JPH0749373A - Antenna with monitoring system - Google Patents

Abstract

PURPOSE:To receive satellite signals continuously and easily when the receiving positions are to be found out with the aid of a GPS. CONSTITUTION:An antenna 31 is provided to receive a satellite signal SS issued by an artificial satellite 50 at a specified position, and a video acquisition device 2 is prepared thereon to obtain peripheral condition at a specified projection center PO, then an antenna fixation hood 8 is provided so as to fix the relative position of the antenna 31 and the device 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antenna with a monitor suitable for receiving radio waves emitted by artificial satellites.

[0002]

2. Description of the Related Art A system for receiving a radio wave (hereinafter, referred to as a satellite signal) including satellite orbit information emitted from an artificial satellite and grasping a reception position is usually a global positioning system (Gloval
Positioning system, hereinafter referred to as GPS) etc.,
The GPS is used for grasping navigation positions of airplanes and ships and traveling positions of automobiles, and surveying three-dimensional positions on the ground. However, in order to obtain the reception position (self position), it is necessary to be able to receive satellite signals emitted by at least four artificial satellites at the reception position. In addition, in particular, as a means for accurately determining the reception position using this GPS, there is a reception device that calculates the reception position by RTK (real time kinematics), and the reception device receives from an artificial satellite at the start of reception. The initial satellite signal is set as a reference value, and the reception position at any destination is sequentially calculated based on the reference value. But this R
When using a TK receiver to determine the reception position,
If the satellite signal from the artificial satellite is lost even once, it is necessary to set the reference value again. However, the work of resetting the reference value was very troublesome. Therefore, for example, when surveying using the receiving device in surveying or the like, in order to receive satellite signals emitted from this artificial satellite without interruption, mountains, buildings, trees, etc. that block the radio waves at an elevation angle of 15 degrees or more are required. Surveys were conducted while confirming that there were no obstacles such as utility poles by directly visually checking those obstacles.

[0003]

However, in this case, since it is desired to continuously receive the data from the start to the end of the survey without interruption, it is possible to directly check the presence or absence of obstacles while moving the place to be surveyed. It is necessary to move while checking, not only is it troublesome to move, but it is difficult to accurately determine the presence or absence of obstacles by direct visual inspection, and there are things that can determine the presence or absence of obstacles quickly and reliably. desired.

In view of the above circumstances, it is an object of the present invention to provide an antenna with a monitoring device that can easily receive satellite signals emitted by artificial satellites without interruption when the receiving position is obtained using GPS. And

[0005]

That is, the first of the present invention
Of the invention is a satellite signal (SS) emitted by an artificial satellite (50).
Antenna (3) that can receive the signal at a predetermined reception position (RO).
1), which is provided with a video acquisition means (2) capable of acquiring a surrounding situation as a video (PDAT) at a predetermined projection center (PO), and a connection means (8) for connecting the antenna and the video acquisition means. It is provided by fixing the relative position.

A second aspect of the present invention is the same as the first aspect of the present invention, in which the receiving position (R) of the antenna is on the central axis (CT) passing through the projection center (PO) of the image acquisition means.
O) is provided so as to be located.

Furthermore, a third aspect of the present invention is the moving means (20) according to the first or second aspect, which is capable of integrally moving the antenna (31) together with the image acquisition means (2). ) Is provided.

The numbers in parentheses are for convenience of showing the corresponding elements in the drawings, and the present description is not limited to the description in the drawings. The same applies to the column of "action" below.

[0009]

With the above structure, the first aspect of the present invention operates so that the image acquisition means (2) can acquire an image of the surroundings of the antenna (31). Further, by fixing the relative position between the antenna (31) and the image acquisition means (2), the relative position between the reception position (RO) of these antennas and the projection center (PO) of the image acquisition means becomes constant. To work. A second invention of the present invention is
The relative position between the reception position (RO) of the antenna (31) and the projection center (PO) of the image acquisition means (2) is the central axis (C
T) It works so as to correct only the above. Furthermore, in the third aspect of the present invention, the antenna (31) and the image acquisition means (2) are simply operated by operating the moving means (20).
With the relative position of the antenna fixed, the image acquisition means and the antenna can be moved in a direction in which interference between the antenna and the obstacle is avoided.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an example of surveying using a satellite tracking device to which an antenna with a monitoring device according to the present invention is applied,
2 is a block diagram of the satellite tracking device shown in FIG.
4 is a conceptual diagram showing coordinate conversion of satellite position data into video coordinates, FIG. 4 is a diagram showing an example of an image displayed by the display unit shown in FIG. 2, and FIG. 5 is a display unit shown in FIG. It is a figure which shows an example of the image which is displayed.

As shown in FIGS. 1 and 2, a satellite tracking device 1 to which an antenna with a monitoring device according to the present invention is applied includes an image acquisition device 2, a tracking control device 10, a lifting device 20, a satellite signal receiving device 30 and the like. It consists of That is, as shown in FIGS. 1 and 2, the satellite signal receiving apparatus 30 transmits the satellite signals SS (SS1 to SS4), which are radio waves including satellite orbit information and the like emitted by the artificial satellites 50 (50A to 50D), to the predetermined signal. It has an antenna 31 capable of receiving at a reception position RO (position where satellite signal SS can be converged), and antenna 3
A signal analysis calculation unit 32 is connected to 1. The signal analysis / calculation unit 32, based on the satellite signal SS received by the antenna 31, outputs the artificial satellite 50 that has issued the satellite signal SS.
Of the antenna 31 can be calculated and output as satellite position data SDAT.

The image acquisition device 2 has a casing body 3 as shown in FIG.
A gyroscope 5 is provided in the. The gyroscope 5 is provided with a CCD camera body 6 capable of acquiring the condition of obstacles such as the surrounding trees 60 at predetermined projection center PO on predetermined video coordinates (x, y) as video data PDAT. , The CCD camera body 6 always directs the north N to the gyroscope 5 by the direction holding property of the gyroscope 5 in the + y direction of the image coordinates (x, y) of the image data PDAT acquired by the CCD camera body 6. It is provided in the form. In addition, the CCD camera body 6 has an elevation angle AE of at least 0 ° and is omnidirectional (that is, east E,
There is a fisheye lens 7 that can grasp the surrounding conditions over west W, south S, and north N (360 °).
On the CCD camera body 6, the projection center PO of the fisheye lens 7 projected on the image coordinates (x, y) is moved to the image coordinates (x,
It is attached with the origin of y). That is, the surroundings are determined by the CCD camera body 6 via the fisheye lens 7 within the range in which the minimum elevation angle AE is 0 ° and in all directions, on the image coordinates (x, y), and the image coordinates (x, y). Is acquired as video data PDAT with the + y direction of the direction always facing north N.

Further, as shown in FIG. 1, the image acquisition device 2 is provided with an elevating device 20 in a form capable of vertically moving the image acquisition device 2. That is, the elevating device 20 includes an elevating / lowering main body 21 composed of a multi-stage cylinder or the like in the directions of arrows A and B in FIG. 22 is provided. At the lower part of the casing body 3 of the image acquisition device 2, the tip of the elevating body 21 of the elevating device 20 has a central axis CT whose extension / contraction direction passes through the projection center PO of the fisheye lens 7.
The fisheye lens 7 of the image acquisition device 2 is moved along the central axis CT by the arrow A, by driving the elevating motor 22 to extend and retract the elevating body 21.
It will move in the B direction. Further, as shown in FIG. 1, the fisheye lens 7 of the image acquisition device 2 is provided with a hollow cylindrical antenna mounting hood 8 made of transparent acrylic or the like so as to cover the fisheye lens 7, and the antenna mounting hood 8 is provided. The antenna 3 of the satellite signal receiving device 30 is provided on the upper surface of
1 is provided. The antenna 31 is provided on the central axis CT passing through the projection center PO of the fisheye lens 7 so as to match the reception position RO of the antenna 31, and the projection center P of the fisheye lens 7 with respect to the reception position RO of the antenna 31.
The correction amount of the relative position of O becomes the correction height H between the two points of the reception position RO and the projection center PO along the central axis CT. That is, the antenna mounting hood 8 is provided between the fisheye lens 7 of the image acquisition device 2 and the antenna 31 of the satellite signal reception device 30 while ensuring the necessary field of view of the fisheye lens 7.
The relative position between the reception position RO of the antenna 31 and the projection center PO of the fisheye lens 7 is integrally fixed at the corrected height H. Further, by driving the elevating body 21 of the elevating device 20 to expand and contract, the antenna 31 moves along the central axis CT with the corrected height H fixed together with the image acquisition device 2. That is, the lifting device 20 can integrally move the antenna 31 together with the video acquisition device 2. In addition,
The antenna mounting hood 8 may be anything as long as the antenna 31 can be fixed to the fisheye lens 7 in a form that ensures the necessary field of view of the fisheye lens 7, and may be, for example, a thin frame-shaped frame.

Further, the tracking control device 10 has a main control section 11 as shown in FIG.
An input unit 12 including a keyboard, a display unit 13 including a CRT, a satellite position data correction unit 15, and a data synthesizing unit 1
6, satellite position data input unit 18, video data input unit 19
Etc. are connected.

Since the present invention has the above-described structure, the satellite tracking device 1 is mounted on the surveying vehicle 40 or the like when surveying on the ground. At this time, in the image acquisition device 2 of the satellite tracking device 1, as shown in FIG. 1, the fisheye lens 7 is directed upward (upward in FIG. 1), that is, the antenna 31 attached to the image acquisition device 2 is the uppermost part. The lower part of the lifting device 20 is fixed to the roof of the vehicle 40 so as to be located at. Further, the antenna 31 and the fish-eye lens 7 are installed on the roof of the vehicle 40 so that the antenna 31 and the fish-eye lens 7 can be moved up and down along the central axis CT (directions of arrows A and B) when the lifting device 20 is driven up and down.

Next, at the surveying position M1 at which the surveying is to be started, the vehicle 40 equipped with the satellite tracking device 1 is placed so that the receiving position RO of the antenna 31 is located vertically above the surveying point to be surveyed. 40 is moved and positioned.
(It should be noted that any positioning may be performed as long as the relative position of the surveying position to be surveyed with respect to the reception position RO of the antenna 31 is known. For example, an auxiliary treatment having a measurement point whose relative position to the reception position RO of the antenna 31 is known. It goes without saying that a tool or the like may be used in such a manner that the measurement point coincides with the survey point.) Then, the satellite signal receiving device 30 of the satellite tracking device 1 is operated to operate each artificial orbit. The satellite signal SS emitted from the satellite 50 is received via the antenna 31, and four or more artificial satellites 50 that can be used for surveying are captured. For example, as shown in FIG. 1, four artificial satellites 50A, 50
After capturing B, 50C, and 50D, those artificial satellites 50
(50A to 50D) satellite signals SS (SS1 to S)
S4) is analyzed by the satellite signal receiving device 30 to obtain the transmission positions T (T1 to T4) of the artificial satellites 50 (50A to 50D) on the orbit, and the artificial satellites 50 (50A to 50D).
The reception distance from the transmission position T (T1 to T4) of (50A to 50D) to the reception position RO of the antenna 31 is calculated,
The transmission position T (T1 of each artificial satellite 50 (50A to 50D))
~ T4) and the reception distance, the reception position R of the antenna 31
Find the three-dimensional position of O on the ground. Thus, by correcting the relative position between the reception position RO of the antenna 31 and the survey point to be surveyed, the three-dimensional position of the survey point on the ground can be obtained.

Next, when the surveying is completed in this way, the vehicle 40 is driven to move from the surveying position M1 to the surveying position where another surveying should be performed, and the surveying is carried out at the other surveying position. By the way, before the movement is started (or at the same time as the start of the survey), the tracking control device 10 of the satellite tracking device 1 is operated, and the image acquisition device 2 is used to determine the situation around the vehicle 40 at the survey position M1. Video data P
Each of the artificial satellites 50 (50A to 50) calculated by the satellite signal receiving device 30 is acquired as DAT and input to the tracking control device 10 via the video data input unit 19.
D) satellite position data SDAT, which includes the transmitting position T (T1 to T4), the receiving position RO of the antenna 31, the time, and the like.
To the tracking control device 10 via the satellite position data input unit 18. Next, when an artificial satellite monitoring command is input to the main control unit 11 via the input unit 12, the main control unit 11 causes the satellite position data correction unit 15 to input the satellite position data input unit 18 to the satellite position data correction unit 15. Received position RO input by
The satellite position data SDAT based on
Video data PDAT input via the video data input unit 19 to the data synthesis unit 16 while instructing to perform coordinate conversion on the video coordinates (x, y) whose origin is
Then, the satellite position data correction unit 15 instructs the satellite position correction data SDATAC to be superimposed.

Receiving this, the satellite position data correction unit 15
Reads the satellite position data SDAT input through the satellite position data input unit 18 and executes coordinate conversion on the image coordinates (x, y). On the other hand, the data synthesizer 16
The satellite position data correction unit 15 sets the satellite position correction data SDA
It waits until TC is output. That is, the satellite position data correction unit 15 aligns the north N direction of the satellite position data SDAT with the + y direction on the image coordinates (x, y) from the projection center PO in a manner as shown in FIG. The transmission position T (T1 to T) of each artificial satellite 50 (50A to 50D)
The point where the line segment connecting 4) and the image coordinates (x, y) intersect,
As satellite correction positions C (C1 to C4) projected on the image coordinates (x, y) of the artificial satellites 50, coordinate conversion of the satellite position data SDAT to the image coordinates (x, y) is performed. That is, the satellite position data correction unit 15 calculates, based on the satellite position data SDAT calculated by the satellite receiver 30,
Satellite correction position C (C1 to C4) on video coordinates (x, y)
Is calculated. As a result, the coordinate conversion of the satellite position data SDAT to the image coordinates (x, y) is performed, and the satellite position data correction unit 15 performs the coordinate conversion of the satellite position data SDAT to the image coordinates (x, y). The conversion result (satellite correction position C (C1 to C4) with the origin being the projection center PO) is sequentially output to the data synthesizing unit 16 as satellite position correction data SDATC.

Then, the data synthesizing unit 1 in the waiting state
6 receives the satellite position correction data SDATC converted and output by the satellite position data correction unit 15 and is activated, and the data synthesizing unit 16 reads the satellite position correction data SDATC and also via the video data input unit 19. The input satellite image data PDAT is read, and the satellite position correction data SDATC converted from the receiving position RO as the origin is superimposed on the image data PDAT whose origin is the projection center PO to form satellite monitoring image data SWPDAT, Output to the display unit 13. That is, the data synthesizing unit 16 makes the tree 60 in the video data PDAT acquired by the video acquisition device 2.
Obstacles such as the above and satellite correction positions C (C1 to C4) calculated by the satellite position data correction unit 15 are overlapped to form satellite monitoring video data SWPDAT. Then, for example, the satellite monitoring video data SWPDAT at the surveying position M1 at the start of the surveying is displayed on the display unit 13 as shown in FIG. 4, and is indicated on the image of the display unit 13 by a small circle in the figure. There are 5 satellites shown in Fig. 1.
It is the satellite correction position C (C1 to C4) on the image coordinates (x, y) of 0 (50A to 50D), which is indicated by the diagonal line surrounded by the broken line on the left side of the drawing in FIG. It is an image on the image coordinates (x, y) of the tree 60 as the obstacle shown. Further, as shown in FIG. 4, the image of the antenna 31 is projected on the origin PO (RO) of the image coordinates (x, y), but the obstacle is the origin PO (RO of the image coordinates (x, y). R
O) Suddenly the origin PO (RO)
Since it does not appear above, each satellite 50 (50A
There is no problem in monitoring the satellite correction position C (C1 to C4) on the image coordinates (x, y) of (~ 50D). In addition,
On the image of the display unit 13, the outermost circular frame shows the range in which the elevation angle AE is 0 °, the minimum elevation angle AE, which is the image acquisition range of the fisheye lens 7 of the image acquisition device 2, is 0 °, and is omnidirectional. In addition, the lines with the elevation angle AE of 10 ° and 20 ° are sequentially shown toward the inside.

That is, looking at the image displayed on the display unit 13 shown in FIG. 4, these artificial satellites 50 (50A to 50A) are shown.
D) is not obstructed by obstacles such as trees 60, and at the main surveying position M1, each artificial satellite 50 (50A-50
It can be understood that the satellite signals SS (SS1 to SS4) from D) can be received well. That is, the surveyor knows that the position of the antenna 31 of the satellite signal receiving device 30 may be the same as it is, and maintains the current position of the antenna 31 without operating the elevating device 20. By the way, looking at the image displayed on the display unit 13 shown in FIG. 4, the west W of these artificial satellites 50 (50A to 50D) is seen.
The artificial satellite 50A positioned at an elevation angle AE between 10 ° and 20 ° (left side in FIG. 4) is close to the tree 60 which is an obstacle, and is careful when moving to the west W side. You can figure out what to do.

Here, if the vehicle 40 is moved to the moving point M2 as shown by the chain double-dashed line in FIG. 1, the artificial satellite 50A on the left side in FIG. The satellite signal SS1 from the artificial satellite 50A cannot be received well. At this time, the image displayed on the display unit 13 also shows the tree 60 as shown by the chain double-dashed line in FIG.
Satellite correction position C1 where the artificial satellite 50A is shown (see FIG. 5).
It is shown that the artificial satellite 50A is blocked by the tree 60. Therefore, when moving the vehicle 40 from the surveying position M1 toward the moving point M2, the surveying operator monitors the image displayed on the display unit 13 so that the artificial satellite 50A is not blocked by the tree 60. That is, the lifting motor 22 of the lifting device 20 is operated so that the satellite signal SS1 emitted from the artificial satellite 50A is not interrupted,
As shown in the dashed-dotted line in FIG.
Direction to avoid interference with 0, that is, upward (direction of arrow A)
The image acquisition device 2 and the antenna 31 are raised. That is, when the vehicle 40 is moved, the surveying operator monitors the image displayed on the display unit 13 and installs the lifting device 20 so that the artificial satellites 50 are not blocked by obstacles such as the trees 60. The image acquisition device 2 and the antenna 3 are activated.
By moving 1 up and down, the satellite signal SS emitted from each artificial satellite 50 is kept uninterrupted, and the vehicle 40
To move to another surveying position and carry out surveying work.

A change in the height of the reception position RO of the antenna 31 due to the elevation of the antenna 31 by the elevation device 20 causes a change in electrical output in proportion to the expansion and contraction of the timepiece and the elevation body 22 (not shown). As a result, the changed height is stored in a data memory or the like (not shown) together with the time when the height of the reception position RO is changed, and is corrected as appropriate. The antenna 31 and the image acquisition device 2 are
Since they are integrated via the antenna mounting hood 8, even if the antenna 31 is moved up and down by the elevating device 20, the receiving position RO of the antenna 31 and the fisheye lens 7 of the image acquisition device 2 are obtained.
Relative position with respect to the projection center PO of is fixed and does not change,
Since the antenna 31 is constant and moves up and down along the central axis CT of the fisheye lens 7 of the image acquisition device 2, the relative position between the reception position RO and the projection center PO is a corrected height along the central axis CT. It is only necessary to correct the distance H, and even if the position of the antenna 31 moves, it is easy to correct the relative position between the reception position RO and the projection center PO when obtaining the satellite correction position C and the like.

As described above, the artificial satellite 50 (50A-5
The image acquisition device 2 that can acquire the surrounding situation as the image data PDAT is provided in the antenna 31 of the satellite signal reception device 30 that receives the satellite signal SS (SS1 to SS4) emitted by the image acquisition device 2 (0D). Since it is possible to obtain an image of the situation around the antenna 31,
By monitoring the acquired image, it is possible to easily understand whether or not an obstacle such as a tree 60 that blocks the satellite signal SS emitted by the artificial satellite 50 is around the antenna 31. In addition, the antenna 31 of the satellite signal receiving device 30
By integrally connecting the image acquisition device 2 and the image acquisition device 2 via the antenna mounting hood 8, the reception position R of the antenna 31 is obtained.
Since the relative position between O and the projection center PO of the fisheye lens 7 of the image acquisition device 2 can be fixed, that is, the relative position between the reception position RO and the projection center PO is constant at the corrected height H, the artificial satellite Even if the antenna 31 is moved to avoid obstacles so that the satellite signal SS from 50 is not interrupted, the image acquisition device 2 also moves together with the antenna 31 in a state where the relative position is constant. By this, not only can the situation around the antenna 31 be continuously acquired as an image, but the relative position between the reception position RO and the projection center PO may be corrected only on the central axis CT. Antenna 3 accompanying the movement of 31
The projection center P of the image acquisition device 2 with respect to the reception position RO of No. 1
The relative position of O can be easily corrected. Further, by operating the elevating device 20, the satellite signal receiving device 3
With the relative position of the antenna 31 of 0 and the image acquisition device 2 fixed, a direction in which interference between the antenna 31 and an obstacle is avoided, that is, a satellite signal SS emitted from the artificial satellite 50.
The antenna 31 can be moved so that it does not stop. Therefore, unlike the conventional case, it is not necessary to determine the presence or absence of an obstacle by directly visually observing an obstacle that is likely to obstruct the artificial satellite, and the artificial satellite 50 can be easily moved so as not to be obstructed by the obstacle. Is possible. Therefore, GPS
When using GPS to obtain a receiving position, such as when performing surveying, the satellite signal SS emitted by the artificial satellite 50 can be easily received without interruption. That is, since the satellite signal SS emitted by the artificial satellite 50 can be continuously received from the start to the end of the survey without interruption, when the survey is performed using the receiving device that calculates the reception position by the RTK, at the start of the survey. Since it is possible to perform continuous surveys using satellite signals from artificial satellites set as reference values, it is possible to perform efficient surveys in a short time without the need to set the reference values again during surveying. It becomes possible to do.

In the above-described embodiment, the case where the satellite monitoring device 1 is used for surveying has been described, but it is used for receiving the satellite signal SS emitted by the artificial satellite 50 to obtain the receiving position. It goes without saying that it may be used for any purpose. Further, in the above-described embodiment, the image acquisition device 2 is configured to acquire the surrounding situation as an image by using the combination of the fisheye lens 7 and the CCD camera 6, but it is possible to obtain the surrounding condition as an image. Needless to say good things.

[0025]

As described above, the first aspect of the present invention
Of the invention has an antenna 31 capable of receiving the satellite signal SS emitted by the artificial satellite 50 at a predetermined reception position RO, and can acquire an image of surroundings as an image of image data PDAT or the like at a predetermined projection center PO. Since the image acquisition means such as the device 2 is provided and the connection means such as the antenna mounting hood 8 is provided so as to fix the relative position of the antenna and the image acquisition means,

By providing the image acquisition means in the antenna, it is possible to acquire an image of the situation around the antenna by the image acquisition means. Therefore, by monitoring the acquired image, the satellite signal emitted by the artificial satellite is blocked. It is possible to know whether such an obstacle is around the antenna. Further, by fixing the relative position of the antenna and the image acquisition means, the relative position between the reception position of those antennas and the projection center of the image acquisition means becomes constant, so that the satellite signal from the artificial satellite is not interrupted. Even if the antenna is moved to avoid the problem, the image acquisition device moves together with the antenna in a state where the relative position is constant, and the image acquisition means can continuously acquire the situation around the antenna as an image. In addition, the relative position of the projection center of the image acquisition means with respect to the reception position of the antenna due to the movement of the antenna can be easily corrected. Therefore,
Unlike in the past, it is not necessary to determine the presence or absence of obstacles by directly observing obstacles that are likely to obstruct the artificial satellite, and it is possible to easily move so that the artificial satellite is not obstructed by the obstacles. Become. Therefore, when the receiving position is obtained using GPS, the satellite signal emitted by the artificial satellite can be easily received without interruption.

The second aspect of the present invention is the first aspect of the invention, wherein the receiving position RO of the antenna is provided on a central axis CT passing through the projection center PO of the image acquisition means. Since it is configured, in addition to the effect of the first invention, the relative position between the reception position of the antenna and the projection center of the image acquisition means may be corrected only on the central axis. The relative position can be corrected more easily.

Furthermore, the third invention of the present invention is the same as the first invention or the second invention, further comprising a moving means such as a lifting device 20 capable of integrally moving the antenna together with the image acquisition means. Since it is configured, the first invention or the second invention
In addition to the invention described above, in a state where the relative position of the antenna and the image acquisition means is fixed only by operating the moving means, the direction in which the interference between the antenna and the obstacle is avoided, that is, the satellite signal emitted from the artificial satellite is The image acquisition means and the antenna can be moved without interruption.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of surveying using a satellite tracking device to which an antenna with a monitoring device according to the present invention is applied.

FIG. 2 is a block diagram of the satellite tracking device shown in FIG.

FIG. 3 is a conceptual diagram showing coordinate conversion of satellite position data onto video coordinates.

4 is a diagram showing an example of an image displayed by the display unit shown in FIG.

5 is a diagram showing an example of an image displayed by the display unit shown in FIG.

[Explanation of symbols]

 2 ... Image acquisition means (image acquisition device) 8 ... Connection means (antenna mounting hood) 20 ... Moving means (elevating device) 31 ... Antenna 50 ... Artificial satellite CT ... Central axis PDAT ... Image (video) Data) PO …… Center of projection RO …… Reception position SS …… Satellite signal

Claims (3)

[Claims] 1. An antenna having an antenna capable of receiving a satellite signal emitted by an artificial satellite at a predetermined receiving position, and an image acquiring unit capable of acquiring an ambient condition as an image at a predetermined projection center. An antenna with a monitoring device, which is provided in such a manner that the relative position of the antenna and the image acquisition means is fixed. 2. The antenna with a monitoring device according to claim 1, wherein the antenna is provided so that the receiving position of the antenna is located on a central axis passing through the projection center of the image acquisition means. 3. The moving means capable of moving the antenna integrally with the image acquisition means is provided.
Alternatively, the antenna with the monitoring device according to claim 2.