JP7134382B2 - Trajectory calculation system - Google Patents

Description

The present disclosure relates to a trajectory calculation device, a trajectory calculation method, and a trajectory calculation system for calculating the trajectory of a flying object.

Some trajectory calculation systems for calculating the trajectory of a flying object include a transmitting/receiving antenna that transmits electromagnetic waves toward the flying object and receives the electromagnetic waves reflected by the flying object, and , and a signal processing unit for calculating the trajectory of a flying object (hereinafter referred to as "conventional trajectory calculation system").
In the conventional trajectory calculation system, since electromagnetic waves reciprocate between the transmitting/receiving antenna and the flying object, the propagation distance of the electromagnetic waves is twice the distance between the transmitting/receiving antenna and the flying object.

By the way, a plurality of receiving devices for receiving electromagnetic waves transmitted from a spacecraft, which is a flying object, is provided, and the orbit of the spacecraft is calculated by using the rate of change over time of the phase difference of the plurality of electromagnetic waves received by the plurality of receiving devices. There is a trajectory calculation device for calculating (see Patent Document 1, for example). In the trajectory calculation device, since the flying object transmits electromagnetic waves, the propagation distance of the electromagnetic waves in the trajectory calculation device is half the propagation distance of the electromagnetic waves in the conventional trajectory calculation system.

JP 2007-256004 A

In the conventional trajectory calculation system, the power of the electromagnetic waves transmitted and received by the transmitting and receiving antennas weakens in inverse proportion to the square of the propagation distance of the electromagnetic waves. Therefore, the conventional trajectory calculation system has a problem that the trajectory of the flying object cannot be calculated depending on the distance between the transmitting/receiving antenna and the flying object.
The electromagnetic wave propagation distance in the trajectory calculation device disclosed in Patent Document 1 is shorter than the electromagnetic wave propagation distance in the conventional trajectory calculation system. Therefore, the trajectory of a distant flying object whose trajectory cannot be calculated by a conventional trajectory calculation system can sometimes be calculated by the trajectory calculation device disclosed in Patent Document 1. However, since the trajectory calculation device cannot transmit electromagnetic waves unless the flying object is equipped with a transmitter for transmitting electromagnetic waves, the trajectory of the flying object without a transmitter cannot be calculated. Therefore, if the trajectory calculation device is applied to a conventional trajectory calculation system, the trajectory of a flying object that does not have a transmitter cannot be calculated. In other words, the trajectory calculation device cannot be applied to a trajectory calculation system that needs to calculate a trajectory even for a flying object that does not have a transmitter.

The present disclosure has been made in order to solve the above-described problems. Aim to get the system.

A trajectory calculation system according to the technology disclosed herein includes: a first light collecting device that collects light emitted from an illumination light source and then reflected by a flying object; The first angle when the flying object is viewed from the first light collecting device from each pointing direction at time 2 and each reflection position of the light with respect to the flying object at the first time and the second time is: A first angle calculator that calculates a first angle at a first time and a second time, and a second collector that collects the light emitted from the illumination light source and then reflected by the flying object. A second a second angle calculator for calculating a second angle at a first time and a second time as a second angle when the flying object is viewed from the second light collecting device; and a first angle calculator. A first angle calculated by a second angle calculator, a second angle calculated by a second angle calculation unit, a position of the first concentrator at a first time and a second time, and a second convergence a trajectory calculation unit for calculating the trajectory of the flying object from the position of the optical device; , the second light collecting device and the second angle calculation unit are mounted on a second optical angle measurement station, the first optical angle measurement station is a fixed station whose position is fixed, and the second The second optical goniometric station is a portable station whose position changes, and the second optical goniometric station is arranged in a trajectory different in altitude from the trajectory of the flying object .

According to the present disclosure, it may be possible to calculate the trajectory of a distant flying object that cannot be calculated by a conventional trajectory calculation system.

4 is an explanatory diagram showing an example of the positional relationship among the illumination light source 1, the flying object 2, the first optical angle measurement station 3, and the second optical angle measurement station 4 in the trajectory calculation system according to Embodiment 1. FIG. 1 is a configuration diagram showing a trajectory calculation system according to Embodiment 1; FIG. 2 is a hardware configuration diagram showing hardware of a trajectory calculation device 13 according to Embodiment 1. FIG. 2 is a hardware configuration diagram of a computer when the trajectory calculation device 13 is realized by software, firmware, or the like; FIG. 1 is a specific configuration diagram showing a trajectory calculation system according to Embodiment 1; FIG. 3 is a flowchart showing a trajectory calculation method, which is a processing procedure of the trajectory calculation device 13 shown in FIG. 2; 4 is an explanatory diagram showing distance calculation accuracy by an angle calculator 53 of the first optical goniometric station 3. FIG. It is explanatory drawing which shows the calculation precision of _each angle at _three observation time _t0 , t1, t2, and the calculation precision of each distance. Measurement accuracy when calculating the distance from the goniometric station to the flying object 2 by radiating radio waves from the goniometric station installed on the ground and receiving the radio waves reflected by the flying object 2 at the goniometric station It is an explanatory view showing the. It is explanatory drawing which shows the calculation precision of _{each angle at two observation} time t1, t2, and the calculation precision of each distance. FIG. 4 is an explanatory diagram showing angle calculation accuracy and distance calculation accuracy in the trajectory calculation system according to Embodiment 1; FIG. 4 is an explanatory diagram showing the accuracy of trajectory calculation in the trajectory calculation system according to Embodiment 1; FIG. 10 is an explanatory diagram showing an example of the positional relationship among the illumination light source 1, the flying object 2, the first optical angle measurement station 3, and the second optical angle measurement station 4 in the trajectory calculation system according to Embodiment 2; FIG. 11 is an explanatory diagram showing angle calculation accuracy and distance calculation accuracy in the trajectory calculation system according to Embodiment 2; FIG. 11 is an explanatory diagram showing an example of the positional relationship among a flying object 2, a first optical angle measurement station 3, and a second optical angle measurement station 4 in a trajectory calculation system according to Embodiment 3; FIG. 11 is a specific configuration diagram showing a trajectory calculation system according to Embodiment 3; FIG. 11 is an explanatory diagram showing an example of the positional relationship among a flying object 2, a first optical angle measurement station 3, and a second optical angle measurement station 4 in a trajectory calculation system according to Embodiment 4;

Hereinafter, in order to describe the present disclosure in more detail, embodiments for carrying out the present disclosure will be described with reference to the accompanying drawings.

Embodiment 1.
FIG. 1 is an explanatory diagram showing an example of the positional relationship among the illumination light source 1, the flying object 2, the first optical angle measurement station 3, and the second optical angle measurement station 4 in the trajectory calculation system according to the first embodiment. .
The illumination source 1 is a fixed star such as the sun that emits light. However, the illumination light source 1 is not limited to a fixed star as long as it is a light source that emits light.
The flying object 2 is a moving object that orbits the earth and reflects the light emitted from the illumination light source 1 .

The first optical goniometric station 3 is a fixed station fixed on the ground of the earth. In the trajectory calculation system shown in FIG. 1, the first optical goniometric station 3 is a fixed station. However, this is only an example, and the first optical goniometric station 3 may be a portable station whose position changes.
The first optical goniometric station 3 includes at least the first condensing device 11, the first angle calculator 21, and the trajectory calculator 23 shown in FIG. Specific components mounted on the first optical goniometric station 3 are shown in FIG.
The second optical goniometric station 4 is a fixed station or a portable station.
The second optical goniometric station 4 has at least the second condensing device 12 and the second angle calculator 22 shown in FIG. Specific components mounted on the second optical goniometric station 4 are shown in FIG.
A reference signal source 5 transmits a reference signal to the first optical angle measurement station 3 and the second optical angle measurement station 4, which is used for time synchronization between the first optical angle measurement station 3 and the second optical angle measurement station 4. to each of the

FIG. 2 is a configuration diagram showing a trajectory calculation system according to Embodiment 1. FIG.
The trajectory calculation system shown in FIG. 2 includes a first light collecting device 11 , a second light collecting device 12 and a trajectory calculation device 13 .
FIG. 3 is a hardware configuration diagram showing hardware of the trajectory calculation device 13 according to the first embodiment.
The first condensing device 11 is realized, for example, by one or more telescopes among a refractive telescope that utilizes refraction of light and a reflective telescope that utilizes reflection of light.
The first light collecting device 11 collects the light emitted from the illumination light source 1 and then reflected by the flying object 2 .
The second concentrator 12 is realized, for example, by one or more of a refractive telescope and a reflective telescope.
The second light collecting device 12 collects the light emitted from the illumination light source 1 and then reflected by the flying object 2 .

The trajectory calculator 13 includes a first angle calculator 21 , a second angle calculator 22 and a trajectory calculator 23 .
The first angle calculator 21 is implemented by, for example, a first angle calculator circuit 31 shown in FIG.
The first angle calculator 21 calculates the orientation directions of the first light collecting device 11 at the _first time t1 and the _second time t2, and the light directed to the flying object 2 at the _first times t1 and t2. A first angle, which is the angle at which the flying object 2 is viewed from the first focusing device 11, is calculated from each reflection position at the _second time t2. The first angle includes an azimuth angle Az _A when the projectile 2 is viewed from the first focusing device 11 and an elevation angle Elv _A when viewing the projectile 2 from the first focusing device 11. . The azimuth angle at the first time t ₁ is Az _A1 , the azimuth angle at the second time t ₂ is Az _A2 , the elevation angle at the first time t ₁ is Elv _{A 1} , and the second time The elevation angle at t2 is _{Elv A2 .}
The first angle calculator 21 outputs the azimuth angles Az _A1 and Az _A2 and the elevation angles Elv _A1 and Elv _A2 to the trajectory calculator 23 as the calculated first angles.

The second angle calculator 22 is implemented by, for example, the second angle calculator 32 shown in FIG.
The second angle calculator 22 calculates the pointing direction of the second light collecting device 12 at the _first time t1 and the second time t2, and the light directed to the flying object ₂ at the _first time t1 and A second angle, which is the angle at which the flying object 2 is viewed from the second focusing device 12, is calculated from each reflection position at the _second time t2. The second angles include an azimuth angle Az _B when the projectile 2 is viewed from the second light collector 12 and an elevation angle Elv _B when the projectile 2 is viewed from the second light collector 12. . The azimuth angle at the first time t ₁ is Az _B1 , the azimuth angle at the second time t ₂ is Az _B2 , the elevation angle at the first time t ₁ is Elv _{B 1} , and the second time _The elevation angle at t2 is Elv _B2 .
The second angle calculator 22 outputs the azimuth angles Az _B1 and Az _B2 and the elevation angles Elv _B1 and Elv _B2 to the trajectory calculator 23 as the calculated second angles.

The trajectory calculation unit 23 is implemented by, for example, a trajectory calculation circuit 33 shown in FIG.
The trajectory calculation unit 23 calculates the first angle at the _first time t1 and the _second time t2 calculated by the first angle calculation unit 21 and the first angle calculated by the second angle calculation unit 22. Also, the second angles at the _first time t1 and the _second time t2 are obtained.
The trajectory calculation unit 23 calculates the respective first angles at the _first time t1 and the _second time t2, the respective _second angles at the _first time t1 and the second time t2, Positions of the first collector 11 at the _first time t1 and the _second time t2, respectively, and positions of the second collector 12 at the _first time t1 and the _second time t2, respectively. , and the trajectory of the flying object 2 is calculated.

In FIG. 2, each of the first angle calculator 21, the second angle calculator 22, and the trajectory calculator 23, which are components of the trajectory calculator 13, is implemented by dedicated hardware as shown in FIG. I'm assuming something. That is, it is assumed that the trajectory calculation device 13 is implemented by a first angle calculation circuit 31, a second angle calculation circuit 32, and a trajectory calculation circuit 33. FIG.
Each of the first angle calculation circuit 31, the second angle calculation circuit 32, and the trajectory calculation circuit 33 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit). ), FPGA (Field-Programmable Gate Array), or a combination thereof.

The components of the trajectory calculation device 13 are not limited to those realized by dedicated hardware, and the trajectory calculation device 13 may be realized by software, firmware, or a combination of software and firmware. good too.
Software or firmware is stored as a program in a computer's memory. A computer means hardware that executes a program, for example, a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor). do.

FIG. 4 is a hardware configuration diagram of a computer when the trajectory calculation device 13 is implemented by software, firmware, or the like.
When the trajectory calculation device 13 is implemented by software, firmware, or the like, a program for causing a computer to execute respective processing procedures in the first angle calculation unit 21, the second angle calculation unit 22, and the trajectory calculation unit 23 is provided. It is stored in memory 41 . Then, the processor 42 of the computer executes the program stored in the memory 41 .
FIG. 3 shows an example in which each component of the trajectory calculation device 13 is realized by dedicated hardware, and FIG. 4 shows an example in which the trajectory calculation device 13 is realized by software, firmware, or the like. . However, this is only an example, and some components of the trajectory calculation device 13 may be implemented by dedicated hardware, and the remaining components may be implemented by software, firmware, or the like.

FIG. 5 is a specific configuration diagram showing the trajectory calculation system according to the first embodiment.
In the trajectory calculation system shown in FIG. 5, the first optical angle measurement station 3 includes the first light collecting device 11, the light shielding device 51, the position detection unit 52, the angle calculation unit 53, the time calibration unit 54, the counter 55, the control A device 56 , a pointing device 57 , a communication section 58 , a recording device 59 and a trajectory calculation section 60 are provided.
In the trajectory calculation system shown in FIG. 5, the second optical angle measurement station 4 includes the second light collecting device 12, the light shielding device 71, the position detection unit 72, the angle calculation unit 73, the time calibration unit 74, the counter 75, the control It comprises a device 76 , a pointing device 77 and a communication section 78 .

The light shielding device 51 is implemented by, for example, a mechanical shutter or an electronic shutter.
The light blocking device 51 is arranged in the optical path between the first light collecting device 11 and the position detection section 52 .
The light blocking device 51 controls the opening and closing of the shutter according to the exposure time controlled by the control device 56 . The light blocking device 51 alternately blocks the light condensed by the first condensing device 11 and transmits the light by controlling the opening and closing of the shutter.

The first angle calculator 21 shown in FIG. 5 is the same angle calculator as the first angle calculator 21 shown in FIG.
The first angle calculator 21 shown in FIG. 5 includes a position detector 52 and an angle calculator 53 .
The position detection unit 52 is realized by, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.
When the position detection unit 52 acquires the imaging command output from the control device 56 at the _first time t1 and the _second time t2, the position detection unit 52 detects the light transmitted through the light shielding device 51, A light intensity image in which the flying object 2 is reflected is picked up.
That is, the position detection unit 52 detects light transmitted through the light shielding device 51 at the _first time t1, thereby picking up a light intensity image showing the flying object 2, and picking up the light intensity image at the second time t1. By detecting the light transmitted through the light shielding device 51 at the time of ₂ , a light intensity image in which the flying object 2 is reflected is picked up.
The position detector 52 outputs the light intensity image at the first time t ₁ and the light intensity image at the second time t ₂ to the angle calculator 53 .
In the trajectory calculation system shown in FIG. 5 , the position detection section 52 is provided inside the first angle calculation section 21 . However, this is merely an example, and the position detection section 52 may be provided outside the first angle calculation section 21 .

In the trajectory calculation system shown in FIG. 5, the position detection section 52 is implemented by a CCD image sensor or a CMOS image sensor. However, this is only an example, and the position detection unit 52 is a sensor that simply detects the presence or absence of light, and is realized by a sensor that detects light when the flying object 2 enters the field of view. may However, the field of view of a sensor that simply detects the presence or absence of light is narrower than that of a CCD image sensor. Therefore, when the position detection unit 52 is implemented by a sensor that simply detects the presence or absence of light, the directivity direction of the first light condensing device 11 is more finely controlled than when it is implemented by a CCD image sensor. There is a need.
In addition, when the position detection unit 52 is implemented by a CCD image sensor or a CMOS image sensor, even if the pointing direction of the first light collecting device 11 deviates from the center position of the light intensity image, the flying object If 2 is in the light intensity image, the flying object 2 can be detected. For this reason, when the position detection unit 52 is realized by a CCD image sensor or a CMOS image sensor, the directivity of the first light collecting device 11 is greater than when it is realized by a sensor that simply detects the presence or absence of light. Direction control becomes easier. Also, if the position detection unit 52 is realized by a CCD image sensor or a CMOS image sensor, it is possible to grasp whether the moving direction of the flying object 2 is the vertical direction of the field of view or the horizontal direction of the field of view. can do. In addition, it is possible to grasp the presence or absence of leakage light from a fixed star or other flying object.

The angle calculator 53 acquires the pointing direction of the first light collecting device 11 at the _first time t1 from the control device 56, and acquires the light intensity image at the _first time t1 from the position detector 52. do.
The angle calculator 53 detects the position of the light in the light intensity image at the _first time t1 as the reflection position of the light with respect to the flying object 2 at the _first time t1.
The angle calculator 53 calculates the _first angle at the _first time t1 from the pointing direction of the first light collecting device 11 at the _first time t1 and the reflection position at the first time t1. do.
Further, the angle calculation unit 53 acquires the orientation direction of the first light collecting device 11 at the _second time t2 from the control device 56, and obtains the light intensity image at the _second time t2 from the position detection unit 52. to get
The angle calculator 53 detects the position of the light within the light intensity image at the _second time t2 as the reflected position of the light with respect to the flying object 2 at the _second time t2.
The angle calculator 53 calculates the first angle at the _second time t2 from the pointing direction of the first light collecting device 11 at the _second time t2 and the reflection position at the _second time t2. do.

The time calibration unit 54 includes, for example, a GPS (Global Positioning System) receiver, a receiving antenna, and a clock.
The receiving antenna of the time calibration unit 54 receives the reference signal transmitted from the reference signal source 5 .
The GPS receiver of the time calibration unit 54 repeatedly receives GPS signals transmitted from GPS satellites when the reception antenna receives the reference signal.
The time calibration unit 54 acquires the position of the first light collecting device 11 and the current time from the GPS signal received by the GPS receiver. The positional information included in the GPS signal indicates the position of the first optical goniometric station 3 on which the time calibration unit 54 is mounted. Since the first light collecting device 11 is mounted on the first optical goniometer station 3, the time calibration unit 54 determines the position of the first optical goniometer station 3 to the first light collecting device. It is acquired as the position of the device 11 .
The time calibration unit 54 calibrates the time of the internal clock using the acquired current time, and outputs the calibrated time to the counter 55 .
In the trajectory calculation system shown in FIG. 5, the time calibration unit 54 calibrates the time of the internal clock and outputs the calibrated time to the counter 55 . However, this is only an example, and the time calibration unit 54 may output the current time obtained from the GPS signal to the counter 55 as the time after calibration.
In the orbit calculation system shown in FIG. 5, the time calibration unit 54 acquires the current time from radio waves received by the GPS receiver. However, this is only an example, and the time calibration unit 54 may acquire the current time from a standard radio wave typified by a radio clock or the like, or a network device typified by NTP (Network Time Protocol). protocol for time synchronization may be used to acquire the current time.
For example, the sun moves about 15 arcseconds (=15/3600 degrees) per second due to diurnal motion. is calibrated with subsecond accuracy.
The time calibration unit 54 outputs the position of the first light collecting device 11 to the control device 56 .
Further, the time calibration unit 54 acquires the position of the first light collecting device 11 at the _first time t1 and the position of the first light collecting device 11 at the _second time t2 from the control device 56. Then, the position of the first light collecting device 11 at the first time t ₁ and the position of the first light collecting device 11 at the second time t ₂ are output to the recording device 59 .

The counter 55 acquires the time after calibration by the time calibration unit 54 and measures the elapsed time from a certain representative time. A representative time is, for example, the start time of calculation of the trajectory of the flying object 2 .
The counter 55 outputs the measured elapsed time to the control device 56 .

The control device 56 is realized by, for example, a semiconductor integrated circuit mounting a CPU or a program substrate such as an FPGA.
The control device 56 grasps each of the first time t ₁ and the second time t ₂ as the observation time of the flying object 2 according to the elapsed time output from the counter 55 .
In addition, the control device 56 acquires past trajectory information of the flying object 2 from the trajectory database 80 via the communication unit 58, and from the past trajectory information, approximates the flying object 2 at the _first time t1. Know the position and the approximate position of the projectile ₂ at the second time t2.

Of the positions of the first light collecting device 11 output from the time calibration unit 54, the control device 56 determines the position of the first light collecting device 11 at the _first time t1 and the position at the _second time t2. The position of the first condensing device 11 is specified.
Based on the position of the first light collecting device 11 at the _first time t1 and the approximate position of the flying object 2 at the _first time t1, the control device 56 determines the position of the flying object relative to the first light collecting device 11. 2, the relative position at the _first time t1 is calculated.
In addition, the control device 56 calculates the position of the first light collecting device 11 at the _second time t2 and the approximate position of the flying object ₂ at the second time t2. A relative position of the flying object ₂ at the second time t2 is calculated.

The control device 56 changes the direction in which the first focusing device 11 sees the flying object 2 at the _first time t1 from the relative position at the _first time t1, that is, the direction in which the flying object 2 is seen at the _first time t1. 1, the orientation direction of the condensing device 11 is grasped.
In addition, the control device 56 changes the direction in which the first focusing device 11 sees the flying object ₂ at the _second time t2 from the relative position at the second time t2, that is, the _second time t2. , the directivity direction of the first light collecting device 11 is grasped.

The control device 56 outputs the pointing direction of the first light collecting device 11 at the _first time t1 to each of the pointing device 57 and the angle calculation unit 53, and outputs the direction of the first light collecting device 11 at the _second time t2. 11 pointing directions are output to the pointing device 57 and the angle calculating section 53, respectively.
The control device 56 controls the light blocking device 51 to open the shutter for a predetermined exposure time at the _first time t1 and the _second time t2.
The control device 56 outputs imaging commands to the position detection section 52 at the _first time t1 and the _second time t2.

The pointing device 57 is implemented by a rotating stage having one or more rotating shafts and a motor. An altazimuthal mount, an equatorial mount, or the like can be considered as a rotating stage having one or more rotation axes.
A first condensing device 11 is mounted on the rotating stage of the directing device 57 .
The directing device 57 causes the directing direction of the first light collecting device 11 at the _first time t1 to match the directing direction of the first light collecting device 11 at the _first time t1 when the control device 56 outputs. The rotation stage is rotated by driving the motor so as to rotate.
The directing device 57 causes the directing direction of the first light collecting device 11 at the _second time t2 to match the directing direction of the first light collecting device 11 at the _second time t2 when the control device 56 outputs. The rotation stage is rotated by driving the motor so as to rotate.

The communication unit 58 acquires past trajectory information of the flying object 2 from the trajectory database 80 and outputs the trajectory information to the control device 56 .
The communication unit 58 receives the second angle at the _first time t1 and the second angle at the _second time t2, which are transmitted from the communication unit 78 of the second optical angle measurement station 4. .
The communication unit 58 receives the respective positions of the _second light collecting device 12 at the _first time t1 and the second time t2, which are transmitted from the communication unit 78 of the second optical goniometric station 4. .
The communication unit 58 causes the recording device 59 to record each of the second angle at the _first time t1 and the second angle at the _second time t2, and the second light collecting device 12 at the first time Let the recording device 59 record the respective positions at t ₁ and the second time t ₂ .

The trajectory calculation unit 23 shown in FIG. 5 is the same trajectory calculation unit as the trajectory calculation unit 23 shown in FIG.
The trajectory calculator 23 shown in FIG. 5 includes a recording device 59 and a trajectory calculator 60 .
The recording device 59 is implemented by a recording medium such as a RAM (Random Access Memory) or a hard disk.
The recording device 59 records the first angle at the _first time t1 and the first angle at the _second time t2, respectively, and records the second angle at the _first time t1 and the second time Record each of the _second angles at t2.
The recording device 59 records the respective positions of the first light collector 11 at the _first time t1 and the _second time t2 and the positions of the second light collector 12 at the _first time t1 and the second time t2. Record the _respective positions at time t2.

The trajectory calculator 60 obtains from the recording device 59 the first angles at the _first time t1 and the _second time t2, and the respective first angles at the _first time t1 and the _second time t2. 2 angles.
Further, the trajectory calculation unit 60 obtains from the recording device 59 the respective positions of the first light collecting device 11 at the first time t ₁ and the second time t ₂ and the first position of the second light collecting device 12 . , and their respective positions at time t ₁ and a second time t ₂ .
The trajectory calculator 60 calculates the respective positions of the first light collector 11 at the _first time t1 and the _second time t2, and the positions of the second light collector 12 at the _first time t1 and the second time t1. and the _respective positions at time t2, the inter-device distance, which is the distance between the first light collecting device 11 and the second light collecting device 12 at the _first time t1, and the second time and the inter _- device distance at t2.
The trajectory calculation unit 60 calculates the inter-device distances at the _first time t1 and the _second time t2, the first angles at the _first time t1 and the _second time t2, and the From the respective second angles at one time t ₁ and second time t ₂ and from the respective positions of the first light collector 11 at the first time t ₁ and second time t ₂ , the first A first distance from one light collecting device 11 to the flying object 2 is calculated. That is, the trajectory calculator 60 calculates the first distances at the _first time t1 and the _second time t2.
The trajectory calculation unit 60 calculates the inter-device distances at the _first time t1 and the _second time t2, the first angles at the _first time t1 and the _second time t2, and the From the respective second angles at one time t ₁ and second time t ₂ and from the respective positions of the second light collector 12 at the first time t ₁ and second time t ₂ , a second 2, a second distance from the condensing device 12 to the flying object 2 is calculated. That is, the trajectory calculator 60 calculates the second distances at the _first time t1 and the _second time t2.
The trajectory calculation unit 60 calculates the respective first angles at the _first time t1 and the _second time t2, the respective _second angles at the _first time t1 and the second time t2, The position of the projectile 2 is calculated from the respective first distances at the _first time t1 and the _second time t2 and the respective _second distances at the _first time t1 and the second time t2. and velocity, respectively. That is, the trajectory calculator 60 calculates the positions of the flying object ₂ at the _first time t1 and the second time t2. Alternatively, the trajectory calculator 60 calculates the respective first angles at the _first time t1 and the _second time t2 and the respective _second angles at the _first time t1 and the second time t2 , the first distances at the _first time t1 and the _second time t2, and the _second distances at the _first time t1 and the second time t2, the projectile 2 Calculate the position and velocity at the _first time t1 of . Note that the velocity is obtained as the difference in the position of the flying object ₂ from _time t1 to time t2.
The trajectory calculation unit 60 calculates the position of the flying object 2 at the _first time t1 and the second time t2, or the position and velocity of the flying object ₂ at the _first time t1. Calculate the trajectory of 2.
In the trajectory calculation system shown in FIG. 5 , a recording device 59 is provided inside the trajectory calculation section 23 . However, this is only an example, and the recording device 59 may be provided outside the trajectory calculation section 23 .

The light shielding device 71 is implemented by, for example, a mechanical shutter or an electronic shutter.
The light blocking device 71 is arranged in the optical path between the second light collecting device 12 and the position detection section 72 .
The light shielding device 71 controls the opening and closing of the shutter according to the exposure time controlled by the control device 76 . The light blocking device 71 alternately blocks the light condensed by the second condensing device 12 and transmits the light by controlling the opening and closing of the shutter.

The second angle calculator 22 shown in FIG. 5 is the same angle calculator as the second angle calculator 22 shown in FIG.
The second angle calculator 22 shown in FIG. 5 includes a position detector 72 and an angle calculator 73 .
The position detection unit 72 is implemented by, for example, a CCD image sensor or a CMOS image sensor.
When the position detection unit 72 acquires the imaging command output from the control device 76 at the _first time t1 and the _second time t2, the position detection unit 72 detects the light transmitted through the light shielding device 71, A light intensity image in which the flying object 2 is reflected is picked up.
That is, the position detection unit 72 picks up a light intensity image showing the flying object 2 by detecting the light transmitted through the light blocking device 71 at the _first time t1, and detects the light intensity image at the second time t1. By detecting the light transmitted through the light shielding device 71 at the time of ₂ , a light intensity image in which the flying object 2 is reflected is picked up.
The position detector 72 outputs the light intensity image at the first time t ₁ and the light intensity image at the second time t ₂ to the angle calculator 73 .

The angle calculator 73 acquires the pointing direction of the second light collecting device 12 at the _first time t1 from the control device 76, and acquires the light intensity image at the _first time t1 from the position detector 72. do.
The angle calculator 73 detects the position of the light within the light intensity image at the _first time t1 as the reflected position of the light with respect to the flying object 2 at the _first time t1.
The angle calculator 73 calculates the second angle at the _first time t1 from the pointing direction of the second light collecting device 12 at the _first time t1 and the reflection position at the _first time t1. do.
Further, the angle calculation unit 73 acquires the orientation direction of the second light collecting device 12 at the _second time t2 from the control device 76, and obtains the light intensity image at the _second time t2 from the position detection unit 72. to get
The angle calculator 73 detects the position of the light within the light intensity image at the _second time t2 as the reflected position of the light with respect to the flying object 2 at the _second time t2.
The angle calculator 73 calculates the _second angle at the _second time t2 from the pointing direction of the second light collecting device 12 at the _second time t2 and the reflection position at the second time t2. do.
The angle calculator 73 outputs the second angle at the first time t ₁ and the second angle at the second time t ₂ to the communication unit 78 .
In the trajectory calculation system shown in FIG. 5 , the position detection section 72 is provided inside the second angle calculation section 22 . However, this is merely an example, and the position detection section 72 may be provided outside the second angle calculation section 22 .

The time calibration unit 74 has, for example, a GPS receiver, a receiving antenna, and a clock.
The receiving antenna of the time calibration unit 74 receives the reference signal transmitted from the reference signal source 5 .
The GPS receiver of the time calibration unit 74 repeatedly receives GPS signals transmitted from GPS satellites when the reception antenna receives the reference signal.
The time calibration unit 74 obtains the position of the second light collecting device 12 and the current time from the GPS signal received by the GPS receiver. The positional information included in the GPS signal indicates the position of the second optical goniometric station 4 on which the time calibration unit 74 is mounted. Since the second light collecting device 12 is mounted on the second optical angle measuring station 4, the time calibration unit 74 determines the position of the second optical angle measuring station 4 from the second light collecting unit. It is acquired as the position of the device 12 .
The time calibration unit 74 uses the acquired current time to calibrate the time of the internal clock.
In the trajectory calculation system shown in FIG. 5, the time calibration unit 74 calibrates the time of the internal clock and outputs the calibrated time to the counter 75 . However, this is only an example, and the time calibration unit 74 may output the current time obtained from the GPS signal to the counter 75 as the time after calibration.
In the orbit calculation system shown in FIG. 5, the time calibration unit 74 obtains the current time from radio waves received by the GPS receiver. However, this is only an example, and the time calibration unit 74 may acquire the current time from a standard radio wave represented by a radio clock or the like. protocol to get the current time.
For example, the sun moves about 15 arcseconds per second due to diurnal motion, so if accuracy of arcseconds is required for position determination, the time calibration unit 74 calibrates the time of the internal clock with subsecond accuracy. do.
The time calibration unit 74 outputs the position of the second light collecting device 12 to the control device 76 .
Further, the time calibration unit 74 acquires the position of the second light collecting device 12 at the _first time t1 and the position of the second light collecting device 12 at the _second time t2 from the control device 76. Then, the position of the second light collecting device 12 at the first time t ₁ and the position of the second light collecting device 12 at the second time t ₂ are output to the communication unit 78 .

The counter 75 acquires the time after calibration by the time calibration unit 74 and measures the elapsed time from a certain representative time.
The counter 75 outputs the measured elapsed time to the control device 76 .

The control device 76 is realized by, for example, a semiconductor integrated circuit mounting a CPU or a program board such as an FPGA.
The control device 76 grasps each of the first time t ₁ and the second time t ₂ as the observation time of the flying object 2 according to the elapsed time output from the counter 75 .
In addition, the control device 76 acquires past trajectory information of the flying object 2 from the trajectory database 80 via the communication unit 78, and from the past trajectory information, approximates the flying object 2 at the _first time t1. Know the position and the approximate position of the projectile ₂ at the second time t2.

Of the positions of the second light collecting device 12 output from the time calibration unit 74, the control device 76 determines the position of the _second light collecting device 12 at the _first time t1 and The position of the second light concentrator 12 is identified.
Based on the position of the second light collecting device 12 at the _first time t1 and the approximate position of the flying object 2 at the _first time t1, the control device 76 determines the position of the flying object relative to the second light collecting device 12. 2, the relative position at the _first time t1 is calculated.
_In addition, the control device 76 _calculates a A relative position of the flying object ₂ at the second time t2 is calculated.

The control device 76 changes the direction in which the second focusing device 12 sees the flying object 2 at the _first time t1 from the relative position at the _first time t1, that is, the direction in which the flying object 2 is viewed at the _first time t1. 2, the pointing direction of the condensing device 12 is grasped.
In addition, the control device 76 changes the direction in which the second light collecting device 12 sees the flying object ₂ at the _second time t2 from the relative position at the second time t2, that is, the _second time t2. to grasp the pointing direction of the second light collecting device 12 at .

The control device 76 outputs the pointing direction of the second light collecting device 12 at the _first time t1 to each of the pointing device 77 and the angle calculation unit 73, and outputs the direction of the second light collecting device 12 at the _second time t2. The 12 directional directions are output to the directional device 77 and the angle calculator 73, respectively.
The control device 76 controls the light blocking device 71 to open the shutter for a predetermined exposure time at the _first time t1 and the _second time t2.
The control device 76 outputs imaging commands to the position detection section 72 at the _first time t1 and the _second time t2.

The pointing device 77 is implemented by a rotating stage having one or more rotating shafts and a motor.
A second condensing device 12 is mounted on the rotating stage of the directing device 77 .
The pointing device 77 causes the pointing direction of the second light collecting device 12 at the _first time t1 to match the pointing direction of the second light collecting device 12 at the _first time t1 when the control device 76 outputs. The rotation stage is rotated by driving the motor so as to rotate.
The pointing device 77 causes the pointing direction of the second light collecting device 12 at the _second time t2 to match the pointing direction of the second light collecting device 12 at the _second time t2 when the control device 76 outputs. The rotation stage is rotated by driving the motor so as to rotate.

The communication unit 78 acquires past trajectory information of the flying object 2 from the trajectory database 80 and outputs the trajectory information to the control device 76 .
The communication unit 78 transmits the second angle at the first time t ₁ and the second angle at the second time t ₂ output from the angle calculation unit 73 to the communication unit 58 .
The communication unit 78 transmits the positions of the second light collecting device 12 at the first time t ₁ and the second time t ₂ , which are output from the time calibration unit 74 , to the communication unit 58 .

The trajectory database 80 is realized by a recording medium such as RAM or hard disk, for example.
The trajectory database 80 stores past trajectory information of the flying object 2 .
In the trajectory calculation system shown in FIG. 5, a trajectory database 80 is provided outside the trajectory calculation system. However, this is only an example, and the trajectory database 80 may be provided inside the trajectory calculation system.
Alternatively, the trajectory database 80 may be connected to a network (not shown), and the trajectory database 80 may be connected to the trajectory calculation system via the network.

Next, the operation of the trajectory calculation system shown in FIG. 5 will be described.
FIG. 6 is a flow chart showing a trajectory calculation method, which is a processing procedure of the trajectory calculation device 13 shown in FIG.
First, the reference signal source 5 transmits a reference signal used for time synchronization between the first optical angle measurement station 3 and the second optical angle measurement station 4 to the first optical angle measurement station 3 and the second optical angle measurement station 4. to each of the stations 4.
The receiving antenna of the time calibration unit 54 in the first optical goniometric station 3 receives the reference signal transmitted from the reference signal source 5 .
The GPS receiver of the time calibration unit 54 repeatedly receives GPS signals transmitted from GPS satellites when the reception antenna receives the reference signal.
The time calibration unit 54 acquires the position of the first light collecting device 11 and the current time from the GPS signal received by the GPS receiver.
The time calibration unit 54 calibrates the time of the internal clock using the acquired current time.
The time calibration unit 54 outputs the position of the first light collecting device 11 to the control device 56 .

The GPS receiver of the time calibration unit 74 repeatedly receives GPS signals transmitted from GPS satellites when the reception antenna receives the reference signal.
The time calibration unit 74 obtains the position of the second light collecting device 12 and the current time from the GPS signal received by the GPS receiver.
The time calibration unit 74 uses the acquired current time to calibrate the time of the internal clock.
The time calibration unit 74 outputs the position of the second condensing device 12 to the control device 76 .
The time calibration unit 54 of the first optical angle measurement station 3 calibrates the time of the internal clock, and the time calibration unit 74 of the second optical angle measurement station 4 calibrates the time of the internal clock. Time synchronization between the goniometric station 3 and the second optical goniometric station 4 is achieved.
The accuracy of time synchronization is limited by the accuracy of opening and closing times of the shutters in the light shielding devices 51 and 71 . Since the opening and closing time of the shutter is about milliseconds, time synchronization may be performed with an accuracy of about microseconds. The time used by the internal clocks of the time calibration units 54 and 74 is, for example, coordinated universal time.

The counter 55 of the first optical angle measurement station 3 acquires the time after calibration by the time calibration unit 54, and measures the elapsed time t from a certain representative time. A representative time is, for example, the start time of calculating the trajectory of the flying object 2 .
The counter 55 outputs the measured elapsed time t to the control device 56 .
The counter 75 of the second optical angle measurement station 4 obtains the time after calibration by the time calibration unit 74, and measures the elapsed time t from a certain representative time.
The counter 75 outputs the measured elapsed time t to the control device 76 .
The communication unit 58 of the first optical goniometric station 3 acquires past trajectory information of the flying object 2 from the trajectory database 80 and outputs the trajectory information to the control device 56 .
The communication unit 78 of the second optical angle measurement station 4 acquires past trajectory information of the flying object 2 from the trajectory database 80 and outputs the trajectory information to the control device 76 .

The control device 56 of the first optical angle measurement station 3 acquires the elapsed time t output from the counter 55 .
The control device 56 grasps each of the first time t ₁ and the second time t ₂ as the observation time of the flying object 2 according to the elapsed time t.
In addition, the control device 56 acquires the trajectory information output from the communication unit 58, and uses the trajectory information to determine the approximate position of the flying object 2 at the _first time t1 and the approximate position of the flying object ₂ at the second time t2. to know the approximate location of

Of the positions of the first light collecting device 11 output from the time calibration unit 54, the control device 56 determines the position of the first light collecting device 11 at the _first time t1 and the position at the _second time t2. The position of the first condensing device 11 is specified.
Based on the position of the first light collecting device 11 at the _first time t1 and the approximate position of the flying object 2 at the _first time t1, the control device 56 determines the position of the flying object relative to the first light collecting device 11. 2, the relative position at the _first time t1 is calculated. The processing itself for calculating the relative position of the flying object 2 with respect to the first light collecting device 11 is a known technique, and detailed description thereof will be omitted.
In addition, the control device 56 calculates the position of the first light collecting device 11 at the _second time t2 and the approximate position of the flying object ₂ at the second time t2. A relative position of the flying object ₂ at the second time t2 is calculated.

The control device 56 changes the direction in which the first focusing device 11 sees the flying object 2 at the _first time t1 from the relative position at the _first time t1, that is, the direction in which the flying object 2 is seen at the _first time t1. 1, the orientation direction of the condensing device 11 is grasped.
In addition, the control device 56 changes the direction in which the first focusing device 11 sees the flying object ₂ at the _second time t2 from the relative position at the second time t2, that is, the _second time t2. , the directivity direction of the first light collecting device 11 is grasped.

The control device 56 outputs the pointing direction of the first light collecting device 11 at the _first time t1 to each of the pointing device 57 and the angle calculation unit 53, and outputs the direction of the first light collecting device 11 at the _second time t2. 11 pointing directions are output to the pointing device 57 and the angle calculating section 53, respectively.
The control device 56 controls the light blocking device 51 to open the shutter for a predetermined exposure time at the _first time t1 and the _second time t2.
The control device 56 outputs imaging commands to the position detection section 52 at the _first time t1 and the _second time t2.
The control device 56 outputs the position of the first light collecting device 11 at the first time t ₁ and the position of the first light collecting device 11 at the second time t ₂ to the time calibration unit 54 .

The pointing device 57 of the first optical angle measuring station 3 detects that the pointing direction of the first light collecting device 11 at the _first time t1 is the first direction at the _first time t1 when the control device 56 outputs. The rotating stage is rotated by driving the motor so as to match the pointing direction of the condensing device 11 .
The directing device 57 causes the directing direction of the first light collecting device 11 at the _second time t2 to match the directing direction of the first light collecting device 11 at the _second time t2 when the control device 56 outputs. The rotation stage is rotated by driving the motor so as to rotate.
The first light condensing device 11 has a function of projecting the object plane onto the image plane, and has a reference optical axis. The pointing direction of the first condensing device 11 is controlled by matching the pointing direction output from the device 56 .
Since it takes a certain amount of time to control the pointing direction of the first light collecting device 11 by the pointing device 57, the control device 56 controls the first time before the observation time reaches the _first time t1. The pointing direction of the first condensing device 11 at t ₁ is output to the pointing device 57 . Further, the control device 56 outputs the pointing direction of the first light collecting device 11 at the _second time t2 to the pointing device 57 before the observation time reaches the _second time t2.

In the trajectory calculation system shown in FIG. instructing. When the field of view of the first light collecting device 11 and the field of view of the position detection unit 52 are different, the control device 56 selects the narrower of the field of view of the first light collection device 11 and the field of view of the position detection unit 52. The direction of the first light collecting device 11 is instructed to the directing device 57 so that the flying object 2 is within the range of the field of view of .
If the flying object 2 is a geostationary satellite and the first optical goniometric station 3 is a fixed station, the relative position between the first optical goniometric station 3 and the flying object 2 does not change. When the relative position does not change, the control device 56 once instructs the directing device 57 on the directing direction of the first light collecting device 11 so that the flying object 2 is within the range of the field of view of the first light collecting device 11 . Then, thereafter, the directivity direction of the first light condensing device 11 may be fixed. Strictly speaking, the relative position changes slightly due to differences in the orbital inclination angle, etc., but if the observation time is about several seconds, there is no problem even if the pointing direction of the first light collecting device 11 is fixed. .

A first condensing device 11 of the first optical goniometric station 3 condenses the light emitted from the illumination light source 1 and then reflected by the flying object 2 .
The light blocking device 51 of the first optical goniometric station 3 is controlled by the control device 56 to open the shutter for a predetermined exposure time at the _first time t1 and the _second time t2. .
At the _first time t1, the shutter of the light blocking device 51 is opened for a predetermined exposure time, so that the light collected by the first light collecting device 11 passes through the light blocking device 51, and the light is It reaches the position detector 52 .
Further, at the _second time t2, the shutter of the light shielding device 51 opens for a predetermined exposure time, so that the light condensed by the first light collecting device 11 passes through the light shielding device 51. Light reaches the position detector 52 .

When the position detection unit 52 of the first optical angle measurement station 3 acquires the imaging command output from the control device 56 at the _first time t1, the detection processing of the light transmitted through the light blocking device 51 is performed. Then, a light intensity image in which the flying object 2 is reflected is picked up.
The position detection unit 52 outputs the captured light intensity image to the angle calculation unit 53 as a light intensity image at the _first time t1.
Further, when the position detection unit 52 acquires the imaging command output from the control device 56 at the _second time t2, the position detection unit 52 starts detection processing of the light transmitted through the light shielding device 51, and the flying object 2 Capture the reflected light intensity image.
The position detection unit 52 outputs the captured light intensity image to the angle calculation unit 53 as a light intensity image at the _second time t2.

The angle calculator 53 of the first optical goniometric station 3 acquires the directivity direction of the first light collecting device 11 at the _first time t1 from the controller 56, and from the position detector 52, the first Acquire _a light intensity image at time t1.
The angle calculator 53 detects the position of the light within the light intensity image at the _first time t1 as the reflected position of the light with respect to the flying object 2 at the _first time t1.
The angle calculator 53 calculates the _first angle at the _first time t1 from the pointing direction of the first light collecting device 11 at the _first time t1 and the reflection position at the first time t1. (step ST1 in FIG. 6).
The angle calculator 53 removes dark commutation noise included in the light intensity image at the _first time t1, removes background light noise included in the light intensity image, or removes background light noise included in the light intensity image. The first angle may be calculated from the light intensity image after processing such as attenuation processing of the amount of peripheral light.
The calculation process of the first angle by the angle calculator 53 will be specifically described below.

The angle calculator 53 obtains the viewing angle of the light intensity image, assuming that the pointing direction of the first light collecting device 11 is the center of the viewing field of the position detecting section 52 . From the size of one pixel included in the light intensity image and the focal length of the first condensing device 11, the viewing angle per pixel is obtained. The size of one pixel and the focal length of the first condensing device 11 are already set in the angle calculator 53 .
The viewing angle of the light intensity image is obtained by multiplying the viewing angle per pixel by the number of pixels from the center pixel of the light intensity image to the pixel of the viewing center of the light intensity image.
The angle calculator 53 can obtain the pointing direction of the position detector 52 and the apparent size of the flying object 2 from the visual field center of the light intensity image and the visual field angle of the light intensity image. Once the pointing direction of the position detection unit 52 and the apparent size of the flying object 2 are obtained, the angle calculation unit 53 calculates the position of the coordinates on the light intensity image and the celestial coordinates indicating the position of the illumination light source 1 in outer space. You can ask for a relationship.
The celestial coordinate system may be an equatorial coordinate system based on the celestial equator, a horizontal coordinate system based on the horizon seen from the observer, or a galactic coordinate system based on the plane of the galaxy. good. The position on the light intensity image can be represented by the position of celestial coordinates, right ascension, declination, or angles such as azimuth angle and elevation angle.

The angle calculator 53 determines that a point image, which is a group of pixels with pixel values equal to or greater than the threshold among the plurality of pixels included in the light intensity image, represents the flying object 2. and calculate the position of the center of gravity of the point image. The threshold is a value greater than 0 and less than the maximum pixel value, and is stored in the internal memory of the angle calculator 53, for example.
If the size of the first light condensing device 11 is finite, the point image has a spread beyond the diffraction limit. In practice, the point image captured when the flying object 2 is small is further spread because it is affected by atmospheric fluctuations or seeing.
The angle calculation unit 53 calculates the position of the center of gravity of the point image in order to determine the position of the point image with the spread as the reflection position of the light with respect to the flying object 2 .
As described above, the position on the light intensity image can be represented by angles such as the azimuth angle and the elevation angle. Find the angle of 1.
The first angle is the angle when the flying object 2 is viewed from the first light collecting device 11. The azimuth angle _AzA when the flying object 2 is viewed from the first light collecting device 11 and the first light collecting device 11 and the elevation angle Elv _A when the projectile 2 is viewed from 11 .
The angle calculator 53 stores the azimuth angle Az _A1 at the _first time t1 and the elevation angle Elv _A1 at the _first time t1 as the _first angles at the first time t1 to the recording device 59. record.

The angle calculator 53 acquires the pointing direction of the first light collecting device 11 at the _second time t2 from the control device 56, and acquires the light intensity image at the _second time t2 from the position detector 52. do.
The angle calculator 53 detects the position of the light within the light intensity image at the _second time t2 as the reflected position of the light with respect to the flying object 2 at the _second time t2.
The angle calculator 53 calculates the first angle at the _second time t2 from the pointing direction of the first light collecting device 11 at the _second time t2 and the reflection position at the _second time t2. (step ST2 in FIG. 6).
The angle calculator 53 removes dark commutation noise included in the light intensity image at the _second time t2, removes background light noise included in the light intensity image, or removes background light noise included in the light intensity image. The first angle may be calculated from the light intensity image after processing such as attenuation processing of the amount of peripheral light.
The calculation processing of the first angle at the _second time t2 is the same as the calculation processing of the first angle at the _first time t1, so detailed description thereof will be omitted.
The angle calculator 53 stores the azimuth angle _AzA2 at the _second time t2 and the elevation angle _ElvA2 at the _second time t2 as the first angle at the _second time t2 in the recording device 59. record.

The time calibration unit 54 compares the position of the first light collecting device 11 at the _first time t1 and the position of the first light collecting device 11 at the _second time t2, which are output from the control device 56. get.
The time calibration unit 54 causes the recording device 59 to record the position of the first light collecting device 11 at the _first time t1 and the position of the first light collecting device 11 at the _second time t2.
Here, the time calibration unit 54 records the position of the first light collecting device 11 at the _first time t1 and the position of the first light collecting device 11 at the _second time t2 in the recording device 59. I am letting If the first optical angle measurement station 3 is a fixed station, the position of the first light collecting device 11 does not change, so the position of the first light collecting device 11 at any time is recorded in the recording device 59. Let it be.

The control device 76 of the second optical angle measurement station 4 acquires the elapsed time t output from the counter 75 .
The control device 76 grasps each of the first time t ₁ and the second time t ₂ as the observation time of the flying object 2 according to the elapsed time t.
In addition, the control device 76 acquires the trajectory information output from the communication unit 78, and uses the trajectory information to determine the approximate position of the flying object 2 at the _first time t1 and the approximate position of the flying object ₂ at the second time t2. to know the approximate location of

Of the positions of the second light collecting device 12 output from the time calibration unit 74, the control device 76 determines the position of the _second light collecting device 12 at the _first time t1 and The position of the second light concentrator 12 is identified.
Based on the position of the second light collecting device 12 at the _first time t1 and the approximate position of the flying object 2 at the _first time t1, the control device 76 determines the position of the flying object relative to the second light collecting device 12. 2, the relative position at the _first time t1 is calculated.
_In addition, the control device 76 _calculates a A relative position of the flying object ₂ at the second time t2 is calculated.

The control device 76 changes the direction in which the second focusing device 12 sees the flying object 2 at the _first time t1 from the relative position at the _first time t1, that is, the direction in which the flying object 2 is viewed at the _first time t1. 2, the pointing direction of the condensing device 12 is grasped.
In addition, the control device 76 changes the direction in which the second light collecting device 12 sees the flying object ₂ at the _second time t2 from the relative position at the second time t2, that is, the _second time t2. to grasp the pointing direction of the second light collecting device 12 at .

The control device 76 outputs the pointing direction of the second light collecting device 12 at the _first time t1 to each of the pointing device 77 and the angle calculation unit 73, and outputs the direction of the second light collecting device 12 at the _second time t2. The 12 directional directions are output to the directional device 77 and the angle calculator 73, respectively.
The control device 76 controls the light blocking device 71 to open the shutter for a predetermined exposure time at the _first time t1 and the _second time t2.
The control device 76 outputs imaging commands to the position detection section 72 at the _first time t1 and the _second time t2.
The control device 76 outputs the position of the second light collecting device 12 at the first time t ₁ and the position of the second light collecting device 12 at the second time t ₂ to the time calibration section 74 .

The pointing device 77 of the second optical angle measuring station 4 detects that the pointing direction of the second light collecting device 12 at the _first time t1 is the second direction at the _first time t1 when the control device 76 outputs By driving the motor, the rotating stage is rotated so as to match the pointing direction of the condenser 12 .
The pointing device 77 causes the pointing direction of the second light collecting device 12 at the _second time t2 to match the pointing direction of the second light collecting device 12 at the _second time t2 when the control device 76 outputs. The rotation stage is rotated by driving the motor so as to rotate.
The second focusing device 12 has a function of projecting the object plane onto the image plane and has a reference optical axis. The pointing direction of the second concentrator 12 is controlled by matching the pointing direction output from the device 76 .
Since it takes a certain amount of time for the pointing device 77 to control the pointing direction of the second light collecting device 12, the control device 76 controls the first time before the observation time reaches the _first time t1. The pointing direction of the second light collector 12 at t ₁ is output to the pointing device 77 . Further, the control device 76 outputs the pointing direction of the second light collecting device 12 at the second time t ₂ to the pointing device 77 before the observation time reaches the second time t ₂ .

In the trajectory calculation system shown in FIG. instructing. When the field of view of the second light collecting device 12 and the field of view of the position detection unit 72 are different, the control device 76 selects the narrower of the field of view of the second light collecting device 12 and the field of view of the position detection unit 72. The direction of the second light condensing device 12 is instructed to the directing device 77 so that the flying object 2 is within the range of the field of view of .
If the flying object 2 is a geostationary satellite and the second optical angle measuring station 4 is a fixed station, the relative position between the second optical angle measuring station 4 and the flying object 2 does not change. If the relative position does not change, the control device 76 once instructs the orientation device 77 of the orientation direction of the second light collector 12 so that the flying object 2 is within the range of the field of view of the second light collector 12 . Then, thereafter, the directivity direction of the second light condensing device 12 may be fixed. Strictly speaking, the relative position changes slightly due to differences in the orbital inclination angle, etc., but if the observation time is about several seconds, there is no problem even if the pointing direction of the second light collecting device 12 is fixed. .

A second light collector 12 of the second optical goniometric station 4 collects the light emitted from the illumination light source 1 and then reflected by the flying object 2 .
The light blocking device 71 of the second optical goniometric station 4 is controlled by the control device 76 to open the shutter for a predetermined exposure time at the _first time t1 and the _second time t2. .
At the _first time t1, the shutter of the light blocking device 71 is opened for a predetermined exposure time, so that the light condensed by the second light collecting device 12 passes through the light blocking device 71, and the light is It reaches the position detector 72 .
Further, at the _second time t2, the shutter of the light blocking device 71 is opened for a predetermined exposure time, so that the light condensed by the second light collecting device 12 passes through the light blocking device 71. Light reaches the position detector 72 .

When the position detection unit 72 of the second optical angle measurement station 4 acquires the imaging command output from the control device 76 at the _first time t1, the detection processing of the light transmitted through the light blocking device 71 is performed. Then, a light intensity image in which the flying object 2 is reflected is picked up.
The position detection unit 72 outputs the captured light intensity image to the angle calculation unit 73 as a light intensity image at the _first time t1.
Further, when the position detection unit 72 acquires the imaging command output from the control device 76 at the _second time t2, the position detection unit 72 starts detection processing of the light transmitted through the light shielding device 71, and the flying object 2 Capture the reflected light intensity image.
The position detection unit 72 outputs the captured light intensity image to the angle calculation unit 73 as the light intensity image at the _second time t2.

The angle calculator 73 of the second optical goniometric station 4 acquires the directivity direction of the second light collecting device 12 at the _first time t1 from the controller 76, and from the position detector 72, the first Acquire _a light intensity image at time t1.
The angle calculator 73 detects the position of the light within the light intensity image at the _first time t1 as the reflected position of the light with respect to the flying object 2 at the _first time t1.
The angle calculator 73 calculates the second angle at the _first time t1 from the pointing direction of the second light collecting device 12 at the _first time t1 and the reflection position at the _first time t1. (step ST3 in FIG. 6).
The angle calculator 73 removes dark commutation noise included in the light intensity image at the _first time t1, removes background light noise included in the light intensity image, or removes background light noise included in the light intensity image. The second angle may be calculated from the light intensity image after processing such as attenuation processing of the amount of peripheral light.
The calculation processing of the second angle by the angle calculation unit 73 is the same as the calculation processing of the first angle by the angle calculation unit 53, so detailed description thereof will be omitted.
The angle calculator 73 transmits the azimuth angle Az _B1 at the _first time t1 and the elevation angle _{Elv B1 at} the _first time t1 to the communication unit 78 as the second angles at the first time t1. Output.

The angle calculator 73 acquires the pointing direction of the second light collecting device 12 at the _second time t2 from the control device 76, and acquires the light intensity image at the _second time t2 from the position detector 72. do.
The angle calculator 73 detects the position of the light within the light intensity image at the _second time t2 as the reflected position of the light with respect to the flying object 2 at the _second time t2.
The angle calculator 73 calculates the _second angle at the _second time t2 from the pointing direction of the second light collecting device 12 at the _second time t2 and the reflection position at the second time t2. Calculate (step ST4 in FIG. 6).
The angle calculator 73 removes dark commutation noise included in the light intensity image at the _second time t2, removes background light noise included in the light intensity image, or removes background light noise included in the light intensity image. The second angle may be calculated from the light intensity image after processing such as attenuation processing of the amount of peripheral light.
The angle calculator 73 transmits the azimuth angle Az _B2 at the _second time t2 and the elevation angle Elv _B2 at the _second time t2 to the communication unit 78 as the _second angles at the second time t2. Output.

The time calibration unit 74 compares the position of the second light collecting device 12 at the _first time t1 and the position of the second light collecting device 12 at the _second time t2 output from the control device 76. get.
The time calibration unit 74 outputs the position of the second light collecting device 12 at the first time t ₁ and the position of the second light collecting device 12 at the second time t ₂ to the communication unit 78 .

The communication unit 78 communicates the second angle at the _first time t1, the second angle at the _second time t2, the position of the second light collecting device 12 at the _first time t1, and the second time Each of the positions of the second light collector 12 at t ₂ is transmitted to the communication unit 58 .
The communication unit 58 receives from the communication unit 78 the second angle at the _first time t1, the second angle at the _second time t2, the position of the second concentrator 12 at the _first time t1. and the position of the second light collector 12 at the _second time t2, respectively.
The communication unit 58 communicates the second angle at the _first time t1, the second angle at the _second time t2, the position of the second light collecting device 12 at the _first time t1, and the second time Let the recording device 59 record each of the positions of the second light collector 12 at t ₂ .
Here, the communication unit 58 causes the recording device 59 to record the position of the second light collecting device 12 at the _first time t1 and the position of the second light collecting device 12 at the _second time t2. ing. If the second optical angle measurement station 4 is a fixed station, the position of the second light collecting device 12 does not change, so the recording device 59 is caused to record the position of the second light collecting device 12 at any time. All you have to do is

The trajectory calculator 60 obtains from the recording device 59 the first angles at the _first time t1 and the _second time t2, and the respective first angles at the _first time t1 and the _second time t2. 2 angles.
The trajectory calculation unit 60 obtains from the recording device 59 the position of the first light collecting device 11 at the _first time t1, the position of the first light collecting device 11 at the _second time t2, and the first Obtain the position of the second light collector 12 at time t ₁ and the position of the second light collector 12 at a second time t ₂ .

The trajectory calculation unit 60 calculates the position (x A1 , y A 1 , z A1 ) of the first light collecting device 11 at the first time t ₁ and the position (x _A1 , y _{A 1} , z _A1 ) of the second light collecting device 12 at the first time t ₁ From the position (x _B1 , y _B1 , z _B1 ), as shown in FIG. 12, the inter _- device distance L Calculate _AB1 .
FIG. 12 is an explanatory diagram showing the calculation accuracy of the trajectory in the trajectory calculation system according to the first embodiment.
At the first time t1, the _first condensing device 11, the second condensing device 12 and the flying object 2 are arranged at respective vertices of the triangle. Therefore, the inter-device distance L _AB1 , the first angle (Az _A1 , Elv _A1 ), the second angle (Az _B1 , Elv _B1 ), and the position (x _A1 , y _A1 , z _A1 ) or the position of the second concentrator 12 (x _{B 1} , y _B1 , z _B1 ), the first concentrator 11 and the second The distance from each light collecting device 12 to the flying object 2 can be geometrically calculated.
The trajectory calculation unit 60 calculates the inter-device distance L _AB1 , the first angle (Az _A1 , Elv _A1 ), the second angle (Az _B1 , Elv _B1 ), the position of the first light collecting device 11 (x _A1 , y _A1 , z _A1 ), using the law of cosines, the first distance Renge _A1 at the first time t ₁ is calculated as the distance from the first focusing device 11 to the flying object 2 .
Further, the trajectory calculation unit 60 calculates the inter-device distance L _AB1 , the first angle (Az _A1 , Elv _A1 ), the second angle (Az _B1 , Elv _B1 ), the position of the second light collecting device 12 From (x _B1 , y _B1 , z _B1 ), using the law of cosines, calculate the second distance Renge _B1 at the first time t ₁ as the distance from the second focusing device 12 to the flying object 2 do.

The trajectory calculator 60 calculates the position (x A2 , y A 2 , z A2 ) of the first light collecting device 11 at the second time t ₂ and the position (x _A2 , y _{A 2} , z _A2 ) of the second light collecting device 12 at the second time t ₂ . From the position (x _B2 , y _B2 , z _B2 ), the inter-device distance L _AB2 between the first light collecting device 11 and the second light collecting device 12 at the second time t ₂ is calculated.
When each of the first optical angle measurement station 3 and the second optical angle measurement station 4 is a fixed station, the device-to-device distance L _AB2 at the _second time t2 is the device-to-device distance at the _first time t1 Since it is the same as L _AB1 , the calculation of the inter-device distance L _AB2 at the _second time t2 can be omitted.
The trajectory calculation unit 60 calculates the inter-device distance L _AB2 , the first angles (Az _A2 , Elv _A2 ), the second angles (Az _B2 , Elv _B2 ), the position of the first light collecting device 11 (x _A2 , y _A2 , z _A2 ), using the law of cosines, the first distance Renge _A2 at the second time t ₂ is calculated as the distance from the first focusing device 11 to the flying object 2 .
Further, the trajectory calculation unit 60 calculates the inter-device distance L _AB2 , the first angle (Az _A2 , Elv _A2 ), the second angle (Az _B2 , Elv _B2 ), the position of the second light collecting device 12 From (x _B2 , y _B2 , z _B2 ) and using the law of cosines, the second distance Renge _B2 at the second time t ₂ is calculated as the distance from the second focusing device 12 to the flying object 2. do.

The trajectory calculator 60 calculates the first angle (Az _A1 , Elv _A1 ) at the _{first time t 1 and} the position (x _A1 , y _A1 , z _A1 ) and the first distance Range _A1 at the first time t ₁ , the position (x ₁ ', y ₁ ', z ₁ ') of the flying object 2 at the first time t ₁ is calculated.
Further, the trajectory calculation unit 23 calculates the second angle (Az _B1 , Elv _B1 ) at the _{first time t 1 and} the position (x _B1 , y _B1 , z _B1 ) and the second distance Range _B1 at the first time t ₁ , the position (x ₁ ″, y ₁ ″, z ₁ ″) of the projectile 2 at the first time t ₁ is calculated. .
If the position (x ₁ ', y ₁ ', z ₁ ') and the position (x ₁ '', y ₁ '', z ₁ '') are different, the trajectory calculation unit 60, for example, the following formula (1) , as the position (x ₁ , y ₁ , z ₁ ) of the flying object 2 at the first time t ₁ , the position (x ₁ ', y ₁ ', z ₁ ') and the position (x ₁ '', y ₁ ″, z ₁ ″).
x1=(x1'+ _x1 '') _{/ 2
y1} =( _y1 '+y1'')/ ₂
z1=(z1'+z1'') _{/ 2} ( ₁ )
_The trajectory calculator 60 _calculates the _position ( _{x 1 '} , _{y 1} ', z ₁ ') or the position (x ₁ '', y ₁ '', z ₁ '') is the position (x ₁ , y ₁ , z ₁ ) of the projectile 2 at the first time t ₁ .

The trajectory calculator 60 calculates the first angle (Az _A2 , Elv _A2 ) at the _{second time t 2 and} the position (x _A2 , y _A2 , z _A2 ) and the _first distance Range _A2 at the _second time t2, the position ₍ x2', y2', z2') of the flying object ₂ at the _second time t2 is calculated.
Further, the trajectory calculation unit 23 calculates the second angle (Az _B2 , Elv _B2 ) at the _{second time t 2 and} the position (x _B2 , y _B2 , z _B2 ) and the second distance Range _B2 at the second time t ₂ , the position (x ₂ ″, y ₂ ″, z ₂ ″) of the projectile 2 at the second time t ₂ is calculated. .
If the position (x ₂ ', y ₂ ', z ₂ ') and the position (x ₂ '', y ₂ '', z ₂ '') are different, the trajectory calculation unit 60, for example, the following formula (2) , as the position (x ₂ , y ₂ , z ₂ ) of the projectile 2 at the second time t ₂ , the position (x ₂ ', y ₂ ', z ₂ ') and the position (x ₂ '', y ₂ ″, z ₂ ″).
x2 ₌ (x2' ₊ x2'')/ ₂
y2 ₌ (y2' ₊ y2'')/ ₂
z2 ₌ (z2'+z2'')/ ₂ ( ₂ )
If the position (x ₂ ', y ₂ ', z ₂ ') and the position (x ₂ '', y ₂ '', z ₂ '') are the same, the trajectory calculator 60 calculates the position (x ₂ ', y ₂ ', z ₂ ') or the position (x ₂ '', y ₂ '', z ₂ '') is the position (x ₂ , y ₂ , z ₂ ) of the projectile 2 at the second time t ₂ .

The trajectory calculator 60 calculates the position (x ₁ , y ₁ , z ₁ ) of the flying object ₂ at the first time t ₁ and the position (x ₂ , y ₂ , z ₂ ) is calculated. Alternatively, the trajectory calculator 60 calculates the position and velocity of the flying object 2 at the _first time t1.
Therefore, the position (x ₁ , y ₁ , z ₁ ) of the flying object 2 at the first time t ₁ and the position (x ₂ , y ₂ , z ₂ ) of the flying object 2 at the second time t ₂ , or If the position (x ₁ , y ₁ , z ₁ ) and velocity (vx ₁ , vy ₁ , vz ₁ ) of the flying object 2 at the first time t ₁ are known, the trajectory of the flying object 2 can be calculated. . Note that the trajectory represents the change in the position of the flying object over time and the trajectory, and assuming that the flying object 2 is moving mainly according to the gravity of the earth, the movement is Keplerian motion. , the trajectory can be approximated by a quadratic curve. The quadratic curve is defined by six orbital elements represented by eccentricity, semimajor axis, orbital inclination angle, etc. _The parameters of the six orbital elements _are the positions (x1 _, y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ), and the trajectory is obtained. However, since the trajectory of a moving object near the earth changes every moment and the trajectory is not sufficiently represented by the six elements of the trajectory, position (x ₁ , y ₁ , z ₁ ) and velocity (vx ₁ , vy ₁ , vz ₁ ) may be regarded as obtaining the trajectory.
The trajectory calculator 60 calculates the position (x ₁ , y ₁ , z ₁ ) of the flying object ₂ at the first time t ₁ and the position (x ₂ , y ₂ , z ₂ ), or calculate the trajectory of the projectile 2 from the position (x ₁ , y ₁ , z ₁ ) and velocity (vx ₁ , vy ₁ , vz ₁ ) of the projectile 2 at the first time t ₁ (Step ST5 in FIG. 6).

The reason why the trajectory calculation system shown in FIG. 5 synchronizes the time between the first optical angle measurement station 3 and the second optical angle measurement station 4 will be described below.
The angle calculator 53 of the first optical goniometric station 3 can calculate the first angle from the directional direction of the first light collecting device 11 and the light intensity image. The distance from the first condensing device 11 to the flying object 2 cannot be calculated with high accuracy only with the information of the 11 orientation directions and the light intensity image.
The angle calculator 73 of the second optical goniometric station 4 can calculate the second angle from the pointing direction of the second light collecting device 12 and the light intensity image. The distance from the second condensing device 12 to the flying object 2 cannot be calculated with high accuracy only with the information of the 12 pointing directions and the light intensity image.
FIG. 7 is an explanatory diagram showing the accuracy of distance calculation by the angle calculator 53 of the first optical goniometric station 3 .
In FIG. 7 , shaded elliptical areas indicate the distance calculation accuracy and the angle calculation accuracy. Since the shaded elliptical area has an elliptical shape that is elongated in the range direction, it indicates that the distance calculation accuracy is poor.

As shown in FIG. 7, even if the distance from the _first light collecting device 11 to the flying object ₂ cannot be calculated with high accuracy, as shown in _FIG . , and the angle calculator 53 respectively calculate the first angle, the trajectory of the flying object 2 can be calculated.
FIG. 8 is an explanatory diagram showing the calculation accuracy of each angle and the calculation accuracy of each distance at three observation times t ₀ , t ₁ , and t ₂ .
Since the flying object 2 is moving relative to the first optical goniometric station 3, the angle calculator 53 calculates the first angle (Az _A0 , Elv _A0 ) at the observation time t ₀ , the observation time A first angle (Az _A1 , Elv _A1 ) at t ₁ and a first angle (Az _A2 , Elv _A2 ) at observation time t ₂ can be calculated respectively.
Assuming that the flying object 2 moves mainly according to the gravity of the earth, the trajectory of the flying object 2 becomes a quadratic curve due to Keplerian motion. Even if the distance to the flying object 2 is unknown, the distance to the flying object 2 can be estimated from the first angle at each of the observation times t ₀ , t ₁ , and t ₂ and the time taken by the flying object 2 to move between each point. Therefore, the trajectory of the flying object 2 is uniquely determined. In reality, it is affected by the earth's gravitational anomaly, radiation pressure, etc., and may contain errors. You can find the trajectory.

In FIG. 9, a goniometric station installed on the ground emits radio waves, and the goniometric station receives the radio waves reflected by the flying object 2, thereby calculating the distance from the goniometric station to the flying object 2. FIG. 10 is an explanatory diagram showing measurement accuracy in a case;
When calculating the distance from the goniometric station to the flying object 2 by radiating radio waves from the goniometric station and receiving the radio waves reflected by the flying object 2, the radio wave emission time and the radio wave reception The distance is calculated from the time difference from the time or the phase difference between the phase of the radiated radio waves and the phase of the received radio waves. Therefore, the goniometric station can calculate the angle (Az, Elv) of the flying object 2 with respect to the goniometric station, in addition to the distance.
In FIG. 9 , shaded elliptical areas indicate the distance calculation accuracy and the angle calculation accuracy.
The shaded elliptical area shown in FIG. 9 has a shorter length in the range direction than the shaded elliptical area shown in FIG. higher than accuracy. However, since the wavelength (cm) of radio waves is, for example, longer than the wavelength (microns) of visible light, the angle calculation accuracy in the goniometric station shown in FIG. 9 is lower than the angle calculation accuracy in FIG. there is

When both the distance and the angle are obtained, the trajectory of the flying object 2 can be calculated by calculating both the distance and the angle at the two observation times t ₁ and t ₂ as shown in FIG.
FIG. 10 is an explanatory diagram showing the calculation accuracy of each angle and the calculation accuracy of each distance at two observation times t ₁ and t ₂ .
From the respective distances and angles at two observation times t ₁ and t ₂ , the position (x 1 , y 1 , z 1 ) of the flying object 2 at observation time t ₁ and the position (x ₁ , y ₁ , z ₁ ) of the flying object 2 at observation time t ₂ (x ₂ , y ₂ , z ₂ ) are obtained.
Alternatively, the velocity (vx ₁ , vy ₁ , vz ₁ ) of the flying object 2 at the observation time t ₁ is obtained from the position (x ₁ , y ₁ , z ₁ ) of the flying object 2 at the observation time t ₁ . Therefore, if both the distance and the angle can be calculated at the two observation times t ₁ and t ₂ , the trajectory of the flying object 2 can be calculated.

FIG. 11 is an explanatory diagram showing the angle calculation accuracy and the distance calculation accuracy in the trajectory calculation system according to the first embodiment.
In the trajectory calculation system according to Embodiment 1, the first optical angle measurement station 3 and the second optical angle measurement station 4, which are two optical angle measurement stations installed at different positions, operate at the same time and in the same flight. The angle with respect to the body 2 is calculated.
For this reason, the first light collecting device 11 in the first optical goniometer station 3, the second light collecting device 12 in the second optical goniometer station 4, and the flying object 2 are located at the respective vertices of the triangle. The triangle cosine rule can be applied as if it were placed in . By using the triangle cosine theorem, the distance from each of the first light collecting device 11 and the second light collecting device 12 to the flying object 2 can be geometrically calculated.
Unless the first optical goniometric station 3 and the second optical goniometric station 4 calculate the angles with respect to the same flying object 2 at the same time, the triangle cosine theorem cannot be applied. As shown by the shaded elliptical area of , the distance calculation accuracy deteriorates.
In FIG. 11, the diamond-shaped region including the flying object 2 indicates the distance calculation accuracy and the angle calculation accuracy. The rhombic area has a shorter length in the range direction than the shaded elliptical area shown in FIG. Therefore, it can be seen that the distance calculation accuracy in the trajectory calculation system shown in FIG. 5 is improved as compared with that shown in FIG.
As described above, the reason why the first optical angle measurement station 3 and the second optical angle measurement station 4 are synchronized in time is to improve the distance calculation accuracy. Also, the trajectory of the flying object 2 can be calculated even if there are two observation times.

In the first embodiment described above, the orientation of the first light collecting device 11 that collects the light that is emitted from the illumination light source 1 and then reflected by the flying object 2 at the first time and the second time From the direction and the respective reflection positions of the light on the flying object 2 at the first time and the second time, the first time and a first angle calculator 21 that calculates the respective first angles at the first time and the second time; 2, and the reflection positions of the light on the flying object 2 at the first time and the second time. As angles, the first angle calculated by the second angle calculator 22 that calculates the respective second angles at the first time and the second time, the first angle calculated by the first angle calculator 21, and the second angle From the second angle calculated by the angle calculation unit 22 of and the positions of the first light collecting device 11 and the position of the second light collecting device 12 at the first time and the second time, the flying object The trajectory calculation device 13 is configured to include a trajectory calculation unit 23 that calculates the trajectory of No. 2. Therefore, it may be possible to calculate the trajectory of the distant flying object 2, which cannot be calculated by the conventional trajectory calculation system.

The trajectory calculation system shown in FIG. 5 includes a first optical angle measurement station 3 and a second optical angle measurement station 4 as two optical angle measurement stations. However, depending on the weather, for example, even if the first optical goniometric station 3 can collect the light reflected by the flying object 2 , the second optical goniometric station 4 may collect the light reflected by the flying object 2 . A situation may arise in which the light cannot be collected. In such a situation, the trajectory calculation system shown in FIG. 5 cannot calculate the trajectory of the flying object 2 . In order to be able to calculate the trajectory of the flying object 2 even in such a situation, a third optical angle measurement station is provided separately from the first optical angle measurement station 3 and the second optical angle measurement station 4. may The configuration of the third optical angle measurement station is the same as the configuration of the second optical angle measurement station 4, and the installation positions of the third optical angle measurement station are the first optical angle measurement station 3 and the second optical angle measurement station. It is different from each installation position in the optical goniometric station 4 .

Embodiment 2.
Embodiment 2 describes a trajectory calculation system in which the first optical angle measurement station 3 is a fixed station and the second optical angle measurement station 4 is a portable station.

FIG. 13 is an explanatory diagram showing an example of the positional relationship among the illumination light source 1, the flying object 2, the first optical angle measurement station 3, and the second optical angle measurement station 4 in the trajectory calculation system according to the second embodiment. .
In the trajectory calculation system shown in FIG. 13, the first optical angle measurement station 3 is a fixed station, and the second optical angle measurement station 4 is a portable station.
FIG. 14 is an explanatory diagram showing the angle calculation accuracy and the distance calculation accuracy in the trajectory calculation system according to the second embodiment.

Even in the trajectory calculation system shown in FIG. 13, if the position of the first optical angle measurement station 3 and the position of the second optical angle measurement station 4 are different, the principle similar to that of the trajectory calculation system shown in FIG. The trajectory of the flying object 2 can be calculated.
However, when the position of the sun, which is the illumination light source 1, or the position of the second optical goniometric station 4, which is a portable station, changes, the first optical goniometric station 3 and the second optical goniometric station 4 may become an observation condition in which light from the same flying object 2 cannot be received at the same time. For example, when the second optical goniometric station 4 is located on the other side of the earth as seen from the first optical goniometric station 3, the first optical goniometric station 3 and the second optical goniometric station The corner station 4 cannot receive light from the same flying object 2 at the same time.
If the observation conditions allow the first optical angle measurement station 3 and the second optical angle measurement station 4 to receive light from the same flying object 2 at the same time, the trajectory calculation system shown in FIG. The trajectory of the flying object 2 can be calculated in the same manner as the trajectory calculation system shown.

In the trajectory calculation system shown in FIG. 13, similarly to the trajectory calculation system shown in FIG. , to the communication unit 58 of the first optical goniometric station 3 .
However, since the second optical angle measurement station 4 is moving on an orbit, for example, depending on the positional relationship between the first optical angle measurement station 3 and the second optical angle measurement station 4, the communication unit 78 may , the second angle and the position of the second light collecting device 12 may not be transmitted directly to the communication unit 58 of the first optical goniometric station 3 .
In such a case, the communication unit 78 of the second optical goniometric station 4 transmits the second angle and the position of the second light collecting device 12 to the ground station 6 shown in FIGS. The ground station 6 may transfer the second angle and the position of the second light collector 12 to the communication unit 58 of the first optical goniometric station 3 .
The ground station 6 is a ground station that operates the second optical goniometric station 4, and controls the attitude, position, etc. of the second optical goniometric station 4, for example.

Embodiment 3.
In Embodiment 3, a trajectory calculation system in which the first optical goniometric station 3 has a ranging device 91 and the second optical goniometric station 4 has a retroreflector 81 will be described.

FIG. 15 is an explanatory diagram showing an example of the positional relationship among the flying object 2, the first optical angle measurement station 3, and the second optical angle measurement station 4 in the trajectory calculation system according to the third embodiment.
The second optical goniometric station 4 has a retroreflector 81 .
The retroreflective portion 81 is implemented by an optical member having a function of emitting light in the incident direction. As the optical member, a corner cube reflector or the like is conceivable in addition to the one covered with beads.
The retroreflector 81 retroreflects the light emitted from the rangefinder 91 of the first optical goniometric station 3 .

FIG. 16 is a specific configuration diagram showing the trajectory calculation system according to the third embodiment. In FIG. 16, the same reference numerals as those in FIG. 5 denote the same or corresponding parts, so description thereof will be omitted.
A distance measuring device 91 is mounted on the first optical angle measuring station 3 .
The distance measuring device 91 includes a light collecting device 92 , an optical transmitter 93 , an optical receiver 94 , a distance calculator 95 and a directional device 96 .
The distance measuring device 91 radiates light toward the retroreflecting portion 81, receives the light reflected by the retroreflecting portion 81, and converts the radiated light and the received light into the first optical angle measuring station 3. and the second optical goniometric station 4 is calculated.

The concentrator 92 is implemented by one or more telescopes, for example, a refractive telescope and a reflective telescope.
The light collecting device 92 emits the laser light output from the light transmitting section 93 toward the retroreflecting section 81 and collects the laser light reflected by the retroreflecting section 81 .
The optical transmitter 93 is implemented by, for example, a laser light source, an optical amplifier, and an optical modulator.
The light transmitting section 93 outputs the laser light to the light collecting device 92 to cause the light collecting device 92 to radiate the laser light toward the retroreflecting section 81 .
The optical receiver 94 is implemented by, for example, a semiconductor optical receiver. A photodiode, a quadrant photodiode, or the like can be considered as the semiconductor optical receiver.
The optical receiver 94 receives the laser light condensed by the condensing device 92 .

The distance calculator 95 calculates the time difference between the time when the radio wave is emitted from the optical transmitter 93 and the time when the radio wave is received by the optical receiver 94 , or the phase of the radio wave output from the optical transmitter 93 and the optical receiver 94 . The inter-device distance, which is the distance between the first optical goniometric station 3 and the second optical goniometric station 4, is calculated from the phase difference from the phase of the received radio wave.
That is, the distance calculation unit 95 calculates the inter-device distance L _AB1 at the _first time t1 and the inter-device distance L _AB2 at the _second time t2, and calculates the inter-device distance L _AB1 and the inter-device distance L _AB2 . to the trajectory calculator 61 of the trajectory calculator 23 .

The pointing device 96 is implemented by a rotating stage having one or more rotating shafts and a motor. An altazimuthal mount, an equatorial mount, or the like can be considered as a rotating stage having one or more rotation axes.
A light collecting device 92 is mounted on the rotating stage of the directing device 96 .
The pointing device 96 is configured so that the pointing direction of the light collecting device 92 at the _first time t1 matches the pointing direction of the light collecting device 92 at the _first time t1 when the control device 56 outputs. Second, the rotating stage is rotated by driving the motor.
The directing device 96 is configured so that the directing direction of the light collecting device 92 at the _second time t2 matches the directing direction of the light collecting device 92 at the _second time t2 when the control device 56 outputs. Second, the rotating stage is rotated by driving the motor.

The trajectory calculator 23 includes a recording device 59 and a trajectory calculator 61 .
The trajectory calculation unit 61 obtains from the distance calculation unit 95 the orientation directions of the light collecting device 92 at the _first time t1 and the _second time t2, and the directions at the _first time t1 and the _second time t2. obtain the respective inter-device distances L _AB1 and L _AB2 in .
The trajectory calculator 61 acquires the positions of the first light collecting device 11 at the first time t ₁ and the second time t ₂ from the recording device 59 .
The trajectory calculation unit 61 calculates the orientation directions of the light collector 92 at the _first time t1 and the _second time t2, and the orientation directions of the first light collector 11 at the _first time t1 and the second time t1. Using the _respective positions at t2 and the respective inter-device distances L _{AB1 and L AB2 at} the _first time t1 and the _second time t2, the _first time Calculate the respective positions at t ₁ and a second time t ₂ .

_The trajectory calculator 61, like the trajectory calculator 60 shown in _FIG . ₁ and a respective second angle at a _second time t2.
Like the trajectory calculation unit 60 shown in FIG. 5, the trajectory calculation unit 61 calculates the respective first angles, the respective second angles, and First distances at the first time t ₁ and the second time t ₂ are calculated as the distances from the first focusing device 11 to the flying object 2 from the respective positions.
The trajectory calculation unit 61, like the trajectory calculation unit 60 shown in FIG. 2, the respective _second distances at the _first time t1 and the second time t2 are calculated.
Similar to the trajectory calculation unit 60 shown in FIG. 5, the trajectory calculation unit 61 calculates the _first angles at the _first time t1 and the _second time t2, A respective _second angle at time t2, a respective first distance at a _first time t1 and a _second time t2, and a respective first distance at a _first time t1 and a _second time t2 The position and velocity of the flying object 2 are calculated from the second distance. That is, the trajectory calculator 61 calculates the positions of the flying object 2 at the _first time t1 and the second time t2, or the position and velocity of the flying object ₂ at the _first time t1. .
_The trajectory calculator 61, like the trajectory calculator 60 shown in _FIG . The trajectory of the flying object ₂ is calculated from the position and velocity of t1.

Next, the operation of the trajectory calculation system shown in FIG. 16 will be described.
In the trajectory calculation system shown in FIG. 5, the trajectory calculation unit 60 calculates the first light collection device 11 and the second light collection device 12 from respective positions in the first light collection device 11 and the second light collection device 12. ₁₂ are _calculated .
In the trajectory calculation system shown in FIG. 16, the distance measuring device _{91 uses} the first optical angle measuring station 3 and the second optical goniometric station 4, which is different from the trajectory calculating system shown in FIG.
The distance calculation accuracy of the distance measuring device 91 is higher than the distance calculation accuracy of the trajectory calculation system shown in FIG. The distance calculation accuracy of the trajectory calculation system shown in FIG. 5 is the length in the range direction of the rhombic area shown in FIG.
However, since the intensity of the laser beam weakens in inverse proportion to the square of the propagation distance of the laser beam, when the distance between the first optical angle measuring station 3 and the second optical angle measuring station 4 is long, The distance measuring device 91 may not be able to calculate the inter-device distances L _AB1 and L _AB2 . In the trajectory calculation system shown in FIG. 16, since the second optical angle measurement station 4 includes the retroreflector 81, attenuation of the intensity of the laser beam due to reflection from the second optical angle measurement station 4 can be suppressed. ing. Therefore, in the trajectory calculation system shown in FIG. 16, the distance that can be calculated is longer than that in which the second optical goniometric station 4 does not have the retroreflector 81 .

The control device 56 outputs the pointing direction of the light collecting device 92 at the first time t ₁ to the pointing device 96 and outputs the pointing direction of the light collecting device 92 at the second time t ₂ to the pointing device 96 .
The control device 56 outputs a laser light emission command to the light transmission section 93 and the distance calculation section 95 at the _first time t1 and the _second time t2.
For example, the trajectory information of the second optical goniometric station 4 is recorded in the internal memory of the control device 56 . Based on the trajectory information, the control device 56 identifies the pointing direction of the light collecting device 92 at the _first time t1, and identifies the pointing direction of the light collecting device 92 at the _second time t2.

The pointing device 96 is configured so that the pointing direction of the light collecting device 92 at the _first time t1 matches the pointing direction of the light collecting device 92 at the _first time t1 when the control device 56 outputs. Second, the rotating stage is rotated by driving the motor.
The directional device 96 is configured so that the directional direction of the light collecting device 92 at the _second time t2 matches the directional direction of the light collecting device 92 at the _second time t2 when the control device 56 outputs. Second, the rotating stage is rotated by driving the motor.
Since it takes _a certain amount of time to control the pointing direction of the light collecting device 92 by the pointing device 96, the control device 56 _controls the The pointing direction of the condensing device 92 is output to the pointing device 96 . Further, the control device 56 outputs the pointing direction of the light collecting device 92 at the _second time t2 to the pointing device 96 before the observation time reaches the _second time t2.

Upon receiving a laser light emission command from the control device 56 at the _first time t1 and the _second time t2, the light transmission unit 93 outputs the laser light to the light collecting device 92, A laser beam is emitted from the condenser 92 toward the retroreflective portion 81 .
The light collecting device 92 radiates the laser light output from the light transmitting section 93 toward the retroreflecting section 81 .
At the first time t ₁ , the laser light emitted from the light collecting device 92 is reflected by the retroreflector 81 attached to the second optical goniometric station 4 .
The laser light reflected by the retroreflector 81 is condensed by the condensing device 92 .
The light receiving section 94 receives the laser light condensed by the condensing device 92 and outputs a received signal of the laser light to the distance calculating section 95 .

The distance calculator 95 calculates the time difference between the radio wave emission time from the optical transmitter 93 and the radio wave reception time by the optical receiver 94, or the phase of the radio wave output from the optical transmitter 93 and the optical receiver 94. The distance between the first optical goniometric station 3 and the second optical goniometric station 4 is calculated from the phase difference with respect to the phase of the received radio waves.
That is, the distance calculation unit 95 calculates the first distance based on the time from the _first time t1 when the emission command is output from the control device 56 to the reception of the laser beam reception signal from the light reception unit 94 . , the inter-device distance L _AB1 at time t ₁ is calculated.
Further, the distance calculation unit 95 calculates the second distance based on the time from the _second time t2 when the emission command is output from the control device 56 to the reception of the received signal of the laser light from the light receiving unit 94 . , the inter-device distance _LAB2 at time _t2 of is calculated.
The distance calculation unit 95 calculates the pointing direction of the light collecting device 92 at the _first time t1, the pointing direction of the light collecting device 92 at the _second time t2, the inter-device distance L _AB1 at the _first time t1, and the second ₂ to the trajectory calculator ₆₁ of the trajectory calculator 23 .

The trajectory calculation unit 61 obtains from the distance calculation unit 95 the orientation directions of the light collecting device 92 at the _first time t1 and the _second time t2, and the directions at the _first time t1 and the _second time t2. obtain the respective inter-device distances L _AB1 and L _AB2 in .
The trajectory calculator 61 acquires the positions of the first light collecting device 11 at the first time t ₁ and the second time t ₂ from the recording device 59 .
The trajectory calculator 61 calculates the pointing direction of the light collecting device 92 at the _first time t1, the position of the _first light collecting device 11 at the first time t1, and the inter-device distance at the _first time t1. L _AB1 is used to calculate the position of the second light collector 12 at the _first time t1.
The trajectory calculator 61 calculates the pointing direction of the light collecting device 92 at the _second time t2, the position of the first light collecting device 11 at the _second time t2, and the inter-device distance at the _second time t2. L _AB2 is used to calculate the position of the second concentrator 12 at the _second time t2.

Similar to the trajectory calculation unit 60 shown in FIG. 5, the trajectory calculation unit 61 calculates the _first angles at the _first time t1 and the _second time t2, Obtain a respective _second angle at time t2.
The trajectory calculator 61, like the trajectory calculator 60 shown in FIG. First distances at _first time t1 and _second time t2 are calculated as distances from the first light collecting device 11 to the flying object 2 from the respective positions on the light collecting device 12. .
The trajectory calculator 61, like the trajectory calculator 60 shown in FIG. Second distances at the _first time t1 and the _second time t2 are calculated as the distance from the second light collecting device 12 to the flying object 2 from each position on the light collecting device 12. .

Similar to the trajectory calculation unit 60 shown in FIG. 5, the trajectory calculation unit 61 calculates the _first angles at the _first time t1 and the _second time t2, A respective _second angle at time t2, a respective first distance at a _first time t1 and a _second time t2, and a respective first distance at a _first time t1 and a _second time t2 The position and velocity of the flying object 2 are calculated from the second distance. That is, the trajectory calculator 61 calculates the positions of the flying object 2 at the _first time t1 and the second time t2, or the position and velocity of the flying object ₂ at the _first time t1. .
_The trajectory calculator 61, like the trajectory calculator 60 shown in _FIG . The trajectory of the flying object ₂ is calculated from the position and velocity of t1.

In the third embodiment described above, the second optical goniometric station 4 includes the retroreflective section 81 that retroreflects light, and the first optical goniometric station 3 emits light toward the retroreflective section 81. After that, the light reflected by the retroreflector 81 is received, and the distance between the first optical angle measurement station 3 and the second optical angle measurement station 4 is calculated from the emitted light and the received light. The trajectory calculation system shown in FIG. 16 is configured so that a distance device 91 is provided and the trajectory calculation unit 23 calculates the position of the second light collecting device 12 using the distance calculated by the distance measurement device 91. Configured. Therefore, like the trajectory calculation system shown in FIG. 5, the trajectory calculation system shown in FIG. 16 can sometimes calculate the trajectory of a distant flying object 2 that cannot be calculated by the conventional trajectory calculation system. Further, the trajectory calculation system shown in FIG. 16 has higher accuracy in calculating the trajectory of the flying object 2 than the trajectory calculation system shown in FIG.

Embodiment 4.
Embodiment 4 describes a trajectory calculation system in which the second optical goniometric station 4 is arranged in a trajectory different in altitude from the trajectory of the flying object 2 .

FIG. 17 is an explanatory diagram showing an example of the positional relationship among the flying object 2, the first optical angle measurement station 3, and the second optical angle measurement station 4 in the trajectory calculation system according to the fourth embodiment.
17, 101 indicates the orbit of the second optical goniometric station ₄ , and h1 indicates the altitude of the orbit 101. In FIG.
102 indicates the trajectory of the flying object 2 and h ₂ indicates the altitude of the trajectory 102 .
103 indicates the orbit of the second optical goniometric station 4 and h ₃ indicates the altitude of the orbit 103 .
The second optical goniometric station 4 may be arranged in an orbit 101 lower in altitude than the orbit 102 of the flying object 2, and may be arranged in an orbit 103 higher in altitude than the orbit 102 of the flying object 2. Sometimes.
Also, the orbit of the second optical goniometric station 4 may switch from the orbit 101 to the orbit 103 and from the orbit 103 to the orbit 101 .

式（３）において、ｒ_Ｅは、地球の半径、Ｇは、万有引力定数、Ｍは、地球の質量である。The orbit around the earth is determined by the earth's gravity and altitude. The velocity v _i (i=1, 3) of the second optical goniometric station 4 moving on the track is represented by the following equation (3). _v1 is the velocity of the second optical goniometric station ₄ moving on the trajectory 101 at altitude h1, and v3 is the velocity of the _second optical goniometric station ₄ moving on the trajectory 103 at altitude h3. v2 is the velocity of the projectile ₂ ;

In equation (3), r _E is the radius of the earth, G is the universal gravitational constant, and M is the mass of the earth.

The velocity v _i (i=1, 3) of the second optical goniometric station 4 becomes slower as the altitude _hi increases, as is clear from the equation (3).
Therefore, when the second optical goniometric station 4 is placed on the orbit 101 higher than the orbit 102 of the flying object 2, the second optical goniometric station 4 becomes closer to the flying object 2 as time passes. You may be overtaken. On the other hand, when the second optical goniometer station 4 is placed in the orbit 101 which is lower in altitude than the orbit 102 of the flying object 2, the second optical goniometric station 4 moves the flying object 2 over time. may overtake.
The temporal change in the geometric arrangement of the first optical goniometric station 3, the second optical goniometric station 4, and the flying object 2 is the altitude of the orbit where the second optical goniometric station 4 is arranged. Varies depending on

The trajectory calculation system according to the fourth embodiment includes, for example, the second optical goniometric station 4 arranged in the trajectory 101 lower in altitude than the trajectory 102 of the flying object 2 and the and a second optical goniometric station 4 located in an orbit 101 with a high altitude.
If the trajectory calculation system includes two second optical goniometric stations 4, the geometric arrangement of the second optical goniometric stations 4 located on the orbit 101 and the geometric arrangement of the second optical goniometric stations 4 located on the orbit 103. The trajectory 102 of the flying object 2 can be calculated based on any one of the geometrical arrangements of the second optical goniometric station 4 . In one geometric arrangement, even if the observation conditions are such that the first optical goniometric station 3 and the second optical goniometric station 4 cannot receive light from the same flying object 2 at the same time, the other , there is a possibility of observation conditions under which the first optical goniometric station 3 and the second optical goniometric station 4 can receive light from the same flying object 2 at the same time. Therefore, in the trajectory calculation system according to Embodiment 4, the time during which the trajectory of the flying object 2 cannot be calculated can be shortened.

It should be noted that the present disclosure allows free combination of each embodiment, modification of arbitrary constituent elements of each embodiment, or omission of arbitrary constituent elements in each embodiment.

The present disclosure is suitable for a trajectory calculation device, a trajectory calculation method, and a trajectory calculation system for calculating the trajectory of a flying object.

1 illumination light source 2 flying object 3 first optical angle measurement station 4 second optical angle measurement station 5 reference signal source 6 ground station 11 first light collecting device 12 second light collecting device , 13 trajectory calculation device, 21 first angle calculation unit, 22 second angle calculation unit, 23 trajectory calculation unit, 31 first angle calculation circuit, 32 second angle calculation circuit, 33 trajectory calculation circuit, 41 memory , 42 processor, 51 shading device, 52 position detection unit, 53 angle calculation unit, 54 time calibration unit, 55 counter, 56 control device, 57 pointing device, 58 communication unit, 59 recording device, 60 trajectory calculation unit, 61 trajectory calculation Part 71 Light shielding device 72 Position detection part 73 Angle calculation part 74 Time calibration part 75 Counter 76 Control device 77 Orientation device 78
Communication unit, 80 trajectory database, 81 retroreflection unit, 91 distance measuring device, 92 light collecting device, 93 light transmitting unit, 94 light receiving unit, 95 distance calculation unit, 96 directing device, 101, 102, 103 trajectory.

Claims (1)

a first light collecting device for collecting light emitted from the illumination light source and then reflected by the flying object;
From the orientation directions of the first light collecting device at the first time and the second time, and the reflection positions of the light with respect to the flying object at the first time and the second time, the a first angle calculator that calculates respective first angles at the first time and at the second time as the first angle of the flying object viewed from the first light collecting device;
a second light collecting device for collecting the light emitted from the illumination light source and then reflected by the flying object;
From the orientation directions of the second light collecting device at the first time and the second time, and the reflection positions of the light with respect to the flying object at the first time and the second time , a second angle calculator that calculates respective second angles at the first time and at the second time as second angles of viewing the flying object from the second light collecting device;
The first angle calculated by the first angle calculation unit, the second angle calculated by the second angle calculation unit, and the first angle at the first time and the second time a trajectory calculation unit that calculates the trajectory of the flying object from the position of the light collecting device and the position of the second light collecting device ,
The first light collecting device, the first angle calculation unit, and the trajectory calculation unit are mounted on a first optical angle measurement station,
The second light collecting device and the second angle calculation unit are mounted on a second optical goniometric station,
the first optical goniometric station is a fixed station with a fixed location;
The second optical goniometric station is a portable station whose position changes,
The second optical goniometric station is arranged in a trajectory different in altitude from the trajectory of the flying object.
Trajectory calculation system.

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