahead and behind in the corresponding orbital plane.

In step S22, the communication satellites200establish cross-links in order forward or rearward in a satellite forwarding direction and construct an annular cross-link in a same orbital plane.

In step S23, between the adjacent orbital planes, SAT(A) of the representative plane A establishes a cross-link with SAT(B) of the adjacent orbital plane B.

In step S23, between the adjacent orbital planes, SAT (A) of the representative plane A establishes a cross-link with SAT (B) of the adjacent orbital plane B.

In step S24, the communication satellites200flying ahead of and behind SAT (A) in O/P (A) establish cross-links in order with communication satellites of the adjacent orbit plane B.

An orbital information management device450will be described with reference toFIG.7. The communication satellite business apparatus410includes the orbital information management device450.

(1) The orbital information management device450manages orbital information of SAT(A) with high accuracy and high frequency and calculates flying position coordinates of SAT(A) at a particular time in an earth fixed coordinate system.

(2) The orbital information management device450calculates flying position coordinates at the particular time of ones other than SAT(A) on the representative plane A with reference to the position coordinates of SAT(A).

(3) The orbital information management device450calculates flying position coordinates at the particular time of SAT(B) to SAT(N) of the orbital plane B to the orbital plane N other than the representative plane A with reference to the position coordinates of SAT(A).

(4) The orbital information management device450calculates communication satellite IDs and flying position coordinates at the particular time of ones other than the representative communication satellite of each orbital plane with reference to the position coordinates of SAT(A).

(5) The orbital information management device450derives an ID of a communication satellite which flies close to designated position coordinates at an arbitrary time in the future.

<I/O IF of Communication Satellite Business Apparatus410>

A description will be given with reference toFIG.7. The orbital information management device450imposes an I/O requirement for a time to serving as a sending starting point, position coordinates (x0,y0,z0) serving as a sending starting point, and position coordinates (xn,yn,zn) of a receiving asset which are designated by a communication service user.

Input and output in the I/O requirement are both input conditions for the orbital information management device to derive an output. Communication satellites which appear in the process of transmission to the position coordinates of the receiving asset are selected, and ID-1 of a communication satellite which flies close to (x0,y0,z0) at the time t0 and ID-N of a communication satellite which flies close to (xn,yn,zn) after a time lag until reception are outputs to be derived by the orbital information management device.

The orbital information management device450derives ID-1 of the communication satellite200that flies close to (x0,y0,z0) at the time to and ID-N of the communication satellite200that flies close to (xn,yn,zn) after the time lag until reception. As for the term “time lag until reception”, in the process of communication from a sending starting point to an ending point for final reception, time lags, such as a command generation time lag, a waiting time before a satellite comes close, and a communication time required for transmission and reception for each intermediary satellite in the process of communication, accumulate. The term “time lag until reception” means a time lag including the time lags.

<Communication Route Search Device470>

A description will be given with reference toFIG.7. The communication satellite business apparatus410includes the communication route search device470. The communication route search device470sets, as an I/O requirement, the time to and the position coordinates (x0,y0,z0) serving as the sending staring points and the position coordinates (xn,yn,zn) of the receiving asset, which are designated by the communication service user. The communication route search device470makes a search for a route with a shortest communication path from (x0,y0,z0) to (xn,yn,zn) at a time t0 and derives ID-1 to ID-N of communication satellites serving as the communication path.

<Mesh Communication

A description will be given with reference toFIG.7. As illustrated inFIG.7, a satellite constellation business apparatus A (the satellite constellation business apparatus <1> which manages the representative orbital plane) which is a representative of satellite constellation business apparatuses includes the orbital information management device450and the communication route search device470. The representative satellite constellation business apparatus A gives a communication instruction to communication IDs serving as a communication path for particular communication for the other satellite constellation business apparatuses.

<Mesh Communication>

FIG.10is a diagram of a state in which the satellite constellation business apparatuses430manage the orbital planes90. A description will be given with reference toFIG.10. As illustrated inFIG.10, a satellite constellation business apparatus A (the satellite constellation business apparatus <1>-A which manages the representative orbital plane) which is a representative of the satellite constellation business apparatuses includes the orbital information management device450. A different satellite constellation business apparatus B (the satellite constellation business apparatus <2>-B) includes the communication route search device470. As illustrated inFIG.10, the satellite constellation business apparatus <1>-A directs the satellite constellation business apparatus <2>-B to make a route search. The satellite constellation business apparatus <1>-A gives a communication instruction to communication IDs serving as a communication path for particular communication for other satellite constellation business apparatus <2>, . . . , <N> on the basis of a result of the search.

Among many communication requests, a communication instruction is given to, for example, a communication ID (for which satellites of a plurality of business operators are possible candidates) serving as a communication path for “particular communication” which is a detector of flying object launching.

<User IF in Communication Satellite Business Apparatus>

As illustrated inFIG.1, the communication satellite200includes a communication device which makes inter-satellite communication with the surveillance satellite100that is a user satellite which flies in cosmic space. The communication satellite200transmits sending information of a user satellite designated by a user to a different user satellite or a ground facility designated by the user.

<Tracking Transmission 1 in Communication Satellite Business Apparatus410>

Assume that the surveillance satellite100is a user satellite inFIG.1. A given user satellite (A) detects flying object launching, and a time t0 serving as a starting point for sending of acquired information, an ID of the user satellite (A), position coordinates of the user satellite (A), and position coordinates of a ground center as a transmission destination, such as a coping ground center331, are designated. The communication route search device470illustrated inFIG.7orFIG.10that the communication satellite business apparatus410includes derives an optimum communication route and gives a communication instruction to communication satellites serving as a communication path.

As for the “acquired information”, if a high-temperature body is detected by an infrared surveillance device, a launching detection time and position coordinates at which flying object launching is detected and, optionally, image information, luminance information, and the like which are acquired are sent. The acquired information here is information including the pieces of information.

<Tracking Transmission 2 in Communication Satellite Business Apparatus410>

Assume that the surveillance satellite100is a user satellite inFIG.1.

FIG.11is a diagram illustrating tracking transmission. Reference is made toFIG.11. A user satellite (A) detects flying object launching and designates a detection time t0, position coordinates (x0,y0,z0) at which a flying object is detected, a time t1 serving as a starting point for sending of acquired information, and an ID and position coordinates of the user satellite (A). In response to a demand to send flying object information to a plurality of different user satellites which fly close to (x0,y0,z0) after t0, the communication satellite business apparatus410gives a communication instruction to a communication satellite which flies close to (x0,y0,z0) after t0 such that the communication satellite transmits flying object information to the user satellites flying close.

Note that a communication route of a carrier is used to transmit flying object information from the surveillance satellite A that is a detector of launching to succeeding surveillance satellites B and C. In this case, a group of surveillance satellites and a group of communication satellites are both flying and change in position hour by hour. For this reason, communication needs to be made with an appropriate time lag including a satellite waiting time, a transmission delay, and the like at a selected timing when a succeeding surveillance satellite and a communication satellite approach each other.

<Tracking Transmission 3 in Communication Satellite Business Apparatus410>

FIG.12is a different diagram illustrating tracking transmission. Reference is made toFIG.12. A user satellite is a flying object surveillance satellite. A user satellite (A) detects flying object launching and designates a detection time t0 and B(t1,x1,y1,z1), C(t2,x2,y2,z2), and N(tn,xn,yn,zn) as sets of times when tracking information of a flying object is acquired by a user satellite B, a user satellite C, or a user satellite N after the detection of the flying object and position coordinates of the user satellites. In response to a demand to send flying object information to a plurality of different user satellites which fly close to (t1,x1,y1,z1), (t2,x2,y2,z2), and (tn,xn,yn,zn) after t0, the communication satellite business apparatus sequentially gives a communication instruction to communication satellites which fly close to (t1,x1,y1,z1), (t2,x2,y2,z2), and (tn,xn,yn,zn) after t0 such that the communication satellites transmit pieces of flying object information to the user satellites flying close to (t1,x1,y1,z1), (t2,x2,y2,z2), and (tn,xn,yn,zn).

<Tracking Transmission 4 in Communication Satellite Business Apparatus410>

FIG.13is a different diagram illustrating tracking transmission. Reference is made toFIG.13. Assume that an information transmission destination is a land-sea-and-air movable body.

A user designates an ID of the movable body that is the transmission destination and an expected reception time for the movable body and position coordinates of the movable body at the expected reception time. The communication satellite business apparatus410uses the orbital information management device450and the communication route search device470to search for a route which passes through the communication satellite200that is to fly close to the position coordinates at the designated time and give a communication instruction to the communication satellite200such that the communication satellite200transmits information.

<Tracking Transmission 4 in Communication Satellite Business Apparatus410>

FIG.14is a different diagram illustrating tracking transmission. Reference is made toFIG.14. The flying object coping system1000includes the surveillance system310having a plurality of surveillance satellites100, each including a surveillance device and a communication device, the communication system320having a plurality of communication satellites200, each including a communication device, and the coping system330including the land-sea-and-air coping asset that copes with the flying object520. The flying object coping system1000transmits flying object information generated through surveillance of a flying object by the surveillance system310to the coping system330via the communication system320. The flying object information obtained by the surveillance system310is transmitted to the coping system via the communication satellite business apparatus410.

<Communication Route Search Device470>

FIG.15illustrates a process by the communication route search device470. Reference is made toFIG.15. The communication route search device470sets a communication start time and position coordinates, and position coordinates of a partner to which flying object information is to be transmitted as input conditions. The communication route search device470searches for an optimum route obtained by linking satellite IDs for transmission of flying object information together and produces, as products, a list of a series of satellite IDs and forecast times when corresponding satellites are to transmit the flying object information to next satellites and a command which gives a communication instruction to a corresponding group of communication satellites. The communication route search device470includes, in analysis for a route search, the following (1) to (5):(1) a predicted error of an actual orbit with respect to a planned orbit for a communication satellite flying position;(2) an error of a predicted time of passing through particular position coordinates;(3) a delay due to information transmission;(4) a satellite movement distance associated with a predicted error and a delay time; and(5) a change in a relative position of a close-passing satellite with satellite movement, and searches for the optimum route for transmission of the flying object information in a shortest time.
<Communication Route Search Device470>

FIG.16illustrates a process by the communication route search device470. Reference is made toFIG.16. The communication route search device470regards a launching detection signal from the surveillance satellite100as a communication start instruction, sets position coordinates at launching detection of the surveillance satellite that is an emitter of the launching detection signal, position coordinates at which flying object launching is detected, and a visual field change range of the surveillance satellite as input conditions, searches for an optimum route obtained by linking satellite IDs for transmission of flying object information together, and produces, as products, a list of a series of satellite IDs and forecast times when corresponding satellites are to transmit the flying object information to next satellites and a command which gives a communication instruction to a corresponding group of communication satellites. The communication route search device470searches for an ID of a surveillance satellite passing close which is capable of performing surveillance close to a flying object launching point by including a visual field change and makes a search for a flying object information transmission time, a surveillance satellite ID, and an optimum route to transmission of the flying object information to a surveillance satellite with the surveillance satellite ID.

<Communication Route Search Device470>

FIG.17illustrates a process by the communication route search device470. Reference is made toFIG.17. The communication route search device470regards a launching detection signal from a surveillance satellite as a communication start instruction and sets, as input conditions, position coordinates of the surveillance satellite that is an emitter of the launching detection signal, position coordinates at which flying object launching is detected, a visual field change range of the surveillance satellite, position coordinates of a surveillance satellite which is an emitter of a high-temperature sensing signal among close-passing surveillance satellites which are destinations of transmission of flying object information by the communication route search device470, and position coordinates at which a high-temperature body is sensed. The communication route search device470searches for an optimum route obtained by linking satellite IDs for transmission of flying object information together, and produces, as products, a list of a series of satellite IDs and forecast times when corresponding satellites are to transmit the flying object information to next satellites and a command which gives a communication instruction to the corresponding group of communication satellites. The communication route search device470searches for an ID of a close-passing surveillance satellite which is capable of performing surveillance close to a high-temperature body sensing position by including a visual field change and makes a search for a flying object information transmission time, a surveillance satellite ID, and an optimum route to transmission of flying object information to the surveillance satellite ID.

<Flying Path Prediction Device490>

FIG.18illustrates a process by a flying path prediction device490. Reference is made toFIG.18. In the flying object coping system1000, if the surveillance satellite100including a plurality of surveillance devices detects a significant high-temperature object, the surveillance satellite100transmits, as flying object information, sensed sensing time information, a surveillance satellite ID, a surveillance device ID, and surveillance data to the coping ground center331via the communication system320. The flying path prediction device490that the coping ground center331includes derives position information of the surveillance satellite with the ID at a sensing time in the flying object information, a forwarding direction, and a line of sight of a surveillance device with the ID, and extracts high-temperature object luminance from the surveillance data and derives an eye vector oriented to a high-temperature body.

<Flying Path Prediction Device490>

FIG.19illustrates a process by the flying path prediction device490. Reference is made toFIG.19. The flying path prediction device490that the coping ground center331includes puts eye vectors for a high-temperature body which are derived from pieces of flying object information from a plurality of surveillance satellites in chronological order in the earth fixed coordinate system and predicts position coordinates for each lapse of time of a flying object by the principle of spatial triangulation.

<Flying Path Prediction Device490>

If a plurality of flying objects are launched at short intervals, the flying path prediction device490unifies pieces of flying object information acquired from a plurality of surveillance satellites100and judges that what is launched is a plurality of different flying objects.

<Flying Object Coping System1000>

In the flying object coping system1000illustrated inFIG.1, the surveillance system310includes a satellite constellation business apparatus having a group of six or more above-equator surveillance satellites which are equal in average orbital altitude and fly in above-equator orbits. Each in the group of above-equator surveillance satellites forms communication cross-links with ones of the above-equator surveillance satellites which fly ahead and behind on a same orbital plane. At least one of the above-equator surveillance satellites forms a communication cross-link with both the coping system330and the surveillance system310or either the coping system330or the surveillance system310. In the flying object coping system1000illustrated inFIG.1, transmission paths (or a transmission path) for transmission of flying object information to both the coping system330and the surveillance system310or either the coping system330or the surveillance system310may be constructed without intervention of the communication system320.

<Above-Equator Satellite System>

The flying object coping system1000illustrated inFIG.1may have an above-equator satellite system which is composed of a group of six or more above-equator surveillance satellites equal in average orbital altitude and forms communication cross-links with ones of the above-equator satellites which fly ahead and behind and in which at least one of the above-equator satellites forms a communication cross-link with both the coping system and the surveillance system or either the coping system or the surveillance system and transmits flying object information to both the coping system and the surveillance system or either the coping system or the surveillance system.

<Above-Equator Satellite System>

The above-equator satellite system transmits flying object information to both the coping system330and the surveillance system310or either the coping system330or the surveillance system310.

<Flying Object Coping System1000>

In the flying object coping system1000illustrated inFIG.1, the surveillance system310includes a satellite constellation business apparatus having a group of six or more polar orbit surveillance satellites which fly in polar orbits equal in average orbital altitude on a same orbital plane. Each in the group of polar orbit satellites forms communication cross-links with ones of the polar orbit satellites which fly ahead and behind, at least one of the polar orbit satellites forms a communication cross-link with both the coping system and the surveillance system or either the coping system or the surveillance system, and flying object information is transmitted to both the coping system and the surveillance system or either the coping system or the surveillance system without intervention of a satellite information transmission system.

<Polar Orbit Satellite System>

In the flying object coping system1000illustrated inFIG.1, a polar orbit satellite system which is composed of a group of six or more polar orbit surveillance satellites equal in average orbital altitude on a same orbital plane and forms communication cross-links with ones of the polar orbit satellites which fly ahead and behind and in which at least one of the polar orbit satellite forms a communication cross-link with both the coping system and the surveillance system or either the coping system or the surveillance system and transmits flying object information to both the coping system and the surveillance system or either the coping system or the surveillance system may be used.

<Polar Orbit Satellite System>

The polar orbit satellite system transmits flying object information to both the coping system330and the surveillance system310or either the coping system330or the surveillance system310.

<Polar Orbit Satellite System>

In the flying object coping system1000illustrated inFIG.1, the surveillance satellite100includes a surveillance device and communication devices which are oriented forward and rearward. The surveillance satellite100flies at a same orbital altitude as the communication satellites200of the communication system320and between the communication satellite200and the communication satellite200on a same orbital plane. The surveillance satellite100forms communication cross-links with the communication satellites200ahead and behind and transmits flying object surveillance information to the coping system via the communication satellite business apparatus410.

<Inclined Orbit Satellite System>

The flying object coping system1000illustrated inFIG.1is composed of a group of communication satellites which fly in inclined orbits and a plurality of surveillance satellites in the communication satellite business apparatus410. The surveillance satellite100includes a surveillance device and communication devices which are oriented forward and rearward. The surveillance satellite100flies at a same orbital altitude as the communication satellites200and between the communication satellite200and the communication satellite200on a same orbital plane and forms communication cross-links with the communication satellites200ahead and behind.

Advantageous Effects of Embodiment 1

The flying object coping system1000according to Embodiment 1 can transmit flying object information to a coping system in quasi-real time. The flying object coping system1000according to Embodiment 1 allows construction of a satellite constellation by a plurality of business operators and establishment of a mesh communication network. That is, in the flying object coping system1000, determination of a satellite serving as a reference and an orbital plane serving as a reference allows relative control, and construction of a master-slave relationship between business operators allows construction of a satellite constellation by a plurality of business operators and establishment of a mesh communication network. A business operator serving as a master of satellite constellation operation desirably doubles as a master of a communication service business. If separate business operators are present, it is reasonable that a business operator including an “orbital information management device” serves as a master. If the other business operator holds a “communication route search device”, the business operator including the “orbital information management device” preferably serves as a master and causes the slave business operator to make a route search.

Embodiment 2

Embodiment 2 will be described with reference toFIGS.20to23. In Embodiment 2, a unified data library340having a database341, a satellite constellation610which is a unified satellite constellation including an edge server350having the database341, and an artificial intelligence computer360will be described.

<Unified Data Library340>

Along with diversification of threats and diversification of a surveillance system, a communication system, and a coping system in recent years, there is a growing need for Joint All domain Command & Control (JADC2), in which various types of ground centers act using a common database.

A ground center may be read as a domain. Use of the commonly used database as a Unified Data Library (UDL) in a cloud environment or an edge computing environment allows sharing of information between the various types of ground centers. Additionally, a space data center concept based on satellite IoT has been proposed, and information can also be shared by a space data center.

FIG.20illustrates the satellite constellation610according to Embodiment 2.

The satellite constellation610that is a unified satellite constellation formed by the method for forming a unified satellite constellation according to Embodiment 1 includes a surveillance system310having a plurality of surveillance satellites100which send flying object information toward a coping system330and a communication system320which is a satellite information transmission system having a plurality of communication satellites200which transmit flying object information.

The satellite constellation610that is a unified satellite constellation formed by the method for forming a unified satellite constellation according to Embodiment 1 includes the surveillance system310having the plurality of surveillance satellites100that send flying object information generated through surveillance of a flying object toward the coping system330including a coping asset332.

At least one system of the surveillance system310, the communication system320, and the coping system330refers to the unified data library340.

Although the unified data library340is arranged on the ground as inFIG.20, the unified data library340is arranged on a satellite.

As inFIG.21(to be described later), the unified data library340includes the database341that stores at least one of orbital information of the surveillance satellites100, orbital information of the communication satellites200, position information of the coping asset332, and a plurality of flying path models for flying objects.

Here, the plurality of flying path models for flying objects are each a model which is constructed using launching position coordinates, a flying direction, a time-series flying distance from launching to impact, and a flying altitude profile of a flying object and is a model obtained by modeling a flying path.

FIG.21illustrates a hardware configuration of the unified data library340. The unified data library340is a computer. The unified data library340includes a CPU342, a communication device343, and a storage device344. The storage device344implements the database341.

<Cloud Computing: Satellite Equipped with Edge Server350>

Along with increase in the amount of information associated with sophistication of the information society, increase in power consumption and measures against exhaust heat are problems. Increase in power and measures against exhaust heat of a supercomputer and a large-scale data center are serious problems especially for a centralized mechanism.

Meanwhile, in cosmic space, heat can be exhausted to deep space by radiational cooling. It is thus possible to arrange a supercomputer or a data center for implementation of a cloud environment on a satellite constellation side and transmit only necessary data to a user on the ground after arithmetic processing in an orbit. This maintains a cloud environment and reduces greenhouse gas emissions, which produces the effect of contributing to the SDGs on the ground.

<Edge Computing>

Edge computing in which an edge server is arranged on an IoT side is attracting attention as a technique for implementing distributed architecture.

In the conventional IoT, a centralized mechanism for sending data collected by a sensor to the cloud via the Internet and making an analysis is common. In contrast, in edge computing, a mechanism for dispersedly performing data processing by a device body or an edge server installed between a device and the cloud is adopted. This implements real-time, low-load data processing.

Along with increase in the amount of information associated with sophistication of the information society, increase in power consumption and measures against exhaust heat are problems. Increase in power and measures against exhaust heat of a supercomputer and a large-scale data center are serious problems especially for a centralized mechanism.

Meanwhile, in cosmic space, heat can be exhausted to deep space by radiational cooling. It is reasonable to use a satellite to resemble a device in the IoT, arrange an edge server on a satellite constellation side, and transmit only necessary data to the ground after distributed computing processing in an orbit. A hybrid constellation has the effect of exchanging information with the cloud including a data center in a ground facility700via an annular communication network or a mesh communication network and implementing low latency and collective management of data.

InFIG.20, either at least one surveillance satellite100or at least one communication satellite200may be configured to include the edge server350having the database341.

FIG.22illustrates a configuration in which the surveillance satellite100or the communication satellite200is equipped with the edge server350having the database341. Note that a surveillance device is not illustrated inFIG.22. A hardware configuration of the edge server350is a same configuration as in the unified data library340inFIG.21.

<Artificial Intelligence Computer>

Artificial intelligence will be described below. Artificial intelligence may also be referred to as AI.

A neural network of artificial intelligence is divided into supervised learning that is optimized for a problem through input of a teacher signal (correct answer) and unsupervised learning that requires no teacher signal.

Teaching of flying object types, propellant types, and a plurality of typical flying model patterns as a teacher model facilitates and speeds up inference about actual measurement data obtained by launching detection and acquisition of orbital information. As a result of inference, flying object path prediction and estimation of a landing position are performed.

Note that, to predict a flying path of a flying object, a flying direction of which is unknown in a launching detection stage, it is necessary to perform tracking surveillance over the flying object by a succeeding surveillance satellite. To send launching detection information to the succeeding surveillance satellite, the launching detection information needs to pass through a communication network formed by a group of communication satellites.

Since a communication satellite changes in flying position hour by hour in a communication network based on a communication satellite constellation, it is necessary to make an optimum communication route search and determine an ID of a communication satellite which is to give or receive flying object information and a sending and receiving time. The same applies to giving and receiving of flying object information of a surveillance satellite and a communication satellite.

If an optimum route search is made in a ground system, it is necessary to send, with commands, a time of giving and receiving of flying object information and a satellite ID to a surveillance satellite and a communication satellite. However, a communication network for command sending is a problem.

For the above-described reason, it is reasonable that a communication satellite includes an AI-based analysis device, makes an optimum route search in an orbit, and generates a command in the orbit and communicates the command to a communication satellite constituting a communication route.

As a technique for searching for an optimum route in an orbit, an optimum route search based on an algorithm known as the Dijkstra's algorithm is effective. Note that although route-by-route weighting does not change in the static Dijkstra's algorithm, a route-by-route weight changes for each time point with a change in a flying position of a communication satellite in a communication network formed by a communication satellite constellation. For this reason, an operation in which a communication satellite as a receiver of flying object information makes an optimum route search and sends the flying object information to a next communication satellite is repeated for each of individual communication satellites which make an optimum route search while updating orbital information.

Among route searches, breadth-first search and depth-first search are known. As for launching detection information, priority is given to speedy transmission of flying object information to a communication network by breadth-first search, and tracking is repeated by succeeding satellites. In a stage where a flying direction can be largely estimated, it is reasonable to make depth-first search.

In a flying object tracking system, tracking surveillance of a flying object is performed while repeating flying path prediction based on the above-described machine learning and a route search based on the Dijkstra's algorithm, and an inference about a final landing position is made.

Additionally, after repeating flying object tracking, machine learning is performed for a track record of past flying object tracking, and deep learning is performed for a case of a flying object operation different from a plurality of flying object models used as a teacher model. This allows enhancement of accuracy in prediction about a flying object path and speeding-up of prediction.

Since a flying direction and distance of a flying object which is not launched from a fixed launcher but is launched from a mobile launcher (TEL) or the like is different from a typical flying model, it is effective to complement an orbital model by deep learning on actual measurement data.

FIG.23illustrates a configuration in which the surveillance satellite100or the communication satellite200includes the artificial intelligence computer360. A satellite including the edge server350including the database341may be configured to include the artificial intelligence computer360. The artificial intelligence computer360autonomously determines a flying object information transmission destination by referring to the database341and sends flying object information to the determined transmission destination. The artificial intelligence computer has the effect described in <Artificial Intelligence Computer> above.

REFERENCE SIGNS LIST

90: orbital plane;100: surveillance satellite;200: communication satellite;310: surveillance system;320: communication system;330: coping system;331: coping ground center;332: coping asset;333: coping asset selection device;340: unified data library;341: database;350: edge server;360: artificial intelligence computer;410: communication satellite business apparatus;430: satellite constellation business apparatus;450: orbital information management device;470: communication route search device;490: flying path prediction device;510: the earth;520: flying object;600: satellite constellation formation system;610: satellite constellation;620: satellite;621: satellite control device;622: communication device;623: propulsion device;624: attitude control device;625: power supply device;626: surveillance device;700: ground facility;910: processor;911: satellite constellation formation unit;921: memory;922: auxiliary storage device;930: input interface;940: output interface;950: communication device;1000: flying object coping system