JP6009786B2 - Object detection system and object detection method - Google Patents

Description

  The present invention relates to an object detection system and an object detection method for detecting, for example, a suspicious ship as an object.

Conventionally, for the purpose of cracking down on illegal fishing boats and suspicious boats, images obtained by imaging a wide area of the ocean with satellite sensors have been used. The marine image obtained with the orbiting satellite shows enemy ships, and these ships can be detected by a conventional ship detection technique such as CFAR (Constant False Alarm Rate).
On the other hand, for the purpose of safe navigation, the ship always transmits information such as its own identification code, position, and destination as information of AIS (Automatic Identification System) and VMS (Vessel Monitoring System). The satellite and the coastal facility collect AIS information (or VMS information, the same applies hereinafter) transmitted from each ship with an AIS receiver. Since AIS information is transmitted only from friendly ships (legal ships), it is possible to detect enemy ships (illegal ships) by matching the collected AIS information with information on images of enemy friendly ships. can do.

All surveillance satellites equipped with practical high-resolution image sensors for imaging the sea are orbiting satellites, and conventional AIS satellites are also orbiting satellites.
For this reason, the synchronism between the marine image obtained by the monitoring satellite and the AIS information of the ship obtained by the AIS satellite is low, and the matching accuracy is also low. Also, coastal AIS cannot cover a wide area.
Furthermore, there is a case where a friendly ship does not transmit AIS information, such as a fishing boat that does not want to know an excellent fishing ground.

Japanese Patent Laid-Open No. 09-035200 JP 2004-318561 A JP 2004-347195 A JP 2007-114093 A JP 2007-292532 A

M.M. Arii, “Maritime survey by ALOS series”, ALOS2 workshop, Tokyo, Japan, Mar. 2010. M.M. Ari, “Conceptual design for spaceborn ocean survey system based on radical scoring theory”, C-SIGMA, Rome, Italy, Jun. 2011. M.M. Ari, “Ship detection from full polarimetric SAR data at differential incident angles,” Asia-Pacific Conferencing on Synthetic AperSar. 2011.

  An object of the present invention is to make it possible to correctly detect a suspicious ship, for example.

The object detection system of the present invention includes:
A regional imaging device that captures a specific region in which a plurality of objects exist in a specific time zone and acquires a regional image;
A position information request for requesting the position information of the specific time zone is transmitted to the specific area, and the position information of the specific time zone transmitted from an object according to the position information request among the plurality of objects. A position information collection device that receives as communication position information;
Based on the regional image acquired by the regional imaging device, position information of each of the plurality of objects existing in the specific area in the specific time zone is calculated as image position information, and each of the plurality of objects is imaged A target object detection device that compares position information with communication position information of the object collected by the position information collection device and identifies position information of the object that does not respond to the position information request;

  The position information collection device receives the communication position information in the specific time period by transmitting the position information request in the specific time period.

The regional imaging device is a device mounted on an orbiting satellite,
The position information collection device transmits the position information request using a predetermined time zone in which the orbiting satellite equipped with the area imaging device flies over the specific region as the specific time zone.

The position information collection device is a device mounted on a flying object that exists at least in any time zone above the specific area.

The position information collection device is a device mounted on a geostationary satellite, a quasi-zenith satellite, an airship, or a balloon.

The object detection method of the present invention comprises:
The regional imaging device acquires a regional image by capturing a specific region where a plurality of objects exist in a specific time zone,
The location information collection device transmits a location information request for requesting location information in the specific time zone to the specific area, and the specific information transmitted from the target in response to the location information request among the plurality of targets Receive time zone position information as communication position information,
The object detection device calculates position information of each of the plurality of objects existing in the specific area in the specific time period as image position information based on the area image acquired by the area imaging apparatus, and The image position information of each of the objects is compared with the communication position information of the object collected by the position information collecting device, and the position information of the object not responding to the position information request is specified.

  An object of the present invention is to make it possible to correctly detect a suspicious ship, for example.

1 is a configuration diagram of an enemy / friends discrimination system 100 according to Embodiment 1. FIG. FIG. 2 is a functional configuration diagram of an enemy and friend determination system 100 according to the first embodiment. 5 is a flowchart showing an enemy / friend determination method of the enemy / friend determination system 100 according to the first embodiment. FIG. 3 is a diagram illustrating an example of hardware resources of the enemy / friend determination device 401 according to the first embodiment.

Embodiment 1 FIG.
A system for discriminating between a legitimate ship (a friendly ship) and a suspicious ship (enemy ship) existing in a surveillance sea area will be described. However, the ship is an example of an object, and an object other than the ship (for example, a stationary object such as a building or a moving object such as a vehicle or an aircraft) may be determined.

FIG. 1 is a configuration diagram of an enemy / friend determination system 100 according to the first embodiment.
The configuration of the enemy / friends discrimination system 100 according to Embodiment 1 will be described with reference to FIG.

The enemy-friendly discrimination system 100 (an example of an object detection system) is a system that discriminates between a legitimate ship having the authority to navigate the surveillance sea area and an unauthorized ship having no authority to navigate the surveillance sea area. Hereinafter, a legitimate ship is simply referred to as “ship 101”, and an illegal ship is referred to as “suspicious ship 102”.
A white circle in the figure represents the ship 101 and a black circle represents the suspicious ship 102.

  The enemy team identification system 100 includes a SAR satellite 200 (an example of a regional imaging device), a geostationary satellite 300 (an example of a position information collection device), and a monitoring facility 400 (an example of an object detection device).

The SAR satellite 200 is an orbiting satellite (artificial satellite) provided with a SAR (Synthetic Aperture Radar) or ISAR (Inverse SAR) used as an image sensor. The SAR satellite 200 flies over the surveillance sea area at a predetermined time zone. Hereinafter, SAR or ISAR is referred to as “SAR”.
However, instead of the SAR satellite 200, an artificial satellite provided with an image sensor (for example, an optical camera) other than the SAR or another flying object (for example, an airplane) may be used.

  The geostationary satellite 300 is an artificial satellite located above the surveillance sea area. However, instead of the geostationary satellite 300, other flying objects existing at least in any time zone above the surveillance sea area (for example, the quasi-zenith of the quasi-zenith satellite system that flies or stays in the surveillance sea area from a high altitude such as the stratosphere) (Satellite, balloon, airship) may be used. The quasi-zenith satellite system is a system in which at least one of the quasi-zenith satellites is located above a specific area (for example, Japan).

  The monitoring facility 400 is a ground facility (or apparatus) that communicates with the SAR satellite 200 and the geostationary satellite 300 by radio.

The ship 101 includes a positioning device such as a GPS (Global Positioning System) receiver and a predetermined communication device that communicates with the geostationary satellite 300 using a predetermined communication protocol. Hereinafter, a predetermined communication device that communicates with the geostationary satellite 300 is referred to as a “ship communication device”.
Since the suspicious ship 102 is not a legitimate ship, the suspicious ship 102 does not include a ship communication device for communicating with the geostationary satellite 300.

  Below, the outline | summary of the enemy allies discrimination system 100 is demonstrated based on FIG.

When the SAR satellite 200 flies over the surveillance sea area, the SAR satellite 200 images the surveillance sea area by the SAR. Hereinafter, the image data of the monitored sea area obtained by imaging from the SAR satellite 200 is referred to as “sea area image”. In addition, a time zone in which the SAR satellite 200 flies over the monitoring sea area is referred to as a “monitoring time zone”, and a specific time in the monitoring time zone is referred to as a “monitoring time”.
The geostationary satellite 300 transmits a request for position information to each ship 101 in the monitoring sea area at the monitoring time.
The ship communication device of each ship 101 receives a request for position information from the geostationary satellite 300 and transmits the position information measured by the positioning device to the geostationary satellite 300. Hereinafter, the position information transmitted from each ship 101 to the geostationary satellite 300 is referred to as “communication position information”. Since the suspicious ship 102 does not have a ship communication device, the position information is not transmitted to the geostationary satellite 300 at the monitoring time.
The SAR satellite 200 transmits a sea area image to the monitoring facility 400, and the geostationary satellite 300 transmits the communication position information of each ship 101 to the monitoring facility 400.
The monitoring facility 400 receives a sea area image from the SAR satellite 200 and receives communication position information of each ship 101 from the geostationary satellite 300.
The monitoring facility 400 calculates position information of the ship 101 and the suspicious ship 102 based on the sea area image. Hereinafter, the position information calculated based on the sea area image is referred to as “image position information”.
The monitoring facility 400 compares the image position information and the communication position information, and specifies the position information of the suspicious ship 102.

FIG. 2 is a functional configuration diagram of the enemy / friend determination system 100 according to the first embodiment.
A functional configuration of the enemy and friend determination system 100 according to Embodiment 1 will be described with reference to FIG.

The SAR satellite 200 includes a SAR, a wireless communication device (not shown), a sea area imaging device 201, and the like.
The sea area imaging device 201 (an example of a regional imaging device) includes a sea area imaging unit 210, a sea area image transmission unit 220, and an imaging device storage unit 290.
The sea area imaging unit 210 (an example of the area imaging unit) captures a monitoring sea area in the monitoring time zone using the SAR, and acquires the sea area image 291.
The sea area image transmission unit 220 (an example of the area image transmission unit) transmits the sea area image 291 acquired by the sea area imaging unit 210 to the monitoring facility 400 using the wireless communication device.
The imaging device storage unit 290 stores data used by the sea area imaging device 201. For example, the imaging device storage unit 290 stores the sea area image 291 acquired by the sea area imaging unit 210.

The geostationary satellite 300 includes a wireless communication device (not shown), a target information collection device 301, and the like.
The target information collection device 301 (an example of a position information collection device) includes a target information collection unit 310, a target information transmission unit 320, and a collection device storage unit 390.
The target information collection unit 310 (an example of the position information collection unit) performs the following communication using a wireless communication device. The target information collection unit 310 transmits a target information request to the monitoring sea area at the monitoring time, and receives target information responded from each ship 101 in the monitoring sea area. The target information request is data for requesting the ship communication device of the ship 101 to transmit target information including position information (communication position information) during the monitoring time period. For example, the target information collection unit 310 receives orbit information (SAR orbit information 499) indicating the orbit of the SAR satellite 200 from the monitoring facility 400, and calculates the monitoring time based on the received orbit information.
The target information transmission unit 320 (an example of the position information transmission unit) transmits the target information 391 received by the target information collection unit 310 from each ship 101 to the monitoring facility 400 using a wireless communication device.
The collection device storage unit 390 (an example of a request device storage unit) stores data used by the target information collection device 301. For example, the collection device storage unit 390 stores each target information 391 received by the target information collection unit 310.

The monitoring facility 400 includes a wireless communication device (not shown), an enemy team discrimination device 401, and the like.
The enemy / friend determination device 401 (an example of an object detection device) includes a monitoring communication unit 410, a sea area image processing unit 420, an enemy friend determination unit 430, and a determination device storage unit 490.
The monitoring communication unit 410 (an example of a regional image receiving unit and a position information receiving unit) performs the following communication using a wireless communication device. The monitoring communication unit 410 receives the sea area image 291 transmitted from the SAR satellite 200. The monitoring communication unit 410 receives each target information 391 transmitted from the geostationary satellite 300.
The sea area image processing unit 420 (an example of an image position information generation unit) performs image processing on the sea area image 291 to generate detection information 491. The detection information 491 is data including position information (image position information) of the ship 101 and the suspicious ship 102 existing in the monitored sea area.
The enemy ally determination unit 430 (an example of the object detection unit) compares the position information included in each detection information 491 with the position information included in each target information 391, and generates enemy ally determination information 492. The enemy / friend determination information 492 is data specifying the position information of the suspicious ship 102 among the position information included in each detection information 491.
The discrimination device storage unit 490 (an example of a detection device storage unit) stores data used by the enemy team discrimination device 401. For example, the determination device storage unit 490 includes the sea area image 291 and the target information 391 received by the monitoring communication unit 410, the detection information 491 generated by the sea area image processing unit 420, the enemy ally determination information 492 generated by the enemy ally determination unit 430, SAR orbit information 499 representing the orbit of the SAR satellite 200 is stored.

FIG. 3 is a flowchart showing an enemy / friend determination method of the enemy / friend determination system 100 according to the first embodiment.
The enemy and friend determination method (an example of the object detection method) of the enemy and friend determination system 100 according to the first embodiment will be described with reference to FIG.

  In S110, the target information collection unit 310 of the geostationary satellite 300 transmits a target information request to the monitoring sea area at the monitoring time. However, the target information collection unit 310 may transmit the target information request specifying the monitoring time (response time) periodically or at a predetermined time before the monitoring time period.

For example, the target information collection unit 310 receives the SAR orbit information 499 representing the orbit (flight time, flight position, etc.) of the SAR satellite 200 from the enemy ally determination device 401 of the monitoring facility 400, and the SAR satellite 200 is in the monitoring sea area. The monitoring time zone and the monitoring time flying over the sky are calculated based on the SAR trajectory information 499 and the monitoring sea area position information. In this case, the position information of the monitored sea area is stored in the collection device storage unit 390 in advance. However, the target information collection unit 310 may receive a monitoring time zone or a monitoring time instead of the SAR trajectory information 499 from the enemy / friend determination device 401 of the monitoring facility 400.
It progresses to S120 after S110.

In S120, the ship communication device of the ship 101 existing in the monitoring sea area receives the target information request transmitted from the geostationary satellite 300, generates the target information 391 of the monitoring time of the ship 101, and stops the generated target information 391. Transmit to the satellite 300. At this time, the ship communication device transmits the target information 391 to the geostationary satellite 300 within a predetermined time (monitoring time zone) from the monitoring time.
The target information 391 is data including position information (three-dimensional coordinate values) of the monitoring time measured by the positioning device of the ship 101. The ship communicator may include the registration information (nationality, identification code, etc.) of the ship 101 and the speed vector measured by the speedometer and compass of the ship 101 in the target information 391. Further, the marine communication device may exclude some information (identification code) from the registration information included in the target information 391. For example, the anonymity of the ship 101 can be secured by not including the identification code in the target information 391.
At this time, since the suspicious ship 102 does not include a ship communication device for communicating with the geostationary satellite 300, the target information request can be received from the geostationary satellite 300 and the target information at the monitoring time can be transmitted to the geostationary satellite 300. Can not.
It progresses to S130 after S120.

In S130, the target information collection unit 310 of the geostationary satellite 300 receives the target information 391 of the monitoring time transmitted from each ship 101 in the monitoring sea area.
It progresses to S140 after S130.

In S <b> 140, the target information transmission unit 320 of the geostationary satellite 300 transmits the target information 391 of each ship 101 received by the target information collection unit 310 to the monitoring facility 400.
It progresses to S310 after S140.

In S <b> 210, the sea area imaging unit 210 of the SAR satellite 200 acquires the sea area image 291 by imaging the monitoring sea area in the monitoring time zone using the SAR.
For example, the sea area imaging unit 210 calculates a monitoring time zone in which the SAR satellite 200 flies over the monitoring sea area based on the SAR orbit information 499, and performs imaging of the ground (monitoring sea area) in the calculated monitoring time zone. Further, the sea area imaging unit 210 may receive a monitoring time zone from the monitoring facility 400.
It progresses to S220 after S210.

In S <b> 220, the sea area image transmission unit 220 of the SAR satellite 200 transmits the sea area image 291 acquired by the sea area imaging unit 210 to the monitoring facility 400.
It progresses to S310 after S220.

  However, the sea area image capturing unit 210 and the sea area image transmitting unit 220 continue to perform SAR image capturing and transmission of the SAR image (including the sea area image 291), and the enemy teammate discriminating apparatus 401 of the monitoring facility 400 detects the monitoring time from the SAR image. You may select the sea area image 291 imaged by the belt | band | zone.

In S310, the monitoring communication unit 410 of the monitoring facility 400 receives the target information 391 of each ship 101 transmitted from the geostationary satellite 300 in S140.
Further, the monitoring communication unit 410 receives the sea area image 291 transmitted from the SAR satellite 200 in S220.
It progresses to S320 after S310.

  In S320, the sea area image processing unit 420 of the monitoring facility 400 performs image processing on the sea area image 291 and generates detection information 491 for each ship shown in the sea area image 291. The detection information 491 is data including position information (three-dimensional coordinate values) of the ship (the ship 101 or the suspicious ship 102).

For example, the sea area image processing unit 420 generates the detection information 491 as follows.
The sea area image processing unit 420 calculates the range (three-dimensional coordinate value) of the monitored sea area based on the SAR trajectory information 499 and the monitoring time zone. However, a predetermined range of the monitored sea area may be stored in advance.
The sea area image processing unit 420 identifies a pixel range (coordinate values in the sea area image 291) in which the ship is reflected from the sea area image 291. For example, the sea area image processing unit 420 specifies a pixel area in which the brightness of a pixel is brighter than a surrounding (sea surface) by a predetermined brightness threshold or more as a pixel range in which a ship is reflected.
The sea area image processing unit 420 calculates ship position information (three-dimensional coordinate values) based on the monitored sea area range and the ship pixel range.
The sea area image processing unit 420 generates data including ship position information (three-dimensional coordinate values) as detection information 491.
It progresses to S330 after S320.

  In S330, the enemy / friend determination unit 430 of the monitoring facility 400 compares the position information included in each detection information 491 with the position information included in each target information 391, and generates enemy / friend determination information 492. The enemy ally determination unit 430 outputs the generated enemy ally determination information 492 to an output device (for example, a display).

The enemy / friend determination information 492 is data that specifies the position information of the suspicious ship 102 among the position information included in each detection information 491.
For example, the enemy / friend determination information 492 is data including the position information of the suspicious ship 102 excluding the position information of the ship 101.
However, the enemy / friend determination information 492 may include the position information of the ship 101 and the position information of the suspicious ship 102. In this case, the enemy / friends discrimination information 492 is discrimination information for discriminating which position information is the ship 101 or the suspicious ship 102 for each position information (for example, “0” is the ship 101 and “1” is the ship information). Suspicious ship 102).

At this time, the enemy ally determination unit 430 determines the position information of the suspicious ship 102 by the following matching process.
For example, the enemy / friend determination unit 430 uses the same position information (including position information within a predetermined error range) as any of the target information 391 among the position information included in each detection information 491 as the position information of the ship 101. judge. That is, the enemy / friend determination unit 430 determines position information different from any target information 391 among the position information included in each detection information 491 as position information of the suspicious ship 102.
For example, the enemy / friend determination unit 430 combines the position information included in the detection information 491 and the position information included in the target information 391 in the order of closer coordinate values, and combines the position information included in the remaining detection information 491 of the suspicious ship 102. It is determined as position information.

The enemy ally determination unit 430 may determine the suspicious ship 102 by comparing the position information and the velocity vector.
In this case, the monitoring communication unit 410 receives the target information 391 including the position information and the velocity vector from each ship 101 via the target information collection device 301 (S310).
Further, the sea area image processing unit 420 calculates a ship speed vector (image speed vector) based on the sea area image 291 and generates detection information 491 including the ship speed vector (S320). For example, as a method for calculating a velocity vector based on the sea area image 291 (SAR image), methods disclosed in Patent Documents 4 and 5 can be used.
The enemy ally determination unit 430 performs the above-described matching process by replacing “position information” with “position information and velocity vector”, and generates enemy ally determination information 492 that identifies the position information and velocity vector of the suspicious ship 102 ( S330).
By S330, the process of the enemy / friend determination method ends.

FIG. 4 is a diagram illustrating an example of hardware resources of the enemy / friend determination device 401 according to the first embodiment.
In FIG. 4, an enemy / friend determination device 401 (an example of a computer) includes a CPU 901 (Central Processing Unit). The CPU 901 is connected to hardware devices such as a ROM 903, a RAM 904, a communication board 905 (communication device), a display 911 (display device), a keyboard 912, a mouse 913, a drive 914, and a magnetic disk device 920 via a bus 902. Control hardware devices. The drive 914 is a device that reads and writes a storage medium such as an FD (Flexible Disk Drive), a CD (Compact Disc), and a DVD (Digital Versatile Disc).
The ROM 903, the RAM 904, the magnetic disk device 920, and the drive 914 are examples of storage devices. A keyboard 912, a mouse 913, and a communication board 905 are examples of input devices. The display 911 and the communication board 905 are examples of output devices.

  The communication board 905 is wired or wirelessly connected to a communication network such as a LAN (Local Area Network), the Internet, or a telephone line.

  The magnetic disk device 920 stores an OS 921 (operating system), a program group 922, and a file group 923.

  The program group 922 includes programs that execute the functions described as “units” in the embodiments. The program is read and executed by the CPU 901. That is, the program causes the computer to function as “to part”, and causes the computer to execute the procedures and methods of “to part”.

  The file group 923 includes various data (input, output, determination result, calculation result, processing result, etc.) used in “˜part” described in the embodiment.

In the embodiment, arrows included in the configuration diagrams and flowcharts mainly indicate input and output of data and signals.
The processing of the embodiment described based on the flowchart and the like is executed using hardware such as the CPU 901, a storage device, an input device, and an output device.

  In the embodiment, what is described as “to part” may be “to circuit”, “to apparatus”, and “to device”, and “to step”, “to procedure”, and “to processing”. May be. That is, what is described as “to part” may be implemented by any of firmware, software, hardware, or a combination thereof.

  The sea area imaging device 201 and the target information collection device 301 are provided with hardware such as a CPU 901 and a storage device, like the enemy teammate determination device 401.

In the first embodiment, for example, the following enemy / friend determination system 100 has been described.
The enemy / friendship discrimination system 100 includes a transceiver (for example, a communication device of the geostationary satellite 300) capable of observing a fixed point such as a geostationary orbit and a quasi-zenith orbit instead of a conventional AIS receiver using an orbiting satellite. A transmitter / receiver (ship communication device) capable of communicating with a fixed point observation transmitter / receiver is distributed to (ship 101). These can transmit the target information (target information 391) including the position of the own device.
The transmitter / receiver for fixed point observation transmits trigger information (target information request) to each ship in order to collect the target information, and each ship transmits the target information after receiving the trigger information. That is, the enemy / friend determination system 100 can collect target information at an arbitrary time (for example, a monitoring time).
Since the enemy / friend determination system 100 can collect target information at the time of image capturing for an image (sea area image 291) acquired by the orbiting satellite (SAR satellite 200), the enemy / friend determination system 100 can perform enemy matching by highly accurate matching processing between the image and target information. (Suspicious ship 102) can be detected.

The time (monitoring time) at which the target information is collected may be made known to the friendly ship user by a predetermined communication method (wireless, electronic mail, telephone, mail, etc.). Thereby, the ally ship user can take the following measures.
For example, an allied fisherman can prevent the identification of a good quality fishing ground that he wants to keep secret by changing the fishing ground only during the time zone before and after the known time, or by avoiding the time zone around the known time. be able to.

In the event of counterfeiting or theft of a transmitter / receiver distributed to a ally's ship, the time of collection of target information for identifying the counterfeited / stolen transmitter / receiver will be made known to a ally ship user by a predetermined communication method. Good. Thereby, the ship user of a friend can turn off the switch of a transmitter / receiver before the well-known collection time.
Then, by collecting target information at a well-known collection time, it is possible to specify that the ship specified by the collected target information is an enemy ship equipped with a counterfeit or stolen transceiver. At this time, an image is unnecessary.

The enemy and friend determination system 100 described in the first embodiment may be configured as follows.
(1) The SAR satellite 200 may not be an orbiting satellite that orbits the earth, but may be a flying object that flies over the surveillance sea area, such as a geostationary satellite, a quasi-zenith satellite, or a balloon.
(2) The sea area imaging device 201 and the target information collection device 301 may be provided in the same flying body.
(3) The geostationary satellite 300 (or other flying object; the same applies to the following) is equipped with the functions of the enemy ally discrimination device 401 (sea area image processing unit 420, enemy ally discrimination unit 430), and the suspicious ship 102 is discriminated by the geostationary satellite 300. It doesn't matter. The computer of the monitoring facility 400 receives enemy friendly identification information 492 indicating the position information of the suspicious ship 102 from the geostationary satellite 300.

In the first embodiment, for example, the following object detection system has been described. Hereinafter, the names used in the first embodiment are shown in parentheses.
The object detection system (enemy and friend discrimination system 100) includes a regional imaging device (SAR satellite 200), a position information collection device (stationary satellite 300), and an object detection device (monitoring facility 400).
The regional imaging device captures a specific region (monitoring sea area) where a plurality of objects (the ship 101 and the suspicious ship 102) exist in a specific time zone (monitoring time zone), and acquires a local image (sea area image 291).
The position information collection device transmits a position information request (target information request) for requesting position information in the specific time zone to the specific area. The position information collection device receives, as communication position information (target information 391), position information of the specific time period transmitted from an object (the ship 101) that responds to the position information request among the plurality of objects.
The object detection device uses, as image position information (detection information 491), position information of each of the plurality of objects existing in the specific area in the specific time zone based on the area image acquired by the area imaging device. calculate. The object detection device compares the image position information of each of the plurality of objects with the communication position information of the object collected by the position information collection device, and the object (suspicious ship) that does not respond to the position information request. 102) is specified.

  100 enemy friendly identification system, 101 ship, 102 suspicious ship, 200 SAR satellite, 201 sea area imaging device, 210 sea area imaging section, 220 sea area image transmission section, 290 imaging apparatus storage section, 291 sea area image, 300 geostationary satellite, 301 target information Collecting device, 310 Target information collecting unit, 320 Target information transmitting unit, 390 Collecting device storage unit, 391 Target information, 400 Monitoring facility, 401 Enemy ally discrimination device, 410 Monitoring communication unit, 420 Sea area image processing unit, 430 Enemy ally discrimination , 490 discriminator storage unit, 491 detection information, 492 enemy ally discrimination information, 499 SAR orbit information, 901 CPU, 902 bus, 903 ROM, 904 RAM, 905 communication board, 911 display, 912 keyboard, 913 mouse, 914 drive , 920 magnetic Disk apparatus, 921 OS, 922 program group, 923 files.

Claims (5)

A regional imaging device that captures a specific region in which a plurality of objects exist in a specific time zone and acquires a regional image;
A position information request for requesting the position information of the specific time zone is transmitted to the specific area, and the position information of the specific time zone transmitted from an object according to the position information request among the plurality of objects. A position information collection device that receives as communication position information;
Based on the regional image acquired by the regional imaging device, position information of each of the plurality of objects existing in the specific area in the specific time zone is calculated as image position information, and each of the plurality of objects is imaged Comparing position information and communication position information of the object collected by the position information collection device, and comprising an object detection device that identifies position information of the object that does not respond to the position information request,
The regional imaging device is a device mounted on an orbiting satellite,
The position information collecting device is a device mounted on a flying object different from the orbiting satellite,
The specific time zone is a time zone during which the orbiting satellite flies over the specific area,
The position information collection device calculates a specific time in the specific time zone based on orbit information of the orbiting satellite, and transmits the position information request at the calculated time, thereby determining the communication position information in the specific time. The object detection system characterized by receiving in a belt. A regional imaging device that captures a specific region in which a plurality of objects exist in a specific time zone and acquires a regional image;
A position information request for requesting the position information of the specific time zone is transmitted to the specific area, and the position information of the specific time zone transmitted from an object according to the position information request among the plurality of objects. A position information collection device that receives as communication position information;
Based on the regional image acquired by the regional imaging device, position information of each of the plurality of objects existing in the specific area in the specific time zone is calculated as image position information, and each of the plurality of objects is imaged Comparing position information and communication position information of the object collected by the position information collection device, and comprising an object detection device that identifies position information of the object that does not respond to the position information request,
The regional imaging device is a device mounted on an orbiting satellite,
The position information collecting device is a device mounted on a flying object different from the orbiting satellite,
The specific time zone is a time zone during which the orbiting satellite flies over the specific area,
The location information collection device receives the communication location information in the specific time zone by receiving a specific time in the specific time zone and transmitting the location information request at the specific time. Target detection system. 3. The object detection system according to claim 1, wherein the position information collection device is a device mounted on a geostationary satellite, a quasi-zenith satellite, an airship, or a balloon. A regional imaging device mounted on the orbiting satellite captures a specific area where a plurality of objects are present in a specific time zone in which the orbiting satellite flies over the specific area and acquires a local image. ,
A position information collection device mounted on a vehicle different from the orbiting satellite calculates a specific time of the specific time zone based on orbit information of the orbiting satellite, and at the calculated time, A position information request for requesting position information is transmitted to the specific area, and communication position information that is position information of the specific time zone transmitted from the object that responds to the position information request among the plurality of objects. Received during the specific time period,
The object detection device calculates position information of each of the plurality of objects existing in the specific area in the specific time period as image position information based on the area image acquired by the area imaging apparatus, and Image position information of each of the objects is compared with communication position information of the object collected by the position information collecting device, and position information of the object not responding to the position information request is specified. Object detection method. A regional imaging device mounted on the orbiting satellite captures a specific area where a plurality of objects are present in a specific time zone in which the orbiting satellite flies over the specific area and acquires a local image. ,
A position information request for receiving a specific time in the specific time zone and requesting position information in the specific time zone at the specific time by a position information collecting device mounted on an aircraft different from the orbiting satellite Is transmitted to the specific area, and the communication position information that is the position information of the specific time period transmitted from the object that responds to the position information request among the plurality of objects is received in the specific time period,
The object detection device calculates position information of each of the plurality of objects existing in the specific area in the specific time period as image position information based on the area image acquired by the area imaging apparatus, and Image position information of each of the objects is compared with communication position information of the object collected by the position information collecting device, and position information of the object not responding to the position information request is specified. Object detection method.

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