JP4046476B2 - Navigation calculation apparatus and navigation calculation method - Google Patents

Description

【０００５】
図２は、空間航行体１の位置情報６に位置オフセット誤差１３、及び姿勢情報１２に姿勢オフセット誤差１４がある場合の観測点算出を表わした図である。位置オフセット誤差１３は、位置オフセット誤差をもつ場合の空間航行体の中心１５と誤差なしの場合の空間航行体１の中心３とのずれ量として表わし、姿勢オフセット誤差１４は、誤差がない場合の空間航行体１に固定した座標系７と姿勢オフセット誤差をもつ場合の空間航行体１に固定した座標系１６とのずれ量として表わす。位置オフセット誤差１３及び姿勢オフセット誤差１４がある場合の撮像機７の向いている方向１７は、姿勢オフセット誤差１４分だけ誤差がない場合の撮像機７の向いている方向９（図１参照）とずれており、位置オフセット誤差１３と合わせて上式（１）を用いて撮像機７の観測点を算出すると、それは誤差がない場合の観測点８と異なる観測点１８となる。
【０００６】
図３は、図１及び図２で説明した内容と撮像機７で取得した画像データ１９との関連を表わす図であり、２０は地上の基準となる情報であり、例えば地図などが該当する。図に示すように位置オフセット誤差１３及び姿勢オフセット誤差１４がある場合、画像１９中の観測点の位置算出結果１８と地図中の画像１９に該当する地球上の観測点８の位置とを比較することによって、ずれ量２１を算出する。地球上の特徴点を複数N点用意すれば、N点分のずれ量２１が得られる。
【０００７】
図１０は従来のナビゲーション算出装置の構成を示したブロック図であり、図において、２２は、画像データ１９、空間航行体１の位置情報６及び姿勢情報１２を入力とし、撮像機７の空間航行体１への取り付け及び空間航行体１の姿勢から画像データ１９中のN点の特徴点に対応した撮像機７の向いている方向１７を算出し、その方向が地球と交わる点１８を算出する観測点対応位置算出部、２３は、N点の特徴点位置８と観測点対応位置算出部２２の算出結果である観測点１８とのずれ量２１を計測するずれ量計測部、２６は、N点の特徴点を用い、空間航行体１の位置オフセット誤差１３及び姿勢オフセット誤差１４を含めた連立方程式から姿勢オフセット誤差１４及び位置オフセット誤差１３を逆算する姿勢及び位置のオフセット誤差逆算部である。
【０００８】
姿勢及び位置のオフセット誤差逆算部２６では、N点の各特徴点のずれ量をΔＰ［ｉ］（但し、ｉ＝０，・・・，ｎ−１）、各特徴点撮像時の空間航行体の位置情報をＰ［ｉ］、空間航行体の位置オフセット誤差をＰ'、各特徴点撮像時の空間航行体１から特徴点への正しい撮像機方向をｖ［ｉ］、各特徴点撮像時の正しい空間航行体１の位置から特徴点までの距離をｋ［ｉ］、各特徴点撮像時の空間航行体１の姿勢から算出する空間航行体１から特徴点への撮像機方向をｖ'［ｉ］、各特徴点撮像時の空間航行体１の各軸周りの姿勢をφ［ｉ］、θ［ｉ］、ψ［ｉ］、姿勢オフセット誤差をΔφ、Δθ、Δψ、空間航行体に固定した撮像機の取り付け方向をｖｐ［ｉ］とした次式（２）の連立方程式から、姿勢オフセット誤差Δφ、Δθ、Δψ、位置オフセット誤差Ｐ'を逆算する。ただし太字はベクトルを表わし、Ｃ１はＸ軸周り、Ｃ２はＹ軸周り、Ｃ３はＺ軸周りの回転を表わす。
【０００９】
【数２】

【００１０】
【発明が解決しようとする課題】
従来のナビゲーション算出装置においては、上述したような方法により、空間航行体の位置及び姿勢から算出した特徴点の地球上の位置と画像中から得られる対応する特徴点とのずれ量ΔＰを満足するような位置オフセット誤差Ｐ’及び姿勢オフセット誤差Δψ、Δθ、Δφを算出していた。算出にあたっては、複数（N個）の特徴点を設定することによって、N式の連立方程式を立て、空間航行体の位置オフセット誤差及び空間航行体の姿勢オフセット誤差を算出していた。このような方式では、計算過程で逆変換が生じたり、方程式中に三角関数を用いた座標変換があることから、計算が複雑になってしまい、高速に行うことが出来ないという問題点があった。
【００１１】
また、場合によっては、逆変換が困難なため、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出できない可能性があるという問題点があった。
【００１２】
さらに、特徴点の位置から逆算して位置オフセット誤差及び姿勢オフセット誤差を算出する方法は、空間航行体に搭載する撮像機に依存するため、撮像機が変更になれば、その撮像機固有の方式を採用しなければならないという問題点があった。
【００１３】
この発明は、かかる問題点を解決するためになされたものであり、空間航行体の位置オフセット誤差Ｐ’(Δx、Δy、Δz)、及び空間航行体姿勢オフセット誤差Δφ、Δθ、Δψを、空間航行体の位置及び姿勢から算出した特徴点と画像中から得られる対応した特徴点のずれ量ΔＰを用いて、逆変換を行うことなく順変換のみで計算することにより、高速に、精度良く、また、あらゆるセンサでの撮像に適用可能となるナビゲーション算出装置及びナビゲーション算出方法を得ることを目的としている。
【００１４】
【課題を解決するための手段】
この発明は、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出装置であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出手段と、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出手段により算出された観測点との緯経度のずれ量を計測するずれ量計測手段と、ずれ量計測手段により計測されたＮ個のずれ量のそれぞれを、空間航行体の上記位置３成分及び上記姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差を算出する姿勢及び位置のオフセット誤差量算出手段と、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出手段とを備えたナビゲーション算出装置である。
【００１５】
また、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出装置であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出手段と、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出手段により算出された観測点との緯経度のずれ量を計測するずれ量計測手段と、空間航行体と地上との距離を入力とし、位置オフセット誤差のＺ成分を消去することによる拘束条件を算出するＺ座標位置拘束条件設定部、距離に基づいて、空間航行体の位置３成分のオフセット誤差中のＺ成分を消去し、ずれ量計測手段により計測されたＮ個のずれ量のそれぞれを、空間航行体の位置２成分（Ｘ、Ｙ）及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差のＸ成分及びＹ成分を算出する姿勢及び位置のオフセット誤差量算出手段と、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出手段と、算出された位置オフセット誤差のＸ成分及びＹ成分と距離とから、位置オフセット誤差のＺ成分を算出する位置Ｚ座標オフセット誤差量算出手段とを備えたナビゲーション算出装置である。
【００１６】
また、地球の上空を所定の高度で地球の自転と同期せずに航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出装置であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、撮像機の視線方向、及び、各観測点を撮像機が撮像した時刻を入力とし、時刻に該当する空間航行体の位置３成分及び姿勢３成分および撮像機の視線方向から、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出手段と、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出手段により算出された観測点との緯経度のずれ量を計測するずれ量計測手段と、ずれ量計測手段により計測されたＮ個のずれ量のそれぞれを、時刻と空間航行体の位置３成分及び姿勢３成分との各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差、位置オフセット誤差及び時刻オフセット誤差を算出する姿勢、位置及び時刻のオフセット誤差量算出手段と、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力とし、線形和の位置及び姿勢の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出手段と、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力として、線形和の時刻の項の係数となる各観測点での当該成分の偏微分値に該当する各観測点での時刻に関する算出感度を算出する時刻感度算出手段とを備えたナビゲーション算出装置である。
【００１７】
また、算出された位置オフセット誤差及び姿勢オフセット誤差の値がゼロか否かの判定を行うゼロ判定手段をさらに備え、ゼロ判定手段の判定がゼロとなるまで、位置オフセット誤差及び姿勢オフセット誤差を算出するための計算を繰り返し行う。
【００１８】
また、この発明は、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出方法であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出ステップと、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出ステップにより算出された観測点との緯経度のずれ量を計測するずれ量計測ステップと、ずれ量計測ステップにより計測されたＮ個のずれ量のそれぞれを、空間航行体の位置３成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差を算出する姿勢及び位置のオフセット誤差量算出ステップと、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出ステップとを備えたナビゲーション算出方法である。
【００１９】
また、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出方法であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出ステップと、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出ステップにより算出された観測点との緯経度のずれ量を計測するずれ量計測ステップと、空間航行体と地上との距離を入力とし、位置オフセット誤差のＺ成分を消去することによる拘束条件を算出するＺ座標位置拘束条件設定ステップ、距離に基づいて、空間航行体の位置３成分のオフセット誤差中のＺ成分を消去し、ずれ量計測ステップにより計測されたＮ個のずれ量のそれぞれを、空間航行体の位置２成分（Ｘ、Ｙ）及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差のＸ成分及びＹ成分を算出する姿勢及び位置のオフセット誤差量算出ステップと、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出ステップと、算出された位置オフセット誤差のＸ成分及びＹ成分と距離とから、位置オフセット誤差のＺ成分を算出する位置Ｚ座標オフセット誤差量算出ステップとを備えたナビゲーション算出方法である。
【００２０】
また、地球の上空を所定の高度で地球の自転と同期せずに航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出方法であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、撮像機の視線方向、及び、各観測点を撮像機が撮像した時刻を入力とし、時刻に該当する空間航行体の位置３成分及び姿勢３成分および撮像機の視線方向から、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出ステップと、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出ステップにより算出された観測点との緯経度のずれ量を計測するずれ量計測ステップと、ずれ量計測ステップにより計測されたＮ個のずれ量のそれぞれを、時刻と空間航行体の位置３成分及び姿勢３成分との各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差、位置オフセット誤差及び時刻オフセット誤差を算出する姿勢、位置及び時刻のオフセット誤差量算出ステップと、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力とし、線形和の位置及び姿勢の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出ステップと、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力として、線形和の時刻の項の係数となる各観測点での当該成分の偏微分値に該当する各観測点での時刻に関する算出感度を算出する時刻感度算出ステップとを備えたナビゲーション算出方法である。
【００２１】
また、算出された位置オフセット誤差及び姿勢オフセット誤差の値がゼロか否かの判定を行うゼロ判定ステップをさらに備え、ゼロ判定ステップの判定がゼロとなるまで、位置オフセット誤差及び姿勢オフセット誤差を算出するための計算を繰り返し行う。
【００２２】
【発明の実施の形態】
実施の形態１．
図４は、この発明の実施の形態１によるナビゲーション算出装置の構成を示すブロック図である。図において、１９は、地球２（図２）の上空を所定の高度で地球の自転と同期して航行する空間航行体１（図２参照）に地球２を指向するように搭載された撮像機７（図２参照）で取得した地球表面の画像データであり、画像データ１９上には、オフセット誤差量を算出するためのＮ個の観測点（または特徴点）８が予め設定されている。２２は、画像データ１９、空間航行体１の位置情報（すなわち、位置３成分（Ｘ、Ｙ、Ｚ））６姿勢情報（すなわち、姿勢３成分（ロールφ、ピッチθ、ヨーψ））１２、及び、撮像機７の視線方向１７から、上記Ｎ個の観測点８に対応する姿勢オフセット誤差及び位置オフセット誤差を含んだ場合の観測点１８の地球上の位置（緯経度）を算出する観測点対応位置算出部、２３は、地球上で実際に計測された上記Ｎ個の観測点８の地球上の位置（緯経度）が入力されて、Ｎ個の観測点それぞれについて、観測点対応位置算出部２２により算出された観測点１８との緯経度のずれ量を計測するずれ量計測部、２６は、ずれ量計測部２３により計測されたＮ個のずれ量のそれぞれを、空間航行体１の位置３成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差１４及び位置オフセット誤差１３を算出する姿勢及び位置のオフセット誤差量算出部、２４及び２５は、それぞれ、画像データ１９、空間航行体１の位置情報６及び空間航行体１の姿勢情報１２を入力とし、上記線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する感度算出部（姿勢）及び感度算出部（位置）である。
【００２３】
動作について説明する。まず、観測点対応位置算出部２２において、画像データ１９、空間航行体の位置情報６、姿勢情報１２を入力とし、撮像機７の空間航行体１への取り付け、及び、空間航行体１の姿勢から画像データ１９中のN個の特徴点に対応した撮像機７の向いている方向１７を算出し、その方向１７が地球２と交わる点１８を算出する。次に、N個の特徴点８の位置と観測点対応位置算出部２２の算出結果である観測点１８とのずれ量２１（図３参照）をずれ量計測部２３にて計測する。一方、画像データ１９、空間航行体の位置情報６、姿勢情報１２を入力とし、感度算出部（姿勢）２４及び感度算出部（位置）２５において、観測点対応位置算出部２２のN個の各特徴点での算出感度を算出する。ここでの算出感度とは、各特徴点での各要素の偏微分値に該当し、観測点対応位置算出部２２で使用する画像データ１９中の観測点に対応する地球上の位置の算出関数をF、空間航行体１の位置をＸ［ｉ］、Ｙ［ｉ］、Ｚ［ｉ］、位置オフセット誤差をΔＸ、ΔＹ、ΔＺ、姿勢をφ［ｉ］、θ［ｉ］、ψ［ｉ］、姿勢オフセット誤差をΔφ、Δθ、Δψ、ずれ量計測部２３の計測結果をΔＰ［ｉ］とし、これらの関係を次式（３）の線形和で表わす。感度算出部（姿勢）２４及び感度算出部（位置）２５での各要素での偏微分値は、観測点対応位置算出部２２で使用する画像データ１９中の観測点に対応する地球上の位置の算出関数Ｆから、次式（４）にて算出する。ずれ量計測部２３の結果と感度算出部（姿勢）２４、感度算出部（位置）２５の結果から、姿勢及び位置のオフセット誤差量算出部２６にて、次式（５）に示す連立方程式を解くことによって位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３及び姿勢オフセット誤差（Δφ、Δθ、Δψ）１４を算出する。
【００２４】
【数３】

【００２５】
【数４】

【００２６】
【数５】

【００２７】
以上のように、本実施の形態においては、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出する際、ずれ量計測部２３により計測されたＮ個のずれ量のそれぞれを、空間航行体１の位置３成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、また、各観測点での各成分の偏微分値に該当する算出感度を算出してそれらを上記線形和の各項の係数として、線形和で表されたＮ個のずれ量の関数を連立方程式として解くようにしたので、逆変換を行うことがなく順変換のみで演算が行えるようになったため、高速に計算することが可能となるという効果がある。また、特徴点の位置から逆算してオフセット誤差を算出する必要がなくなったため、撮像機７に依存しなくてすむので、撮像機が変更になった場合等においても適用可能となるという効果がある。
【００２８】
実施の形態２．
図５はこの発明の実施の形態２を示すブロック図である。図において、２７は、所定の地上局（図示せず）から空間航行体１までの距離を測定した測距データ、２８は、測距データ２７を入力とし、位置オフセット誤差のＺ成分を消去することによる拘束条件を算出するＺ座標位置拘束条件設定部、２９は、上記測距データから空間航行体の位置３成分のオフセット誤差中のＺ成分を消去し、ずれ量計測部２３により計測されたＮ個のずれ量のそれぞれを、空間航行体１の位置２成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差１４及び位置オフセット誤差Ｘ成分及びＹ成分（ΔＸ，ΔＹ）１３ａを算出する姿勢及び位置のオフセット誤差量算出部、３０は、算出された位置オフセット誤差Ｘ成分及びＹ成分と測距データ２７とから、位置オフセット誤差Ｚ成分（ΔＺ）１３ｂを算出する位置Ｚ座標オフセット誤差量算出部である。他の構成については、上述の実施の形態１と同一であるため、ここではその説明を省略する。
【００２９】
動作について説明する。まず、実施の形態１と同様に観測点対応位置算出部２２にて、画像データ１９、空間航行体の位置情報６、姿勢情報１２を入力とし、画像データ１９中の観測点を算出し、ずれ量計測部２３にてずれ量を計測する。また、実施の形態１と同様に、画像データ１９、空間航行体の位置情報６、姿勢情報１２を入力とし、感度算出部（姿勢）２４、感度算出部（位置）２５において、観測点対応位置算出部２２のN点各点での算出感度を算出する。次に、地上局から空間航行体までの距離を測定した測距データ２７を入力とし、次式（６）に示す位置オフセット誤差のＺ成分を消去することによる拘束条件をＺ座標位置拘束条件設定部２８にて算出する。ここで、式（６）中では、空間航行体の位置を（Ｘ、Ｙ、Ｚ）、位置オフセット誤差を（ΔＸ、ΔＹ、ΔＺ）、地上局の位置を（Ｘｅ、Ｙｅ、Ｚｅ）、計測した距離（測距データ）をＬとしている。ずれ量計測部２３の結果、感度算出部（姿勢）２４及び感度算出部（位置）２５の結果、及び、Ｚ座標位置拘束条件設定部２８の結果から、姿勢及び位置（Ｘ，Ｙ）のオフセット誤差量算出部２９にて、次式（７）に示す連立方程式を解くことによって、位置オフセット誤差（ΔＸ、ΔＹ）１３ａ及び姿勢オフセット誤差（Δφ、Δθ、Δψ）１４を算出する。次に、位置Ｚ座標オフセット誤差量算出部３０にて、算出された位置オフセット誤差（ΔＸ、ΔＹ）１３ａから、式（６）を用いて位置オフセット誤差Ｚ成分（ΔＺ）１３ｂを算出する。なお、上記説明においては、測距データ２７を地上局と空間航行体との間の距離としたが、その場合に限らず、地上局でなくとも所定の地球上の一点（すなわち、地上）であればいずれの場所でもよい。
【００３０】
【数６】

【００３１】
【数７】

【００３２】
以上のように、本実施の形態においては、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出する際、ずれ量計測部２３により計測されたＮ個のずれ量のそれぞれを、空間航行体１の位置２成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、また、各観測点での各成分の偏微分値に該当する算出感度を算出してそれらを上記線形和の各項の係数として、線形和で表されたＮ個のずれ量の関数を連立方程式として解くようにしたので、逆変換を行うことがなく順変換のみで演算が行えるようになったため、高速に計算することが可能となるという効果がある。さらに、本実施の形態においては、連立方程式を解く際に、位置Ｚ成分を消去して演算を行うようにしたので、計算時間の短縮をより図ることができる。また、特徴点の位置から逆算してオフセット誤差を算出する必要がなくなったため、撮像機７に依存しなくてすむので、撮像機が変更になった場合等においても適用可能となるという効果がある。
【００３３】
実施の形態３．
図６はこの発明の実施の形態３を示すブロック図である。図において、３１は各観測点を撮像機が撮像した時刻、３２は、画像データ１９、空間航行体の位置情報６、姿勢情報１２、及び、時刻３１を入力として、各観測点での時刻に関する算出感度を算出する感度算出部（時刻）、３３は、ずれ量計測部２３により計測されたＮ個のずれ量のそれぞれを、観測点を取得した時刻、空間航行体１の位置３成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差１４、位置オフセット誤差１３及び時刻オフセット誤差３４を算出する姿勢、位置及び時刻のオフセット誤差量算出部、３４は、当該オフセット誤差量算出部３３で算出された時刻オフセット誤差である。他の構成については、上述の実施の形態１または２と同様であるため、ここでは説明を省略する。但し、本実施の形態においては、空間航行体１が地球の自転と同期せずに航行しているものとし、この点が実施の形態１及び２と異なる。
【００３４】
次に、動作について説明する。画像データ１９、空間航行体の位置情報６、姿勢情報１２、時刻３１を入力とし、特徴点を取得した時刻に該当する空間航行体の位置情報６、姿勢情報１２及び撮像機の視線方向から、実施の形態１と同様に、観測点対応位置算出部２２にて画像中の観測点を算出し、ずれ量計測部２３にてずれ量を計測する。また、実施の形態１と同様に、画像データ１９、空間航行体の位置情報６、姿勢情報１２、時刻３１を入力とし、感度算出部（姿勢）２４及び感度算出部（位置）２５において、観測点対応点算出部２２のN点各点での算出感度を算出する。さらに、感度算出部（時刻）３２にて時刻に関する感度を算出する。本実施の形態の場合、観測点対応位置算出部２２で使用する画像データ中の観測点に対応する地球上の位置の算出関数をＦ、空間航行体の位置をＸ［ｉ］、Ｙ［ｉ］、Ｚ［ｉ］、位置オフセット誤差をΔＸ、ΔＹ、ΔＺ、姿勢をφ［ｉ］、θ［ｉ］、ψ［ｉ］、姿勢オフセット誤差をΔφ、Δθ、Δψ、各特徴点を撮像機が撮像した時刻をｔ［ｉ］、時刻オフセット誤差をΔｔ、ずれ量計測部２３の計測結果をΔＰ［ｉ］とし、これらの関係を次式（８）の線形和で表わす。感度算出部（姿勢）２４、感度算出部（位置）２５、感度算出部（時刻）３２での各要素での偏微分値は、観測点対応位置算出部２２で使用する画像データ中の観測点に対応する地球上の位置の算出関数Ｆから、次式（９）にて算出する。ずれ量計測部２３の結果と感度算出部（姿勢）２４、感度算出部（位置）２５、感度算出部（時刻）３２の結果から、姿勢、位置及び時刻のオフセット誤差量算出部３３にて、次式（１０）に示す連立方程式を解くことによって位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３、姿勢オフセット誤差（Δφ、Δθ、Δψ）１４、時刻オフセット誤差（Δｔ）３４を算出する。
【００３５】
【数８】

【００３６】
【数９】

【００３７】
【数１０】

【００３８】
以上のように、本実施の形態においては、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出する際、ずれ量計測部２３により計測されたＮ個のずれ量のそれぞれを、空間航行体１の位置２成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、また、各観測点での各成分の偏微分値に該当する算出感度を算出してそれらを上記線形和の各項の係数として、線形和で表されたＮ個のずれ量の関数を連立方程式として解くようにしたので、逆変換を行うことがなく順変換のみで演算が行えるようになったため、高速に計算することが可能となるという効果がある。さらに、本実施の形態においては、各特徴点を撮像機が撮像した時刻に関するデータを入力して、時刻オフセット誤差も求めるようにしたので、地球の自転に同期せずに航行する空間航行体についても適用可能である。また、特徴点の位置から逆算してオフセット誤差を算出する必要がなくなったため、撮像機７に依存しなくてすむので、撮像機が変更になった場合等においても適用可能となるという効果がある。
【００３９】
実施の形態４．
図７はこの発明の実施の形態４を示すブロック図であり、図において、３５は、姿勢及び位置のオフセット誤差量算出部２６により算出された位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３及び姿勢オフセット誤差（Δφ、Δθ、Δψ）１４の値がゼロか否かの判定を行うゼロ判定部である。本実施の形態の構成は、実施の形態１の構成に、このゼロ判定部３５を追加したものであり、ゼロ判定部３５での判定がゼロとなるまで計算を繰り返し行うようにしたものである。
【００４０】
動作について説明する。画像データ１９、空間航行体の位置情報６、姿勢情報１２を入力とし、実施の形態１と同様に、観測点対応位置算出部２２、ずれ量計測部２３、感度算出部（姿勢）２４、感度算出部（位置）２５、姿勢、及び位置のオフセット誤差量算出部２６にて、位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３及び姿勢オフセット誤差（Δφ、Δθ、Δψ）１４を算出する。算出した位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３及び姿勢オフセット誤差（Δφ、Δθ、Δψ）１４は、ゼロ判定部３５にてゼロか否かの判定が行なわれ、ゼロの場合には計算を終了し、観測点対応位置算出部２２に設定しているオフセット誤差量を位置オフセット誤差及び姿勢オフセット誤差とする。ゼロでない場合は、算出した位置オフセット誤差及び姿勢オフセット誤差を観測点対応位置算出部２２のオフセット量に加算し、再度、位置オフセット誤差及び姿勢オフセット誤差を算出し、ゼロ判定部３５での判定がゼロとなるまで計算を繰り返し行う。
【００４１】
以上のように、本実施の形態においては、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出する際、ずれ量計測部２３により計測されたＮ個のずれ量のそれぞれを、空間航行体１の位置３成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、また、各観測点での各成分の偏微分値に該当する算出感度を算出してそれらを上記線形和の各項の係数として、線形和で表されたＮ個のずれ量の関数を連立方程式として解くようにしたので、逆変換を行うことがなく順変換のみで演算が行えるようになったため、高速に計算することが可能となるという効果がある。さらに、ゼロ判定部を備え、オフセット誤差量がゼロになるまで繰り返し計算を行うようにしたので、精度を確保することができる。また、特徴点の位置から逆算してオフセット誤差を算出する必要がなくなったため、撮像機７に依存しなくてすむので、撮像機が変更になった場合等においても適用可能となるという効果がある。
【００４２】
実施の形態５．
図８はこの発明の実施の形態５を示すブロック図であり、図に示すように、本実施の形態は、上述の実施の形態２の構成に、実施の形態４で示したゼロ判定部３５を追加したものである。
【００４３】
動作について説明する。画像データ１９、空間航行体の位置情報６、姿勢情報１２、測距離データ２７を入力とし、実施の形態２と同様に、観測点対応位置算出部２２、ずれ量計測部２３、感度算出部（姿勢）２４、感度算出部（位置）２５、姿勢、及び位置のオフセット誤差量算出部２６、Ｚ座標位置拘束条件設定部２７、姿勢及び位置（Ｘ、Ｙ）のオフセット誤差量算出部２９、位置Ｚ座標オフセット誤差量算出部３０にて、位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３及び姿勢オフセット誤差（Δφ、Δθ、Δψ）１４を算出する。算出した位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３及び姿勢オフセット誤差（Δφ、Δθ、Δψ）１４は、ゼロ判定部３５にてゼロか否かの判定を行い、ゼロの場合には計算を終了し、観測点対応位置算出部２２に設定しているオフセット量を位置オフセット誤差及び姿勢オフセット誤差とする。ゼロでない場合は、算出した位置オフセット誤差、姿勢オフセット誤差を観測点対応位置算出部２２のオフセット量に加算し、再度位置オフセット誤差、姿勢オフセット誤差を算出し、ゼロ判定部３５での判定がゼロとなるまで計算を繰り返し行う。
【００４４】
以上のように、本実施の形態においては、実施の形態２により得られる効果に加えて、さらに、ゼロ判定部を備え、オフセット誤差量がゼロになるまで繰り返し計算を行うようにしたので、精度を確保することができる。
【００４５】
実施の形態６．
図９はこの発明の実施の形態６を示すブロック図であり、図に示すように、本実施の形態は、上述の実施の形態３の構成に、実施の形態４で示したゼロ判定部３５を追加したものである。
【００４６】
動作について説明する。画像データ１９、空間航行体の位置情報６、姿勢情報１２、時刻３１を入力とし、実施の形態３と同様に、観測点対応位置算出部２２、ずれ量計測部２３、感度算出部（姿勢）２４、感度算出部（位置）２５、感度算出部（時刻）３２、姿勢、位置、及び時刻のオフセット誤差量算出部３３にて、位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）、姿勢オフセット誤差（Δφ、Δθ、Δψ）１４、時刻オフセット誤差（Δｔ）３４を算出する。算出した位置オフセット誤差（ΔＸ、ΔＹ、ΔＺ）１３、姿勢オフセット誤差（Δφ、Δθ、Δψ）１４、時刻オフセット誤差（Δｔ）３４は、ゼロ判定部３５にてゼロか否かの判定を行い、ゼロの場合には計算を終了し、観測点対応位置算出部２２に設定しているオフセット量を、位置オフセット誤差、姿勢オフセット誤差及び時刻オフセット誤差とする。ゼロでない場合は、算出した位置オフセット誤差、姿勢オフセット誤差及び時刻オフセット誤差を観測点対応位置算出部２２のオフセット量に加算し、再度、位置オフセット誤差、姿勢オフセット誤差、時刻オフセット誤差を算出し、ゼロ判定部３５での判定がゼロとなるまで計算を繰り返し行う。
【００４７】
以上のように、本実施の形態においては、実施の形態３により得られる効果に加えて、さらに、ゼロ判定部を備え、オフセット誤差量がゼロになるまで繰り返し計算を行うようにしたので、精度を確保することができる。
【００４８】
【発明の効果】
この発明は、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出装置であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出手段と、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出手段により算出された観測点との緯経度のずれ量を計測するずれ量計測手段と、ずれ量計測手段により計測されたＮ個のずれ量のそれぞれを、空間航行体の上記位置３成分及び上記姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差を算出する姿勢及び位置のオフセット誤差量算出手段と、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出手段とを備えたナビゲーション算出装置であるので、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差、姿勢オフセット誤差を算出する際、逆変換を行うことなく順変換のみで、高速に計算することが可能となるという効果がある。また逆変換を必要としていないので、撮像機によらず適用可能となるという効果がある。
【００４９】
また、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出装置であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出手段と、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出手段により算出された観測点との緯経度のずれ量を計測するずれ量計測手段と、空間航行体と地上との距離を入力とし、位置オフセット誤差のＺ成分を消去することによる拘束条件を算出するＺ座標位置拘束条件設定部、距離に基づいて、空間航行体の位置３成分のオフセット誤差中のＺ成分を消去し、ずれ量計測手段により計測されたＮ個のずれ量のそれぞれを、空間航行体の位置２成分（Ｘ、Ｙ）及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差のＸ成分及びＹ成分を算出する姿勢及び位置のオフセット誤差量算出手段と、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出手段と、算出された位置オフセット誤差のＸ成分及びＹ成分と距離とから、位置オフセット誤差のＺ成分を算出する位置Ｚ座標オフセット誤差量算出手段とを備えたナビゲーション算出装置であるので、地上局から距離を測定しながら地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差、姿勢オフセット誤差を算出する際、逆変換を行うことなく順変換のみで、高速に計算することが可能となるという効果がある。また逆変換を必要としていないので、撮像機によらず適用可能となるという効果がある。
【００５０】
また、地球の上空を所定の高度で地球の自転と同期せずに航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出装置であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、撮像機の視線方向、及び、各観測点を撮像機が撮像した時刻を入力とし、時刻に該当する空間航行体の位置３成分及び姿勢３成分および撮像機の視線方向から、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出手段と、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出手段により算出された観測点との緯経度のずれ量を計測するずれ量計測手段と、ずれ量計測手段により計測されたＮ個のずれ量のそれぞれを、時刻と空間航行体の位置３成分及び姿勢３成分との各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差、位置オフセット誤差及び時刻オフセット誤差を算出する姿勢、位置及び時刻のオフセット誤差量算出手段と、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力とし、線形和の位置及び姿勢の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出手段と、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力として、線形和の時刻の項の係数となる各観測点での当該成分の偏微分値に該当する各観測点での時刻に関する算出感度を算出する時刻感度算出手段とを備えたナビゲーション算出装置であるので、地球の上空を所定の高度で地球の自転と同期せずに航行する空間航行体の位置オフセット誤差、姿勢オフセット誤差、時刻オフセット誤差を算出する際、逆変換を行うことなく順変換のみで、高速に計算することが可能となるという効果がある。また逆変換を必要としていないので、撮像機によらず適用可能となるという効果がある。
【００５１】
また、算出された位置オフセット誤差及び姿勢オフセット誤差の値がゼロか否かの判定を行うゼロ判定手段をさらに備え、ゼロ判定手段の判定がゼロとなるまで、位置オフセット誤差及び姿勢オフセット誤差を算出するための計算を繰り返し行うようにしたので、高速に、かつ、精度を確保しつつ計算することが可能になるという効果がある。
【００５２】
また、この発明は、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出方法であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出ステップと、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出ステップにより算出された観測点との緯経度のずれ量を計測するずれ量計測ステップと、ずれ量計測ステップにより計測されたＮ個のずれ量のそれぞれを、空間航行体の位置３成分及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差を算出する姿勢及び位置のオフセット誤差量算出ステップと、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出ステップとを備えたナビゲーション算出方法であるので、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差、姿勢オフセット誤差を算出する際、逆変換を行うことなく順変換のみで、高速に計算することが可能となるという効果がある。また逆変換を必要としていないので、撮像機によらず適用可能となるという効果がある。
【００５３】
また、地球の上空を所定の高度で地球の自転と同期して航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出方法であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、及び、撮像機の視線方向を入力とし、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出ステップと、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出ステップにより算出された観測点との緯経度のずれ量を計測するずれ量計測ステップと、空間航行体と地上との距離を入力とし、位置オフセット誤差のＺ成分を消去することによる拘束条件を算出するＺ座標位置拘束条件設定ステップ、距離に基づいて、空間航行体の位置３成分のオフセット誤差中のＺ成分を消去し、ずれ量計測ステップにより計測されたＮ個のずれ量のそれぞれを、空間航行体の位置２成分（Ｘ、Ｙ）及び姿勢３成分各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差及び位置オフセット誤差のＸ成分及びＹ成分を算出する姿勢及び位置のオフセット誤差量算出ステップと、画像データ、空間航行体の位置３成分及び姿勢３成分を入力とし、線形和の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出ステップと、算出された位置オフセット誤差のＸ成分及びＹ成分と距離とから、位置オフセット誤差のＺ成分を算出する位置Ｚ座標オフセット誤差量算出ステップとを備えたナビゲーション算出方法であるので、地上局から距離を測定しながら地球の上空を所定の高度で地球の自転と同期して航行する空間航行体の位置オフセット誤差、姿勢オフセット誤差を算出する際、逆変換を行うことなく順変換のみで、高速に計算することが可能となるという効果がある。また逆変換を必要としていないので、撮像機によらず適用可能となるという効果がある。
【００５４】
また、地球の上空を所定の高度で地球の自転と同期せずに航行する空間航行体に搭載した撮像機で取得した地球表面の画像データと、画像データに含まれる予め定められたＮ個の観測点の位置情報とを用いて、空間航行体の位置オフセット誤差及び姿勢オフセット誤差を算出するためのナビゲーション算出方法であって、画像データ、空間航行体の位置３成分（Ｘ、Ｙ、Ｚ）及び姿勢３成分（ロールφ、ピッチθ、ヨーψ）、撮像機の視線方向、及び、各観測点を撮像機が撮像した時刻を入力とし、時刻に該当する空間航行体の位置３成分及び姿勢３成分および撮像機の視線方向から、Ｎ個の観測点に対応するオフセット誤差を含んだ場合の観測点の地球上の位置（緯経度）を算出する観測点対応位置算出ステップと、地球上で実際に計測されたＮ個の観測点の地球上の位置（緯経度）を入力とし、Ｎ個の観測点それぞれについて、観測点対応位置算出ステップにより算出された観測点との緯経度のずれ量を計測するずれ量計測ステップと、ずれ量計測ステップにより計測されたＮ個のずれ量のそれぞれを、時刻と空間航行体の位置３成分及び姿勢３成分との各々のオフセット誤差量によるずれ量の線形和で表し、それらを連立方程式として、当該連立方程式を解くことにより、姿勢オフセット誤差、位置オフセット誤差及び時刻オフセット誤差を算出する姿勢、位置及び時刻のオフセット誤差量算出ステップと、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力とし、線形和の位置及び姿勢の各項の係数となる各観測点での各成分の偏微分値に該当する算出感度を算出する姿勢及び位置感度算出ステップと、画像データ、空間航行体の位置３成分、姿勢３成分、及び、時刻を入力として、線形和の時刻の項の係数となる各観測点での当該成分の偏微分値に該当する各観測点での時刻に関する算出感度を算出する時刻感度算出ステップとを備えたナビゲーション算出方法であるので、地球の上空を所定の高度で地球の自転と同期せずに航行する空間航行体の位置オフセット誤差、姿勢オフセット誤差、時刻オフセット誤差を算出する際、逆変換を行うことなく順変換のみで、高速に計算することが可能となるという効果がある。また逆変換を必要としていないので、撮像機によらず適用可能となるという効果がある。
【００５５】
また、算出された位置オフセット誤差及び姿勢オフセット誤差の値がゼロか否かの判定を行うゼロ判定ステップをさらに備え、ゼロ判定ステップの判定がゼロとなるまで、位置オフセット誤差及び姿勢オフセット誤差を算出するための計算を繰り返し行うようにしたので、高速に、かつ、精度を確保しつつ計算することが可能になるという効果がある。
【図面の簡単な説明】
【図１】 ナビゲーション算出原理を説明するための説明図である。
【図２】 ナビゲーション算出原理を説明するための説明図である。
【図３】 ナビゲーション算出原理を説明するための説明図である。
【図４】 この発明の実施の形態１によるナビゲーション算出装置の構成を示すブロック図である。
【図５】 この発明の実施の形態２によるナビゲーション算出装置の構成を示すブロック図である。
【図６】 この発明の実施の形態３によるナビゲーション算出装置の構成を示すブロック図である。
【図７】 この発明の実施の形態４によるナビゲーション算出装置の構成を示すブロック図である。
【図８】 この発明の実施の形態５によるナビゲーション算出装置の構成を示すブロック図である。
【図９】 この発明の実施の形態６によるナビゲーション算出装置の構成を示すブロック図である。
【図１０】 従来のナビゲーション算出装置の構成を示したブロック図である。
【符号の説明】
１ 空間航行体、２ 地球、３ 空間航行体の中心、４ 地球の中心、５ 地球に固定した座標系、６ 空間航行体の位置情報、７ 撮像機、８ 地球上の観測点（特徴点）、９ 撮像機の向いている方向、１０ 空間航行体に固定した座標系、１１ 制御目標としている座標系、１２，１２ａ，１２ｂ，１２ｃ 姿勢情報、１３ 位置オフセット誤差、１４ 姿勢オフセット誤差、１５ 位置オフセット誤差をもつ場合の空間航行体の中心、１６ 姿勢オフセット誤差をもつ場合の空間航行体に固定した座標系（姿勢）、１７ 位置オフセット誤差及び姿勢オフセット誤差がある場合の撮像機の向いている方向、１８ 位置オフセット誤差及び姿勢オフセット誤差がある場合の地球上の観測点、１９ 画像データ、２０ 地上の基準情報、２１ 地球上の観測点（特徴点）と観測点算出結果とのずれ量、２２ 観測点対応位置算出部、２３ ずれ量計測部、２４ 感度算出部（姿勢）、２５ 感度算出部（位置）、２６ 姿勢及び位置のオフセット誤差量算出部、２７ 測距データ、２８ Ｚ座標位置拘束条件設定部、２９ 姿勢及び位置（Ｘ、Ｙ）のオフセット誤差量算出部、３０ 位置Ｚ座標オフセット誤差量算出部、３１ 時刻、３２ 感度算出部（時刻）、３３ 姿勢、位置及び時刻のオフセット誤差量算出部、３４ 時刻オフセット誤差、３５ ゼロ判定部、３６ 姿勢及び位置のオフセット誤差逆算部。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation calculation apparatus and a navigation calculation method, and in particular, image data acquired by an imaging device mounted on a spatial navigation body that travels over the earth at a predetermined altitude, and positions of feature points included in the image data. The present invention relates to a navigation calculation apparatus and a navigation calculation method for calculating an error amount of a position and posture of a spatial navigation body using information.
[0002]
[Prior art]
1, 2 and 3 are diagrams for explaining the principle of navigation calculation, and FIG. 10 is a diagram for explaining a conventional navigation calculation method. FIG. 1 is a diagram showing observation point calculation when there is no error. In FIG. 1, 1 is a so-called space navigation body such as an artificial satellite or an aircraft or an airship that navigates the earth 2 at a predetermined altitude, 3 is the center of the space navigation body 1, 4 is the center of the earth, and 5 is fixed to the earth. 7 is an imaging device mounted on the space navigation body 1, 8 is an observation point on the earth by the imaging device 7, 10 is a coordinate system fixed to the space navigation body 1, and 11 is a control target of the space navigation body 1. It is a coordinate system.
[0003]
The position of the center 3 of the space navigation body 1 is, for example, as a vector between the center 3 of the space navigation body 1 and the center 4 of the earth in the coordinate system 5 fixed to the earth with the center 4 of the earth as the center of coordinates. It is given as position information 6 of the space navigation body. The calculation of the observation point 8 of the image pickup device 7 mounted on the space navigation body 1 is performed by calculating the position information 6 (X0, Y0, Z0) of the space navigation body 1 shown in the following equation (1) and the direction 9 in which the image pickup device 7 is facing. The unit vector (Px, Py, Pz) is calculated from the intersection of the ellipsoid model of the earth 2 with the major axis a and the minor axis b. The direction 9 in which the image pickup device 7 faces is that the image pickup device 7 is fixed to the space navigation body 1, so that the coordinate system 10 fixed to the space navigation body 1 and the coordinate system 11 that is the control target of the space navigation body 1. Is calculated using posture information 12 (that is, (12a, 12b, 12c)).
[0004]
[Expression 1]

[0005]
FIG. 2 is a diagram showing observation point calculation when the position information 6 of the space navigation body 1 has the position offset error 13 and the posture information 12 has the posture offset error 14. The position offset error 13 is expressed as the amount of deviation between the center 15 of the spatial navigation body when there is a position offset error and the center 3 of the spatial navigation body 1 when there is no error, and the attitude offset error 14 is when there is no error. This is expressed as an amount of deviation between the coordinate system 7 fixed to the space navigation body 1 and the coordinate system 16 fixed to the space navigation body 1 when there is an attitude offset error. The direction 17 of the image pickup device 7 when the position offset error 13 and the posture offset error 14 are present is the same as the direction 9 of the image pickup device 7 when there is no error corresponding to the posture offset error 14 (see FIG. 1). When the observation point of the image pickup device 7 is calculated using the above equation (1) together with the position offset error 13, it becomes an observation point 18 different from the observation point 8 when there is no error.
[0006]
FIG. 3 is a diagram showing the relationship between the contents described in FIG. 1 and FIG. 2 and the image data 19 acquired by the image pickup device 7. Reference numeral 20 denotes information serving as a ground reference, and corresponds to, for example, a map. As shown in the figure, when there is a position offset error 13 and a posture offset error 14, the position calculation result 18 of the observation point in the image 19 is compared with the position of the observation point 8 on the earth corresponding to the image 19 on the map. Thus, the shift amount 21 is calculated. If a plurality of N feature points are prepared on the earth, a deviation amount 21 for N points can be obtained.
[0007]
FIG. 10 is a block diagram showing the configuration of a conventional navigation calculation apparatus. In FIG. 10, reference numeral 22 denotes image data 19, position information 6 and attitude information 12 of the spatial navigation body 1 as inputs, and spatial navigation of the imager 7. From the attachment to the body 1 and the attitude of the space navigation body 1, the direction 17 facing the imager 7 corresponding to the feature point of the N point in the image data 19 is calculated, and the point 18 where the direction intersects the earth is calculated. An observation point corresponding position calculation unit 23 measures a deviation amount 21 between the N feature point position 8 and the observation point 18 as a calculation result of the observation point corresponding position calculation unit 22. Using the feature points of the points, the attitude offset error 14 and the position offset error 13 are calculated back from the simultaneous equations including the position offset error 13 and the attitude offset error 14 of the spatial navigation object 1. It is a part.
[0008]
In the posture and position offset error reverse calculation unit 26, the deviation amount of each of the N feature points is ΔP [i] (where i = 0,..., N−1), and the spatial navigation object at the time of capturing each feature point P [i], the position offset error of the spatial navigation object P ′, the correct imager direction from the spatial navigation object 1 to the feature point at the time of each feature point imaging v [i], at the time of each feature point imaging The distance from the correct position of the spatial navigation body 1 to the feature point is k [i], and the imaging device direction from the spatial navigation body 1 to the feature point calculated from the attitude of the spatial navigation body 1 at the time of imaging each feature point is v ′. [I], the attitude around each axis of the spatial navigation object 1 at the time of imaging each feature point is φ [i], θ [i], ψ [i], the attitude offset error is Δφ, Δθ, Δψ, the spatial navigation object From the simultaneous equations of the following equation (2) where the mounting direction of the fixed image pickup device is vp [i], the posture offset errors Δφ, Δθ, Δψ, position off Calculated back to Tsu door error P '. However, bold represents a vector, C1 represents rotation about the X axis, C2 represents rotation about the Y axis, and C3 represents rotation about the Z axis.
[0009]
[Expression 2]

[0010]
[Problems to be solved by the invention]
In the conventional navigation calculation apparatus, the deviation amount ΔP between the position of the feature point on the earth calculated from the position and orientation of the spatial navigation object and the corresponding feature point obtained from the image is satisfied by the method described above. Such position offset error P ′ and attitude offset errors Δψ, Δθ, Δφ have been calculated. In the calculation, by setting a plurality (N) of feature points, N simultaneous equations were established, and the position offset error of the spacecraft and the attitude offset error of the spacecraft were calculated. In such a method, there is a problem that the inverse transformation occurs in the calculation process or the coordinate transformation using the trigonometric function in the equation makes the calculation complicated and cannot be performed at high speed. It was.
[0011]
Further, in some cases, since reverse conversion is difficult, there is a problem that the position offset error and the posture offset error of the spatial navigation object may not be calculated.
[0012]
Furthermore, since the method of calculating the position offset error and the attitude offset error by calculating backward from the position of the feature point depends on the image pickup device mounted on the spacecraft, if the image pickup device is changed, the method unique to the image pickup device There was a problem that had to be adopted.
[0013]
The present invention has been made to solve such a problem, and the position offset error P ′ (Δx, Δy, Δz) of the space navigation body and the space navigation body posture offset error Δφ, Δθ, Δψ are expressed in space. By calculating only forward conversion without reverse conversion, using the feature point calculated from the position and orientation of the navigation object and the corresponding feature point deviation ΔP obtained from the image, high speed and high accuracy, It is another object of the present invention to provide a navigation calculation device and a navigation calculation method that can be applied to imaging with any sensor.
[0014]
[Means for Solving the Problems]
According to the present invention, image data of the surface of the earth acquired by an imaging device mounted on a space navigation body that navigates over the earth in synchronism with the rotation of the earth at a predetermined altitude, and N predetermined numbers included in the image data. A navigation calculation device for calculating a position offset error and a posture offset error of a spatial navigation object using position information of observation points of the image data, the position three components (X, Y, Z of the spatial navigation object) ) And three orientation components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the imaging device, and the position of the observation point on the earth when including offset errors corresponding to N observation points ( The observation point corresponding position calculation means for calculating (latitude and longitude) and the positions of the N observation points actually measured on the earth (latitude and longitude) on the earth are input, and for each of the N observation points, the observation point Calculated by corresponding position calculation means The displacement amount measuring means for measuring the displacement amount of the latitude and longitude from the observed observation point, and the N displacement amounts measured by the displacement amount measuring means, respectively, the position 3 component and the posture 3 component of the spatial navigation object Expressed as a linear sum of deviation amounts due to the respective offset error amounts, and using them as simultaneous equations, by solving the simultaneous equations, posture offset error and position offset error calculating means for calculating posture offset error and position offset error, and image Posture and position sensitivity calculation that calculates the calculation sensitivity corresponding to the partial differential value of each component at each observation point, which is the coefficient of each term of the linear sum, using the data, spatial navigation object position 3 component and posture 3 component as input And a navigation calculation device.
[0015]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spatial navigation body that navigates the earth at a predetermined altitude in synchronism with the rotation of the earth, and predetermined N observations included in the image data. A navigation calculation apparatus for calculating a position offset error and an attitude offset error of a spatial navigation object using position information of a point, the image data, a spatial navigation object position three component (X, Y, Z) and The position of the observation point on the earth (latitude and longitude) when the posture three components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the image pickup device are input and an offset error corresponding to N observation points is included. ) And the observation point corresponding position calculation means for calculating the observation point corresponding position and the position (lat longitude) of the N observation points actually measured on the earth. Calculated by the calculation means Z-coordinate position constraint that calculates a constraint condition by deleting the Z component of the position offset error, using the displacement amount measuring means for measuring the displacement amount of latitude and longitude from the observation point and the distance between the space navigation object and the ground as input. Based on the condition setting unit and the distance, the Z component in the offset error of the three position components of the space navigation object is deleted, and each of the N shift amounts measured by the shift amount measuring means is replaced with the position 2 of the space navigation body. Expressed as a linear sum of deviation amounts due to the offset error amount of each of the components (X, Y) and the posture three components, and using them as simultaneous equations, solving the simultaneous equations, the X component and Y of the posture offset error and the position offset error Position and position offset error calculation means for calculating the components, and each observation point that is the coefficient of each term of the linear sum with the image data, the position 3 component and the position 3 component of the spacecraft as inputs The position for calculating the Z component of the position offset error from the attitude and position sensitivity calculating means for calculating the calculated sensitivity corresponding to the partial differential value of each component, and the X and Y components of the calculated position offset error and the distance A navigation calculation apparatus including Z coordinate offset error amount calculation means.
[0016]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spacecraft that navigates over the earth without synchronizing with the rotation of the earth at a predetermined altitude, and N predetermined number of images included in the image data. A navigation calculation apparatus for calculating a position offset error and a posture offset error of a spatial navigation object using position information of an observation point, wherein the navigation data is calculated using image data and spatial navigation object position three components (X, Y, Z). And the orientation 3 component (roll φ, pitch θ, yaw ψ), the line-of-sight direction of the imaging device, and the time when the imaging device captured each observation point, the position 3 component and orientation of the spatial navigation object corresponding to the time An observation point corresponding position calculation means for calculating the position (latitude and longitude) of the observation point on the earth when the offset error corresponding to the N observation points is included from the three components and the line-of-sight direction of the image pickup device; N actually measured A deviation amount measuring means for measuring the deviation of latitude and longitude from the observation point calculated by the observation point corresponding position calculating means for each of the N observation points, taking as input the position of the observation point on the earth (latitude and longitude). And each of the N deviation amounts measured by the deviation amount measuring means is represented by a linear sum of deviation amounts due to the respective offset error amounts of the time and the position 3 component and the attitude 3 component of the spacecraft. As simultaneous equations, by solving the simultaneous equations, posture offset error, position offset error and time offset error calculating means for calculating posture offset error, position offset error and time offset error, image data, spatial navigation object position three components, Attitude which calculates the calculation sensitivity corresponding to the partial differential value of each component at each observation point, which is the coefficient of each term of the position and orientation of the linear sum, with the orientation 3 component and time as input The position sensitivity calculation means, the image data, the position 3 component of the spacecraft, the posture 3 component, and the time are input, and the partial differential value of the component at each observation point that is the coefficient of the term of the linear sum is obtained. It is a navigation calculation apparatus provided with the time sensitivity calculation means which calculates the calculation sensitivity regarding the time in each applicable observation point.
[0017]
In addition, it further comprises zero determination means for determining whether or not the calculated position offset error and posture offset error values are zero, and calculates the position offset error and posture offset error until the determination of the zero determination means becomes zero. Repeat the calculation to
[0018]
In addition, the present invention provides the image data of the earth surface acquired by an image pickup device mounted on a space navigation body that navigates the earth over the earth in synchronism with the rotation of the earth at a predetermined altitude, and predetermined data included in the image data. A navigation calculation method for calculating a position offset error and a posture offset error of a spatial navigation object using position information of N observation points, the image data, a spatial navigation object position three component (X, Y , Z) and the three orientation components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the image pickup device, and include the offset error corresponding to N observation points on the earth. Using the observation point corresponding position calculation step for calculating the position (latitude and longitude) and the position (latitude and longitude) of N observation points actually measured on the earth as inputs, for each of the N observation points, Observation point corresponding position calculation The displacement amount measurement step for measuring the displacement amount of the latitude and longitude from the observation point calculated by the step, and the N displacement amounts measured by the displacement amount measurement step, respectively, the position three components and the attitude of the spatial navigation object A posture and position offset error amount calculating step for calculating a posture offset error and a position offset error by expressing them as a linear equation and solving the simultaneous equations as a linear equation. Attitude, position for calculating the calculation sensitivity corresponding to the partial differential value of each component at each observation point, which is the coefficient of each term of the linear sum, with the input of the image data, the position 3 component and the attitude 3 component of the spacecraft A navigation calculation method including a sensitivity calculation step.
[0019]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spatial navigation body that navigates the earth at a predetermined altitude in synchronism with the rotation of the earth, and predetermined N observations included in the image data. A navigation calculation method for calculating a position offset error and a posture offset error of a spatial navigation object using position information of a point, the image data, a spatial navigation object position three component (X, Y, Z), and The position of the observation point on the earth (latitude and longitude) when the posture three components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the image pickup device are input and an offset error corresponding to N observation points is included. ) To calculate the observation point corresponding position and the positions of the N observation points actually measured on the earth (latitude and longitude) on the earth, and the observation point corresponding positions for each of the N observation points. Depending on the calculation step A displacement amount measuring step for measuring a displacement amount of latitude and longitude from the observed observation point and a distance between the space navigation object and the ground are input, and a constraint condition is calculated by eliminating the Z component of the position offset error. Based on the coordinate position constraint condition setting step and the distance, the Z component in the offset error of the three position components of the spatial navigation object is deleted, and each of the N deviations measured in the deviation measurement step is replaced with the spatial navigation object. Is expressed as a linear sum of deviation amounts due to offset error amounts of the position 2 component (X, Y) and the posture 3 component, and the simultaneous equations are used as the simultaneous equations to solve the X and X of the posture offset error and the position offset error. An offset error amount calculation step for posture and position for calculating the component and the Y component, and the image data, the position 3 component and the posture 3 component of the spacecraft are input, and the linear sum From the attitude and position sensitivity calculation step for calculating the calculation sensitivity corresponding to the partial differential value of each component at each observation point that is the coefficient of each term, and the calculated X and Y components of the position offset error and the distance, And a position Z coordinate offset error amount calculating step for calculating a Z component of the position offset error.
[0020]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spacecraft that navigates over the earth without synchronizing with the rotation of the earth at a predetermined altitude, and N predetermined number of images included in the image data. A navigation calculation method for calculating a position offset error and a posture offset error of a spatial navigation object using position information of an observation point, the image data and a spatial navigation object position three component (X, Y, Z) And the orientation 3 component (roll φ, pitch θ, yaw ψ), the line-of-sight direction of the imaging device, and the time when the imaging device captured each observation point, the position 3 component and orientation of the spatial navigation object corresponding to the time An observation point corresponding position calculating step for calculating a position (lat longitude) of the observation point on the earth when the offset error corresponding to the N observation points is included from the three components and the line-of-sight direction of the imaging device; Actually measured Deviation amount that measures the deviation of latitude and longitude from the observation point calculated by the observation point corresponding position calculation step for each of the N observation points, with N observation points on the earth (latitude and longitude) as inputs. Each of the N deviation amounts measured in the measurement step and the deviation amount measurement step is represented by a linear sum of deviation amounts due to the offset error amounts of the time, the position 3 component and the attitude 3 component of the spacecraft, By using these as simultaneous equations and solving the simultaneous equations, a posture offset error, position offset error and time offset error calculation step for calculating posture offset error, position offset error and time offset error, image data, spatial navigation object position 3 The calculation feeling corresponding to the partial differential value of each component at each observation point that is the coefficient of each term of the position and orientation of the linear sum, with the input of the component, orientation 3 component, and time Pose and position sensitivity calculation step, and image data, spatial navigation body position 3 component, posture 3 component, and time as input, and the component at each observation point that is a coefficient of the term of the linear sum And a time sensitivity calculation step of calculating a calculation sensitivity relating to the time at each observation point corresponding to the partial differential value.
[0021]
Further, a zero determination step for determining whether or not the calculated position offset error and posture offset error values are zero is provided, and the position offset error and the posture offset error are calculated until the determination of the zero determination step becomes zero. Repeat the calculation to
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 4 is a block diagram showing the configuration of the navigation calculation apparatus according to Embodiment 1 of the present invention. In the figure, reference numeral 19 denotes an imager mounted on a space navigation body 1 (see FIG. 2), which travels in the sky above the earth 2 (FIG. 2) in synchronism with the rotation of the earth at a predetermined altitude. 7 (see FIG. 2), and N observation points (or feature points) 8 for calculating an offset error amount are set in advance on the image data 19. 22, image data 19, position information (namely, position three components (X, Y, Z)) 6 position information (that is, position three components (roll φ, pitch θ, yaw ψ)) 12, And the observation point which calculates the position (latitude and longitude) on the earth of the observation point 18 when the posture offset error and the position offset error corresponding to the N observation points 8 are included from the line-of-sight direction 17 of the imaging device 7 The corresponding position calculation unit 23 receives the positions (latitude and longitude) of the N observation points 8 actually measured on the earth, and calculates the observation point corresponding position for each of the N observation points. A deviation amount measuring unit 26 that measures the amount of latitude / longitude deviation from the observation point 18 calculated by the unit 22, and each of the N deviation amounts measured by the deviation amount measuring unit 23 is represented by the spatial navigation body 1. Error in offset of each of position 3 component and posture 3 component An attitude and position offset error amount calculation unit 24 and 25 for calculating the attitude offset error 14 and the position offset error 13 by solving the simultaneous equations as a linear equation and expressing them as linear equations. The image data 19, the position information 6 of the spatial navigation body 1 and the attitude information 12 of the spatial navigation body 1 are input, respectively, and the partial differential values of the respective components at the respective observation points that are the coefficients of the terms of the linear sum are obtained. A sensitivity calculation unit (attitude) and a sensitivity calculation unit (position) for calculating the corresponding calculation sensitivity.
[0023]
The operation will be described. First, in the observation point corresponding position calculation unit 22, the image data 19, the position information 6 of the spatial navigation object, and the attitude information 12 are input, and the attachment of the imaging device 7 to the spatial navigation object 1 and the attitude of the spatial navigation object 1 are performed. Then, a direction 17 facing the imaging device 7 corresponding to N feature points in the image data 19 is calculated, and a point 18 where the direction 17 intersects the earth 2 is calculated. Next, a deviation amount measurement unit 23 measures a deviation amount 21 (see FIG. 3) between the position of the N feature points 8 and the observation point 18 as a calculation result of the observation point corresponding position calculation unit 22. On the other hand, the image data 19, the position information 6 of the spatial navigation object, and the posture information 12 are input, and each of the N of the observation point corresponding position calculation units 22 in the sensitivity calculation unit (posture) 24 and the sensitivity calculation unit (position) 25 is input. Calculate the calculation sensitivity at the feature point. The calculation sensitivity here corresponds to the partial differential value of each element at each feature point, and the calculation function of the position on the earth corresponding to the observation point in the image data 19 used in the observation point corresponding position calculation unit 22. F, the position of the spacecraft 1 is X [i], Y [i], Z [i], the position offset error is ΔX, ΔY, ΔZ, the posture is φ [i], θ [i], ψ [i ], The posture offset error is Δφ, Δθ, Δψ, the measurement result of the deviation measuring unit 23 is ΔP [i], and the relationship between these is expressed by the linear sum of the following equation (3). The partial differential value at each element in the sensitivity calculation unit (attitude) 24 and the sensitivity calculation unit (position) 25 is a position on the earth corresponding to the observation point in the image data 19 used by the observation point corresponding position calculation unit 22. Is calculated by the following equation (4). From the result of the deviation amount measuring unit 23, the result of the sensitivity calculating unit (posture) 24, and the result of the sensitivity calculating unit (position) 25, the posture and position offset error amount calculating unit 26 calculates the simultaneous equations shown in the following equation (5). By solving, the position offset error (ΔX, ΔY, ΔZ) 13 and the posture offset error (Δφ, Δθ, Δψ) 14 are calculated.
[0024]
[Equation 3]

[0025]
[Expression 4]

[0026]
[Equation 5]

[0027]
As described above, in the present embodiment, when calculating the position offset error and the attitude offset error of a spatial navigation body that navigates over the earth in synchronism with the rotation of the earth at a predetermined altitude, the deviation amount measurement unit 23 Each of the N shift amounts measured by the above is represented by a linear sum of the shift amounts due to the offset error amounts of the position 3 component and the posture 3 component of the spacecraft 1, and the deviation of each component at each observation point. Since the calculation sensitivity corresponding to the differential value is calculated and these are used as the coefficients of the terms of the linear sum, the function of the N shift amounts represented by the linear sum is solved as a simultaneous equation. Since the calculation can be performed only by the forward conversion, there is an effect that the calculation can be performed at high speed. In addition, since it is no longer necessary to calculate the offset error by calculating backward from the position of the feature point, it is not necessary to depend on the image pickup device 7, so that the present invention can be applied even when the image pickup device is changed. .
[0028]
Embodiment 2. FIG.
FIG. 5 is a block diagram showing Embodiment 2 of the present invention. In the figure, reference numeral 27 denotes distance measurement data obtained by measuring the distance from a predetermined ground station (not shown) to the space navigation body 1, and numeral 28 designates distance measurement data 27 as an input and erases the Z component of the position offset error. The Z-coordinate position constraint condition setting unit 29 for calculating the constraint condition by deleting the Z component in the offset error of the position 3 component of the spatial navigation object from the distance measurement data, and measuring by the deviation amount measurement unit 23 Each of the N shift amounts is represented by a linear sum of shift amounts due to the offset error amounts of the position 2 component and the posture 3 component of the space navigation body 1, and these are used as simultaneous equations to solve the simultaneous equations. The posture and position offset error amount calculation unit 30 for calculating the offset error 14 and the position offset error X component and Y component (ΔX, ΔY) 13a, 30 is the calculated position offset error This is a position Z coordinate offset error amount calculation unit for calculating a position offset error Z component (ΔZ) 13b from the X component and the Y component and the distance measurement data 27. Since other configurations are the same as those of the first embodiment, the description thereof is omitted here.
[0029]
The operation will be described. First, in the same manner as in the first embodiment, the observation point corresponding position calculation unit 22 receives the image data 19, the position information 6 of the spatial navigation object, and the posture information 12 as input, calculates the observation point in the image data 19, The amount measurement unit 23 measures the amount of deviation. Similarly to the first embodiment, the image data 19, the position information 6 of the spatial navigation object, and the posture information 12 are input, and the sensitivity calculation unit (posture) 24 and the sensitivity calculation unit (position) 25 use the observation point corresponding position. The calculation sensitivity at each point N of the calculation unit 22 is calculated. Next, the distance measurement data 27 measured from the ground station to the space navigation object is input, and the constraint condition by deleting the Z component of the position offset error shown in the following equation (6) is set as the Z coordinate position constraint condition. Calculated by the unit 28. Here, in Equation (6), the position of the spatial navigation object is (X, Y, Z), the position offset error is (ΔX, ΔY, ΔZ), the position of the ground station is (Xe, Ye, Ze), and the measurement is performed. The measured distance (ranging data) is L. From the result of the deviation amount measurement unit 23, the result of the sensitivity calculation unit (posture) 24 and the sensitivity calculation unit (position) 25, and the result of the Z coordinate position constraint condition setting unit 28, the offset of the posture and position (X, Y). The error amount calculation unit 29 calculates the position offset error (ΔX, ΔY) 13a and the posture offset error (Δφ, Δθ, Δψ) 14 by solving simultaneous equations shown in the following equation (7). Next, the position Z coordinate offset error amount calculation unit 30 calculates a position offset error Z component (ΔZ) 13b from the calculated position offset error (ΔX, ΔY) 13a using Equation (6). In the above description, the distance measurement data 27 is the distance between the ground station and the space navigation object. Any place is acceptable.
[0030]
[Formula 6]

[0031]
[Expression 7]

[0032]
As described above, in the present embodiment, when calculating the position offset error and the attitude offset error of a spatial navigation body that navigates over the earth in synchronism with the rotation of the earth at a predetermined altitude, the deviation amount measurement unit 23 Each of the N shift amounts measured by the above is represented by a linear sum of the shift amounts due to the offset error amounts of the position 2 component and the posture 3 component of the spacecraft 1, and the deviation of each component at each observation point. Since the calculation sensitivity corresponding to the differential value is calculated and these are used as the coefficients of the terms of the linear sum, the function of the N shift amounts represented by the linear sum is solved as a simultaneous equation. Since the calculation can be performed only by the forward conversion, there is an effect that the calculation can be performed at high speed. Furthermore, in the present embodiment, when the simultaneous equations are solved, the calculation is performed by eliminating the position Z component, so that the calculation time can be further reduced. In addition, since it is no longer necessary to calculate the offset error by calculating backward from the position of the feature point, it is not necessary to depend on the image pickup device 7, so that the present invention can be applied even when the image pickup device is changed. .
[0033]
Embodiment 3 FIG.
FIG. 6 is a block diagram showing Embodiment 3 of the present invention. In the figure, 31 is the time when the imaging device images each observation point, 32 is the image data 19, the position information 6 of the spacecraft, the posture information 12 and the time 31 as inputs and relates to the time at each observation point. Sensitivity calculation unit (time) 33 for calculating the calculated sensitivity is used to calculate the N deviation amounts measured by the deviation amount measurement unit 23, the time when the observation point is acquired, the position three components and the attitude of the space navigation body 1, respectively. The posture, position, and position offset error 34, position offset error 13, and time offset error 34 are calculated by solving the simultaneous equations, which are expressed as a linear sum of deviation amounts due to the offset error amounts of the three components. The time offset error calculation unit 34 and the time are time offset errors calculated by the offset error calculation unit 33. Other configurations are the same as those in the first or second embodiment described above, and thus the description thereof is omitted here. However, in the present embodiment, it is assumed that the space navigation body 1 is navigating without synchronizing with the rotation of the earth, and this point is different from the first and second embodiments.
[0034]
Next, the operation will be described. The image data 19, the position information 6 of the spatial navigation object, the attitude information 12, and the time 31 are input. From the position information 6, the attitude information 12 of the spatial navigation object corresponding to the time when the feature point is acquired, and the line-of-sight direction of the imaging device, Similar to the first embodiment, the observation point corresponding position calculation unit 22 calculates the observation point in the image, and the deviation amount measurement unit 23 measures the deviation amount. Similarly to the first embodiment, the image data 19, the spatial navigation object position information 6, the posture information 12, and the time 31 are input, and the sensitivity calculation unit (posture) 24 and the sensitivity calculation unit (position) 25 perform observations. The calculation sensitivity at each point N of the point corresponding point calculation unit 22 is calculated. Further, a sensitivity calculation unit (time) 32 calculates sensitivity related to time. In the case of the present embodiment, F is the calculation function of the position on the earth corresponding to the observation point in the image data used by the observation point corresponding position calculation unit 22, and the position of the spatial navigation object is X [i], Y [i ], Z [i], position offset errors ΔX, ΔY, ΔZ, postures φ [i], θ [i], ψ [i], posture offset errors Δφ, Δθ, Δψ, and each feature point Is taken as t [i], the time offset error is taken as Δt, the measurement result of the shift amount measuring unit 23 is taken as ΔP [i], and these relations are expressed by a linear sum of the following equation (8). The partial differential value at each element in the sensitivity calculation unit (attitude) 24, the sensitivity calculation unit (position) 25, and the sensitivity calculation unit (time) 32 is an observation point in the image data used by the observation point corresponding position calculation unit 22. Is calculated by the following equation (9) from the calculation function F of the position on the earth corresponding to. Based on the result of the deviation amount measurement unit 23 and the results of the sensitivity calculation unit (posture) 24, the sensitivity calculation unit (position) 25, and the sensitivity calculation unit (time) 32, the offset error amount calculation unit 33 of the posture, position, and time A position offset error (ΔX, ΔY, ΔZ) 13, an attitude offset error (Δφ, Δθ, Δψ) 14, and a time offset error (Δt) 34 are calculated by solving simultaneous equations shown in the following equation (10).
[0035]
[Equation 8]

[0036]
[Equation 9]

[0037]
[Expression 10]

[0038]
As described above, in the present embodiment, when calculating the position offset error and the attitude offset error of a spatial navigation body that navigates over the earth in synchronism with the rotation of the earth at a predetermined altitude, the deviation amount measurement unit 23 Each of the N shift amounts measured by the above is represented by a linear sum of the shift amounts due to the offset error amounts of the position 2 component and the posture 3 component of the spacecraft 1, and the deviation of each component at each observation point. Since the calculation sensitivity corresponding to the differential value is calculated and these are used as the coefficients of the terms of the linear sum, the function of the N shift amounts represented by the linear sum is solved as a simultaneous equation. Since the calculation can be performed only by the forward conversion, there is an effect that the calculation can be performed at high speed. Furthermore, in this embodiment, since the time offset error is obtained by inputting the data related to the time at which each feature point was imaged by the imager, the spatial navigation object that navigates without synchronizing with the rotation of the earth Is also applicable. In addition, since it is no longer necessary to calculate the offset error by calculating backward from the position of the feature point, it is not necessary to depend on the image pickup device 7, so that the present invention can be applied even when the image pickup device is changed. .
[0039]
Embodiment 4 FIG.
FIG. 7 is a block diagram showing Embodiment 4 of the present invention. In FIG. 7, reference numeral 35 denotes a position offset error (ΔX, ΔY, ΔZ) 13 and posture calculated by the posture and position offset error amount calculation unit 26. A zero determination unit that determines whether or not the value of the offset error (Δφ, Δθ, Δψ) 14 is zero. In the configuration of the present embodiment, the zero determination unit 35 is added to the configuration of the first embodiment, and the calculation is repeatedly performed until the determination by the zero determination unit 35 becomes zero. .
[0040]
The operation will be described. As in the first embodiment, image data 19, spatial navigation object position information 6 and posture information 12 are input, and the observation point corresponding position calculation unit 22, deviation amount measurement unit 23, sensitivity calculation unit (posture) 24, sensitivity, and the like. A position offset error (ΔX, ΔY, ΔZ) 13 and a posture offset error (Δφ, Δθ, Δψ) 14 are calculated by a calculation unit (position) 25, posture, and position offset error amount calculation unit 26. The calculated position offset error (ΔX, ΔY, ΔZ) 13 and posture offset error (Δφ, Δθ, Δψ) 14 are determined by the zero determination unit 35 as to whether they are zero. The offset error amount set in the observation point corresponding position calculation unit 22 is set as a position offset error and a posture offset error. If it is not zero, the calculated position offset error and posture offset error are added to the offset amount of the observation point corresponding position calculation unit 22, the position offset error and posture offset error are calculated again, and the determination by the zero determination unit 35 is performed. Repeat the calculation until it reaches zero.
[0041]
As described above, in the present embodiment, when calculating the position offset error and the attitude offset error of a spatial navigation body that navigates over the earth in synchronism with the rotation of the earth at a predetermined altitude, the deviation amount measurement unit 23 Each of the N shift amounts measured by the above is represented by a linear sum of the shift amounts due to the offset error amounts of the position 3 component and the posture 3 component of the spacecraft 1, and the deviation of each component at each observation point. Since the calculation sensitivity corresponding to the differential value is calculated and these are used as the coefficients of the terms of the linear sum, the function of the N shift amounts represented by the linear sum is solved as a simultaneous equation. Since the calculation can be performed only by the forward conversion, there is an effect that the calculation can be performed at high speed. Further, since the zero determination unit is provided and the calculation is repeatedly performed until the offset error amount becomes zero, the accuracy can be ensured. In addition, since it is no longer necessary to calculate the offset error by calculating backward from the position of the feature point, it is not necessary to depend on the image pickup device 7, so that the present invention can be applied even when the image pickup device is changed. .
[0042]
Embodiment 5. FIG.
FIG. 8 is a block diagram showing the fifth embodiment of the present invention. As shown in the figure, this embodiment has the same configuration as that of the second embodiment described above, but the zero determination unit 35 shown in the fourth embodiment. Is added.
[0043]
The operation will be described. As in the second embodiment, the image data 19, the position information 6 of the spatial navigation object, the posture information 12, and the distance measurement data 27 are input, and the observation point corresponding position calculation unit 22, the deviation amount measurement unit 23, and the sensitivity calculation unit ( Posture) 24, sensitivity calculation unit (position) 25, posture and position offset error amount calculation unit 26, Z coordinate position constraint condition setting unit 27, posture and position (X, Y) offset error amount calculation unit 29, position The Z coordinate offset error amount calculation unit 30 calculates a position offset error (ΔX, ΔY, ΔZ) 13 and an attitude offset error (Δφ, Δθ, Δψ) 14. The calculated position offset error (ΔX, ΔY, ΔZ) 13 and posture offset error (Δφ, Δθ, Δψ) 14 are determined by the zero determination unit 35 to determine whether or not they are zero. The offset amount set in the observation point corresponding position calculation unit 22 is set as a position offset error and a posture offset error. If it is not zero, the calculated position offset error and posture offset error are added to the offset amount of the observation point corresponding position calculation unit 22 to calculate the position offset error and posture offset error again, and the determination by the zero determination unit 35 is zero. Repeat the calculation until
[0044]
As described above, in the present embodiment, in addition to the effect obtained by the second embodiment, the zero determination unit is further provided and the calculation is repeatedly performed until the offset error amount becomes zero. Can be secured.
[0045]
Embodiment 6 FIG.
FIG. 9 is a block diagram showing the sixth embodiment of the present invention. As shown in the figure, this embodiment has the same configuration as that of the above-described third embodiment but the zero determination unit 35 shown in the fourth embodiment. Is added.
[0046]
The operation will be described. As in the third embodiment, the image data 19, the position information 6 of the spacecraft, the posture information 12, and the time 31 are input, and the observation point corresponding position calculation unit 22, the deviation amount measurement unit 23, and the sensitivity calculation unit (posture). 24, the sensitivity calculation unit (position) 25, the sensitivity calculation unit (time) 32, the posture, position, and time offset error amount calculation unit 33, the position offset error (ΔX, ΔY, ΔZ), posture offset error (Δφ) , Δθ, Δψ) 14 and time offset error (Δt) 34 are calculated. The calculated position offset error (ΔX, ΔY, ΔZ) 13, posture offset error (Δφ, Δθ, Δψ) 14, and time offset error (Δt) 34 are determined by the zero determination unit 35 as to whether they are zero, If zero, the calculation is terminated, and the offset amount set in the observation point corresponding position calculation unit 22 is set as a position offset error, a posture offset error, and a time offset error. If it is not zero, the calculated position offset error, posture offset error, and time offset error are added to the offset amount of the observation point corresponding position calculation unit 22, and the position offset error, posture offset error, and time offset error are calculated again, The calculation is repeated until the determination by the zero determination unit 35 becomes zero.
[0047]
As described above, in the present embodiment, in addition to the effect obtained by the third embodiment, the zero determination unit is further provided and the calculation is repeatedly performed until the offset error amount becomes zero. Can be secured.
[0048]
【The invention's effect】
According to the present invention, image data of the surface of the earth acquired by an imaging device mounted on a space navigation body that navigates over the earth in synchronism with the rotation of the earth at a predetermined altitude, and N predetermined numbers included in the image data. A navigation calculation device for calculating a position offset error and a posture offset error of a spatial navigation object using position information of observation points of the image data, the position three components (X, Y, Z of the spatial navigation object) ) And three orientation components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the imaging device, and the position of the observation point on the earth when including offset errors corresponding to N observation points ( The observation point corresponding position calculation means for calculating (latitude and longitude) and the positions of the N observation points actually measured on the earth (latitude and longitude) on the earth are input, and for each of the N observation points, the observation point Calculated by corresponding position calculation means The displacement amount measuring means for measuring the displacement amount of the latitude and longitude from the observed observation point, and the N displacement amounts measured by the displacement amount measuring means, respectively, the position 3 component and the posture 3 component of the spatial navigation object Expressed as a linear sum of deviation amounts due to the respective offset error amounts, and using them as simultaneous equations, by solving the simultaneous equations, posture offset error and position offset error calculating means for calculating posture offset error and position offset error, and image Posture and position sensitivity calculation that calculates the calculation sensitivity corresponding to the partial differential value of each component at each observation point, which is the coefficient of each term of the linear sum, using the data, spatial navigation object position 3 component and posture 3 component as input Position offset error and attitude offset of a spatial navigation object that navigates over the earth in synchronism with the rotation of the earth at a predetermined altitude. When calculating the difference, only the forward conversion without performing inverse transformation, there is an effect that it is possible to calculate at high speed. Further, since no inverse transformation is required, there is an effect that it can be applied regardless of the imaging device.
[0049]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spatial navigation body that navigates the earth at a predetermined altitude in synchronism with the rotation of the earth, and predetermined N observations included in the image data. A navigation calculation apparatus for calculating a position offset error and an attitude offset error of a spatial navigation object using position information of a point, the image data, a spatial navigation object position three component (X, Y, Z) and The position of the observation point on the earth (latitude and longitude) when the posture three components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the image pickup device are input and an offset error corresponding to N observation points is included. ) And the observation point corresponding position calculation means for calculating the observation point corresponding position and the position (lat longitude) of the N observation points actually measured on the earth. Calculated by the calculation means Z-coordinate position constraint that calculates a constraint condition by deleting the Z component of the position offset error, using the displacement amount measuring means for measuring the displacement amount of latitude and longitude from the observation point and the distance between the space navigation object and the ground as input. Based on the condition setting unit and the distance, the Z component in the offset error of the three position components of the space navigation object is deleted, and each of the N shift amounts measured by the shift amount measuring means is replaced with the position 2 of the space navigation body. Expressed as a linear sum of deviation amounts due to the offset error amount of each of the components (X, Y) and the posture three components, and using them as simultaneous equations, solving the simultaneous equations, the X component and Y of the posture offset error and the position offset error Position and position offset error calculation means for calculating the components, and each observation point that is the coefficient of each term of the linear sum with the image data, the position 3 component and the position 3 component of the spacecraft as inputs The position for calculating the Z component of the position offset error from the attitude and position sensitivity calculating means for calculating the calculated sensitivity corresponding to the partial differential value of each component, and the X and Y components of the calculated position offset error and the distance Since the navigation calculation apparatus includes a Z coordinate offset error amount calculation means, the position offset error of a spatial navigation object that navigates the earth at a predetermined altitude in synchronization with the rotation of the earth while measuring the distance from the ground station When calculating the attitude offset error, there is an effect that it is possible to calculate at high speed only by forward conversion without performing reverse conversion. Further, since no inverse transformation is required, there is an effect that it can be applied regardless of the imaging device.
[0050]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spacecraft that navigates over the earth without synchronizing with the rotation of the earth at a predetermined altitude, and N predetermined number of images included in the image data. A navigation calculation apparatus for calculating a position offset error and a posture offset error of a spatial navigation object using position information of an observation point, wherein the navigation data is calculated using image data and spatial navigation object position three components (X, Y, Z). And the orientation 3 component (roll φ, pitch θ, yaw ψ), the line-of-sight direction of the imaging device, and the time when the imaging device captured each observation point, the position 3 component and orientation of the spatial navigation object corresponding to the time An observation point corresponding position calculation means for calculating the position (latitude and longitude) of the observation point on the earth when the offset error corresponding to the N observation points is included from the three components and the line-of-sight direction of the image pickup device; N actually measured A deviation amount measuring means for measuring the deviation of latitude and longitude from the observation point calculated by the observation point corresponding position calculating means for each of the N observation points, taking as input the position of the observation point on the earth (latitude and longitude). And each of the N deviation amounts measured by the deviation amount measuring means is represented by a linear sum of deviation amounts due to the respective offset error amounts of the time and the position 3 component and the attitude 3 component of the spacecraft. As simultaneous equations, by solving the simultaneous equations, posture offset error, position offset error and time offset error calculating means for calculating posture offset error, position offset error and time offset error, image data, spatial navigation object position three components, Attitude which calculates the calculation sensitivity corresponding to the partial differential value of each component at each observation point, which is the coefficient of each term of the position and orientation of the linear sum, with the orientation 3 component and time as input The position sensitivity calculation means, the image data, the position 3 component of the spacecraft, the posture 3 component, and the time are input, and the partial differential value of the component at each observation point that is the coefficient of the term of the linear sum is obtained. Since the navigation calculation device includes a time sensitivity calculation means for calculating the calculation sensitivity related to the time at each observation point, the space navigation object that navigates the earth at a predetermined altitude without synchronizing with the rotation of the earth When calculating the position offset error, the posture offset error, and the time offset error, there is an effect that it can be calculated at high speed only by forward conversion without performing reverse conversion. Further, since no inverse transformation is required, there is an effect that it can be applied regardless of the imaging device.
[0051]
In addition, it further comprises zero determination means for determining whether or not the calculated position offset error and posture offset error values are zero, and calculates the position offset error and posture offset error until the determination of the zero determination means becomes zero. Since the calculation for performing the calculation is repeated, there is an effect that the calculation can be performed at high speed while ensuring the accuracy.
[0052]
In addition, the present invention provides the image data of the earth surface acquired by an image pickup device mounted on a space navigation body that navigates the earth over the earth in synchronism with the rotation of the earth at a predetermined altitude, and predetermined data included in the image data. A navigation calculation method for calculating a position offset error and a posture offset error of a spatial navigation object using position information of N observation points, the image data, a spatial navigation object position three component (X, Y , Z) and the three orientation components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the image pickup device, and include the offset error corresponding to N observation points on the earth. Using the observation point corresponding position calculation step for calculating the position (latitude and longitude) and the position (latitude and longitude) of N observation points actually measured on the earth as inputs, for each of the N observation points, Observation point corresponding position calculation The displacement amount measurement step for measuring the displacement amount of the latitude and longitude from the observation point calculated by the step, and the N displacement amounts measured by the displacement amount measurement step, respectively, the position three components and the attitude of the spatial navigation object A posture and position offset error amount calculating step for calculating a posture offset error and a position offset error by expressing them as a linear equation and solving the simultaneous equations as a linear equation. Attitude, position for calculating the calculation sensitivity corresponding to the partial differential value of each component at each observation point, which is the coefficient of each term of the linear sum, with the input of the image data, the position 3 component and the attitude 3 component of the spacecraft Since the navigation calculation method includes a sensitivity calculation step, the position offset of a spatial navigation object that navigates in the sky above the earth in synchronization with the rotation of the earth at a predetermined altitude. Error when calculating the orientation offset error, only the forward conversion without performing inverse transformation, there is an effect that it is possible to calculate at high speed. Further, since no inverse transformation is required, there is an effect that it can be applied regardless of the imaging device.
[0053]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spatial navigation body that navigates the earth at a predetermined altitude in synchronism with the rotation of the earth, and predetermined N observations included in the image data. A navigation calculation method for calculating a position offset error and a posture offset error of a spatial navigation object using position information of a point, the image data, a spatial navigation object position three component (X, Y, Z), and The position of the observation point on the earth (latitude and longitude) when the posture three components (roll φ, pitch θ, yaw ψ) and the line-of-sight direction of the image pickup device are input and an offset error corresponding to N observation points is included. ) To calculate the observation point corresponding position and the positions of the N observation points actually measured on the earth (latitude and longitude) on the earth, and the observation point corresponding positions for each of the N observation points. Depending on the calculation step A displacement amount measuring step for measuring a displacement amount of latitude and longitude from the observed observation point and a distance between the space navigation object and the ground are input, and a constraint condition is calculated by eliminating the Z component of the position offset error. Based on the coordinate position constraint condition setting step and the distance, the Z component in the offset error of the three position components of the spatial navigation object is deleted, and each of the N deviations measured in the deviation measurement step is replaced with the spatial navigation object. Is expressed as a linear sum of deviation amounts due to offset error amounts of the position 2 component (X, Y) and the posture 3 component, and the simultaneous equations are used as the simultaneous equations to solve the X and X of the posture offset error and the position offset error. An offset error amount calculation step for posture and position for calculating the component and the Y component, and the image data, the position 3 component and the posture 3 component of the spacecraft are input, and the linear sum From the attitude and position sensitivity calculation step for calculating the calculation sensitivity corresponding to the partial differential value of each component at each observation point that is the coefficient of each term, and the calculated X and Y components of the position offset error and the distance, Since the navigation calculation method includes a position Z coordinate offset error amount calculation step for calculating the Z component of the position offset error, the sky above the earth is synchronized with the rotation of the earth at a predetermined altitude while measuring the distance from the ground station. When calculating the position offset error and the attitude offset error of a spatial navigation body that travels in this way, there is an effect that it is possible to calculate at high speed only by forward conversion without performing reverse conversion. Further, since no inverse transformation is required, there is an effect that it can be applied regardless of the imaging device.
[0054]
In addition, the image data of the earth surface acquired by an imaging device mounted on a spacecraft that navigates over the earth without synchronizing with the rotation of the earth at a predetermined altitude, and N predetermined number of images included in the image data. A navigation calculation method for calculating a position offset error and a posture offset error of a spatial navigation object using position information of an observation point, the image data and a spatial navigation object position three component (X, Y, Z) And the orientation 3 component (roll φ, pitch θ, yaw ψ), the line-of-sight direction of the imaging device, and the time when the imaging device captured each observation point, the position 3 component and orientation of the spatial navigation object corresponding to the time An observation point corresponding position calculating step for calculating a position (lat longitude) of the observation point on the earth when the offset error corresponding to the N observation points is included from the three components and the line-of-sight direction of the imaging device; Actually measured Deviation amount that measures the deviation of latitude and longitude from the observation point calculated by the observation point corresponding position calculation step for each of the N observation points, with N observation points on the earth (latitude and longitude) as inputs. Each of the N deviation amounts measured in the measurement step and the deviation amount measurement step is represented by a linear sum of deviation amounts due to the offset error amounts of the time, the position 3 component and the attitude 3 component of the spacecraft, By using these as simultaneous equations and solving the simultaneous equations, a posture offset error, position offset error and time offset error calculation step for calculating posture offset error, position offset error and time offset error, image data, spatial navigation object position 3 The calculation feeling corresponding to the partial differential value of each component at each observation point that is the coefficient of each term of the position and orientation of the linear sum, with the input of the component, orientation 3 component, and time Pose and position sensitivity calculation step, and image data, spatial navigation body position 3 component, posture 3 component, and time as input, and the component at each observation point that is a coefficient of the term of the linear sum A time sensitivity calculation step that calculates a calculation sensitivity related to the time at each observation point corresponding to the partial differential value of, so that the sky over the earth is not synchronized with the rotation of the earth at a predetermined altitude. When calculating the position offset error, the attitude offset error, and the time offset error of the space navigation object that is navigating, there is an effect that it is possible to calculate at high speed only by forward conversion without performing reverse conversion. Further, since no inverse transformation is required, there is an effect that it can be applied regardless of the imaging device.
[0055]
Further, a zero determination step for determining whether or not the calculated position offset error and posture offset error values are zero is provided, and the position offset error and the posture offset error are calculated until the determination of the zero determination step becomes zero. Since the calculation for performing the calculation is repeated, there is an effect that the calculation can be performed at high speed while ensuring the accuracy.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram for explaining a navigation calculation principle.
FIG. 2 is an explanatory diagram for explaining a navigation calculation principle.
FIG. 3 is an explanatory diagram for explaining a navigation calculation principle.
FIG. 4 is a block diagram showing a configuration of a navigation calculation apparatus according to Embodiment 1 of the present invention.
FIG. 5 is a block diagram showing a configuration of a navigation calculation apparatus according to Embodiment 2 of the present invention.
FIG. 6 is a block diagram showing a configuration of a navigation calculation apparatus according to Embodiment 3 of the present invention.
FIG. 7 is a block diagram showing a configuration of a navigation calculation apparatus according to Embodiment 4 of the present invention.
FIG. 8 is a block diagram showing a configuration of a navigation calculation apparatus according to Embodiment 5 of the present invention.
FIG. 9 is a block diagram showing a configuration of a navigation calculation apparatus according to Embodiment 6 of the present invention.
FIG. 10 is a block diagram showing a configuration of a conventional navigation calculation apparatus.
[Explanation of symbols]
1 Spatial navigation vehicle, 2 Earth, 3 Center of spatial navigation vehicle, 4 Center of the Earth, 5 Coordinate system fixed to the Earth, 6 Location information of the spatial navigation vehicle, 7 Imager, 8 Observation points on Earth (feature points) , 9 Direction of the image pickup device, 10 Coordinate system fixed to the space navigation object, 11 Coordinate system targeted for control, 12, 12a, 12b, 12c Attitude information, 13 Position offset error, 14 Attitude offset error, 15 position Center of spatial navigation object with offset error, coordinate system (posture) fixed to spatial navigation object with 16 attitude offset error, 17 Orientation of imager when there is position offset error and attitude offset error Direction, 18 observation points on the earth when there is a position offset error and attitude offset error, 19 image data, 20 ground reference information, 21 observation points on the earth (feature points) And the observation point calculation result, 22 observation point corresponding position calculation unit, 23 deviation amount measurement unit, 24 sensitivity calculation unit (posture), 25 sensitivity calculation unit (position), 26 posture and position offset error calculation unit 27, distance measurement data, 28 Z coordinate position constraint condition setting unit, 29 posture and position (X, Y) offset error amount calculation unit, 30 position Z coordinate offset error amount calculation unit, 31 time, 32 sensitivity calculation unit (time ), 33 Offset error amount calculation unit for posture, position and time, 34 Time offset error, 35 Zero determination unit, 36 Posture offset calculation unit for posture and position.

Claims (8)

Image data of the earth's surface acquired by an imaging device mounted on a spacecraft that travels in the sky above the earth in synchronism with the rotation of the earth, and N predetermined observation points included in the image data Using the position information, a navigation calculation device for calculating a position offset error and an attitude offset error of the spatial navigation body,
Using the image data, the position three components (X, Y, Z) and the posture three components (roll φ, pitch θ, yaw ψ) of the spatial navigation body, and the line-of-sight direction of the imaging device as inputs, the N pieces An observation point corresponding position calculating means for calculating a position on the earth (latitude and longitude) of the observation point when an offset error corresponding to the observation point is included;
The position of the N observation points actually measured on the earth (latitude and longitude) on the earth is input, and for each of the N observation points, the latitude with the observation point calculated by the observation point corresponding position calculation means. A deviation amount measuring means for measuring a deviation amount of longitude;
Each of the N deviation amounts measured by the deviation amount measuring means is represented by a linear sum of deviation amounts due to offset error amounts of the position 3 component and the posture 3 component of the spatial navigation body, and these are represented by simultaneous equations. As a result of solving the simultaneous equations, the posture and position offset error amount calculating means for calculating the posture offset error and the position offset error, and
Using the image data, the position 3 component and the posture 3 component of the spatial navigation object as inputs, calculate the calculation sensitivity corresponding to the partial differential value of each component at each observation point that is the coefficient of each term of the linear sum. A navigation calculation apparatus comprising: a posture and position sensitivity calculation means. Image data of the earth's surface acquired by an imaging device mounted on a spacecraft that travels in the sky above the earth in synchronism with the rotation of the earth, and N predetermined observation points included in the image data Using the position information, a navigation calculation device for calculating a position offset error and an attitude offset error of the spatial navigation body,
Using the image data, the position three components (X, Y, Z) and the posture three components (roll φ, pitch θ, yaw ψ) of the spatial navigation body, and the line-of-sight direction of the imaging device as inputs, the N pieces An observation point corresponding position calculating means for calculating a position on the earth (latitude and longitude) of the observation point when an offset error corresponding to the observation point is included;
The position of the N observation points actually measured on the earth (latitude and longitude) on the earth is input, and for each of the N observation points, the latitude with the observation point calculated by the observation point corresponding position calculation means. A deviation amount measuring means for measuring a deviation amount of longitude;
A Z-coordinate position constraint condition setting unit that calculates a constraint condition by deleting the Z component of the position offset error, using the distance between the spatial navigation object and the ground as input.
Based on the distance, the Z component in the offset error of the three position components of the spatial navigation object is eliminated, and each of the N shift amounts measured by the shift amount measuring means is replaced with the position two component of the spatial navigation body. Expressed as a linear sum of deviation amounts due to offset error amounts of (X, Y) and each of the three posture components, and using them as simultaneous equations, solving the simultaneous equations, the X and Y components of the posture offset error and the position offset error A posture and position offset error amount calculating means for calculating
Using the image data, the position 3 component and the posture 3 component of the spatial navigation object as inputs, calculate the calculation sensitivity corresponding to the partial differential value of each component at each observation point that is the coefficient of each term of the linear sum. Posture and position sensitivity calculating means,
A navigation calculation apparatus comprising position Z coordinate offset error amount calculation means for calculating a Z component of a position offset error from the calculated X and Y components of the position offset error and the distance. Image data of the earth surface acquired by an imaging device mounted on a spacecraft that travels over the earth at a predetermined altitude without synchronizing with the rotation of the earth, and N predetermined observations included in the image data A navigation calculation device for calculating a position offset error and a posture offset error of the spatial navigation object using position information of a point,
The image data, the position three components (X, Y, Z) and the posture three components (roll φ, pitch θ, yaw ψ) of the spatial navigation body, the line-of-sight direction of the imaging device, and the observation points are imaged. When the time taken by the aircraft is input, and the offset error corresponding to the N observation points is included from the position 3 component and posture 3 component of the spatial navigation object corresponding to the time and the line-of-sight direction of the imager An observation point corresponding position calculating means for calculating the position (latitude and longitude) of the observation point on the earth,
The position of the N observation points actually measured on the earth (latitude and longitude) on the earth is input, and for each of the N observation points, the latitude with the observation point calculated by the observation point corresponding position calculation means. A deviation amount measuring means for measuring a deviation amount of longitude;
Each of the N deviation amounts measured by the deviation amount measuring means is represented by a linear sum of deviation amounts due to the respective offset error amounts of the time and the position 3 component and the posture 3 component of the spatial navigation body. , Using them as simultaneous equations, by solving the simultaneous equations, posture offset error, position offset error, and time offset error calculating posture, position and time offset error amount calculating means;
Using the image data, the position 3 component of the spacecraft, the posture 3 component, and the time as inputs, the deviation of each component at each observation point that is the coefficient of each term of the position and posture of the linear sum. Attitude and position sensitivity calculating means for calculating the calculated sensitivity corresponding to the differential value;
Corresponds to the partial differential value of the component at each observation point that is the coefficient of the time term of the linear sum, using the image data, the position 3 component of the spacecraft, the posture 3 component, and the time as input. A navigation calculation apparatus comprising: time sensitivity calculation means for calculating calculation sensitivity related to time at each observation point. A zero determination means for determining whether or not the calculated value of the position offset error and the posture offset error is zero;
The navigation calculation apparatus according to any one of claims 1 to 3, wherein the calculation for calculating the position offset error and the posture offset error is repeatedly performed until the determination by the zero determination means becomes zero. Image data of the earth's surface acquired by an imaging device mounted on a spacecraft that travels in the sky above the earth in synchronism with the rotation of the earth, and N predetermined observation points included in the image data Using the position information, a navigation calculation method for calculating a position offset error and an attitude offset error of the spatial navigation body,
Using the image data, the position three components (X, Y, Z) and the posture three components (roll φ, pitch θ, yaw ψ) of the spatial navigation body, and the line-of-sight direction of the imaging device as inputs, the N pieces An observation point corresponding position calculating step for calculating the position (latitude and longitude) of the observation point on the earth when the offset error corresponding to the observation point is included;
The positions of the N observation points actually measured on the earth (latitude and longitude) are input, and for each of the N observation points, the latitude with the observation point calculated by the observation point corresponding position calculation step. A deviation amount measuring step for measuring a deviation amount of longitude;
Each of the N deviation amounts measured in the deviation amount measurement step is represented by a linear sum of deviation amounts due to offset error amounts of the position 3 component and the posture 3 component of the spatial navigation body, and these are expressed by simultaneous equations. As a result of calculating the posture offset error and the position offset error by solving the simultaneous equations, a posture and position offset error amount calculating step,
Using the image data, the position 3 component and the posture 3 component of the spatial navigation object as inputs, calculate the calculation sensitivity corresponding to the partial differential value of each component at each observation point that is the coefficient of each term of the linear sum. A navigation calculation method comprising: a posture and position sensitivity calculation step. Image data of the earth's surface acquired by an imaging device mounted on a spacecraft that travels in the sky above the earth in synchronism with the rotation of the earth, and N predetermined observation points included in the image data Using the position information, a navigation calculation method for calculating a position offset error and an attitude offset error of the spatial navigation body,
Using the image data, the position three components (X, Y, Z) and the posture three components (roll φ, pitch θ, yaw ψ) of the spatial navigation body, and the line-of-sight direction of the imaging device as inputs, the N pieces An observation point corresponding position calculating step for calculating the position (latitude and longitude) of the observation point on the earth when the offset error corresponding to the observation point is included;
The positions of the N observation points actually measured on the earth (latitude and longitude) are input, and for each of the N observation points, the latitude with the observation point calculated by the observation point corresponding position calculation step. A deviation amount measuring step for measuring a deviation amount of longitude;
A Z coordinate position constraint condition setting step for calculating a constraint condition by deleting the Z component of the position offset error, using the distance between the space navigation object and the ground as an input,
Based on the distance, the Z component in the offset error of the position component of the spatial navigation object is deleted, and each of the N shift amounts measured in the shift amount measurement step is replaced with the position component of the spatial navigation body. Expressed as a linear sum of deviation amounts due to offset error amounts of (X, Y) and each of the three posture components, and using them as simultaneous equations, solving the simultaneous equations, the X and Y components of the posture offset error and the position offset error An offset error amount calculating step of the posture and position for calculating
Using the image data, the position 3 component and the posture 3 component of the spatial navigation object as inputs, calculate the calculation sensitivity corresponding to the partial differential value of each component at each observation point that is the coefficient of each term of the linear sum. Posture and position sensitivity calculation step,
A navigation calculation method comprising a position Z coordinate offset error amount calculating step of calculating a Z component of a position offset error from the calculated X and Y components of the position offset error and the distance. Image data of the earth surface acquired by an imaging device mounted on a spacecraft that travels over the earth at a predetermined altitude without synchronizing with the rotation of the earth, and N predetermined observations included in the image data A navigation calculation method for calculating a position offset error and a posture offset error of the spatial navigation object using position information of a point,
The image data, the position three components (X, Y, Z) and the posture three components (roll φ, pitch θ, yaw ψ) of the spatial navigation body, the line-of-sight direction of the imaging device, and the observation points are imaged. When the time taken by the aircraft is input, and the offset error corresponding to the N observation points is included from the position 3 component and posture 3 component of the spatial navigation object corresponding to the time and the line-of-sight direction of the imager An observation point corresponding position calculating step for calculating the position (latitude and longitude) of the observation point on the earth,
The positions of the N observation points actually measured on the earth (latitude and longitude) are input, and for each of the N observation points, the latitude with the observation point calculated by the observation point corresponding position calculation step. A deviation amount measuring step for measuring a deviation amount of longitude;
Each of the N deviation amounts measured in the deviation amount measurement step is represented by a linear sum of deviation amounts due to the respective offset error amounts of the time and the position 3 component and the posture 3 component of the spatial navigation body. Then, using them as simultaneous equations, by calculating the posture offset error, the position offset error and the time offset error by solving the simultaneous equations, an offset error amount calculating step of the posture, position and time,
Using the image data, the position 3 component of the spacecraft, the posture 3 component, and the time as inputs, the deviation of each component at each observation point that is the coefficient of each term of the position and posture of the linear sum. Attitude and position sensitivity calculation step for calculating calculation sensitivity corresponding to the differential value;
Corresponds to the partial differential value of the component at each observation point that is the coefficient of the time term of the linear sum, using the image data, the position 3 component of the spacecraft, the posture 3 component, and the time as input. And a time sensitivity calculation step of calculating a calculation sensitivity relating to the time at each observation point. A zero determination step for determining whether or not the calculated position offset error and posture offset error values are zero;
The navigation calculation method according to any one of claims 5 to 7, wherein the calculation for calculating the position offset error and the posture offset error is repeatedly performed until the determination in the zero determination step becomes zero.

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