JPH0989558A - Earth shape measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine the whole surface area of the earth as three-dimensional information by matching images of the same place on the earth obtained by a plurality of observation satellites, and computing elevation on the surface of the earth. SOLUTION: A camera 1a of an observation satellite 6a sends the surface image data of the earth 12, picked up in response to the timing signal of a clock 2a, to a signal processing circuit 5, and the clock 2a sends generated time information to the signal processing circuit 5. A navigation satellite signal receiver 3 sends the position information of a navigation satellite 11 to the circuit 5, and an angle detector 4 sends the angle data in the sight line direction of the camera 1a to the circuit 5. The circuit 5 adds identification information and the like to the received information and data and transmits them to an earth station. An observation satellite 6b sends in the same way to the earth station 10, and an image data base 7 of the station 10 records and controls image-position-angle data and auxiliary information. An earth shape analyzer 8 extracts an image data pair of the same place on the earth from the image data of the cameras 1a, 1b in the base 7, aligns corresponding places in the pair so as to be matched, and computes the elevation of the earth surface using satellite position coordinates, a sight line direction, and parallax.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention measures the shape of the surface of the earth, which is usually approximated to a spheroid, and digitizes it as coordinate positions on a single coordinate system to determine the major axis of the earth, the degree of flatness, and the continent. The present invention relates to an earth shape measuring device that quantifies the distance between the earth and the shape of the earth surface such as undulations, and the difference between the approximate ellipsoid and the actual shape to generate topographic information of the entire earth surface.

[0002]

2. Description of the Related Art FIG. 17 is a diagram for explaining a conventional earth shape measuring method. In the figure, 12 is the earth, 13 is a spheroid, 91a is a point A1 near the first North Pole, and 91b is a second point. Points A2, 92a near the North Pole of the first point are points B1 near the first equator, points 92b are points B2 near the second equator, and points 93a are the first points.
Between the two points L1 and 93b is the distance L2 between the second two points, and 94a is the angle θ between the first earth center and the two points.
Reference numerals 1 and 94b are angles θ2 formed between the second earth center and two points, L1 is a distance between A1 and A2, L2 is a distance between B1 and B2, θ1 is an angle between the earth center and A1 and A2, and θ2 Is the angle between the center of the earth and B1 and B2. In the initial earth shape measurement, the earth 12 was regarded as the same as the spheroid 13, and the shape of the earth was measured by measuring the length of the meridian from the equator to the North Pole, for example, at each latitude. Since the latitude is the angle between the vertical line at that point and the equatorial plane, it can be seen that if L1 is smaller than L2 when θ1 = θ2, the radius of curvature near the equator is smaller. To determine the latitude of a point on the earth's surface, measure the angle between the zenith at that point and the equator. Because it is difficult to measure the direction of the equator, we measure the angle between the star and the zenith, or the zenith distance, of a star with a known declination as it passes through the meridian. To know the longitude, using the fact that the earth 12 rotates,
First, a point with zero longitude is determined, the time when a star passes the meridian at that point is measured, and then the longitude is obtained from the difference between the two by knowing the time when the same star passes the meridian at the measurement point. Actually, the earth 12 has a shape in which large and small undulations of the surface are added to the spheroid 13,
When a topographic map is created in each country, the dimensional value of the spheroid 13 is assumed, and it is referred to as a reference ellipsoid, which is the basis of the earth shape.

FIG. 18 is a diagram showing a satellite triangulation device which is one of conventional earth shape measuring devices.
2 is the earth, 34 is the geodetic satellite, 35a is the first reference point, 3
5b is a second reference point, 36 is a camera, and 37 is a measurement point.

Next, the principle will be described with reference to FIG. FIG. 19 is a principle diagram of satellite triangulation, in which 12 is the earth, 34 is a geodetic satellite, 38 is the orbit of the geodetic satellite,
39 is a straight line whose distance is known, 40 is a straight line whose distance is unknown, 4
1 is the position s1 of the geodetic satellite at time t1, 42 is the position s2 of the geodetic satellite at time t2, 35a is the first reference point A, 35b is the second reference point B, and 37 is the measurement point X. Since the geodetic satellite 34 reflects sunlight even though it is dark, the geodetic satellite 34 can be captured by a camera. A timing device (not shown) can determine the right ascension and declination of the geodetic satellite 34 at the observation time by comparing with the position of the background star. When determining the position of the surveying point X37 from two points whose position coordinates are known, that is, the first reference point A35a and the second reference point B35b, in the figure, the geodetic satellite 34 is located at the position S1, the first reference point A35a, and the first reference point A35a. The directions of AS1, BS1, and XS1 are determined by simultaneously observing at the reference point B35b of 2 and the measurement point X37. Since the length of AB is known, the triangle ABS1 is determined. Next, if the geodetic satellite 34 performs the simultaneous observation again at the position of S2, the position of the measuring point X37 is geometrically determined as the intersection of XS1 and XS2, so that the position coordinates of the measuring point X37 can be known. By repeating this principle, the earth shape is measured by measuring the relative positions of various parts of the earth's surface.

FIG. 20 is a diagram showing an aerial triangulation device which is another conventional earth shape measuring device. In the figure, 43 is an aircraft, 36 is a camera, 31 is an anti-aircraft sign, 44
Is the field of view of the camera, and 12 is the earth. In the figure, an aerial photograph of the ground surface is photographed by a camera 36 mounted on an aircraft 43, and an altitude calculation is performed by stereoscopically viewing overlapping portions of a plurality of aerial photographs of the same area taken from different positions. In the altitude calculation, since only the relative height difference within the visual field range of the photograph is known, the anti-aircraft sign 31 whose position coordinates are known in advance is set on the ground, and the visual field range 4 of the camera that captures the aerial photograph.
The image of the anti-aircraft sign 31 is taken at 4 and used as a reference for calculating the altitude.

FIG. 21 is a diagram showing one of other conventional earth shape measuring devices. In the figure, 6 is an observation satellite, 30 is an altimeter, and 12 is the earth. In the figure, the altimeter 30 mounted on the observation satellite 6 measures the distance between the ground and the observation satellite 6. As the altimeter 30, there is known a laser radar that emits a laser beam toward the ground and measures the time until the reflected wave is received. Since the orbit of the observation satellite 6 can be analytically grasped, the position and altitude of the earth surface can be measured.

Next, for comparison with the image data according to the present invention, the structure of image data by a conventional image pickup device for picking up a ground image will be described with reference to FIG. FIG. 22 is a diagram showing an example of the structure of image data obtained by a conventional line sensor type imaging device. In the figure, 22 is image data, 23 is an image header, and 27 is each pixel data. In an imager using a line sensor, a plurality of pixels are arranged in a horizontal row orthogonal to the satellite traveling direction, and each pixel data in the horizontal row is acquired at the same shooting timing. When the image pickup is repeated at the specified time interval, the satellite position advances according to the time progress, so that the image in the traveling direction can be acquired and the two-dimensional image data can be acquired.

[0008]

[Problems to be Solved by the Invention] Quantitative understanding of the earth's surface shape, such as a flat elliptical shape deformed into a pear shape, is an important theme that helps clarify many phenomena in geophysics, and geodesy. In the same way, it was a problem to measure the surface shape of the earth in a single coordinate system. On the other hand, in the conventional earth shape measurement device, when measuring with a measuring device on the ground, the position of the point where the measuring device is installed can be measured with high accuracy, but other locations can not be measured, The undulation of the earth's surface could not be quantified as three-dimensional information. In addition, since the required number of facilities and equipment increases as the number of measurement points increases, there has been a problem that enormous cost and labor are required to acquire data on the entire surface of the earth. In addition, it was difficult to obtain a data volume covering the earth's surface because it was difficult to secure a place to install a measuring instrument. In addition, there is a problem that an unmeasurable region remains in polar regions or undeveloped regions because measurement equipment cannot be introduced.

Further, conventional triangulation, which measures the position of another point as a reference point between two points with known relative distances on the ground, cannot measure a long distance enough to sandwich the ocean, so the distance between two points between different continents. There was a problem that the distance between two points between the continent and the island country could not be measured, and the relative position between the continent and the island country could not be determined.

The measurement method based on the vertical direction has a problem that the vertical direction itself has anisotropy depending on the location due to the bias of gravity due to the presence of the deposit, etc. It was

Further, in the method of analyzing the altitude by stereoscopic vision using the parallax of the image data taken from different positions such as aerial triangulation, only the relative altitude difference within one screen is calculated. There is a problem that the absolute coordinates cannot be known unless there is an anti-aircraft sign whose position and altitude are known on the screen.

In the case of altimeter measurement, if the irradiation beam is wide, the average altitude of the ground surface can be measured, but high-resolution measurement corresponding to small undulations cannot be performed. Since the orbit interval for acquiring data for the entire area is too narrow, it is difficult to realize a satellite that flies in an appropriate orbit, and it is difficult to cover the entire surface of the earth within the life span of the satellite. There was a problem that observations could not be carried out.

Further, when the longitude is measured with the earth rotation as a reference for determining the time, there is a problem that the absolute time accuracy becomes insufficient due to the fluctuation of the rotation speed due to the movement of the earth rotation axis.
In addition, since the satellite flies at a speed of several kilometers per second, if the time accuracy is poor, the position accuracy cannot be increased.

A plurality of ellipsoids that have formalized the elliptical shape of the earth have been proposed. Different ellipsoids are adopted in each country,
Since there is a difference of 1 km in the long radius, there is a problem that even if the relative position of the map is desired, the reference for the position adjustment in the single coordinate system cannot be obtained.

Further, acquiring data over the entire surface of the earth requires a huge amount of time and labor and is difficult to realize. Further, since there is no device for storing data in a state that can be compared with past data, data is acquired multiple times. There is a problem that it is difficult to perform statistical processing and catch global aging phenomena. In addition, when data is updated with the advancement of measurement technology, it is necessary to re-acquire a huge amount of data each time, and there is a difficulty in realization.

In the case of measurement from an aircraft or satellite, there is a problem that there is no means for performing a correction process later because no relevant information remains even if the aircraft or satellite sways or changes in attitude. Especially when acquiring an image using a line sensor,
Since the satellite position and attitude information at all imaging timings are not known, there is a problem that if the attitude of the satellite changes during imaging, geometric distortion of the image cannot be corrected and becomes an irresolvable error factor.

The equatorial region from the tropics to the subtropical region and the polar regions near the North Pole and the South Pole are important regions for grasping the shape of the earth. Conventionally, a device for stereoscopically viewing satellite image data uses an optical sensor. Therefore, there was a problem that data that could be used practically could not be obtained from cloudy areas or high latitudes with little sunlight reflection to polar regions.

There is a problem in that it is impossible to obtain altitude data of the ocean or the desert area where it is difficult to find a characteristic point in stereoscopic viewing.

In order to calculate the absolute value of the altitude based on the parallax of the image data, there is a large influence of the swaying and position measurement error of the satellite or the aircraft mounted and the angle error of the line of sight. There was a problem that I could not endure.

Only by utilizing the conventional satellite image acquisition technology for stereoscopically viewing the earth image data acquired from space, a single satellite can cover a vast amount of all data on the surface of the earth within the time limited by the satellite life. However, there was a problem that it was difficult to measure the shape of the whole earth.

Therefore, an earth shape measuring apparatus capable of quantifying the earth shape on a single coordinate system over the entire surface of the earth as three-dimensional information and effectively collecting, maintaining, and managing a huge amount of measurement data is desired. It was

The present invention has been made in order to solve the above problems, and an earth shape measuring apparatus capable of quantifying the entire earth surface as three-dimensional information by utilizing earth surface image data viewed from space. I will provide a.

Further, there is provided an earth shape measuring device capable of generating a topographic map in which each country's map is aligned with accuracy of about several tens of meters on a single coordinate system.

Even if there is no equipment on the ground, it is possible to measure only the image data seen from space, so that it is possible to measure all the data in the area where human activity does not reach.

Further, if a set of devices is constructed, other ground equipment is not required, and the processing can be largely automated, so that an earth shape measuring device capable of processing enormous data is provided.

Provided is an earth shape measuring device capable of measuring earth surface position coordinates by a single coordinate system operating a navigation satellite.

Further, since the time is managed by using the atomic clocks having a high frequency stability and mutually adjusted, the earth shape measuring device which can be lightly mounted on a common time reference regardless of time and place is provided.

Since the elevation is analyzed using only the geometrical features, the earth shape measuring apparatus which is not affected by the local gravity deviation is provided.

Further, the earth surface is measured by the principle of triangulation from two points whose position coordinates are known, so that an earth shape measuring device capable of measuring the absolute coordinates of the ground surface is provided.

By converting the image data, the imaged position, and the information on the angle into an image database, the data obtained by different imagers can be processed by the earth shape analyzer, so that it becomes possible to use a plurality of satellites, and an enormous amount of the entire earth can be used. Provide an earth shape measuring device capable of acquiring various observation data.

Further, the present invention provides an earth shape measuring device with sufficiently high accuracy on a global scale by improving the measurement accuracy of time, position, and angle, and taking measures for correcting the values.

Since the time history of the image pickup timing is attached to the image data and the satellite position and line-of-sight direction information at the image pickup time can be verified, the earth shape measuring apparatus capable of correcting the attitude variation is provided.

Further, according to the synthetic aperture radar using microwaves, it is possible to acquire an image of an area covered with clouds or without sunlight irradiation. To provide an earth shape measuring device capable of effectively acquiring the information.

By recording the measurement data of the laser radar, which measures the time until the reflected wave of the emitted laser arrives and measures the distance, in the earth shape database, there is no characteristic over a wide area such as the sea or the desert, and the surface is flat. To provide an effective earth shape measuring device for grasping the rough shape of the earth since it is possible to observe the shape of the region and also to grasp the average altitude over a wide area even on land.

Also, two databases, an image database and an earth shape database, are generated and ground calibration points are added,
Provide an earth shape measuring device capable of updating data according to the progress of image acquisition technology and analysis technology.

Since the frequency of observing the same point on the surface of the earth can be increased, statistical processing by data accumulation becomes possible, the credibility of the data is increased, and the earth shape measurement can be regarded as a global secular change phenomenon. Provide a device.

[0037]

Embodiment 1 of the present invention
The earth shape measuring device by
An observation satellite equipped with a clock, a signal processing circuit, an angle detector, a navigation satellite signal receiver, an image database, an earth shape analyzer that analyzes the position and altitude of the ground surface from the information in the image database, and an earth shape analyzer It is composed of an earth shape database that records the position coordinates of the earth surface and the earth shape by output, and a navigation satellite.

An image pickup device is mounted on the observation satellite, and a set of images at the same place on the earth acquired by a plurality of observation satellites whose angles formed by the line-of-sight direction and the vertical direction of the image pickup device are different from each other are set by the earth shape analyzer. The position and altitude of the earth's surface are analyzed using the satellite position coordinates, the line-of-sight direction, and the parallax.

The time management is performed between the navigation satellite, the observation satellite, and the ground station using an atomic clock having high time stability, and the image data, the satellite position data, and the line-of-sight angle data are time-controlled with respect to each other.

Further, the observation satellite is equipped with a navigation satellite signal receiver to clearly measure the position on the coordinate system adopted by the navigation satellite.

An image database and an earth shape database are provided on the ground. Image data and position data and angle data of observation satellites are recorded together with time information in the image database, and the earth shape database stores the position coordinates of the earth surface and the earth. The shape is recorded.

Further, as a database of earth surface position coordinates, a position coordinate index capable of associating a plurality of coordinate data with a single place on the earth and an area for storing a plurality of data are secured.

Further, the data of the entire globe of the earth can be acquired by flying in an orbit capable of taking an image of the entire surface of the earth with an image pickup device mounted as the orbit of the observation satellite.

Further, the earth shape measuring apparatus according to the second embodiment of the present invention is an observation satellite equipped with an image pickup device for pointing the surface of the earth, a clock, a signal processing circuit, an angle detector, a navigation satellite signal receiver, an image database, An earth shape analyzer that analyzes the position and elevation of the ground surface from the information in the image database, an earth shape database that records the position coordinates and the earth shape of the earth surface by the output of the earth shape analyzer, and a navigation satellite. This is the same as that of the first embodiment, but as the image pickup device, the image pickup device has a plurality of image pickup devices whose angles formed by the line-of-sight direction and the vertical direction are different from each other, and the same place on the earth obtained by the different image pickup devices. The image shape set is matched by an earth shape analyzer, and the position and altitude of the earth surface are analyzed by utilizing satellite position coordinates, line-of-sight direction and parallax.

An earth shape measuring apparatus according to Embodiment 3 of the present invention is an observation satellite equipped with an image pickup device for pointing the surface of the earth, a clock, a signal processing circuit, an angle detector, a navigation satellite signal receiver, an image database, and the above image. It is composed of an earth shape analyzer that analyzes the position and elevation of the ground surface from database information, an earth shape database that records the position coordinates and earth shape of the earth surface by the output of the earth shape analyzer, and a navigation satellite. This is the same as that of the first embodiment, but a set of images at the same place on the earth, which are equipped with a line-of-sight direction changing device of an imaging device and are acquired at positions where the angles formed by the line-of-sight direction and the vertical direction are different from each other, are used. The altitude of the earth's surface is analyzed using the satellite position coordinates, the line-of-sight direction, and the parallax by using a shape analyzer.

The earth shape measuring apparatus according to the fourth embodiment of the present invention uses an imaging radar as an image pickup device.

The earth shape measuring apparatus according to the fifth embodiment of the present invention is equipped with an altimeter.

Further, the earth shape measuring apparatus according to the sixth embodiment of the present invention is such that the signal processing section adds the times of all the image pickup timings to the image data and transmits it to the ground, and records it in the image database together with the image data. is there.

The earth shape measuring apparatus according to the seventh embodiment of the present invention is one in which an anti-aircraft sign whose position coordinate has been measured by a navigation satellite is installed on the surface of the earth and the position coordinates are recorded in the earth shape database.

In the earth shape measuring apparatus according to the eighth embodiment of the present invention, the earth shape analyzer has a matching processing section,
In addition, the matching processing unit analyzes images acquired by different types of image pickup devices having different line-of-sight directions in images at the same location.

The earth shape measuring apparatus according to the ninth embodiment of the present invention is equipped with a matching processing unit in the earth shape analyzer, and simultaneously analyzes three or more images at the same place to automatically match the corresponding points on the ground surface. A processing unit for analyzing is added.

[0052]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. FIG. 1 is a block diagram showing a first embodiment of the present invention. In FIG.
Image pickup device 1b, a second image pickup device 2b whose angle formed by the line-of-sight direction and the vertical direction of the image pickup device is different from that of the first image pickup device 1a, 2a is a first clock, and 2b is the first clock 2a and time. A second clock which is combined, 3 is a navigation satellite signal receiver, 4 is an angle detector, 5 is a signal processing circuit, and 6a is a first imager 1a which flies in an orbit capable of capturing an image of the entire surface of the earth. 1 is an observation satellite, 6b is a second observation satellite that flies in an orbit that allows the second imager 1b to take an image of the entire surface of the earth, and 7 is image data and position data and angle data of the observation satellite along with time information. An image database to be recorded, 8 is an earth shape analyzer for analyzing the position and elevation of the ground surface from the information of the image database 7, and 9 is an output of the earth shape analyzer 8 for recording the position coordinates and the earth shape of the earth surface. Earth shape database, 1 Ground station 11 navigation satellites, 12 is the earth, the first observation satellites 6a is first imager 1
a, a first clock 2a, a navigation satellite signal receiver 3, an angle detector 4, a signal processing circuit 5, and a second observation satellite 6
Reference numeral b shows a second image pickup device 1b, a second clock 2b, a navigation satellite signal receiver 3, an angle detector 4, and a signal processing circuit 5.

In the figure, in the first observation satellite 6a, the first image pickup device 1a picks up an image of the surface of the earth 12 according to the image pickup timing signal generated by the first clock 2a, and outputs the image data to the signal processing circuit. Send to 5. Further, the first clock 2 a outputs the time information at which the imaging timing signal is generated to the signal processing circuit 5.
Send to The navigation satellite signal receiver 3 receives the signal of the navigation satellite 11 according to the timing signal generated by the first clock 2a and transmits the position information of the satellite at that time to the signal processing circuit 5. In addition, the angle detector 4 responds to the timing signal generated by the first timepiece 2a to detect the first image pickup device 1a at that time.
The angle data of the line-of-sight direction is transmitted to the signal processing circuit 5.
At this time, the line-of-sight direction of the first imaging device 1a is the first observation satellite 6
If it is fixed with respect to a, the angle data will be the observation satellite 6a.
Of the first image pickup device 1a.
Has a function of changing the line-of-sight direction, the angle data indicates the sum of the attitude variation angle of the observation satellite 6a and the angle of change of the line-of-sight direction. Further, by using a gyroscope or a star sensor as the angle detector 4, it is possible to perform angle management with sufficiently high accuracy. The signal processing circuit 5 adds incidental information such as identification information to the received time information, image data, position data, and angle data, and then processes it into a format that can be transmitted to the ground.
It transmits to the ground station 10 via a transmitter (not shown). Needless to say, the data can be transmitted via a data relay satellite (not shown). Note that the timing signals generated by the first clock 2a are three types, that is, the imaging timing, the position information acquisition timing, and the angle information acquisition timing, but they do not have to be synchronized with each other if the respective times are accurately recorded. , The respective time information is recorded in the signal processing circuit 5 together with the corresponding image data or position data or angle data. The imaging timing is set in the first clock 2a based on the timing of starting the image acquisition and the interval at which the imaging is repeated.
Further, the position information acquisition timing and the angle information acquisition timing are sufficiently frequent to satisfy the position accuracy and the angle accuracy required when analyzing the earth surface position coordinates.
It is set in a.

Similarly, in the second observation satellite 6b, the time information of the second clock 2b, the image data of the second image pickup device 1b, the position data, the angle data and the incidental information are transmitted to the ground. Next, the ground station 10 receives the information transmitted by the receiver (not shown) and records it in the image database. The image database 7 records and manages image data, position data, angle data, and incidental information. In addition, the first image pickup device 1
A set of image data at the same place on the earth is extracted from the image data obtained in a and the image data obtained by the second image pickup device 1b, and the corresponding position in the set of image data is extracted by the earth shape analyzer. Aligning and matching the satellite position coordinates, line-of-sight direction and parallax to analyze the altitude of the earth's surface,
The result of digitization as the position coordinates of the earth's surface is added to incidental information such as identification information and then transmitted to the earth shape database. In addition, the earth shape database records and manages earth surface position coordinates, incidental information, and other earth shape analysis results.

Next, the principle will be described with reference to FIG.
FIG. 2 is a schematic diagram of the shape of the earth and the satellite orbit in Embodiment 1 of the present invention. In the figure, 6a is the first observation satellite, 6b is the second observation satellite, 11 is the navigation satellite, 12 is the earth, 13 is a spheroid, 14a is the line of sight of the first imaging device,
14b is the line of sight of the second imager, 15a is the orbit of the first observation satellite, 15b is the orbit of the second observation satellite, and 16 is the orbit of the navigation satellite. In the present invention, in order to measure the shape of the earth 12 without using the spheroid 13 as a reference for measuring the earth shape and without using the earth gravity as a reference for measuring the earth shape, the shape of the earth 12 is measured by triangulation from a space outside the earth. Perform measurement. The orbits of observation satellites and navigation satellites are determined by the influence of the earth's gravity. However, since navigation satellites fly at a high altitude of about 2000 km, the influence of gravity bias is originally small, and for example, global positioning in the United States In a device such as a device that has been sufficiently subjected to the effect correction processing, the position coordinates can be determined without being affected by the change in the earth's gravity. Therefore, for example, the World Geodetic System used in the global positioning device
Using a geodetic coordinate system called m84, it becomes possible to measure the shape of the earth on a single coordinate system and determine position coordinates. The position coordinates of the first observation satellite 6a and the second observation satellite 6b are determined based on signals from the plurality of navigation satellites 11.
The position coordinates on the coordinate system adopted in are determined. A specific example for improving the position accuracy will be described later. Since the position coordinates of the satellite change every moment along the orbital direction, it is indispensable to manage the time using a highly accurate clock whose time has been set. Therefore, sufficiently accurate time management is performed by using an atomic clock such as a quartz clock as a reference oscillation source. Further, in order to measure the angle between the line-of-sight 14a of the first image pickup device and the line-of-sight line 14b of the second image pickup device, a gyro and a star sensor are used to enable sufficiently accurate angle management. The absolute angle is detected by the star sensor in the range where the star is visible from the observation satellite 6, and while the star is not visible due to the influence of sunlight, the gyro output is output until the star is seen next time and the absolute angle can be measured again by the star sensor. It is integrated to estimate the relative angular variation. The orbit 15a of the first observation satellite and the orbit 15b of the second observation satellite do not need to be the same. For example, the orbit altitude and the orbit inclination angle may be different.

Next, the principle of altitude extraction by image stereoscopic vision will be described with reference to FIG. FIG. 3 is a diagram showing the principle of altitude extraction based on the parallax of stereoscopic vision when an optical sensor using a line sensor is used as an imaging device. In the figure, 12 is the earth, 14a is the line of sight of the first imager, 14b is the line of sight of the second imager, 17a is the position A of the first observation satellite,
17b is the position B of the second observation satellite, 18 is the intersection point C of the line of sight, 19 is the observation target point D on the ground surface on C, 20a is the parallel line with the line of sight of the first imaging device passing through D, and 20b is D , A line parallel to the line of sight of the second imager, 21a is the position of D in the image of the first imager, 21b is D in the image of the second imager.
Is the position. The position A17a of the first observation satellite and the position B17b of the second observation satellite are determined using a navigation satellite, and the angles θ1 and θ2 are determined using an angle detector. Then, since the intersection C18 of the two lines of sight of the line of sight 14a of the first imager and the line of sight 14b of the second imager is determined, the coordinate position of C is determined when considering on a plane including points A, B, and C. Then, the distance H between the straight line AB and the point C is also determined. If the height difference h between the elevation of the observation target point D on the ground surface and the point C is 0, the point D is the first
Since the line of sight 14a of the second image pickup device and the line of sight 14b of the second image pickup device coincide with the intersection C, the position of the point D projected on the image coincides with the points A and B. If it is not 0, the position of the point D projected on the image passes through a parallel line 20a with the line of sight of the first image pickup device passing through D and a parallel line 20b with the line of sight of the second image pickup device passing through D, respectively. The images are captured at the position E21a of D in the image of the first image pickup device and the position F21b of D in the image of the second image pickup device. A in the image
The distance between E x1 and the distance between AFs x2 are parallaxes equivalent to the ground equivalent distance, and the altitude h can be calculated as h = x1 / tan θ1 + x2 / tan θ2. Note that with an optical sensor that uses a line sensor, the imaging location changes according to the progress of the satellite while keeping the field of view constant, so the altitude h was calculated from the distances AE and AF, but in the case of stereoscopic vision by aerial photography, The altitude can be calculated from the angle difference between AC and AD in the figure. Note that, in FIG. 3, the plane geometry has been described. However, in the three-dimensional geometry, the elevation can be extracted by stereoscopic vision in the same way. With the satellite position data and the line-of-sight direction angle data as described above, the position coordinates of the point C18, which is the reference for the elevation calculation, can be determined, and the point D18 is actually displayed in the series of images.
The feature of this method is that the altitude of D is obtained based on the parallax of the place where is captured.

Next, the processing of the ground station will be described with reference to FIG. FIG. 4 is a diagram showing a data processing flow. In the figure, 6 is an observation satellite, 7 is an image database, 8 is an earth shape analyzer, 9 is an earth shape database, 10 is a ground station, and 11 is a navigation satellite. In the figure, the observation satellite 6 generates image data with time, satellite position data with time, and angle data with time. The satellite position data is based on a received signal from the navigation satellite 11. These pieces of information are transmitted to the ground station 10 via a transmitter (not shown). The ground station 10 records the received data in the image database 7. Next, the earth shape analyzer 8 assigns a data identification number for classification, and after initial correction such as geometric distortion is performed, the result is recorded again in the image database 7. The type of the image pickup device, the geometric distortion correction parameter, and the like are recorded in the image database in advance as initial registration information. Next, the earth shape analyzer 8 extracts stereoscopic pair images, performs matching processing to find corresponding points of the pair images and performs matching, and then extracts altitude and analyzes the position coordinates, and then the earth surface position which is the analysis result. The coordinates are described in the earth shape database 9. Further, after the earth shape analyzer 8 performs the earth shape analysis evaluation such as plotting the surface position coordinates at the same latitude and the same longitude to evaluate the difference with the reference ellipsoid, the observation data at the same point is statistically processed a plurality of times. Record the results in the Earth shape data.

Next, a specific example of the image database will be described with reference to FIG. FIG. 5 is a diagram showing an example of the structure of an image database. In FIG.
2a is the first image data, 22b is the second image data,
Reference numeral 23 is an image header, 27 is each pixel data, 45 is a temporary storage area, 46 is a storage area, 47 is an initial registration information block, 48 is a sorted data block, 49 is a corrected data block, and 50a is the first image. Data block, 5
0b is the second image data block, 50c is the third image data block, 51a is the first position data block,
51b is a second position data block, 52a is a first angle data block, 52b is a second angle data block, 53 is a header, 54 is position data, 55 is angle data, 56 is an identification display, 57 is an imaging time. , 58 is an earth address, 59 is correction information, 60a is first data, 60b is second data, and incidental information 61.

The temporary storage area 45 comprises a first image data block 50a, a first position data block 51a, and a first angle data block 52a, and the data received from the observation satellite is initially stored in the temporary storage area. 45. Further, the first image data 22a is the image header 2
3, a header 53, and each pixel data 27, and shows an information group regarding a series of images. The data recorded in the temporary storage area 45 is transferred to the storage area 46 and erased from the temporary storage area 45 after being subjected to identification and classification processing in the earth shape analyzer.

The save area 46 is an initial registration information block 47.
And a post-classification data block 48 and a post-correction data block 49.

The initial registration information block 47 is a block in which satellite information to be recorded in the image database 7 is registered in advance, and includes an identification display 56 and additional information 61. The identification display 56 includes an observation satellite identification ID, an imaging device identification ID, a data type, and a recording location,
In the incidental information 61, the observation width, the ground surface resolution, the stereoscopic view angle, the image data format, the parameter for correcting the image distortion peculiar to the image pickup device, and the like are recorded.

The post-classification data block 48 is a block for recording the received data from the observation satellite whose identification and classification processing has been completed in the earth shape analyzer, and includes the second image data block 50b and the second position data block 51b.
The second angle data block 52b is provided. The second image data block 50b includes an identification display 56, an imaging time 57, an earth address 58, a header 53, and each pixel data 27. The identification display 56, the imaging time 5
7. The earth address 58 is the information generated by the earth shape analyzer using the information of the image header 23 in the first image data 22a, and the header 53 and each pixel data 27 are from the first image data 22a. This is the information that was directly transferred. The second image data 22b includes the identification display 56, the image capturing time 57,
It is a group of information about a series of images, which is composed of an earth address 58, a header 53, and each pixel data 27. The second position data block 51b includes an identification display 56, an imaging time 57, a header 53, and satellite position data 54. The identification display 56 and the imaging time 57 are the image header in the first image data 22a. 23 is information generated by the earth shape analyzer using the information of No. 23, and the header 53 and the satellite position data 54 are information directly transferred from the first position data block 51a. Also, the second angle data block 5
2b includes an identification display 56, an imaging time 57, a header 53, and angle data 55. The identification display 56 and the imaging time 57 are the image header 23 in the first image data 22a.
It is the information generated by the earth shape analyzer using the information of
The header 53 and the angle data 55 are the information directly transferred from the first angle data block 52a. Further, the identification display 56 includes the observation satellite identification ID, the image pickup device identification ID, the data type, and the recording location.
The identification display 56 and the imaging time 57
Based on the above, the recording location of the satellite position data 54, the angle data 55, and the incidental information 61 corresponding to the second image data 22b can be searched. Further, the satellite position data 54 and the angle data 55 at the time when the specific pixel data in the image is captured can be searched by referring to the header 53. Further, the earth address 58 is an identification symbol given to each part by geometrically dividing the surface of the earth, for example, 10 degrees east longitude and 2 north latitudes.
If E0N10 is assigned to the 0-degree point, it is possible to generate an identification code that has a one-to-one correspondence with all places on the earth.
Therefore, the second image data 22b corresponding to an arbitrary place on the earth can be retrieved based on the address 58 on the earth. The second image data 2 is used to specify the address 58 on the earth.
The representative points included in 2b can be extracted and treated as point information, or the points at the four corners of the second image data 22b can be recorded and treated as area information. It should be noted that the second image data block 50b, the second position data block 51b, and the second angle data block 52b include a plurality of images captured by different satellites, and the first data 60a corresponds to a series of images. Similarly, the second data 60b is a data group corresponding to another series of images.

The post-correction data block 49 is a block which is stored after the correction processing is performed in the earth shape analyzer using the second image data 22b and the incidental information 61. As the correction process, geometric correction or the like for removing image distortion due to lens distortion of the image pickup device is performed, and parameters specific to the image pickup device are recorded in the supplementary information 61 in the initial registration information block 47. The corrected data block 49 includes an identification display 56, an imaging time 57, an earth address 58, correction information 59, and a header 5.
3) Each pixel data 27 is provided, and all are information generated by the earth shape analyzer. In the correction information 59, the contents of correction processing by the earth shape analyzer and the parameters used are recorded. The third image data 22c includes the identification display 56, the image capturing time 57, the earth address 58, and the correction information 5.
9, a header 53, and each pixel data 27, and is an information group regarding a series of images. The information corresponding to the third image data 22c can be searched using the identification display 56 and the imaging time 57, as in the case of the second image data 22b. Further, the data on any place on the earth can be searched using the address 58 on the earth, similarly to the case of the second image data 22b.

Next, a specific example of the earth shape database will be described with reference to FIG. FIG. 6 is a diagram showing an example of the structure of the earth shape database. In the figure, 9 is the earth shape database, 62 is earth shape data, 63 is earth surface position coordinates, 64 is an anti-aircraft sign position coordinate, and 65 is earth surface position coordinate block. , 66 is a position coordinate index, 67 is specific location information, 68 is an address on the earth, 69 is the number of data, 70 is coordinate data ID, 71 is an air sign ID, and 72 is remark I.
D, 73a is the first data, 73b is the second data, 7
4 is generation date / time information, 75 is position coordinates, 76 is employment information,
Reference numeral 77 is an adopted image ID, 78 is an image acquisition date and time, 79 is a correction processing content, 80 is a correction parameter, 81a is a first sign, 81b is a second sign, 82 is measurement date and time information, 83 is a remark block, and 84 is Remark contents, 85 is an earth shape data block, 86 is a reference ellipsoid related data, 87 is a uniform latitude slice data, 88 is a uniform longitude slice data, and 89 is secular change data. The earth shape database 9 includes an earth surface position coordinate block 65 and an earth shape data block 85, both of which record the results of analysis by an earth shape analyzer.

The earth surface position coordinate block 65 is composed of a position coordinate index 66, an earth surface position coordinate 63, an anti-aircraft sign position coordinate 64, and a remark block 83. Since it indicates the recording location of the anti-aircraft coordinate data,
Data can be searched by specifying the location. Further, the earth surface position coordinate 63 is the actual earth surface position coordinate data main body, but the evidence that generated this is also added. The anti-aircraft sign position coordinates 64 are for recording the coordinates of the anti-aircraft sign installed on the ground and whose position coordinates have been measured.

The position coordinate index 66 is the address 6 on the earth.
8, data number 69, coordinate data ID 70, anti-aircraft sign ID
71 and a remark ID 72. Further, this specific location information 67 when the address 68 on the earth is specified makes it possible to search the corresponding data by the number of data 69, the coordinate data ID 70, the air sign ID 71, and the remark ID 72. The data number 69 allows a plurality of data at the same point to exist, and a plurality of designations are possible for the coordinate data ID 70. Position coordinate index 66
Since multiple data can be handled for a single point, data differences can be compared and evaluated due to differences in images and processing algorithms used, data comparison and evaluation based on secular change, and data retrieval for statistical processing with multiple data. Is possible.

The earth surface position coordinate 63 is coordinate data ID7.
0, Earth address 68, generation date / time information 74, position coordinate 75
And a plurality of data 73 having employment information 76. Further, the employment information 76 includes a employment image ID 77, an image acquisition date / time 78, an anti-aircraft sign ID 71, a correction processing content 79 and a correction parameter 80, and records the image information used for analyzing the position coordinates and related matters. Is. Also, the first data 73a in the figure is position coordinate data and a group of related data of a continuous region on the earth corresponding to the common part of a plurality of images specified for stereoscopic vision, and similarly the second data 73a. 73b is a position coordinate data of another continuous area and a related data group. The adopted image ID 77 is clarified, and the correction processing content 79 and the correction parameter 80 are set.
By including the above, the basis for calculating the coordinate data becomes clear, so that it is possible to appropriately update the data as the image acquisition technology and the analysis technology progress. Furthermore, since multiple data at the same location can be stored in duplicate, it is possible to compare and evaluate the difference due to the difference in the image used and the processing algorithm. Moreover, in the unlikely event that the data contains peculiar information that does not have credibility, it is possible to improve the credibility of the data by cross-checking a plurality of data for confirmation. In addition, statistical processing such as comparative evaluation of data based on secular change and averaging of multiple data becomes possible. Further, since the data history can be confirmed by referring to the generation date / time information 74, it is possible to update the data due to technological progress, and by referring to the image acquisition date / time 78, it is possible to evaluate the secular variation.

Next, the anti-aircraft sign will be described. Focusing on the positional accuracy of locations in a series of images, the relative positional accuracy between locations in the image is sufficiently high, but the absolute positional accuracy with respect to the reference coordinate system depends on the error between the satellite position data and the angle data. Deteriorates. Therefore, when there are points whose position coordinates are known in a series of images, absolute position accuracy is better when the position coordinates of all places in the image are calculated as relative positions from that point. The anti-aircraft sign is installed as a point whose position coordinates are known, and only the relative positional relationship in the series of images whose position coordinates have already been calculated is maintained, and the position coordinates of the anti-aircraft sign are used as a reference in the series of images. By recalculating the position coordinates of all the positions of, the position accuracy is improved. The anti-aircraft sign ID 71 is described when data is recalculated based on the anti-aircraft sign position whose position coordinate on the earth is known.

The correction processing contents 79 may include data correction such as recalculation by the above-mentioned anti-aircraft sign, and correction of errors included in satellite position data and angle data. As the correction parameter 80, the error amount of satellite position data or angle data is described.

The anti-aircraft sign position coordinate 64 is composed of a plurality of signs 81, and the first sign 81a in the figure comprises an anti-aircraft sign ID 71, an earth address 68, measurement date / time information 82 and a position coordinate 75 for one anti-aircraft sign. Data group,
The second sign 81b is a data group regarding another anti-air sign. The measurement date and time information is the date and time when the position coordinates of the anti-aircraft sign were measured, and is a reference when grasping the position change of the earth itself due to secular change.

The remark block 83 includes a plurality of remarks 9 composed of the remark ID 72, the earth address 68, and the remark contents 84.
0, and by recording the method and the basis for generating the position coordinate data corresponding to the address on the earth, the background of the data generation can be easily grasped.

The earth shape data block 85 is composed of the earth shape data 62 including the reference ellipsoid related data 86, the equi-latitude slice data 87, the equi-longitude slice data 88 and the secular change data 89. The reference ellipsoid-related data 86 includes a parameter group that defines a plurality of reference ellipsoids used in geodesy and the like, a calculated difference amount from the position coordinates 75 recorded in the earth surface position coordinates 63, and the like. Further, the equal latitude slice data 87 records the pseudo circular shape formed when the position coordinates of points of equal latitude on the earth are collected using the latitude as a parameter and plotted on one plane. Similarly, the equi-longitudinal sliced data 88 is obtained by collecting the position coordinates of points of equal longitude on the earth using the longitude as a parameter and recording a pseudo-elliptical shape formed when plotted on one plane. Equal latitude slice data 87 and Elongation slice data 88
If you look at it, you can understand the difference between the earth shape and the reference ellipsoid. The secular change data 89 is data in which a plurality of position coordinates 75 at the same place are compared in time series.

Next, an example of accurately determining the position of the observation satellite using the navigation satellite will be described with reference to FIG. Figure 7
Is a diagram showing an example of a method for improving the position accuracy by using a plurality of navigation satellite data.
a is the first navigation satellite, 11b is the second navigation satellite, 11c
Denotes a third navigation satellite, 11d denotes a fourth navigation satellite, 10 denotes a ground station, and 12 denotes the earth. Since the position of the navigation satellite 11 is accurately determined, in order to determine the position of the observation satellite 6 in outer space, three different navigation satellites 11a, 11 are used.
It is sufficient to receive the navigation signals from b and 11c and determine the distance. Further, in order to eliminate the influence of an error due to a delay in signal propagation time until a signal from the navigation satellite is received, the navigation satellite 1
If the signal from 1d is received, since the orbit of each navigation satellite is known, the relative position of the navigation satellite at each time is known, and the position accuracy is improved. In order to eliminate the influence of the ionosphere while the signals from the navigation satellites are propagating, the ground station 1
Since the position coordinates of 0 can be measured accurately in advance, the positions of the observation satellite 6 and the ground station 10 at a specific time are measured by signals from the navigation satellites 11a, 11b, 11c, and 11d, and the position of the ground station is determined. If the position coordinates of the observation satellite 6 are obtained from the difference based on the coordinates, the position accuracy is further improved.

Embodiment 2 FIG. 8 is a configuration diagram showing a second embodiment of the present invention. In the figure, reference numeral 1a denotes a first image pickup device which points the surface of the earth, and 1b denotes an angle formed by a line-of-sight direction of the image pickup device and a vertical direction. Second different from the other imager 1a
, 2 is a clock, 3 is a navigation satellite signal receiver, 4 is an angle detector, 5 is a signal processing circuit, 6 is an observation satellite that flies in an orbit that allows the imager 1 to image the entire surface of the earth, 7
Is an image database that records image data and position and angle data of observation satellites together with time information, 8 is an earth shape analyzer that analyzes the position and elevation of the ground surface from the information in the image database 7, and 9 is the earth shape analyzer An earth shape database that records the position coordinates of the earth surface and the earth shape by the output of 8 is a ground station, 11 is a navigation satellite, and 12 is the earth.

In the figure, the first observation satellite 6
Imager 1a and the second imager 1b take an image of the surface of the earth 12 in response to an imaging timing signal generated by the clock 2,
The image data is transmitted to the signal processing circuit 5. In addition, the clock 2 transmits time information at which the imaging timing signal is generated to the signal processing circuit 5. The navigation satellite signal receiver 3 receives the signal of the navigation satellite 11 according to the timing signal generated by the clock 2 and transmits the position information of the satellite at that time to the signal processing circuit 5. Further, the angle detector 4 sends the angle data in the line-of-sight direction of the first image pickup device 1a and the angle data in the line-of-sight direction of the second image pickup device 1b to the signal processing circuit 5 at that time according to the timing signal generated by the timepiece 2. Send. The signal processing circuit 5 adds additional information such as identification information to the received time information, image data, position data, and angle data, and then processes the received data into a format that can be transmitted to the ground. Transmit to 10. The processing after transmission is the same as in the first embodiment.

Embodiment 3 FIG. 9 is a configuration diagram showing a third embodiment of the present invention, in which 1 is an image pickup device which points the surface of the earth, 2 is a clock, 3 is a navigation satellite signal receiver, and 4 is a navigation satellite signal receiver.
Is an angle detector, 5 is a signal processing circuit, 6 is an observation satellite that flies in an orbit capable of capturing an image of the earth surface with the image pickup device 1, 7 is image data, position data of the observation satellite, and angle data together with time information. An image database to be recorded, 8 is an earth shape analyzer for analyzing the position and elevation of the ground surface from the information of the image database 7, and 9 is an output of the earth shape analyzer 8 for recording the position coordinates and the earth shape of the earth surface. Earth shape database, 10 is a ground station, 11 is a navigation satellite, 12 is the earth, 28 is a view direction changing machine, and the view direction changing machine 28 is imaged by a drive mechanism rotating around an axis orthogonal to the satellite traveling direction. By rotating the entire machine, the angle formed by the line-of-sight direction and the vertical direction can be changed. Further, even if a rotating mechanism with a reflecting mirror for changing the line-of-sight direction is installed in the line-of-sight direction, the line-of-sight direction can be similarly changed. It is also possible to change the view direction by changing the angle of the entire observation satellite 6 using a thruster. If the same place on the earth is imaged a plurality of times by operating the view direction changing device 28, a set of image data of the same place viewed from different directions can be formed. Therefore, the shape of the earth can be analyzed in the same manner as in the first embodiment. Becomes Other operations are the same as in the first embodiment.

Embodiment 4 10 is a block diagram showing a fourth embodiment of the present invention, in which 2 is a clock, 3 is a navigation satellite signal receiver, 4 is an angle detector, 5 is a signal processing circuit, 6 is an observation satellite, and 7 is Image database, 8 earth shape analyzer, 9 earth shape database, 10 ground station,
11 is a navigation satellite, 12 is the earth, and 29 is an imaging radar that points the surface of the earth. If, for example, a synthetic aperture radar is used as the imaging radar 29, a precise surface image of the earth can be obtained as with an optical imager. Since it is possible, a pair of images for stereoscopic viewing can be acquired by combining images at the same place on the earth acquired from different directions. Since the image of the synthetic aperture radar includes random noise called speckle noise, the number of looks for capturing the same point is set to a plurality of times when acquiring a series of images. Next, by averaging the images at the same point in the initial correction of the earth shape analyzer 8, the speckle noise can be removed and the error of the density of the image can be removed. In addition, since distortion called foreshortening occurs in the image of the synthetic aperture radar, a geometric correction unique to the imaging radar 29 is performed by performing a correction process. Further, the earth shape analyzer 8 can perform processing for matching corresponding points of corresponding places in a plurality of images according to the grayscale characteristics of the image similarly to the optically captured image, so that elevation can be extracted by stereoscopic vision. Therefore, the earth shape can be analyzed in the same manner as in the first embodiment. Other operations are the same as in the first embodiment. Further, the same operation as that of the second embodiment can be performed by mounting the imaging radar 29 that points in different directions on the same observation satellite 6. Further, by adding a function of changing the visual field direction with respect to the traveling direction of the satellite to the imaging radar 29, the same operation as that of the third embodiment can be performed. Further, it is also possible to measure the relative height difference in a series of images by interfering a plurality of image data and generating an interferogram, instead of the parallax by stereoscopic vision in the earth shape analyzer 8. It can be used as auxiliary data for data verification.

Embodiment 5 FIG. 11 is a block diagram showing a fifth embodiment of the present invention, in which 1 is an image pickup device and 2 is
Is a clock, 3 is a navigation satellite signal receiver, 4 is an angle detector, 5
Is a signal processing circuit, 6 is an observation satellite, 7 is an image database, 8 is an earth shape analyzer, 9 is an earth shape database,
Reference numeral 10 is a ground station, 11 is a navigation satellite, 12 is the earth, and 30 is an altimeter that points in the vertical direction of the earth. As the altimeter 30, for example, laser light is emitted toward the surface of the earth, and the reflected light from the surface of the earth is detected. A laser radar is used that measures the time difference between the two to measure altitude. The altimeter 30 measures the altitude up to the ground surface according to the measurement timing signal generated by the timepiece 2 and transmits the data to the signal processing circuit 5. If the beam width to be irradiated is set to be equal to the interval between adjacent orbits of the observation satellite 6, data can be obtained throughout the earth surface. If data is acquired at a time interval at which the satellite travel distance becomes equal to the interval between adjacent orbits, data can be acquired without duplication. If the frequency of data acquisition is increased from this time interval to increase the number of times of data acquisition at the same place, resampling can increase the resolution in the satellite traveling direction. Signal processing circuit 5
Then, the time data is added at each timing when the altitude data is measured, and then transmitted to the ground like the image data. In addition, the angle detector 4 is used to change the pointing direction of the altimeter to the signal processing circuit 5.
To transmit. Since the satellite position data and the pointing angle data of the altimeter are recorded in the image database 7 as in the first embodiment, the earth shape analyzer 8 refers to the time to associate the altitude data with the position data, and coordinate the earth surface. And analyze its altitude. Further, the analysis result is recorded in the earth shape database 9. As a method of using the data in the earth shape database, the first embodiment in the undulating land,
Since the position coordinate data analyzed by the stereoscopic vision by 2 and 3 has a higher resolution, the data by the altimeter 30 is treated auxiliary. On the other hand, in a flat area over a wide area on the land or in the ocean, the matching process for matching the same location in the paired images becomes difficult in stereoscopic vision according to the first, second, and third embodiments. Use data preferentially. In the place where the land area and the ocean area are mixed in the continuous image, the stereoscopic data according to the embodiments 1, 2 and 3 is given priority, and the boundary area data between the ocean area and the land area is obtained according to the embodiments 1, 2 and 3. It is used to verify that there is no inconsistency between the stereoscopic data and the data of the altimeter 30. The earth shape database 9 stores the data of the altimeter 30 including the land area data, so that it is useful to refer to it when only the altitude information approximate value is desired.

Embodiment 6 FIG. FIG. 12 is a configuration diagram showing image data according to the sixth embodiment of the present invention, and shows a method of adding time information taking a line sensor type image pickup device as an example. In the figure, 22 is image data, 23 is an image header, 24 is line data, 25 is a line header, 2
Reference numeral 6 denotes data at the same imaging timing, and reference numeral 27 denotes each pixel data. In an imager using a line sensor, a plurality of pixels are arranged in one horizontal line orthogonal to the satellite traveling direction, and each pixel data in one horizontal line is acquired at the same imaging timing.
When the imaging is repeated at a specified time interval, the satellite position advances in accordance with the time progress, so that an image in the traveling direction can be acquired, and the data becomes two-dimensional image data. The configuration of the image data 22 includes an image header and each pixel data as in the conventional technology. In the present invention, a set of each pixel data 27 newly acquired at the same timing is used as the data 26 at the same imaging timing, and the line header 25 is added to form the line data 26. Further, in the image header, not only the image acquisition year / month / day but also the time when the imaging was started is described in detail. For example, in the case of an image pickup device that takes an image every 40 microseconds, the time is described in units of 1 microsecond. In addition, the last three digits of the time are recorded as each line header. Since the time is a variable that monotonically increases, the correct time is not lost even if the number of digits increases. 19 in the example of FIG.
This is an example in which imaging is started at 10: 20: 0.000901 seconds on July 30, 1999, and imaging is performed about every 40 microseconds. However, it is a problem if the amount of data becomes huge because time information is added. In this example, the image pickup start time is recorded in the image header, and only the three-digit number on the order of microseconds is recorded in the line header. Although the imaging time in the fourth column is 1024 microseconds, the time is not lost even if the first digit is omitted. However, the satellite position data and the line-of-sight angle data need not always be acquired at the same frequency as the image data is captured. Needless to say, additional information, information for identifying a data format, an error correction signal, and the like recorded by the conventional technique may be recorded in the image header or the line header.

Embodiment 7. FIG. 13 is a diagram showing an example of an anti-aircraft sign according to Embodiment 7 of the present invention. In the figure, 1a is a first imaging device, 1b is a second imaging device, 6 is an observation satellite, and 31a is a first anti-aircraft device. Signs, 31b is a second air sign, 31c is a third air sign, 31d is a fourth air sign, 31e is a fifth air sign, 32a is a first air sign group, and 32b is a second air sign. All the anti-aircraft signs 31 are a group, and the position coordinates measured by the navigation satellite are already recorded in the earth shape database. The anti-aircraft sign 31 is a circle or a straight line several times as large as the ground resolution of the imaging device 1,
The center position can be identified by observing the captured image with the geometric shape drawn by oblique lines. Further, the anti-aircraft sign group 32
Is a geometric shape in which a plurality of the anti-air traffic signs 31 are arranged,
In the example of FIG. 11, with the first anti-aircraft sign 31a as a reference, the second anti-aircraft sign 31b and the third anti-aircraft sign 31c are arranged in the satellite traveling direction and the orthogonal direction, and the second anti-aircraft sign 31b and the third anti-aircraft sign 31b are arranged. The distance of the anti-aircraft sign 31c is set to be slightly smaller than the range of the image acquired by the image pickup device 1. Similarly, a fourth antiaircraft sign 31d and a fifth antiaircraft sign 31e are arranged in the satellite traveling direction, and a second antiaircraft sign 31b and a third antiaircraft sign 31e are arranged.
The distance c is set to a distance slightly smaller than the range of the image acquired by the imaging device 1. Looking at the image captured so that the first anti-aircraft sign 31a appears in the center, the position coordinates of each anti-aircraft sign are known, so that the angle of the satellite's line of sight can be corrected. Further, FIG. 11 shows an example in which a plurality of image pickup devices pointing in different directions are fixed on the same observation satellite 6, but the first image pickup device 1a performs the first anti-aircraft sign group 32a at the same image pickup timing. The second image pickup device 1b is the second anti-aircraft sign group 32
By imaging each of b, it is possible to correct a visual field direction error of the image pickup device due to thermal deformation of the observation satellite 6 or the like.

Next, a method of correcting the angle in the line-of-sight direction will be described with reference to FIG. FIG. 14 is a schematic diagram in which the anti-aircraft sign 31 is imaged in the image data acquired by the image sensor of the line sensor system, and is an example when the image data has the configuration according to the sixth embodiment. In the figure, 22 is image data, 2
3 is an image header, 25 is a line header, 31a is a first antiaircraft sign, 31b is a second antiaircraft sign, and 31c is a third antiaircraft sign. When the calculation result obtained from the satellite position data and the angle data in the line-of-sight direction is T1 as the time when the observation satellite images the first anti-aircraft sign 31a, the corresponding time in the image data 22 is a combination of the image header 23 and the line header 25. Corresponding, and in the example of FIG. 14, the first anti-aircraft sign 31a should be reflected at the position of T1 = t13, but since the time of actual image capturing is t9, there is an error in the value recorded in the angle data, In fact, it can be seen that the angle was tilted in the satellite traveling direction rather than the value of the angle data. Further, since the inclination amount can be converted from the ground conversion distance of the image, the angle of the line of sight can be calibrated on the ground using the antiaircraft sign. Further, if the line sensor is set so as to be orthogonal to the satellite traveling direction, the first anti-aircraft sign 31a and the second anti-aircraft sign 31b
And the third anti-aircraft sign 31c should be imaged at the same timing, but in the example of FIG. 12, the imaged times are different. Since this shift amount can be converted to the inclination angle of the line sensor using the ground conversion distance of the image, the angle of the line of sight can be calibrated on the ground using the anti-aircraft sign.

Embodiment 8 FIG. FIG. 15 is a configuration diagram showing an eighth embodiment of the present invention, in which 1 is an image pickup device and 2 is
9 is an imaging radar, 2 is a clock, 3 is a navigation satellite signal receiver, 4 is an angle detector, 5 is a signal processing circuit, 6a is a first observation satellite equipped with the image pickup device 1, and 6b is the imaging radar 29. Second observation satellite equipped with, 7 is an image database, 33 is a matching processor, 8 is an earth shape analyzer equipped with the matching processor 33, 9 is an earth shape database, 10 is a ground station, 11 is a navigation satellite. , 12 is the earth. For example, if the image pickup device 1 is an optical image pickup device that detects visible light, an image pickup device different from the imaging radar 29 will obtain an image. The image data acquired by the image pickup device 1 and the image data acquired by the imaging radar 29 have different widths, resolutions, and shade states of the image data even if the same point on the ground surface is imaged.
In step 1, the size of the image data and the degree of shading are adjusted, and the correction processing is performed so that the mutual data can be matched.
Characteristic locations such as mountain peaks and coastlines in the ground surface image correspond to portions with a large difference in shade regardless of the type of image pickup device, so it is possible to extract elevation by stereoscopic view, and in the same way as in the first embodiment, the earth is extracted. The shape can be measured. Other operations are the same as in the first embodiment.

Embodiment 9 FIG. FIG. 16 is a configuration diagram showing a ninth embodiment of the present invention. In the figure, reference numeral 1a denotes a first image pickup device which points the earth's surface, and 1b denotes an angle formed by a line-of-sight direction of the image pickup device and a vertical direction. The second image pickup device 1c which is different from the image pickup device 1a of No. 1a, and the third image pickup device 2 of which the angle formed by the line-of-sight direction and the vertical direction is different from that of the first image pickup device 1a A clock, 3 is a navigation satellite signal receiver, 4 is an angle detector, 5 is a signal processing circuit, 6a is a first observation satellite equipped with the first image pickup device 1a and the second image pickup device 1b, and 6b is the above. A second observation satellite equipped with a third imager 1c, 7 an image database, 33 a matching processing unit,
8 is an earth shape analyzer equipped with the matching processing unit 33, 9
Is an earth shape database, 10 is a ground station, 11 is a navigation satellite, and 12 is the earth. A first image pickup device 1a, a second image pickup device 1b, and a third image pickup device 1 which imaged the same place on the earth.
Comparing the image data of c with each other, it is difficult to find a corresponding place in the image because the image data of the first image pickup device 1a and the image data of the third image pickup device 1c have a large difference in the visual field directions. If automatic matching processing is performed by the earth shape analyzer 8 without intervention, it is highly likely that a different place is mistaken as a matching point. On the other hand, the image data of the second image pickup device 1b is the first image data.
Since it is easy to find a location in the image where both the image data of the image pickup device 1a and the image data of the third image pickup device 1c correspond, the possibility of misidentification is low. Therefore, the matching processing section 33 inside the earth shape analyzer 8 searches for corresponding points between the image data of the first image pickup device 1a and the image data of the third image pickup device 1c with reference to the image data of the second image pickup device 1b. As a result, the image data of the first image pickup device 1a and the image data of the third image pickup device 1c are associated with each other. In the elevation extraction, the greater the difference between the viewing directions, the better the accuracy. Therefore, the first imaging device 1a
And the image data of the third image pickup device 1c are used to extract the altitude and analyze the earth surface position coordinates. When the angle at which the plane of sight of the first image capturing device 1a and the center of sight of the second image capturing device 1b exist with the center of sight of the third image capturing device 1c is large, the first image capturing is performed. Positional coordinates obtained by stereoscopically viewing the image data of the image capturing device 1a and the image data of the second image capturing device 1b, and image data of the second image capturing device 1b and the image data of the third image capturing device 1c are stereoscopically viewed. The obtained position coordinates, the image data of the first image pickup device 1a, and the third image pickup device 1c.
The position coordinates obtained by stereoscopically viewing the image data of are analyzed. Since the obtained three position coordinate data are data obtained by stereoscopic viewing from different directions, even if there is unique data that contains a large error, cross-check with each other to identify and remove the unique data. It becomes possible to do. Further, even if there is a terrain that is behind a high mountain when viewed from a specific direction, the data can be interpolated by the stereoscopic data from another direction, so that the reliability of the data is increased. Other operations are the same as in the first embodiment.

[0084]

According to the first embodiment of the present invention, it is possible to measure the entire surface of the earth as three-dimensional information by using the image data of the surface of the earth seen from space without installing a measuring instrument on the ground. There is an effect that can be converted. In addition, there is an effect that data in an area that does not reach human activities can be measured. In addition, if a set of facilities is constructed, there is no need for other ground facilities, so that there is an effect that a large amount of data can be acquired at low cost.

Further, the position and angle of two points on the orbit of the observation satellite are measured, and the stereoscopic surveying is performed from the known two points. There is an effect that it can be measured. In addition, since there is no need to have a known relative distance on the ground, there is an effect that it is possible to measure the positions of continents and island countries across the ocean.

Since it is a geometrical measurement method that does not include the gravity effect, there is an effect that the measurement can be performed without being influenced by the bias of gravity. Further, there is an effect that it is possible to realize an observation satellite that flies in an orbit capable of imaging the entire surface of the earth with an on-board image pickup device and to perform high-resolution measurement corresponding to small-scale undulations.

Further, since the time is managed by using the atomic clocks having high frequency stability and mutually adjusted, there is an effect that it is possible to measure with a common time reference regardless of time and place. In addition, since the rotation of the earth is not used as a time reference, there is an effect that the absolute time accuracy is high and high-accuracy measurement with few errors due to the time accuracy can be performed.

Since the earth surface position coordinates can be measured by a single coordinate system operating a navigation satellite, there is an effect that maps of each country can be created on the unified coordinate system. In addition, there is an effect that a map of each country can be positioned with an accuracy of about several tens of meters.

Further, since the accuracy of measurement of time, position and angle is improved by adopting an atomic clock, using a navigation satellite, and using a star sensor and a gyro together, there is an effect that measurement can be performed with sufficiently high accuracy on a global scale. is there.

The image is used as a stereoscopic survey measured from two known points, and processing is performed by focusing on only the characteristics of the luminance distribution.
Moreover, since the data is recorded in the database, there is an effect that if the position data, the angle data, and the image data are complete, they can be used for the altitude extraction processing regardless of the type of the satellite, the image pickup device, and the image pickup device. In addition, since multiple satellites and imagers can be used, there is an effect that a huge amount of observation data of the entire earth can be acquired. In addition, since the same place on the earth can be measured multiple times, there is an effect that the data can be statistically processed and the global aging phenomenon can be captured.

Since the image data, satellite position data, and angle data are recorded in the image database, there is an effect that the data can be updated as the measurement technology and analysis technology progress. Even if a huge amount of data is not acquired each time, there is an effect that the data accumulated in the past can be reused and updated.

Since the time history of the image pickup timing is attached to the image data and the satellite position and line-of-sight direction information at the image pickup time can be verified, there is an effect that the attitude variation can be corrected.

Further, since a plurality of coordinate data can be recorded for a single place on the earth in the earth shape database, statistical processing by data accumulation becomes possible, the credibility of the data is increased, and the global secular change phenomenon occurs. The effect is that it can be captured.

According to the second embodiment of the present invention, there is an effect that the amount of data that can be acquired within a limited satellite lifetime increases. Most of the satellite position data, line-of-sight angle data and incidental information recorded in the image database are
Since it can be shared by the second image pickup device and the second image pickup device, there is an effect that the amount of data can be reduced. In addition, an angle error, a satellite position error, and the like, which are error factors when the altitude is extracted, become equal to each other and cancel each other, so that the analysis accuracy is improved. Further, it goes without saying that the same effect as that of the first embodiment can be obtained.

According to the third embodiment of the present invention, it is possible to select the ground observation target, and therefore it is easy to acquire the data of the place where it is difficult to acquire the image data because it is easily covered with the cloud within the limited satellite lifetime. There is an effect. Further, there is an effect that in a place where an altitude difference is large and an altitude extraction error is large in an adjacent area, a large amount of data is selectively obtained to improve the altitude extraction accuracy. In addition, by obtaining images taken from a plurality of directions, which are three or more directions, in a place having a complicated topographical feature, it becomes easier to find corresponding points in each image, and therefore, there is an effect that an elevation extraction error due to an image alignment error can be reduced. . Further, even if there is a terrain that is shaded by a high mountain when viewed from a specific direction, the data can be interpolated by the stereoscopic data from another direction, so that there is an effect that the credibility of the data increases. Further, it goes without saying that the same effect as that of the first embodiment can be obtained.

According to the fourth embodiment of the present invention, since the imaging radar using microwaves can transmit image data through a cloud unlike an optical imager in which an image is shielded by a cloud, it is possible to acquire an image in the tropical region or the equator. The effect is that the data can be reliably acquired. Moreover, in the high latitude region and polar regions where the reflected light of the sun is small with an optical imager, the image is too dark to be used for analysis, whereas the imaging radar using microwaves can acquire the image of the region without sunlight irradiation. Therefore, there is an effect that it is possible to effectively obtain topographical data in the polar regions that characteristically show the elliptical shape of the earth.

According to the fifth embodiment of the present invention, there is an effect that it is possible to observe the shape of a flat area having no characteristic over a wide range such as the sea or the desert. In addition, since the average elevation over a wide area can be grasped in the land area, it is effective in grasping the rough shape of the earth. In the case of flat terrain such as the ocean, it is sufficient to measure the average altitude by widening the beam irradiated by the altimeter, so that there is an effect that the conventional altimeter can be used by limiting the measurement target.

According to the sixth embodiment of the present invention, the time at which the image is picked up can be accurately grasped, so that there is an effect that the measurement can be performed with high positional accuracy. Further, since the time history of all the imaging timings is attached to the image data, there is an effect that the sway and attitude variation of the satellite can be corrected by using the satellite position and the line-of-sight direction information at each imaging time. Further, since the time is managed using the atomic clocks having high frequency stability and mutually adjusted, there is an effect that the measurement can be performed based on a common time reference regardless of time and place.

According to the seventh embodiment of the present invention, the position and angle can be calibrated on the ground as points whose position coordinates are known in the image, so that there is an effect that it is possible to perform measurement with sufficiently high accuracy on a global scale. Further, since the time history of the imaging timing is attached to the image data, and the satellite position and the line-of-sight direction information at the imaging time can be calibrated, there is an effect that the pointing error of the imaging device and the satellite attitude fluctuation can be corrected. In addition, as the number of ground-based calibration points in the Earth shape database increases with the increase in the number of anti-aircraft signs, it is possible to reuse the image data that was previously stored in the image database and the Earth shape database and update the data with higher accuracy than before. There is.

According to the eighth embodiment of the present invention, since the altitude extraction processing can be performed by combining the image data of any image pickup device, the versatility of the image data is enhanced, and a huge amount of observation data of the entire earth is acquired. This has the effect of making it easier. Further, since image data obtained by an observation satellite that was originally prepared for purposes other than earth shape measurement can be used for the purpose of earth shape measurement, the versatility of the entire measuring device can be increased.

According to the ninth embodiment of the present invention, since most of the processing can be automated, the earth shape measuring apparatus capable of processing a huge amount of data is provided. Since the error in the matching process of the stereoscopic pair image is reduced, there is an effect that the accuracy of the earth surface position coordinate is improved. The present invention has an effect that the matching process, which requires the most human intervention in the entire earth shape measuring apparatus according to the present invention, can be automated. In addition, the fact that it can be automated has the effect of facilitating the processing of vast amounts of observation data over the entire globe. In addition, the line-of-sight center axis of the first imaging device 1a and the second
When the angle at which the plane where the line-of-sight center axis of the image pickup device 1b exists and the line-of-sight center axis of the third image pickup device 1c intersect is large, position coordinate data can be generated by a plurality of combinations, so it is peculiar to cross-check each other. It is possible to identify and remove various data. Further, even if there is a terrain that is shaded by a high mountain when viewed from a specific direction, the data can be interpolated by the stereoscopic data from another direction, so that there is an effect that the credibility of the data increases.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing Embodiment 1 of an earth shape measuring apparatus according to the present invention.

FIG. 2 is a schematic diagram of a satellite orbit according to Embodiment 1 of the present invention.

FIG. 3 is a diagram illustrating a principle of altitude extraction based on parallax of stereoscopic vision of the earth shape measuring apparatus according to the present invention.

FIG. 4 is a diagram showing a data processing flow of the earth shape measuring apparatus according to the present invention.

FIG. 5 is a diagram showing a structural example of an image database of the earth shape measuring apparatus according to the present invention.

FIG. 6 is a diagram showing a structural example of an earth shape database of the earth shape measuring apparatus according to the present invention.

FIG. 7 is a diagram showing an example of a method for improving position accuracy by utilizing a plurality of navigation satellite data of the earth shape measuring apparatus according to the present invention.

FIG. 8 is a configuration diagram showing a second embodiment of the earth shape measuring apparatus according to the present invention.

FIG. 9 is a configuration diagram showing a third embodiment of the earth shape measuring apparatus according to the present invention.

FIG. 10 is a configuration diagram showing a fourth embodiment of the earth shape measuring apparatus according to the present invention.

FIG. 11 is a configuration diagram showing a fifth embodiment of the earth shape measuring apparatus according to the present invention.

FIG. 12 is a configuration diagram showing image data according to a sixth embodiment of the earth shape measuring apparatus of the present invention.

FIG. 13 is a diagram showing an example of an anti-aircraft sign according to a seventh embodiment of the earth shape measuring apparatus according to the present invention.

FIG. 14 is a schematic diagram in which the anti-aircraft sign 31 is imaged in the image data of the earth shape measuring apparatus according to the present invention.

FIG. 15 is a configuration diagram showing an eighth embodiment of the earth shape measuring apparatus according to the present invention.

FIG. 16 is a configuration diagram showing a ninth embodiment of the earth shape measuring apparatus according to the present invention.

FIG. 17 is a diagram for explaining a conventional earth shape measuring method.

FIG. 18 is a diagram showing a satellite triangulation device which is another example of the conventional earth shape measuring device.

FIG. 19 is a principle diagram of satellite triangulation which is another example of the conventional earth shape measuring apparatus.

FIG. 20 is a diagram showing an aerial triangulation device which is another example of the conventional earth shape measuring device.

FIG. 21 is a diagram showing another example of a conventional earth shape measuring apparatus.

FIG. 22 is a diagram showing a structural example of image data by a conventional image pickup device.

[Explanation of symbols]

1 imager, 2 clock, 3 navigation satellite signal receiver, 4
Angle detector, 5 signal processing circuit, 6 observation satellite, 7 image database, 8 earth shape analyzer, 9 earth shape database, 10 ground station, 11 navigation satellite, 12 earth, 13 spheroid, 14 line of sight of imager, 15 orbits of observation satellites, 16 orbits of navigation satellites, 17 positions of observation satellites, 18 intersection C of line of sight, 19 observation point D on the ground surface, parallel line with line of sight of imager passing through 20D, 21 within image of imager D position, 22 image data, 23 image header, 24 line data, 25 line header, 26
Data of the same imaging timing, 27 pixel data,
28 view direction changer, 29 imaging radar, 3
0 altimeter, 31 anti-aircraft sign, 32 anti-aircraft sign group, 33
Matching processing unit, 34 Geodetic satellites, 35 Reference points, 36
Camera, 37 geodesic points, 38 geodesic orbits, 39 straight line with known distance, 40 straight line with unknown distance, 41 geodetic satellite position s1 at time t1, 42 geodetic satellite position s2 at time t2, 43 aircraft, 44 Field of view of camera, 45 temporary storage area, 46 storage area, 4
7 initial registration information block, 48 post-sorting data block, 49 post-correction data block, 50 image data block, 51 position data block, 52 angle data block, 53 header, 54 satellite position data,
55 angle data, 56 identification display, 57 imaging time,
58 Global Address, 59 Correction Information, 60 Data, 6
1 incidental information, 62 earth shape data, 63 earth surface position coordinates, 64 anti-aircraft sign position coordinates, 65 earth surface position coordinate block, 66 position coordinate index, 67
Specific location information, 68 Global street address, 69 Number of data, 7
0 coordinate data ID, 71 anti-aircraft sign ID, 72 remark ID, 73 data, 74 generation date / time information, 75 position coordinate, 76 employment information, 77 employment image ID, 78 image acquisition date / time, 79 correction processing content, 80 correction parameter, 81 Signs, 82 Measurement date / time information, 83 Remarks block, 84 Remarks content, 85 Earth shape data block, 86 compliant ellipsoid related data, 87 Equal latitude sliced data, 88 Elongated longitude sliced data, 89 Secular variation data, 90 Remarks, 91 Arctic Point A in the vicinity, 92 Point B near the equator, 93 Distance between two points L, 94 Angle θ between the earth center and two points.

Claims (9)

[Claims] 1. An image pickup device that points the surface of the earth, a timepiece that generates a timing signal by measuring the time when the image pickup device carries out an image pickup, an image signal obtained by the image pickup device, and a timing signal generation time when the clock is generated. A signal processing circuit that processes data in a form capable of transmitting data to the ground by associating with, and measures the angle of the line-of-sight direction of the image pickup device according to the timing signal generated by the timepiece, and transmits the data to the signal processing circuit together with time information. An angle detector, a navigation satellite signal receiver for receiving a signal indicating the position coordinates of the image pickup device in response to a timing signal generated by the clock, and transmitting the data to the signal processing circuit together with time information, and An observation satellite that flies in an orbit that can image the surface of the earth with the imager, image data acquired by the imager, and position data acquired by the navigation satellite signal receiver. And an image database that records the angle data acquired by the angle detector together with the time information when the clock generated a timing signal, an earth shape analyzer that analyzes the position and elevation of the ground surface from the information in the image database, the earth shape An earth shape database that records and saves the three-dimensional position coordinates of the earth surface and the earth shape as output data of the analyzer, and a plurality of known orbital positions that generate radio waves to measure distance using radio wave propagation time In an earth shape measuring device composed of a navigation satellite, an image of the same place on the earth acquired by different satellites, which has a plurality of observation satellites whose angles formed by the line-of-sight direction and the vertical direction of the imager are different from each other. The corresponding positions in the set are aligned and matched, and the altitude of the earth's surface is calculated using the satellite position coordinates, the line-of-sight direction, and the parallax. Earth shape measuring apparatus characterized by having a global shape analyzer that generates the earth surface three-dimensional position coordinates. 2. An image pickup device directed to the surface of the earth, a timepiece that generates a timing signal by measuring the time when the image pickup device performs image pickup, an image signal obtained by the image pickup device, and a timing signal generation time when the clock is generated. A signal processing circuit that processes data in a form that enables data transmission to the ground in correspondence with the above, measures the angle of the line-of-sight direction of the imaging device according to the timing signal generated by the timepiece, and transmits the data together with time information to the signal processing circuit. An angle detector, a navigation satellite signal receiver for receiving a signal indicating a position coordinate where the image pickup device exists according to a timing signal generated by the clock, and transmitting the data together with time information to the signal processing circuit, and An observation satellite that flies in an orbit that can image the surface of the earth with the imager, image data acquired by the imager, and position data acquired by the navigation satellite signal receiver. And an image database that records the angle data acquired by the angle detector together with the time information when the clock generated a timing signal, an earth shape analyzer that analyzes the position and elevation of the ground surface from the information in the image database, the earth shape An earth shape database that records and saves the three-dimensional position coordinates of the earth surface and the earth shape as output data of the analyzer, and a plurality of known orbital positions that generate radio waves for measuring distance using radio wave propagation time In an earth shape measuring device composed of a navigation satellite, a plurality of image capturing devices having different angles formed by a line-of-sight direction and a vertical direction are provided in one observation satellite as the image capturing device, and acquired by different image capturing devices. Using the satellite position coordinates and the line-of-sight and parallax to align and match the corresponding places in the set of images of the same place on the earth Calculating the altitude of the sphere surface, the earth shape measuring apparatus characterized by having a global shape analyzer that generates the earth surface three-dimensional position coordinates. 3. An image pickup device directed to the surface of the earth, a timepiece that generates a timing signal by measuring the time when the image pickup device performs an image pickup, an image signal obtained by the image pickup device, and a timing signal generation time when the clock is generated. A signal processing circuit that processes data in a form that enables data transmission to the ground in correspondence with the above, measures the angle of the line-of-sight direction of the imaging device according to the timing signal generated by the timepiece, and transmits the data together with time information to the signal processing circuit. An angle detector, a navigation satellite signal receiver for receiving a signal indicating a position coordinate where the image pickup device exists according to a timing signal generated by the clock, and transmitting the data together with time information to the signal processing circuit, and An observation satellite that flies in an orbit that allows the Earth's surface to be imaged all over the imager, the image data acquired by the imager, and the position acquired by the navigation satellite signal receiver. Image database that records the position data and the angle data acquired by the angle detector together with the time information when the clock generated the timing signal, the earth shape analyzer that analyzes the position and elevation of the ground surface from the information in the image database, As the output data of the earth shape analyzer, the earth shape database that records and saves the three-dimensional position coordinates of the earth surface and the earth shape, and the orbital position where the radio wave is generated to measure the distance using the radio wave propagation time are known. An earth shape measuring apparatus composed of a plurality of navigation satellites, which is equipped with a line-of-sight direction changing device of the image pickup device, and which is obtained at positions where the angles formed by the line-of-sight direction and the vertical direction of the image pickup device are different from each other. The corresponding locations in the set of images at the same location of are aligned and matched, and the satellite position coordinates, the line-of-sight direction, and the parallax are used to display the earth surface. Altitude calculating the global shape measuring apparatus characterized by having a global shape analyzer that generates the earth surface three-dimensional position coordinates. 4. The earth shape measuring apparatus according to claim 1, wherein an imaging radar is used as the image pickup device. 5. An altimeter for measuring the altitude to the surface of the earth by using the propagation time until the signal is emitted toward the surface of the earth and the reflected signal arrives.
The earth shape measuring apparatus according to any one of 2 and 3. 6. The earth shape measuring apparatus according to claim 1, wherein the signal processing unit adds the times of all the imaging timings to the image data and records it in the image database. 7. An anti-aircraft sign whose position coordinates on the surface of the earth have been set at locations already measured by navigation satellites, and an earth shape database which records the position coordinates of the locations where the anti-aircraft signs are set. The earth shape measuring device according to any one of 1, 2, and 3. 8. The earth shape analyzer comprises a matching processing section,
The earth shape measuring device according to any one of claims 1, 2, 3 and 4, wherein the matching processing unit analyzes images acquired at different types of image capturing apparatuses having different line-of-sight directions at the same location. . 9. The earth shape analyzer comprises a matching processing section,
The earth shape measuring apparatus according to any one of claims 1, 2, 3 and 4, wherein the matching processing unit simultaneously analyzes three or more images having different visual line directions in images at the same location.