JPH10147300A - Detecting method for space suspended matter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect exact locations and speed of fragments suspending in space by feeding a plurality f artificial satellites provided with receives and detecting phase differences of scattered waves generated by a command from a control station and irradiation of fragments. SOLUTION: An artificial satellite 2 is placed in an orbit which is suitable for observing fragments 1 and scattered waves 6 according to effective cross section of fragments 1 due to search radio waves 5 transmitted from a transmission equipment 3 are received by the artificial satellite 2. The transmitting direction of search radio waves 5 transmitted from the transmission equipment 3 can be set with high accuracy. At the same time of transmitting search radios waves 5, a command 7 is transmitted from a control station 4 to the artificial satellite 2, continuous waves which are demodulated into pseudo random noise codes to be distance measurement information are used for search radio waves 5 and the command 7, and distance difference data corresponding to attaining time difference to the artificial satellite 2 of the command 7 and scattered waves 6 which is determined from phase differences of the pseudo random noise codes can be made to be detected. As a result, the location detentions of fragments can be easily detected also in an orbit altitude in which radio waves are invalidly expanded.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a floating object in space.

[0002]

2. Description of the Related Art Radar has conventionally been used to detect suspended matters such as debris floating in outer space (hereinafter referred to as debris). The debris does not carry transponders like those found on satellites, so primary radar must be used. FIG. 7 shows the configuration of a primary radar. In the figure, 1 is a fragment, 70 is a ground radar facility, 71 is a transmitted wave, and 72 is a reflected wave.

The terrestrial radar equipment 70 irradiates a target fragment 1 with a radio wave 71 in which an antenna beam having a high gain is focused. The radio wave 71 generates a reflected wave 72 proportional to the effective area of the fragment 1, and the reflected wave 72 is received by the ground radar equipment 70 again.

[0004]

(Equation 1)

[0005]

The above-mentioned "Equation 1" is applied to the characteristics of the primary radar. The area where fragment 1 exists is altitude 20
Since the radar is located at a higher altitude than around 0 km, the received power of the radar attenuates in proportion to the fourth power of the distance R between the radar targets,
It becomes weak. To cope with this, it is necessary to increase the transmission power and increase the gain of the antenna, but various problems occur because the hardware is increased in size to achieve this. For example, an increase in transmission power leads to an increase in the size of the transmission device. However, in the method of repeatedly transmitting pulses, the power efficiency is poor because the radio wave beam is ineffectively spread before reaching the fragment 1. Therefore, in the conventional method, only the presence of the fragments 1 separated by 200 km or more is detected by the radar, but the actual image and the substance of the fragments 1 cannot be confirmed, and the fragments 1 cannot be ground.

The present invention has been made to solve such a problem, and the position of a fragment 1 floating in outer space is easily detected by interposing an artificial satellite, and the artificial navigation is performed by the navigation guidance function of the artificial satellite. After the satellite is brought close to the fragment 1, the radar based on the conventional terrestrial radar equipment 70 is mounted on the satellite, and the position and velocity of the fragment 1 are detected accurately while the satellite is brought closer to the fragment 1.

Further, by approaching to a close distance, a real image of the fragment and an image for analyzing a material and a substance are obtained.

It is another object of the present invention to provide a method for crushing fragments by judging the risk of fragments and the possibility of crushing from the acquired image data.

[0009]

According to the method of detecting a suspended object in space according to the present invention, a plurality of artificial satellites are introduced by changing the position to an orbit at an altitude of 200 km to 250 km, which is considered to have many debris 1, and Equipped with a receiving device, equipped with a transmission facility and a control station on the ground, and configured a transmission and reception system that combines them to separate transmission and reception, so that continuous waves can be easily used for search radio waves and transmitted from the control station The phase difference between the command (direct wave) and the scattered wave generated by irradiating the fragment 1 from the transmitting equipment can be detected, and since the satellite is positioned at almost the same altitude, the attitude control and navigation of the satellite By the guidance function, it approaches the fragment 1 and furthermore, the radar
Tracking and acquiring more accurate position and velocity data, approaching spaceborne objects to a close distance, detecting more accurate position and velocity, and acquiring images of spaceborne objects with a VTR camera mounted on a satellite By controlling the relative distance and attitude suitable for the aircraft, acquiring an image of the fragment 1 from the VTR camera from a close distance, and transmitting it to the ground, the actual state of the fragment 1 can be confirmed on the ground. is there.

Further, the present invention provides an artificial satellite with an optical sensor, receives the acquired image at a ground control station, and performs various algorithm processing on the image data on the ground to obtain materials and substances constituting fragments. It becomes possible to analyze.

According to the present invention, by providing a satellite with a laser device for crushing the fragments, the position, velocity data, time data and V data of the fragments obtained by the satellite are obtained.
By receiving the image data of the TR camera at the ground control station, determining the danger of debris and the necessity of crushing by viewing the VTR image of the shards on the ground, and transmitting a command to execute crushing from the ground Debris can be crushed.

Further, the present invention provides a command transmitted from a control station to an artificial satellite, a receiving antenna and a receiver for respectively receiving a scattered wave generated by irradiating a search radio wave from a transmission facility, and a pseudo-command and a scattered wave. By having a local PN code generator for detecting the phase difference of the random noise code, a comparison circuit, an integration and tracking circuit, and a code difference detection circuit, a command necessary for calculating fragment position data in an artificial satellite is provided. Distance difference data corresponding to the phase difference of the scattered waves can be obtained.

According to the present invention, a transmission facility and a satellite are calculated based on distance data between a detected command and a scattered wave, and position data of a transmission facility, a control station, and a satellite calculated by on-board software. The distance data obtained by adding the distance difference data to the distance from the control station to the artificial satellite with the position of the focal point as the focal point respectively is set as the transmission equipment-the curved surface of the three-dimensional ellipse-the three-dimensional elliptic equation as the distance of the artificial satellite is transmitted by a command By solving the three-dimensional elliptic equation based on the irradiation angle of the search radio wave, it becomes possible to calculate the position data of the fragment.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 shows the basic configuration of the present invention. In the figure, 1 is a fragment, 2 is an artificial satellite of a plurality of artificial satellites whose positions have been changed in orbit near the fragment, 3 is a transmission facility, 4 is a control station, 5 is transmitted from a transmission facility 3 6 scattered waves from the fragment 1, 7 is a command from the control station 4 to the satellite 2, 8 is telemetry from the satellite 2 to the control station 4, 9 is a radar for tracking the fragment, 10. Is a VTR camera, 11 is an optical sensor, 12 is a laser device for crushing fragments, 13 is a VTR display device, and 14 is an image processing device.

The artificial satellite 2 is put into an orbit suitable for observing the fragment 1. The search facility 5 transmits a search radio wave 5 for the fragment 1. When the search radio wave 5 is applied to the fragment 1, a scattered wave 6 corresponding to the effective area of the fragment 1 is generated. This scattered wave 6 is received by the artificial satellite 2. The transmission direction of the search radio wave 5 transmitted from the transmission equipment 3 can be set with high accuracy. At the same time as transmitting the search radio wave 5 from the transmission equipment 3, the command 7 is transmitted from the control station 4 to the artificial satellite 2, and the search radio wave 5 and the command 7 are transmitted.
Since a continuous wave modulated into a pseudo-random noise code serving as distance measurement information is used, distance difference data corresponding to the difference between the arrival time of the command 7 and the scattered wave 6 reaching the artificial satellite 2 obtained from the phase difference of the pseudo-random noise code. Can be detected.

The orbit of the artificial satellite 2 is the Global Positioning System mounted on the artificial satellite 2
Receiver (hereinafter referred to as GPSR) data,
The artificial satellite 2 based on the correction by the orbit determination value in the control station 4
The on-board software calculates the position of the fragment 1 if the time is known. The position of the fragment 1 is determined several times in the visible time zone of the satellite, and the velocity data of the fragment 1 is calculated from the data.

On the basis of the detected position and velocity data of the fragment 1 and the position and velocity data of the artificial satellite 2, the artificial satellite 2 sufficiently approaches the fragment 1 by the navigation guidance function, and then the fragment mounted on the artificial satellite 2. Use the tracking radar 9 to track, approach the fragment 1 to a close distance, and obtain a more accurate fragment 1.
VTR mounted on artificial satellites by detecting the position and speed of
The camera 10 controls the relative distance and attitude suitable for acquiring an image of a suspended object, acquires a real image of the fragment 1 at a visible wavelength from the close range from the VTR camera 10, and acquires acquired image data and image data. The scale ratio data, the time at which the image was acquired, the position / velocity data of the fragment 1 at that time, and the relative position data with respect to the artificial satellite 2 are received by the control station 4 on the ground, and the VTR display device 13 in the control station displays a space floating object. Display the actual image of the spacecraft on the ground, determine the danger of the debris colliding with other navigating spacecraft based on the shape and size of the debris, By judging from the actual image whether or not there is a danger of explosion due to the propellant, it is possible to judge the necessity of fragmentation.

An artificial satellite 2 is equipped with an optical sensor 11 for observing several wavelength bands, an image of the fragment 1 is acquired from a short distance, and the acquired image data is received by the control station 4 on the ground. By analyzing the emissivity and the transmittance by the image processing equipment 14 loaded with the algorithm processing software of the above, the substance and the material constituting the fragment 1 can be analyzed. For example, when a radio wave of 50 to 75 GHz is applied to a fragment, the reflection loss of metal is 0 dB, the reflection loss of polypropylene is -9 dB or less, there is no transmission loss of metal, and the transmission loss of polypropylene is 0.2 to 1. .6d
B. These values can be compared with the acquired data obtained by the image processing equipment 14. Thereby, the material of the fragment 1 can be measured, the actual situation of whether or not the fragment is a debris of the spacecraft can be known, and the danger of the fragment 1 and the necessity of crushing can be determined in more detail.

Further, the artificial satellite 2 is provided with a laser device 12 for crushing the fragments, and the VTR image of the fragments 1 is viewed on the VTR display device 13 on the ground to judge the danger of the fragments 1 and the possibility of crushing. A command to execute crushing from the satellite is transmitted, and the relative position and attitude control function of the artificial satellite 2 is used to aim the shards 1 from a suitable distance with the laser device 12 for crushing the shards and irradiate the shards 1 to crush the shards 1 And

A pseudo random noise code (hereinafter, referred to as a PN code) is used as the distance measurement information of the command 7, and a continuous wave modulated into a PN code is similarly used for the search radio wave 5. FIG. 2 shows the relationship between the PN code of the command serving as the ranging information received by the artificial satellite 2 and the PN code of the scattered wave 6. Reference numeral 15 denotes a PN code of a command serving as distance measurement information, 16 denotes a PN code of the scattered wave 11 serving as distance measurement information, and 17 and 18 denote PN codes 15, 1;
6 shows one block. 19 is a propagation delay time between the command and the scattered wave 6.

The PN code 1 blocks 17 and 18 are i, j,
This is a pseudo-random code such as k, and is actually realized by a series of combinations of 0 and 1 shown in the figure. The lengths of 0 and 1 are values determined by selecting the type of the PN code 17, and the character lengths of i, j, k..., A are the same, and one block is formed by connecting these characters. ing. The artificial satellite 2 has a correlator, and the command PN
The phase of the code 15 and the PN code 16 of the scattered wave can be read. By comparing these two phase differences, Command 1
5 and the propagation delay time 19 of the scattered wave 16 can be detected.

The positions of the satellite 2 and the transmitting equipment 3 are known, and the PN code 15 of the command and the PN
Since the propagation delay time 19 of the code 16 is known, FIG.
This relation can be expressed as a simple geometric model as follows. In the figure, 20 is the x-axis, 21 is the y-axis, 22 and 23 are the focal points A and B of the ellipse, 24 is the ellipse, 25 is the line segment connecting the point on the ellipse and the two focal points A22 and B23, and 26 is the ellipse. One point, 27, is the direction of the fragment viewed from point A, and 28 is the position of the fragment.

Assuming that the position of the artificial satellite 2 is point B 23 and the position of the transmitting equipment 3 is point A 22, the x-axis 20 can be defined as a line segment passing through both. In the software installed on the artificial satellite 2, the position of the artificial satellite 2 is calculated based on the position / velocity data of the GPSR and the correction data based on the orbit determination in the control station 4, and the position of the transmitting equipment 3 is also fixed to the earth of the transmitting equipment 3. Calculate based on the position data of the coordinate system and search
The distance between A and B at the time when is transmitted is obtained. The distance between the transmission facility 3 and the path connecting the fragment 1 and the artificial satellite 2 is determined by the distance of the artificial satellite 2 from the control station 4 at the time when the search radio wave 5 is transmitted, and the command 7 including the distance measurement information reaches the artificial satellite 2. It can be obtained from the sum of the distance corresponding to the propagation delay time 19, which is the difference between the time and the time when the scattered wave 6 reaches the artificial satellite 2 via the search radio wave 5. The following composition can be created from these two distances. In other words, the focal point A22 and the focal point B23, which are apart from the artificial satellite 2 and the transmission facility 3, are the focal points, and one point P'26 of the ellipse is the sum of the distance corresponding to the propagation delay time 19 and the distance of the artificial satellite 2 from the control station 4. An ellipse 24 can be drawn such that If considered in two dimensions, the fragment 1 will be on this ellipse 24. Since it is actually three-dimensional, it can be seen that the fragment 1 exists on the surface of the spheroid formed when the ellipse 24 is rotated around the x-axis 20.

On the other hand, the focal point A22 is assumed to be the transmitting facility 3, and obtains two pieces of angle information of the irradiation setting azimuth and the elevation angle of the search radio wave 5 from the transmitting facility 3 to the fragment 1. Therefore focus A2
By drawing a straight line in the irradiation direction 27 from 2 and determining the intersection with the spheroid described above, the position 28 of the fragment can be known.

FIG. 4 shows a circuit configuration for detecting a distance difference in the artificial satellite 2. 29 is a scattered wave receiving antenna for scattered wave 6, 30 is a command receiving antenna for command 7, 31,
32 is a receiver, 33 and 34 are comparison circuits, 35 and 36 are local PN code generators, 37 and 38 are integration and tracking circuits,
9 is a sign difference detection circuit.

The scattered wave receiving antenna 29 receives the scattered wave 6 and obtains a video output from the carrier received by the receiver 31. This output is output from a local PN code generator 3 composed of the same PN codes as the transmission equipment 3 and the control station 4 have.
5, and the strength of the correlation is detected by the comparison circuit 33. The acquisition of the code and the tracking of the code are performed by the integration and tracking circuit 37. Similarly, the command receiving antenna 30 receives the command 7 and the receiver 32,
The comparison circuit 34, the integration and tracking circuit 38, and the local PN code generator 36 perform the same processing as that of the scattered wave 6 described above.
For both codes, the local PN code generators 35 and 36, after achieving the acquisition, always show the same phase as the received code. Therefore, by inputting the PN codes to the code difference detection circuit 39, the command 7 The phase difference between the waves 6, that is, the distance difference can be detected.

FIG. 5 summarizes the position detection algorithm of the fragment 1. 40 is the detection time, 41 is the distance difference data between the scattered wave and the command, 42 is the position data of the control station, 4
3 is the position data of the transmission facility, 44 is the position data of the satellite by GPSR, 45 is the irradiation angle of the search radio wave, 46 is the distance data between the control station and the satellite, 47 is the distance data between the transmission facility and the satellite, 48 is The search radio wave 5 hits the fragment 1 and becomes the scattered wave 6 and reaches the artificial satellite 2 as the distance data of the scattering path, 49 denotes the three-dimensional elliptic equation, 50 denotes the position data of the fragment, and 51 denotes the speed data of the fragment.

In order to detect the position data 50 of the fragment 1, the distance data 47 between the transmitting equipment 3 and the artificial satellite 2, the distance data 46 between the control station 4 and the artificial satellite 2, and the search radiated from the transmitting equipment 3 The distance data 48 of the scattering path, which is the distance that the radio wave 5 reaches the artificial satellite 2 as the scattered wave 6 in the fragment 1, the irradiation angle 45 of the search radio wave 5 in the transmission facility 3
is necessary. Of the four data, the former three are calculated by the onboard software of the artificial satellite 2 as data at a specific detection time 40, and the irradiation angle 45 of the search radio wave 5 is calculated.
Is obtained as a command 7 from the control station 4. The position of the artificial satellite 2 is obtained by orbit propagation calculation based on the position data 44 of the artificial satellite by GPSR and the detection time 40, and is obtained at the detection time 40 from the position data 42 of the control station and the position data 43 of the transmission facility in the earth fixed coordinate system. The position data in the inertial coordinate system is calculated, and the distance data 46 between the control station 4 and the artificial satellite 2 and the distance data 47 of the artificial satellite 2 from the transmission equipment 3 are obtained. The distance data 48 of the scattering path is obtained from the sum of the distance difference data 41 of the scattered wave 6 and the command 7 and the distance data 46 of the control station 4 and the artificial satellite 2. A three-dimensional elliptic equation 49 is obtained from the distance data 47 between the transmitting equipment 3 and the artificial satellite 2 and the distance data 48 of the scattering path that reaches the artificial satellite 2 as the scattered wave 6 hits the fragment 1 by the search radio wave 5. It is possible to obtain the position data 50 of the fragment 1 which is the intersection of the 49 and the straight line determined by the irradiation angle 45 of the search radio wave 5. The velocity data 51 of the fragment 1 is obtained from the position data 50 of the fragment 1 having different detection times obtained as described above.
Can also be obtained.

FIG. 6 shows an artificial satellite 2, a transmission facility 3, and a control station 4.
After detecting the position of the fragment 1 by the transmission / reception system of the above, after approaching the fragment 1 by the autonomous navigation guidance function of the artificial satellite 2, the radar 9 for tracking the fragment of the artificial satellite 2 is turned on to perform navigation guidance and attitude control. , VTR camera 10 of artificial satellite 2
And an image of the fragment 1 is acquired by the optical sensor 11, and when a ground fragmentation command is transmitted, navigation guidance and attitude control are performed up to the relative position and attitude with respect to the fragment 1 suitable for the fragmentation, and the fragmentation laser device is used. 12 shows the flow of processing up to the irradiation of No. 12. In the figure, 52 is an approach command, 53 is the position and speed data of the artificial satellite at a certain time calculated by the on-board software, 54 is the maneuver calculation of the orbit control performed by the on-board software, and 55 is the No. 5 for the artificial satellite to approach the debris. One approach navigation, 56
Is the first approach completed, 57 is the fragment tracking radar on, 58 is the attitude data of the satellite, 59 is the relative position and attitude data detected by the fragment tracking radar, 60 is the position and speed data of the fragment, 61 is the tracking image acquisition mode Navigation guidance, 62 is tracking image acquisition mode attitude control, 63 is approach completion, 64 is V
TR image acquisition, 65 is an optical sensor image acquisition, 66 is a fragment crush command, 67 is a fragment crush mode navigation guidance, 68 is a fragment crush mode attitude control, and 69 is a fragment crush laser irradiation.

After detecting the position data 50 of the fragment and the speed data 51 of the fragment, it is determined whether the position of the fragment 1 can be accessed from the artificial satellite 2 by simple control, and the like. Maneuver calculation 5 for determining the time and method of orbit control in the onboard software of the satellite from the speed data 51 and the position and speed data 53 of the satellite
4 and the approach command 52 is turned on if possible. When the approach command 52 is on, according to the maneuver calculation 54, the first approach navigation guide 55 is where the autonomous navigation guidance function of the satellite 2 works to a distance sufficient to operate the fragment tracking radar 9; It is determined that the approaching navigation guidance has been completed 56, and when it is completed, it is determined as the fragment tracking radar-on 57. When it comes to the fragment tracking radar on 57,
The relative position and velocity data 60 of the fragments in the relative and inertial space are calculated from the relative position and orientation data 59 detected by the fragment tracking radar 9, the position and velocity data 53 of the satellite, and the attitude data 58 of the satellite, and the tracking image acquisition mode navigation is performed. Guidance 61 and tracking image acquisition mode attitude control 62 are performed.
When the approach completion 63 in the tracking image acquisition mode navigation guidance 61 and the tracking image acquisition mode attitude control 62 is determined, the VTR
Image acquisition 64 and optical sensor image acquisition 65 are performed. The VTR image transmitted from the artificial satellite 2 to the control station 4 is displayed on the VTR display device 13 in the control station 4, and the image data from the optical sensor 11 transmitted from the artificial satellite 2 is similarly transmitted to the image in the control station 4. The danger and the necessity of crushing the fragment 1 by confirming the size and the size of the fragment 1 viewed from the direction in which the real image of the fragment 1 is processed and displayed on the ground and constituting the material and the material constituting the fragment 1 on the ground and the image are confirmed. The control station 4 transmits a fragment crush command ON 66. When the debris crush command ON 66 is transmitted, the navigation guidance and attitude control rules are switched from the tracking image acquisition mode to the crush mode, and the crush mode navigation guidance 67 and the laser for guiding the navigation to a relative position suitable for irradiating the laser are performed. A grinding mode attitude control 68 is performed such that the irradiation axis is directed to the fragments. When it is determined that the approach 63 has been completed in the crushing mode navigation guidance 67 and the crushing mode attitude control 68, the fragment crushing laser irradiation 69 is performed.

[0031]

The present invention has the following effects.

The orbit of the artificial satellite is set in the vicinity of the debris floating in outer space, and commands including ranging information are transmitted from the control station to the artificial satellite, and similarly, search radio waves are transmitted from the transmission equipment to the debris. way for determining the position of the fragments by a combination of radio Den bread搬検unloading, term of R ⁴ increases disabled in the radar equation the "number 1" representing the received power density by two-way radio transmission to pieces by Even at an orbital altitude where the radio waves spread, the position of the debris can be easily detected.

Furthermore, not only the detection of individual debris, but also the approach to the closest distance by the navigation guidance function of the satellite and the debris tracking radar, an image is obtained by a VTR camera or an optical sensor, and the debris is obtained from the image obtained on the ground. It is possible to determine the danger of debris and the possibility of crushing by knowing the real image and the material of the material.

Further, the risk of fragments and the possibility of crushing are determined, and the fragments can be crushed by laser.

Further, in the artificial satellite, it is possible to detect the distance difference data corresponding to the phase difference between the command necessary for detecting the fragment position data and the scattered wave.

Further, by using the software installed on the artificial satellite to solve the three-dimensional elliptic equation from the distance difference data between the command and the scattered wave, the transmission equipment, the control station, the position data of the artificial satellite, and the irradiation angle of the search radio wave obtained by the command, Fragment position data can be calculated.

[Brief description of the drawings]

FIG. 1 is a basic configuration diagram of a method for detecting a suspended object in space according to the present invention.

FIG. 2 is a diagram showing a relationship between a command and a PN code of a scattered wave.

FIG. 3 is a diagram illustrating a geometric model of a transmission facility, an artificial satellite, and fragments.

FIG. 4 is a diagram showing a circuit configuration for detecting a distance difference in an artificial satellite.

FIG. 5 is a diagram showing a fragment position detection algorithm.

FIG. 6 shows a process of approaching a fragment by an autonomous navigation guidance function of an artificial satellite, further approaching a close distance by a fragment tracking radar, acquiring image data of the fragment, and further irradiating a fragment grinding laser. It is a figure showing a flow.

FIG. 7 is a diagram illustrating a configuration of a conventional primary radar.

[Explanation of symbols]

1 debris, 2 satellites, 3 transmission facilities, 4 control stations,
5 search radio wave, 6 scattered wave, 7 command, 8 telemetry, 9 fragment tracking radar, 10 VTR camera, 1
DESCRIPTION OF SYMBOLS 1 Optical sensor, 12 Fragment grinding laser device, 13
VTR display device, 14 image processing device, 15 command PN code, 16 scattered wave PN code, 17 PN code 1 block, 18 PN code 1 block, 19 propagation delay time, 20 x axis, 21 y axis, 22 focus A , 23
Focal point B, 24 ellipse, 25 line segment connecting the focal points, 26
One point of ellipse (P '), 27 Fragment direction, 28 One point of ellipse (P), 29 Scattered wave receiving antenna, 30 Command receiving antenna, 31 receiver, 32 receiver 33
Comparison circuit, 34 comparison circuit, 35 local PN code generator, 36 local PN code generator, 37 integration and tracking circuit, 38 integration and tracking circuit, 39 code difference detection circuit,
40 detection time, 41 distance difference data, 42 control station position data, 43 transmission equipment position data, 44 GPS
R, satellite position data, 45 search radio wave irradiation angle, 46 control station and satellite distance data, 47 transmission equipment and satellite distance data, 48 scattering path distance data, 49 solid elliptic equation, 50 fragment Position data, 51 fragment speed data, 52 approach commands, 5
3 satellite position and velocity data, 54 maneuver calculations,
55 First approach navigation guidance, 56 First approach complete, 57
Radar on for tracking debris, attitude data of 58 satellites,
59 relative position and orientation data, 60 fragment position and velocity data, 61 tracking image acquisition mode navigation guidance, 62 tracking image acquisition mode attitude control, 63 approach completion, 64 VTR
Image acquisition, 65 Optical sensor image acquisition, 66 Shard crush command, 67 Smash mode navigation guidance, 68 Smash mode attitude control, 69 Laser smash for shard crush, 70 Ground radar equipment, 71 Transmitted wave, 72 reflected wave.

Claims (5)

[Claims] 1. A plurality of artificial satellites are put into orbit in the vicinity of the presence of a suspended object, and are modulated into pseudo-random noise codes serving as ranging information to artificial satellites visible from a ground control station. At the same time, a command is sent from the transmitting equipment on the earth's surface, and a beam with a frequency different from that of the command modulated into a pseudo-random noise code, which serves as ranging information, is emitted in the direction in which a floating object is to be detected. Receiving scattered waves according to the effective cross section of the unique radio wave of the universe floating object generated when illuminated by an artificial satellite, the command and the scattered wave of the command obtained from the phase difference of the pseudo random noise code Detecting the distance difference data corresponding to the arrival time difference to the satellite, adding the position difference data of the satellite and the control station calculated by the software mounted on the satellite to the distance difference data described above. The distance data of the path that the beam radiated from the transmitting equipment scattered by the floating object and reached the artificial satellite, the position data of the artificial satellite and the transmitting equipment, and the beam irradiation direction data at the transmitting equipment are also obtained by the calculation. The process of detecting the position of a suspended object at a certain time by calculating with an artificial satellite, detecting the velocity data of the suspended object from continuous position data, and detecting the position and velocity data of the detected suspended object Based on the navigation of the artificial satellite and approaching the suspended object sufficiently, tracking using the radar mounted on the artificial satellite to approach the suspended object to a close distance and improve the more accurate position and speed. The process of detection, the relative distance and attitude suitable for acquiring the image of a suspended object by the VTR camera mounted on the artificial satellite Obtained images of space floating objects, and obtained image data and scale ratio data of the images, and the time and date of image acquisition and the relative position data of space floating objects and satellites at that time on the ground control Receiving at a station, displaying a real image of the space floating object on a display device in the control station and receiving data, and confirming the actual state of the space floating object on the ground. 2. An image of a suspended object is acquired from an extremely short distance by an optical sensor mounted on an artificial satellite, the acquired image data is received by a control station on the ground, and a received image is processed by image processing equipment in the control station. 2. The method for detecting a suspended object in space according to claim 1, wherein a material and a substance of the suspended object in space are analyzed. 3. A control station on the ground receives the position, velocity data and time data of the suspended object obtained by the artificial satellite and the image data of the VTR camera, and the danger of the suspended object and the necessity of crushing at the control station. The control station sends a crushing execution command to the satellite when the crushing is judged, and the satellite controls the relative position and attitude with respect to the space floating object, and 2. The method according to claim 1, wherein the crushing is performed by irradiating a crushing laser.
The method for detecting suspended objects in space as described in the item. 4. A command transmitted from a control station modulated to a pseudo-random noise code in an artificial satellite put in the vicinity of the presence of a suspended object, and at the same time, a search radio wave applied to the suspended object from a transmission facility. Receiving the scattered waves generated by the respective receiving antennas and obtaining video output from the carrier received by the command and search radio wave receivers; the video output obtained from the command is the same as the control station has The output of the local PN code generator composed of a pseudo random noise code is compared with the video output, the strength of the correlation is detected by a comparison circuit, and the acquisition of the code and the tracking of the code are integrated and tracked by the integration and tracking circuit. Performing the process, the video output obtained from the search radio signal is composed of the same pseudo-random noise code as the transmission equipment has Comparing the output of the PN code generator with the output of the PN code generator, detecting the strength of the correlation by a comparison circuit, and performing the setting of code acquisition and tracking of the code by an integration and tracking circuit; 2. The method according to claim 1, further comprising the step of detecting distance difference data corresponding to a phase difference between the command and the scattered wave by inputting to the code difference detection circuit. 5. A distance difference data between a scattered wave generated by a search radio wave radiated from a transmission facility to a space floating object and a command transmitted simultaneously from a control station in an artificial satellite put in the vicinity of the existence of the floating space. , And calculates the position data of the control station and the transmission equipment at the detection time by the onboard software of the satellite, and calculates the position data of the artificial satellite at the detection time by the data by GPSR and the orbit propagation calculation of the onboard software. The distance data obtained by adding the distance difference data to the distance from the control station to the satellite with the focus on the position of the satellite and the satellite, respectively, is transmitted. Is characterized by detecting the position data of fragments by solving the three-dimensional elliptic equation based on the irradiation angle of the search radio wave obtained by The method for detecting a suspended object in space according to claim 1.