JP2018128376A - Arithmetic unit, arithmetic method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such a problem that tracking becomes difficult due to influence of the sun in a technology for optically tracking aircraft flying in accordance with a flight plan.SOLUTION: When tracking UAV200 flying according to a flight plan by TS (total station) 100, a position of TS100 where the field of view of TS100 enters the sun is calculated on the basis of the flight schedule of UAV200 and positional information of the sun in the celestial sphere.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique for optically tracking a flying aircraft.

  A technique using an unmanned aerial vehicle (UAV) for surveying is known. In this technology, a UAV equipped with a position measuring device (so-called GPS receiver), IMU (inertial navigation device), altimeter, and camera using a GNSS (Global Navigation Satellite System) is allowed to fly along a predetermined route to the ground. And take aerial photogrammetry.

  In photogrammetry with no or fewer anti-air signs, the accuracy of camera position data is important. By the way, although UAV can identify its position using GNSS, its accuracy is about 1 m in the horizontal direction and about 3 m in the vertical direction, and the accuracy required for photogrammetry cannot be obtained. There is a method of mounting a higher-accuracy position measuring device using GNSS in the UAV, but it is difficult to mount it in a general-purpose UAV in terms of the weight of the device and power consumption. In response to this problem, there is a method of tracking a UAV flying in a TS (total station) and specifying the position of the UAV using a laser ranging function provided in the TS (see, for example, Patent Document 1).

US2014 / 0210663 Publication

  In the method of tracking UAV with the above-described TS, an automatic tracking function of a target included in the TS is used. In this technique, a UAV is captured and tracked with a search laser beam. The UAV includes a reflecting prism that reflects search laser light in the incident direction, and the UAV is tracked by the TS by detecting reflected light from the reflecting prism on the TS side.

  By the way, if the sun is in the UAV direction as viewed from the TS, the intensity of sunlight is higher than the reflected light of the search laser light, and thus the search laser light may not be detected. The same applies to the laser beam for distance measurement.

  Therefore, in the situation where the UAV is tracked by the TS, if the sun is on the line of sight of the UAV from the TS, it becomes difficult to detect the search laser beam and the ranging laser beam reflected from the UAV in the TS. The UAV is lost and the UAV position cannot be measured. The same applies to the case of tracking a flying UAV using a camera.

  In such a background, an object of the present invention is to solve a problem that tracking becomes difficult due to the influence of the sun in a technique for optically tracking an aircraft flying according to a flight plan.

  According to the first aspect of the present invention, when an aircraft flying according to a flight plan is tracked by an optical device, the position of the optical device at which the sun enters the field of view of the optical device is determined. It is an arithmetic unit provided with the calculation part which calculates based on this.

  According to a second aspect of the present invention, in the first aspect of the present invention, the position of the optical device where the sun enters the field of view of the optical device is a position on a line connecting the sun and the aircraft flying according to the flight plan. It is calculated based on.

  The invention according to claim 3 is the invention according to claim 2, wherein the position of the optical device where the sun enters the field of view of the optical device is a position on a line connecting the sun and the aircraft flying according to the flight plan. It is characterized by including.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects of the present invention, a position where the installation of the optical device that tracks the aircraft is inappropriate is based on the position calculated by the calculation unit. An optical device installation inappropriate position calculating unit for calculating is provided.

  The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the installation position acquisition unit of the optical device that receives information of the installation position of the optical device that tracks the aircraft, and the calculation A determination of whether or not the installation position of the optical device is affected by sunlight in the tracking of the aircraft by the optical device by comparing the position calculated by the optical unit and the installation position of the optical device And a section.

  The invention according to claim 6 determines whether or not the sun enters the visual field of the optical device based on the flight plan and position information of the sun in the celestial sphere when the aircraft flying according to the flight plan is tracked by the optical device. It is an arithmetic unit provided with the determination part to perform.

  According to a seventh aspect of the present invention, in the sixth aspect of the present invention, the determination as to whether or not the sun enters the field of view of the optical device is performed according to the direction of the sun viewed from the optical device and the flight plan. It is performed by determining whether or not the direction of the optical axis of the optical device that tracks the aircraft to be fulfilled has a specific relationship.

  The invention according to claim 8 is the invention according to claim 6 or 7, further comprising an altitude changing unit that changes the altitude of the aircraft at a timing when the sun enters the field of view of the optical device in the flight plan. And

  According to the ninth aspect of the present invention, when the aircraft flying according to the flight plan is tracked by the optical device, the position of the optical device where the sun enters the field of view of the optical device is determined. It is the calculation method which has the calculation step which calculates based on.

  The invention according to claim 10 is a program for causing a computer to read and execute the optical device, wherein the sun enters the field of view of the optical device when the computer tracks an aircraft flying according to a flight plan. Is a program that operates as a calculation unit that calculates the position based on the flight plan and the position information of the sun on the celestial sphere.

  According to the present invention, in the technique of optically tracking an aircraft flying according to a flight plan, the problem that tracking becomes difficult due to the influence of the sun is solved.

It is a conceptual diagram of embodiment. It is a block diagram of an example of TS (total station). It is a block diagram of the arithmetic unit of the embodiment. It is a conceptual diagram of embodiment. It is a flowchart which shows an example of a process. It is a flowchart which shows an example of a process. It is a flowchart which shows an example of a process. It is a conceptual diagram of embodiment. It is a conceptual diagram of embodiment.

1. First embodiment (outline)
Hereinafter, a case where UAV (Unmanned aerial vehicle) is tracked by a TS (total station) will be described as an example. Here, the case of a TS as an optical device that tracks UAV will be described. However, an optical device that tracks UAV based on an image captured by a camera can also be used.

  FIG. 1 shows a flying UAV (Unmanned aerial vehicle) 200, a TS (total station) 100 arranged on the ground, and an arithmetic device 300 that performs processing related to the validity of the installation position of the TS 100 related to the influence of sunlight. Yes. Here, an example in which the arithmetic device 300 is configured using a notebook PC (personal computer) is shown. The TS 100 and the computing device 300 can communicate using an appropriate communication standard, and data communication between them and a remote device of the TS 100 using a PC constituting the computing device 300 are possible. Various operations related to the arithmetic device 300 are performed by operating a PC constituting the arithmetic device 300.

  The UAV 200 is commercially available, autonomously flies over a predetermined flight route, and performs shooting for aerial photogrammetry. Of course, flight control by radio control of the UAV 200 is also possible. The UAV 200 includes a camera, a position measurement device (for example, a GPS receiver) using GNSS, an IMU (inertial navigation device), an altimeter, a storage unit that stores a predetermined flight path and a flight log, and a control device for flight. I have.

  The UAV 200 flies at a predetermined speed on a predetermined route using the position specifying device and the function of the IMU. Since there is a measurement error of the position specifying device, there is a certain amount of error between a predetermined route and a route that actually flies. The progress of the flight is stored in the flight log. In the flight log, time and UAV position (latitude, longitude, altitude) information are stored in association with each other.

  In the UAV 200, a dedicated reflecting prism that receives and reflects the search laser light and the ranging laser light from the TS 100 is attached to a place that can be easily seen from the outside (a place that can be easily searched from the TS, for example, the lower part of the UAV 200). This reflecting prism is a dedicated target for surveying by TS100 and reflects incident laser light in the incident direction.

  TS100 is a position measuring device using GNSS, a camera for acquiring an image, a laser scanning function for searching for a target (the above-described reflecting prism), and a laser for measuring a distance to a target using a distance measuring laser beam. It has a distance measuring function and a function of measuring the direction (horizontal angle and vertical angle (elevation angle or depression angle)) of the target subjected to laser distance measurement. By measuring the distance and direction to the target, the position of the target with respect to TS100 can be measured. Here, if the position of TS100 is known, the position (latitude / longitude / altitude or XYZ coordinates on the Cartesian coordinate system) of the target (in this case, UAV) in the map coordinate system can be known. These functions are functions that the commercial TS has and are not special. The techniques relating to these TSs are described in, for example, Japanese Unexamined Patent Application Publication Nos. 2009-229192 and 2012-202821. Note that the map coordinate system is a coordinate system that handles map information (for example, latitude, longitude, altitude (elevation)). For example, position information obtained by GNSS is usually described in a map coordinate system.

  Hereinafter, an example of the TS (total station) 100 used in the present embodiment will be described. FIG. 2 shows a block diagram of TS100. The TS 100 includes a camera 101, a target searching unit 102, a distance measuring unit 103, a horizontal / vertical direction detecting unit 104, a horizontal / vertical direction driving unit 105, a data storage unit 106, a position measuring unit 107, a communication unit 108, and a target position calculating unit. 109.

  The camera 101 captures a moving image or a still image of a survey target such as a target. Data of an image captured by the camera 101 is stored in an appropriate storage area in association with data such as a measurement time, a measurement direction, a measurement distance, and a position of the measurement object related to the distance measurement object. In the case of this embodiment, the camera 101 acquires an image of the UAV 200. The target search unit 102 searches for a target using a search laser beam having a fan beam. The distance measuring unit 103 measures the distance to the target using the distance measuring laser beam. The horizontal / vertical direction detection unit 104 measures the horizontal direction angle and the vertical direction angle (elevation angle and depression angle) of the target measured by the distance measurement unit 103. The casing portion having the optical system of the target search unit 102 and the distance measuring unit 103 can be controlled in horizontal rotation and elevation angle (decline angle), and the horizontal direction angle and the vertical direction angle are measured by an encoder. The output of the encoder is detected by the horizontal / vertical direction angle detection unit 104, and the horizontal direction angle and the vertical direction angle (elevation angle and depression angle) are measured.

  The horizontal / vertical direction drive unit 105 includes a motor that performs horizontal rotation and elevation angle control (and depression angle control) of the housing portion including the optical system of the target search unit 102 and the distance measurement unit 103, a drive circuit for the motor, and the drive Includes circuit control circuitry. The data storage unit 106 stores a control program necessary for the operation of the TS 100, various data, survey results, and the like.

  The position measuring unit 107 measures the position of the TS 100 using GNSS. The position measuring unit 107 has a function of performing both relative positioning and single positioning. In an environment where relative positioning is possible, measurement of the position of TS100 using relative positioning is preferable. However, when relative positioning is difficult, the position of TS100 is measured by independent positioning.

  The communication unit 108 communicates with the arithmetic device 300 and external devices. The TS 100 can be operated by an external terminal (dedicated terminal, PC, tablet, smartphone, etc.), and communication at this time is performed using the communication unit 108. In addition, the communication unit 108 receives various data necessary for the operation of the TS 100 and outputs various data acquired by the TS 100 to the outside. Examples of communication forms include wireless communication and optical communication.

  The target position calculation unit 109 calculates the position (coordinates) of the target with respect to the TS 100 from the distance and direction to the target (in this case, the UAV-mounted reflecting prism). Here, the distance to the target is obtained by the distance measuring unit 103, and the direction of the target is obtained by the horizontal / vertical direction detecting unit 104. Since the position of the TS 100 is specified by the position measurement unit 107, the position of the target in the map coordinate system can be obtained by obtaining the position of the target with respect to the TS 100.

(Arithmetic unit)
FIG. 3 shows an arithmetic device 300. The arithmetic device 300 performs an operation of predicting or determining when the presence of the sun becomes an obstacle to the tracking of the UAV 200 when the TS 100 tracks the UAV 200. Hereinafter, the arithmetic device 300 will be described. FIG. 3 shows a block diagram of the arithmetic device 300.

  In this example, as shown in FIG. 1, the arithmetic device 300 is configured by a notebook PC (personal computer). The arithmetic device 300 is a computer including a CPU, a storage unit, and various interfaces, and can be configured by general-purpose (for example, a PC) or dedicated hardware.

  A part or all of the functional units shown in FIG. 3 may be configured by a dedicated arithmetic circuit. Further, a functional unit configured in software and a functional unit configured by a dedicated arithmetic circuit may be combined.

  For example, each functional unit shown in the figure is configured by an electronic circuit such as a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), and a PLD (Programmable Logic Device) represented by an FPGA (Field Programmable Gate Array). It is also possible to configure some functions with dedicated hardware and configure other parts with general-purpose microcomputers.

  Whether each functional unit is configured by dedicated hardware or by software by executing a program in the CPU is determined in consideration of required calculation speed, cost, power consumption, and the like. Note that configuring the functional unit with dedicated hardware and configuring it with software are equivalent from the viewpoint of realizing a specific function.

  The flight plan data reception unit 301 receives flight plan data of the UAV 200. In the flight plan, the flight start time, the coordinates (latitude, longitude, altitude) of a plurality of passing points Pn and the speed between adjacent points are specified. The UAV 200 performs autonomous flight according to this flight plan. Here, the position at the specified time can be obtained from the position of Pn and the flight time. An arbitrary time can be specified at the site as the flight start time. Normally, the flight is started according to the flight plan described above from the time when the flight is started as the origin on the time axis. As a flight plan, the form which prescribed | regulated the relationship between the time from the flight start and a position is also possible.

  The flight plan is set in advance by an engineer in consideration of the conditions of the topography to be surveyed. Of course, a flight plan may be created at the surveying site. In addition, the flight plan prepared in advance may be corrected according to the situation at the surveying site, and then the corrected flight plan may be input to the UAV 200 for flight.

  The calculation unit 302 calculates the position on the line connecting the UAV 200 and the sun flying according to the flight plan received by the flight plan data receiving unit 301. FIG. 4 shows a conceptual diagram regarding the calculation performed by the calculation unit 302. In the example of FIG. 4, the shadow of sunlight caused by the planned flight route in the flight plan is projected on the ground, and the coordinates of the shadow trace formed on the ground are calculated. The trace trace of the shadow projected on the ground becomes the shadow path of the UAV 200 on the ground.

In the following, it will be formed on the ground with the flight of UAV200 (it will be formed accurately)
An example of the calculation related to the path of the shadow trail of the UAV will be described. First, a three-dimensional coordinate system is set in the virtual space, and a land to be surveyed is set in the virtual space. Information that is roughly known at this stage may be used for the undulation information of the land to be surveyed.

  Next, flight route information is acquired from the flight plan of the UAV 200, and the flight route of the UAV 200 is set in the virtual space described above. When the flight route is set, the UAV 200 is virtually moved on the flight route with the flight start time as the origin, and the positions of the shadows generated at that time are plotted.

  Specifically, an equation of a straight line connecting the sun and the UAV 200 is obtained, and a calculation is performed with a position where the straight line intersects the ground surface as a position where the shadow of the UAV 200 is formed. By performing this process at specific intervals along the time axis, a shadow locus is obtained on the UAV 200 formed on the ground surface.

  For example, consider time t. Here, the position P in the air of the UAV 200 on the flight route at time t is obtained from the flight plan. Moreover, the direction of the sun (the position of the sun in the celestial sphere) viewed from the position P at time t is obtained by astronomical calculation or the like.

  If the direction of the sun viewed from the position P is known, a straight line connecting the position P and the sun is obtained, and the position of the intersection of this straight line and the ground surface becomes the UAV shadow position U. Then, by obtaining the position U at times t1, t2, t3... (For example, every second), a position Ui (i = 1, 2, indicating the locus of the shadow position of the UAV caused by sunlight). 3 ...) is obtained.

  In the current technology, the flight time of the UAV 100 is about 30 minutes at the maximum due to the problem of battery capacity. Therefore, in the above processing, the position of the sun at the midpoint of the flight path may be adopted and the calculation may be performed on the assumption that the sun does not move.

  On the locus drawn by the position Ui, when the UAV 200 is viewed with the position as the viewpoint, the sun can be seen on the line connecting the viewpoint and the UAV 200. Therefore, the position Ui is a position where the sun enters the field of view of the TS 100 when the TS 100 tracks the UAV 200 flying according to the flight plan. Naturally, this position is not suitable as a viewpoint for tracking the UAV 200.

  Based on the position Ui calculated by the calculation unit 302, the optical apparatus installation inappropriate position calculation unit 303 calculates a position where the installation of the TS that tracks the UAV 100 is inappropriate. Hereinafter, specific processing contents will be described. In FIG. 4, an open angle cone 401 having an angle θ centered on the optical axis of the shadow of the UAV 200 is set, and a circular or elliptical projection area projected onto the ground is positioned at an inappropriate position (range) for the TS 100. ) Is shown as an example. Here, the optical axis of the shadow of the UAV 200 is calculated as a line connecting the UAV 200 and Ui.

  In this case, the range of the reference numeral 402 is a viewpoint range in which the sun may enter the field of view when the UAV 200 is viewed. The value of θ is determined based on the flight altitude of the UAV 200, the distance between the UAV 200 and the TS 100, and the field of view in the search mode of the TS 100. For simplicity, there is a form in which θ is a fixed value, a plurality is prepared according to the altitude of the flight plan, and is set based on the altitude information of the flight plan.

  In addition, a form in which a specific range centered on Ui (for example, a circular region having a radius r) is calculated as a position (range) inappropriate for the installation of the TS 100 is also possible. More simply, a mode in which a region including a shadow locus is set as a TS installation prohibited area 403 is also conceivable. In this case, for example, the TS installation prohibited area 403 is set by setting a minimum distance between Ui and the outer edge of the region 403 to a specific distance (for example, 30 m or 50 m).

  The installation position acquisition unit 304 of the optical device acquires information related to the installation position of the TS 100. The form for acquiring the position of the TS100 includes a first form for acquiring the position information of the TS100 in a state where the TS100 is actually installed, and a second form for acquiring the position where the TS100 is scheduled to be installed.

  In the first mode, the position of the TS 100 is acquired using the position measurement unit 107 (see FIG. 2), and is transmitted to the installation position acquisition unit 304 of the optical device. A mode is also possible in which positioning of the TS 100 is performed using the GPS function of a dedicated device or a smartphone, and the result is transmitted to the installation position acquisition unit 304 of the arithmetic device 300. In the second form, positioning of the position where TS100 is scheduled to be installed is performed using a surveying function of TS100, a portable GPS, a GPS function of a smartphone, or the like. In this case as well, the positioning data is sent to the installation position acquisition unit 304.

  The determination unit 305 compares the position Ui calculated by the calculation unit 302 with the installation position of the TS100, and determines whether the installation position of the TS100 is affected by sunlight in the tracking of the UAV 200 by the TS100.

  Hereinafter, the process in the determination part 305 is demonstrated. In this case, it is determined whether the TS installation position or the planned installation position is included in the position calculated by the optical apparatus installation inappropriate position calculation unit 303. For example, the determination unit 305 determines whether the TS 100 installation position is included in the TS installation prohibited area 403 in FIG. This determination process is the same when the planned installation position of the TS 100 is designated.

  The angle calculation unit 306 calculates an angle α formed by the direction of the line of sight of the TS 100 that tracks the UAV 200 flying according to the flight plan and the direction of the sun as viewed from the TS. In this process, the flight start time is designated, and the change in the direction of the line of sight of the TS 100 (the optical axis of the TS that tracks the UAV 200) when the UAV 200 flies in accordance with the flight plan is simulated. By this simulation, the range of the direction of the optical axis of the TS 100 that tracks the UAV 200 is obtained.

  On the other hand, data on the position of TS100 is input, and the direction of the sun in the above flight period as viewed from the installation location or the planned installation position of TS100 is calculated. Since the sun is at infinity, the position of the viewpoint for viewing the sun may be an appropriate position within the range in which the UAV 200 flies (a distance that can be tracked by the TS 100).

  For example, as a result of the above simulation, when tracking UAV 200, TS100 changes the direction of the optical axis in the range of horizontal angle Δθ1 considered in the clockwise direction with north being 0 °, and in the range of elevation angle Δφ1 from the horizontal direction. Results are obtained. Further, the result is that the direction of the sun changes in the range of the horizontal angle Δθ2 and the elevation angle Δφ2 from the horizontal direction. Since the flight time of UAV is about 30 minutes at the maximum, the sun direction at the intermediate time of the flight period may be adopted.

  When the change range of the optical axis (optical axis 1) of TS100 and the change range of the sun direction (optical axis 2) are obtained, the minimum value α of the angle formed by the two optical axes is calculated. The above processing is performed in the angle calculation unit 306. The comparison of the angle formed by the two optical axes can be obtained with high accuracy when the time is matched, but only the angle may be compared regardless of the time.

  Comparison of the angle formed by the two optical axes at the same time is performed as follows. In this case, the direction of the optical axis of the TS100 that tracks the UAV 200 at time t1 is compared with the direction of the sun, the direction of the optical axis of the TS100 that tracks UAV200 at time t2 is compared with the direction of the sun, and the UAV200 at time t3 is Comparison between the direction of the optical axis of the TS 100 to be tracked and the direction of the sun is performed. Then, the angle formed by the two optical axes at each time is obtained, and the minimum value α is further obtained.

  Comparison of the angle formed by the two optical axes is performed as follows regardless of the time. In this case, the range of the direction of the optical axis of the TS 100 during the flight of the UAV 200 is obtained, and further the range of the sun direction at that time (or the direction of the sun at the intermediate time) is obtained. Then, the angle formed by the two optical axes is obtained, and the minimum value α is further obtained.

  When the angle calculation unit 306 is used, the determination unit 305 determines that the position of the TS100 is a position affected by sunlight when the angle α is equal to or smaller than a predetermined threshold Th (α <Th). To do. For example, if there is a time when the angle between the optical axis 1 and the optical axis 2 is 0 °, the TS 100 is directed to the sun at that time, and compared to the search laser light and the distance measuring laser light. The optical tracking and ranging of the UAV 200 cannot be performed due to the influence of much stronger sunlight. Although the above threshold value depends on the field of view of the target search function of TS100, for example, about 5 ° is adopted.

  The communication unit 307 communicates with TS100 and other devices. The storage unit 308 stores various data necessary for the operation of the arithmetic device 300, an operation program, data and calculation programs related to the sun's orbit, data of processing results in the arithmetic device 300, and the like.

  The display control unit 309 displays a range unsuitable for the installation of the TS 100 due to the influence of sunlight on the map data displayed on the display unit 310. The unsuitable range for the installation of the TS 100 is calculated by the optical device installation inappropriate position calculation unit 303. For example, the TS installation prohibited area 403 of FIG. 4 is displayed on the map screen displayed on the display unit 310 by the function of the display control unit 309.

  For example, a map screen is created using commercially available map software or map software available on the net, and this map screen is displayed on the display unit 310. Then, the TS installation prohibited area is displayed on the map screen. This process is performed by the display control unit 309.

  The display unit 310 is a display of a PC that constitutes the arithmetic device 300. The arithmetic device 300 does not necessarily include the display unit 310, and an external display device may be used.

  The flight altitude changing unit 311 changes the flight altitude determined in the flight plan so that the sun does not come on the optical axis of the TS 100 that tracks the UAV 200. As shown in FIG. 8, when the sun is on the line connecting TS100 and UAV200 on the flight path, the altitude of UAV200 is changed (in the case of FIG. 8, when the altitude is lowered), from the line connecting TS100 and UAV200. The sun can be removed.

  For example, when the flight plan, the flight start time, and the installation position of the TS 100 are designated, it is assumed that the situation where the sun enters the field of view of the TS 100 is predicted by the processing of FIGS. In this case, the altitude of the UAV 200 in the flight plan located on the line connecting the sun and the TS 100 is changed so that the TS 100, the UAV 200, and the sun do not line up in a straight line. This process is performed by the flight altitude changing unit 311. Note that when the altitude is changed, the shooting range shown in FIG. 9 is changed, so that the altitude is corrected so that a non-photographed range does not occur.

(Processing example 1)
Hereinafter, an example of processing performed by the arithmetic device 300 in FIG. 3 will be described. FIG. 5 shows an example of a procedure of processing performed by the arithmetic device 300. The program for executing the processing of FIG. 5 is stored in and provided from the storage unit 308 of the arithmetic device 300, an appropriate storage medium, or a server on the network. The same applies to other processing examples.

  In this example, a case will be described in which a range of the installation position of a TS affected by sunlight is presented to the user when making a flight plan. When the process is started, a flight plan is first received by the flight plan data receiving unit 301 (step S101).

  When the flight plan is acquired, the flight start time is designated (step S102). This is done by the user. When the flight start time is specified in the flight plan, that time is specified as the flight start time.

  When the flight start time is designated, UAV flight is simulated, and a shadow locus Ui created by the UAV caused by sunlight is calculated based on the principle shown in FIG. 4 (step S103). This process is performed by the calculation unit 302.

  When the shadow locus Ui created by the UAV is calculated, a position that is not appropriate for the installation of the TS is calculated based on the principle described with reference to FIG. 4 (step S104). This process is performed by the optical device installation inappropriate position calculation unit 303.

  When the position that is not appropriate for the installation of the TS is calculated, the area is displayed on the map data (step S105). This process is performed by the display control unit 309.

  According to the processing of FIG. 5, it becomes easy to grasp the range of the appropriate installation position of the TS with respect to the UAV flight plan.

(Processing example 2)
In the process of FIG. 6, when the installation position of the TS is designated, it is determined whether or not the position is a position affected by sunlight (that is, whether or not it is an appropriate installation position) The result is notified to the user.

  When the process of FIG. 6 is started, the flight plan reception unit 301 first acquires a flight plan (step S201). Next, the flight start time is designated (step S202). Thereafter, the case of flying according to the flight plan is simulated, and the UAV shadow trajectory formed on the ground at that time is calculated (step S203). This process is performed by the calculation unit 302.

  When the shadow locus of the UAV 200 is calculated, the installation position (or the installation planned position) of the TS 100 is designated (step S204). For example, the TS 100 is temporarily installed, the position of the TS 100 is measured using a single positioning function using the GNSS of the TS 100, and the measured value is sent to the installation position acquisition unit 304 of the optical device. Of course, positioning is performed by relative positioning if possible. Further, surveying at a point where the TS 100 is scheduled to be installed may be performed using the surveying function of the TS 100, and the survey data may be sent to the installation position acquisition unit 304 of the optical device.

  Next, the determination unit 205 compares the shadow position of the UAV 200 with the installation position of the TS100 obtained in step S204 (step S205), and determines whether the installation position of the TS100 is affected by sunlight. (Step S206). In this determination, for example, it is determined whether or not the installation position of the TS 100 falls within the area indicated by reference numeral 403 in FIG.

  If the installation position of the TS100 is not affected by sunlight, the process proceeds to step S207. If the position is affected by the sun, the process proceeds to step S208. In step S207, a notification display that the installation position of the TS 100 is appropriate is displayed on the display unit 310. In step S208, a notification display that the installation position of the TS 100 is inappropriate is displayed on the display unit 310.

  In addition, when determining regarding the installation position of TS100 again, the process after step S204 is repeated.

(Processing example 3)
In the process of FIG. 7, when the installation position of the TS 100 is designated, it is determined whether or not the position is affected by sunlight (that is, whether or not it is an appropriate installation position) The result is notified to the user. The purpose of the process and the results obtained are the same as those of FIG. However, the processing of FIG. 7 is different from the case of FIG.

  In the process of FIG. 7, first, a flight plan of the UAV 200 is acquired (step S301). Then, the flight start time is designated (step S302). Next, the position where TS100 is installed is designated (step S303). Step S301 is the same as step S201 (step S101), step S302 is the same as step S202 (step S102), and step S303 is the same as step S204.

  Next, the angle calculation part 306 performs the process of step S304-S307. In step S304, the range of change in the optical axis of TS100 when the UAV 200 flying according to the flight plan from the position specified in step S303 is tracked by the TS100 is calculated.

  In step S305, the range of the direction of the sun seen from the target area in the flight period of the UAV 200 is calculated. In step S306, the range of change in the optical axis direction of TS100 calculated in step S304 (the range of the first optical axis direction) and the range of the sun direction (the range of the second optical axis direction) are compared. The minimum value α of the angle formed by the two optical axes is calculated.

  When α is calculated, the determination unit 305 determines whether α is equal to or less than a predetermined threshold (step S307). If α is a value exceeding the threshold value, a notification that the installation position of the TS 100 designated in step S303 is appropriate is performed (step S308). If α is equal to or smaller than the threshold, a notification (warning notification) that the installation position of the TS 100 designated in step S303 is not appropriate is performed (step S309).

(Processing example 4)
In this example, when there is an inconvenience in the flight plan, the flight start time, and the installation position of the TS100 (inconvenience in which sunlight becomes an obstacle), the processing for avoiding the above inconvenience by changing the altitude of the UAV 200 in the flight plan. About.

  In this case, when the flight plan, the flight start time, and the installation position of the TS 100 are specified, whether the sun enters the field of view of the TS 100 that tracks the UAV 200 as shown in FIG. Is examined. When a situation where the sun enters the field of view of TS100 is expected, a route where the altitude of the UAV at that position is shifted up or down is set, and a route where TS100, UAV200 and the sun are aligned in a straight line is avoided. Explore.

  When the flight plan that can avoid the situation where the TS100, the UAV200, and the sun are aligned in a straight line can be set, the flight plan of this place is corrected to the content and presented to the user. At this time, a new altitude is set in consideration that the ground photographing range shown in FIG. 9 is changed. This new altitude setting is performed by the flight altitude correction unit 311. The altitude may be changed at least at the position of the planned flight route in question. Of course, it is possible to change the altitude in other parts of the planned route in the flight plan or in the entire flight plan. In addition, in order to avoid a decrease in the stability of the posture of the UAV 200 and a sudden change in the shooting range due to a sudden change in altitude, a flight course in which the altitude changes slowly before and after the position where the altitude is changed may be set. Is possible.

2. Others The identification device 300 can also be configured with dedicated hardware. It is also possible to construct the identification device 300 as a system composed of a plurality of hardware connected by a communication line. For example, a part of the function of the identification apparatus 300 is configured by a PC, the other part is configured by a server, and a tablet is used as a display unit, and a system that functions as the identification apparatus 300 as a whole via a communication line is configured. An example is given.

  A configuration in which at least part of the functions of the identification device 300 is incorporated in the TS 100 is also possible. For example, functions other than the display control unit 309 and the display unit 310 in the identification device 300 of FIG. 3 are incorporated in the TS 100, and the functions of the display control unit 309 and the display unit 310 are realized using a notebook PC or tablet.

  In addition, UAV utilization methods are not limited to surveying, and include various types of aerial photography, security, monitoring, and the like. At this time, it may be necessary to monitor the flying UAV from the ground. In some cases, this technology uses an optical device having a search function as provided by TS or TS. The present invention can be used for this technique.

  The UAV 200 flight plan data may be input to the TS 100 and the UAV 200 may be tracked by the TS 100 based on the flight plan data. In this case, the tracking of the UAV 200 by the TS 100 is facilitated, but there are still cases where the flight is out of the planned course due to the influence of the error of the positioning function of the UAV 200 itself. Is required. Therefore, also in this case, the influence of the sun in tracking and positioning of UAV by TS becomes a problem, and the present invention is effective.

Claims (10)

  When tracking an aircraft flying according to a flight plan by an optical device, the optical device includes a calculation unit that calculates the position of the optical device where the sun enters the field of view of the optical device based on the flight plan and position information of the sun in the celestial sphere. Arithmetic unit.   The computing device according to claim 1, wherein the position of the optical device where the sun enters the visual field of the optical device is calculated based on a position on a line connecting the sun and the aircraft flying according to the flight plan.   The computing device according to claim 2, wherein the position of the optical device where the sun enters the visual field of the optical device includes a position on a line connecting the sun and the aircraft flying according to the flight plan.   The calculation according to any one of claims 1 to 3, further comprising an optical device installation inappropriate position calculation unit that calculates a position where the installation of the optical device that tracks the aircraft is inappropriate based on the position calculated by the calculation unit. apparatus. An installation position acquisition unit of an optical device that receives information of an installation position of an optical device that tracks the aircraft; and
The position calculated by the calculation unit and the installation position of the optical device are compared, and it is determined whether or not the installation position of the optical device is affected by sunlight in tracking the aircraft by the optical device. An arithmetic unit according to any one of claims 1 to 4, further comprising:   An arithmetic device comprising: a determination unit that determines, based on the flight plan and position information of the sun on the celestial sphere, whether or not the sun enters the field of view of the optical device when an aircraft flying according to a flight plan is tracked by the optical device.   Whether or not the sun enters the field of view of the optical device has a specific relationship between the direction of the sun seen from the optical device and the direction of the optical axis of the optical device that tracks an aircraft flying according to the flight plan The arithmetic device according to claim 6, wherein the arithmetic device is performed by determining whether or not the above condition is satisfied.   The computing device according to claim 6, further comprising an altitude changing unit that changes the altitude of the aircraft at a timing when the sun enters the field of view of the optical device. A calculation step of calculating the position of the optical device where the sun enters the field of view of the optical device based on the flight plan and position information of the sun in the celestial sphere when the aircraft flying according to the flight plan is tracked by the optical device. Method. A program that is read and executed by a computer,
As a calculation unit that calculates the position of the optical device where the sun enters the field of view of the optical device based on the flight plan and position information of the sun in the celestial sphere when the computer tracks an aircraft flying according to a flight plan A program characterized by being operated.

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