JPWO2017175696A1 - LEO satellite system - Google Patents

Abstract

To build a global surveillance infrastructure for many terminals, the LEO satellite system consists of a large number of satellites orbiting a low altitude orbit, and a large number of satellites each exist on the Earth side. A communication unit that communicates with the terminal device and other satellites on the orbit side, and the reaction condition and reaction operation for each terminal device state are shared and managed with the other satellite via the communication unit, and via the communication unit Perform communication with the terminal group in the management area currently handled by itself, and collect statuses including position information of the terminal groups existing in the management area, and individual terminal states are When the reaction conditions are met, a reaction operation associated with the reaction conditions is executed to include a management unit that manages a large number of terminal devices, and a large number of satellites cooperate to alternate each management area The specific terminal device and / or a plurality of terminal devices groups present on the sphere side watch the global scale.

Description

  The present invention relates to a LEO (Low Earth Orbit) satellite system constructed of orbiting satellites orbiting a Low Earth Orbit (LEO).

  Recently, satellite communication is used to remotely monitor and remotely control various terminals on the ground, at sea, and in flight.

  An example of remote monitoring and control using satellites is an air traffic control system. The air traffic control system uses satellite based augmentation system (SBAS) to help monitor and control air traffic. The air traffic control system, even with the widest range of navigation services, remains a regional service to North America, Asia and Oceania, and Europe, and has never been offered with global scale.

  Another example of remote monitoring control is an ocean observation system. In some oceanographic observation systems, fixed buoys equipped with observation sensors and satellite communication devices are installed in the ocean, and the sensor values of the fixed buoys are collected at the earth station via satellite links.

  Another remote surveillance control example is the Iridium satellite telephone system. The Iridium satellite telephone system detects the origination of an Iridium telephone on the earth and calls the Iridium telephone of the destination. The Iridium satellite telephone system is a LEO satellite system, and a satellite constellation is formed by many satellites introduced into the LEO orbit.

  Technologies related to remote monitoring and control using satellites are disclosed, for example, in Patent Documents 1 to 3.

  Patent Document 1 discloses a marine monitoring system. In this oceanographic observation system, many floating buoys equipped with GPS receivers, observation sensors, and satellite communication devices are installed in the ocean, and the positions and sensor values of each floating buoy are detected by the earth station via satellite links. It is collected.

  Patent documents 2 and 3 disclose techniques related to satellite constellations.

  Patent Document 2 discloses a satellite communication system comprising a LEO satellite group, a plurality of user terminals, and an earth station. In this patent document 1, a satellite telephone system is mainly disclosed, and a method in which the earth station specifies the position of each user terminal (satellite telephone) on the earth, a method for preventing paging congestion of user terminals (oscillation control method), etc. Is disclosed.

  Patent Document 3 also discloses a satellite communication system including a LEO satellite group, a plurality of user terminals, and an earth station. In Patent Document 3, the earth station determines the main path and the alternative path (backup path) connecting each user terminal and notifies each satellite, and each satellite has a failure or congestion in inter-satellite communication (cross link). A satellite constellation is disclosed that combines autonomous rerouting as it occurs.

Japanese Patent Application Laid-Open No. 07-055911 Japanese Patent Publication No. 2003-526959 Japanese Patent Publication No. 2013-541912 gazette

  The inventors wanted to realize constant remote monitoring and remote control of the position and status of many IoT devices (Internet of Things) on the earth. If this can be realized, it will be possible to remotely manage a large number of terminal device groups, including unmanned airplanes, drones, autonomous vehicles, smart phones, vending machines, etc.

  These remote management functions can be used for various services besides common services such as position coordinate confirmation of terminal devices. For example, transport services by moving objects such as autonomous vehicles and robot ships, ISR (Intelligence, Surveillance and Reconnaissance) services by moving objects such as drone and unmanned aerial vehicles, exploration rover, remote by fixed unmanned sensors such as meteorological and wave height meters Sensing service, remote supply service of beverage and food by vending machine (vending machine), etc. may be mentioned.

  In order to ensure the quality of service, the normal operation of each of the terminal devices used for the service is required. For example, in the case of transportation and ISR service, the operating status of the terminal device is operating along a scheduled flight (moving) route, operating on time, and whether abnormal trouble has not occurred, etc. , I want to know service vendors. Also, if the terminal device is operating normally, the service vendor wants to know the measurement value if it is a remote sensing service, the stock of beverages and food if it is a bending service, the storage status, and the presence or absence of change. However, in the existing satellite communication service, performing constant remote monitoring and remote control on many terminal devices for service provision can not be realized inexpensively in view of cost.

  On the other hand, in the techniques disclosed in Patent Documents 1 to 3 above, a specific small number or a large number of terminal devices (buoys, telephones) are managed. The remote service of these terminals is realized by the earth station, satellites, and terminals operating in accordance with the system mode.

  For example, in Patent Document 1, the earth station and the floating buoy (terminal device) connect satellite channels via satellites, and collect position information and sensor values. In this system, it is necessary to artificially control the number of connections to the satellite and the like so as not to cause congestion by setting in advance the timing for communicating with the satellite on the terminal device side. However, terminal devices do not consider performing communication in a distributed manner to multiple communication satellites or earth stations, and when increasing the number of floating buoys and observation area, the number of communication satellites and the number of base stations (satellite communication lines) It needs to be increased, and it is very costly to extend the service to a full rest scale. Furthermore, it is specialized for observation with observation sensors in the ocean, and in other application fields it is necessary to develop terminal devices and base stations according to the respective fields. This is partly due to the fact that a secure, versatile infrastructure that gathers information globally is not yet in place. In addition, it may be a factor that system developers in each application field do not have the know-how to construct a global general-purpose communication infrastructure. In many application fields, transmission protocol and data processing systems are built specifically for the use data format according to the field. This is a hindrance to applying the existing communication infrastructure of each field to global and general purpose applications.

  On the other hand, in satellite communication systems such as iridium telephones, although a satellite constellation capable of satellite-to-satellite communication and satellite-to-terminal communication is constructed to manage many terminal devices (satellite telephones) at the same time It is necessary to set a limit on the number of connections. On the other hand, in Patent Document 2, the earth station specifies a congestion prevention area, and each terminal device (satellite telephone) in the area executes call restriction (by concealing it from the user) to prevent actual congestion. It is in charge. Moreover, in patent document 3, the earth station determines the communication path which builds in various satellite groups, and each satellite is in charge of congestion prevention. However, it is not possible to increase the number of constantly connected telephones beyond a certain level. In these satellite systems, it is necessary to drastically change the satellite constellation.

The inventors examined satellite constellations capable of always remotely managing, at low cost, a large number of terminal devices using satellite communication systems, as compared with the current situation where each satellite is on the earth. The number of terminal devices managed by this satellite system can be managed more than that of the satellite systems described in Patent Documents 1 to 3. In addition, the satellite constellation is constructed with an increase in the degree of freedom of the type of terminal device under control. In other words, we will set as an issue the provision of a globally deployable solution that aims at "sustaining economics" and "sustaining diversity".
In addition, the provision of a mechanism that can achieve "safety assurance" as needed is set as an issue.

  The present invention has been made based on the above background, and more specifically, it is an object of the present invention to provide an LEO satellite system that constructs a global surveillance infrastructure for many terminals.

  The LEO satellite system according to an embodiment of the present invention comprises a constellation of a number of satellites orbiting a low altitude orbit, and the plurality of satellites are respectively present on a large number of terminal devices located on the earth side and on the orbit side. Control the communication conditions with the other satellites, and the reaction conditions and reaction actions for the respective terminal device states by sharing them with the other satellites via the communication unit, and managing their own through the communication unit Execute communication with the terminal group existing in the management area currently in charge to collect the status including the position information of the terminal group existing in the management area, and each terminal state is the reaction condition. And a management unit that manages the plurality of terminal devices by executing a reaction operation corresponding to the reaction condition, and the plurality of satellites cooperate with one another to alternate the management areas. Exist on the side Wherein the watch specific terminal device and / or a plurality of terminal devices groups global scale.

  The LEO satellite according to an embodiment of the present invention is configured to communicate with a large number of terminal devices located on the earth side and other satellites located on the orbit side while being placed in the low earth orbit. The communication unit and the reaction condition and reaction operation for each terminal device state are managed in common with the other satellite via the communication unit, and are in the management area currently owned by the user via the communication unit. Perform communication with a group of terminal devices to collect statuses including position information of the terminal devices existing in the management area, and when individual terminal device states match the reaction condition, The method may include a management unit configured to execute the reaction operation associated with the reaction condition to manage the plurality of terminal devices.

  A management method of a terminal device group by LEO satellites according to an embodiment of the present invention is a management method of a terminal device group by a LEO satellite system in which a constellation is formed by a large number of satellites orbiting low altitude orbits. Each of the satellites includes a communication unit for communicating with a number of terminal devices located on the earth side and other satellites located on the orbit side, and a management unit that is in charge of coordination with other satellites, each of the plurality of satellites Managing the reaction condition and the reaction operation for each terminal device state with the other satellite via the communication unit, and the plurality of satellites are currently in charge of itself via the communication unit Communication with the terminal devices in the management area is performed to collect the status including the position information of the terminal devices in the management area, and each terminal state matches the reaction condition. I will If, by running the reaction operation with corresponding to the reaction conditions, characterized in that managing the plurality of terminal devices.

  According to the present invention, it is possible to provide a LEO satellite system that builds a global surveillance infrastructure for many terminals.

It is an explanatory view used for explanation of LEO satellite system 1 of one embodiment of the present invention. FIG. 2 is a functional block diagram showing an artificial satellite constructing the LEO satellite system 1; It is the flowchart which showed the operation example related to the state change detection part 11B of the area | region management satellite 10. FIG. FIG. 6 is an explanatory diagram used for describing a handover method of the management area of the LEO satellite system 1; FIG. 6 is an explanatory view used for explaining a handover method of a plurality of management areas of the LEO satellite system 1; FIG. 10 is another explanatory diagram used for describing a handover method of a plurality of management areas of the LEO satellite system 1; FIG. 10 is yet another explanatory view used to explain a handover method of a plurality of management areas of the LEO satellite system 1; FIG. 6 is an explanatory view visibly illustrating an operation of taking over the status of a terminal device between satellites relating to the LEO satellite system 1.

  Embodiments of the present invention will be described with reference to the drawings.

First Embodiment
FIGS. 1 to 3 are explanatory diagrams used for explaining the LEO satellite system 1 according to an embodiment of the present invention. FIG. 1 shows each satellite forming a satellite constellation of the LEO satellite system 1 according to the present invention and its trajectory (orbit). Also, in order to show the difference between the orbit altitude of the low orbit and the orbit altitude of the geostationary orbit and the middle orbit, only the middle orbit is described. Since each satellite is small with respect to the earth, only some satellites are shown deformed in FIG. Each satellite orbits the earth in its own LEO orbit. A plurality of satellites are arranged in each orbit to form a satellite constellation.

  In the LEO satellite system 1, each satellite forming a satellite constellation autonomously cooperates with the surrounding satellites to manage a group of terminal devices on the entire earth. The entire management area of the LEO satellite system 1 may be operated by limiting a specific country or region.

  As described above, the LEO satellite system 1 forms a constellation with a large number of satellites orbiting a low altitude orbit. Further, each of the satellites constituting the LEO satellite system 1 is a satellite capable of satellite-satellite communication and satellite-terminal communication. In addition, each satellite can communicate with the earth station (ground station, ship station, aircraft station, etc.) as needed. In addition, each satellite is desirably configured to be able to receive / communicate with systems such as SBAS, Quasi-Zenith Satellite System (QZSS), and GPS.

  The LEO satellite system 1 divides the ground surface into many areas (grids), and each area satellite takes charge of many terminal devices present in each area. The satellite in charge of this area changes from time to time with another satellite as the relative position of the LEO satellite with the earth changes. The LEO satellite system 1 globally arranges the area-assigned satellites for each area without leakage and realizes constant management. With this constellation, the LEO satellite system 1 builds a wide area remote surveillance control network infrastructure, generally a global satellite cloud system.

  Note that by configuring each satellite of the LEO satellite system 1 with a smaller satellite than with a medium-sized satellite, joint launch with a rocket becomes possible, and the cost advantage of the system is established. The LEO satellite system 1 described below is assumed to cover the entire earth. The number of satellites is estimated to be 1300 or more even if an area of 100 [km] x 100 [km] on the ground surface is covered by one satellite at an orbital altitude of 500 [km].

  Each terminal is also configured to be communicable with systems such as SBAS, QZSS, GPS, etc., so that the satellite detects deviations from the planned route from the constantly changing positional information of each terminal and its planned route information. And so on.

  The communicable range of each satellite of the LEO satellite system 1 to the surface (for terminals) can be determined by the orbit, the shape of the antenna, the shape of the beam, the radio wave output intensity, and the like. Depending on the size of the area covering the ground surface, the surface coverage of each satellite can cover multiple areas.

  FIG. 2 is a functional block diagram showing a configuration example of individual satellites constructing the LEO satellite system 1. For the sake of explanation, the code of the area management satellite 10 described later is given. Moreover, description of the power supply system such as a solar cell panel and the antenna is omitted.

  The area management satellite 10 can be configured using a management unit 11 and a communication unit 12 that execute the operation described below. The management unit 11 may be realized using the main processor and memory of the onboard computer, or may be realized using a sub processor separately from the main processor. Further, the management unit 11 may be formed in an FPGA (Field Programmable Gate Array).

The management unit 11 identifies a management area currently handled by itself and manages the status of the terminal device group present in the management area. In this status management, satellite-to-terminal communication with terminal devices in the management area is performed as needed. It is desirable that the status to be managed includes, in addition to the terminal device ID (identifier), location information associated with time information, a sensor value, an internal state, the presence or absence of an alert, and the like. When starting this status management, the management unit 11 may check the presence of a terminal device in the management area.
In addition, the terminal device is configured to notify the satellite of the LEO satellite system 1 (the area management satellite 10 at that timing) autonomously or actively the above-mentioned status managed by the own device.

  The communication unit 12 operates as a satellite communication unit 12A and a surface communication unit 12B. The satellite communication unit 12A functions to be communicable with other satellites present on the orbit side (space side) when LEO is introduced. The surface communication unit 12B functions to be communicable with the terminal devices existing on the earth side when being input to the LEO. The satellite-to-satellite communication method, the satellite-to-terminal communication method, the frequency band used, etc. are not particularly limited, and the method or band permitted for each country or region may be used while switching.

  The management unit 11 of the present embodiment detects the condition change of each of the terminal devices in the management area based on the reaction condition, and the condition action storage unit 11A that holds the reaction condition and the reaction operation for each terminal condition. It is configured to include a unit 11B and a previous state storage unit 11C that stores the previous state of each of the terminal devices. The condition operation storage unit 11A, the state change detection unit 11B, and the previous state storage unit 11C are provided as components different from the management unit 11 without being incorporated in the management unit 11 (remote manager) as illustrated. It is also good.

  The reaction condition and the reaction operation managed by the condition operation storage unit 11A are divided and managed for each terminal device, each terminal device group, each provided service, and any division such as each service vendor. It is determined whether or not each terminal device or a group of terminal devices matches the reaction condition by the state change detection unit 11B for each of the sections.

  The management unit 11 executes the reaction operation associated with the reaction condition when the state of an arbitrary terminal device / group of terminal devices matches the managed reaction condition according to the detection result of the state change detection unit 11B. . Although the reaction operation is not particularly limited, for example, there is an example in which a predetermined communication command (control command) is transmitted to each terminal device or predetermined message information is notified to a specific earth station.

  The LEO satellite system 1 receives settings from the administrator (satellite infrastructure provider) of the LEO satellite system 1 for this reaction condition and reaction operation. In addition, the LEO satellite system 1 also receives the reaction condition and the reaction operation from each terminal device or a user using a group of terminal devices, or a service vendor providing an arbitrary service using the terminal device. This reaction condition and reaction operation may be shared and managed with another satellite that has built a satellite network via the communication unit 12. By this, in the LEO satellite system 1, it is possible to globally diffuse the received reaction conditions and reaction operation to the management units 11 of all the satellites.

  In other words, each satellite of the LEO satellite system 1 is a terminal device managed by each satellite received from each service vendor or user other than the setting of the administrator of the LEO satellite system 1 via the communication unit 12 The setting of reaction condition and reaction operation to the momentary terminal condition is shared to prepare for remote monitoring and remote control. Furthermore, even if all the satellites do not necessarily have all the reaction conditions and reaction actions, each satellite can be a terminal device belonging to a management target range that it may be capable of receiving, or a management target range that it may possess. It suffices to deliver the reaction conditions and reaction operation settings for the service to be provided.

  FIG. 3A and FIG. 3B are flowcharts showing an operation example related to the state change detection unit 11B of the area management satellite 10. FIG. 3 (a) shows an operation example in the case of detecting a state change based on the status information of the terminal device, and FIG. 3 (b) shows detection of the state change based on position status information of the terminal device. Shows an operation example in the case of performing. In the state change detection unit 11B, the contents of the state change detection process in the drawing are set by referring to the reaction condition and the reaction operation stored in the condition operation storage unit 11A. As a result, the area management satellite 10 executes the state change detection process set by the service vendor or the user for the terminal device group existing in the management area. By performing the state change detection process as set by each area management satellite 10 for each management area, it is possible to provide a plurality of globally similar and diverse watching services.

[Fig. 3 (a) Processing content]
First, each satellite (management unit 11, state change detection unit 11B) reads from the condition operation storage unit 11A reaction conditions such as each type of terminal device, each type, each coordinate, and the like registered by the user or service vendor (S101). Each satellite operates to apply the updated reaction conditions as appropriate during operation of the satellite.

  Each satellite (management unit 11, state change detection unit 11B) executes state change detection processing according to the read reaction condition, and reads the previous state (preceding status of previous acquisition) of the arbitrary terminal device from the previous state storage unit C Furthermore, the current state (status acquired this time) is acquired from the target terminal device (S102, S103).

  Next, each satellite (management unit 11, state change detection unit 11B) detects a change in state from the previous state and the current state, and when it changes to the reaction state acquired in S101, the reaction condition The reaction operation (predetermined control command) corresponding to the content (for example, when a specific state satisfying the reaction condition in individual management or group management is reached) is read out from the condition operation storage unit 11A (S104).

  Finally, each satellite (management unit 11, state change detection unit 11B) executes the read reaction operation (S105). By this execution action, the satellite sends a predetermined control command to each terminal device that is an object of individual management or group management. At the same time, each satellite may be operated to perform message notification to each service vendor or each user.

[Figure 3 (b) Processing content]
First, each satellite (management unit 11, state change detection unit 11B) reads reaction conditions from the condition operation storage unit 11A (S201).

  Each satellite (management unit 11, state change detection unit 11B) executes state change detection processing in accordance with the read reaction conditions. When the read reaction condition is based on the planned navigation route and movement position of the arbitrary terminal, each satellite (management unit 11, state change detection unit 11B) acquires the planned navigation route coordinates of the arbitrary terminal to be watched over (S202). The planned navigation route coordinates may be acquired in advance from the arbitrary terminal device itself, or may be acquired from the administrator (user or service vendor). Each satellite (management unit 11, state change detection unit 11B) reads the previous navigation route information of the arbitrary terminal from the previous state storage unit 11C, and further acquires the current position status from the corresponding arbitrary terminal ((11) S203, S204). The navigation route information includes the previous position status and a state such as departure from the navigation route. Furthermore, it is desirable that the contents of the navigation route appropriately include information such as the moving speed, acceleration, and the like used to detect a change in state.

  Next, each satellite (management unit 11, state change detection unit 11B) detects a change in state from the previous navigation route information and the current position status, and changes to the reaction state acquired in the above S101. The reaction operation (emergency stop, alarm notification command, route recalculation command, etc.) corresponding to the contents of the reaction condition (for example, when the position status deviates from the navigation route) is read out from the condition operation storage unit 11A (S205).

  Finally, each satellite (management unit 11, state change detection unit 11B) executes the read reaction operation (S206). By this execution action, the satellite sends a path recalculation command to each terminal device that is a target of individual management or group management. At the same time, each satellite executes message notification regarding transmission of a route recalculation command to each service vendor or each user, and temporarily suspends control command or emergency stop command to transmit control command to the corresponding terminal device. It may be upgraded and operated.

  The LEO satellite system 1 adapts the contents of the state change detection process (reaction conditions and reaction actions) to the service requirements such as each individual terminal device, each terminal device group, each service subscription terminal, each service vendor, etc. You can accept it freely.

  Examples of reaction conditions include, for example, change to abnormal status, notification of abnormality, entry into a specific area, departure from a planned route, avoidance of danger, and detection of a flag for service. Further, examples of reaction operations include generation of an anomaly notification (Anomaly_Notification) event, navigation recalculation, repositioning execution, direction change, emergency stop, sensor operation, alarm sounding, and the like. The reaction operation may be freely set according to the service requirements. In addition, the reaction operation may be set with changes in a plurality of operations or further conditional branching.

  State change detection (reaction condition match) can be determined directly from the operation state (status change) of the terminal device, or travel / navigation / flight / cruise route information of the terminal device input in advance, and A method of comparing position information, a method of detecting an approach to a predetermined range or altitude, and the like can be exemplified.

  As in the above-described operation example, the management unit 11 manages the reaction condition and the reaction operation with respect to the state of each terminal device / group of terminal devices prepared in advance while sharing the management condition with other satellites within the management area. Watch over the group of terminals. Anomaly_Notification events generated according to reaction conditions should be shared immediately with other satellites and managed. In addition, it is desirable to share the anomaly notification with other satellites, ground sectors, etc., with a priority and an anomaly degree. In addition, each satellite shares the anomaly notification with higher priority and anomaly degree with other satellites and the ground sector when the frequency of occurrence of anomaly notification in the management area is abnormally increased or the occurrence point is concentrated. It is desirable to provide a mechanism to In addition, the abnormal notification may be notified to a specific terrestrial sector immediately through SBAS or QZSS as needed. In this case, each satellite independently assigns destinations etc. with reference to the priority and the degree of abnormality given to the abnormality notification. In this process, each satellite operates while autonomously determining whether to use the QZSS or the like, and to which region the terrestrial sector is to be subjected to the anomaly notification. By providing this mechanism in the LEO satellite system 1, for example, it is possible to extract events such as an accident, an earthquake, or a tsunami by referring to a specific type of abnormality notification collected in a specific terrestrial sector.

  For example, each satellite acquires an individual operation plan (operation route, allowable sensor value, etc.) set by the user or service vendor for the target to be watched (target for remote monitoring control) before area charge, and the terminal in charge of area charge Compare with the various statuses collected from the device. As a result, when a terminal device out of the operation plan is detected, the satellite shares the anomaly notification event generated via the communication unit 12 with other satellites and the earth station.

  By this sharing, it becomes possible for the user and the service vendor, as well as the administrator of the LEO satellite system 1, to recognize that the terminal device has displayed an abnormal value or the like. There is no particular limitation on the method for the user or service vendor to know the abnormality, but for example, the user may read the abnormality notification collected and stored in the earth station (for example, a cloud space or data center of the service vendor) via the existing network line. .

When the LEO satellite system 1 (satellite in charge of area) matches the set reaction condition, the communication command associated with the reaction condition is communicated to the earth side, that is, to the corresponding terminal device.
This communication command may be registered in the LEO satellite system 1 so as to be able to transmit a unique notification command created by the user or the service vendor, in addition to setting from among those prepared in advance by the administrator of the LEO satellite system 1 .

  In addition, a safety control command (Safety_Command) can be set in this notification command.

By using this safing command, the relevant terminal device and its surroundings execute the danger avoidance and problem solving operation. In the case of a drone, this safing command may be set by one or a combination of communication commands that cause the corresponding drone to execute navigation recalculation / stop / turning direction, and the like. In addition, it is desirable that the user or the service vendor can set the transmission of a notification command such as a safing command at an arbitrary timing to the LEO satellite system 1 instead of the notification command set in advance. By this mechanism, the user or the like can cause the terminal device to perform the desired operation at an arbitrary timing when an abnormality occurs or the like. When this notification command is given priority (when immediacy is to be enhanced), the LEO satellite system 1 has a mechanism to immediately notify each satellite (satellite in charge of area) via SBAS or QZSS as needed. You may
It is also desirable to provide a mechanism for increasing the propagation speed within the LEO satellite system 1 due to the high priority of the notification command. In addition, a mechanism for processing the safing command with the highest priority may be provided in each satellite (management unit 11).

  Here, in the example of the operation flow shown in FIG. 3B, the case of providing the infrastructure to a plurality of service vendors will be described.

  First, the case where an infrastructure is provided to a service vendor who manages a drone as a terminal device will be described.

  The LEO satellite system 1 receives the setting of the no-fly area and the input of the flight route each time from the service vendor in advance. At the same time, the LEO satellite system 1 receives the setting of the operation to be executed by each drone when the flight route is deviated from the service vendor. At this time, it is desirable for the manager of the LEO satellite system 1 to set in advance the setting such as the official no-fly area. As described above, as the preparation process, the setting of the reaction condition and the reaction operation is received while appropriately setting the division such as per drone / per region / per service.

  After that, as an operation process, the “remote terminal monitoring and remote control platform” is provided to the service vendor as the LEO satellite system 1.

  This enables the service vendor to use the infrastructure (LEO satellite system 1) that realizes "remote monitoring and remote control of drone" provided to the drone user.

  The LEO satellite system 1 can provide the same platform to various users and service vendors in a superimposed manner, and can reduce the cost per terminal device at low cost.

  Next, the case of providing an infrastructure to a service vendor who manages an autonomous vehicle as a terminal device will be described.

  The LEO satellite system 1 receives an input of a traveling route in advance from a service vendor or a user. At the same time, the LEO satellite system 1 receives the setting of the operation to be performed by the autonomous vehicle and the report destination when the traveling route is deviated from the service vendor or the user. In addition, the setting of the cloud space which manages (registers) the sequential status of the autonomous driving vehicle is received. Thus, as the preparation process, the setting of the reaction conditions and the reaction operation is received together with various restrictions and the like.

  Thereafter, as an operation process, each satellite is notified from the autonomous driving vehicle whether the position coordinate of the autonomous driving vehicle is not deviated from the predetermined traveling route or is not deviated from the allowable traveling region. Based on the position information included in. The allowable travel area is assumed to be an area where safety can be maintained from the distance between the vehicle ahead and the vehicle traveling behind and the like.

  In addition, the reaction operation may include a notification command in addition to the corresponding autonomous vehicle and / or surrounding vehicles. For example, a communication command may be assumed to notify at least one of navigation recalculation / stop / turning / alert.

  In this way, various service vendors can use the "remote terminal monitoring and remote control platform" of the LEO satellite system 1 for different service applications.

  In other words, the LEO satellite system 1 can provide platforms to various users and service vendors in a superimposed manner, and can reduce the cost per terminal device at low cost.

  That is, this configuration can provide the LEO satellite system 1 that constructs a global surveillance infrastructure for many terminals with economy and diversity.

  Further, although omitted in the above description, the LEO satellite system 1 provides the user, the service vendor, the terminal device, and the like together with the security / privacy platform.

  As a security and privacy platform, each satellite implements terminal-satellite communication frequency randomization, message encryption and authentication functions. It is desirable for the security and privacy platform to provide at least the following three functions.

  Encryption function: The monitoring control edge manager randomizes (encrypts) the frequency used when communicating with the monitoring control agent based on the positioning time. The concealment function makes it difficult for the service operation information to be leaked to a third party.

  End-to-End routing function (dynamic reconfiguration function): Supervisory control messages implement end-to-end routing including satellite networks based on the sender / user information attached to the message itself. This dynamic reconfiguration function makes it difficult for supervisory control messages and the like to leak to third parties.

  Authentication function: Requests authentication for transmission and reception of monitoring control messages. It is necessary to authenticate the transmission and reception of supervisory control messages, such as surveillance target users, service vendors, and third-party auditors. End-to-end routing and authentication allows only authorized access to monitoring control messages.

  As described above, the LEO satellite system 1 can provide a watching infrastructure that provides economics, diversity, and security to various users and service vendors.

  If economic comparison is to be carried out, for example, the state monitoring of the infrastructure development such as the existing wireless communication system, guidance and navigation system, etc. is costly. On the other hand, by using a global satellite cloud system, an equivalent system can be provided inexpensively.

  Moreover, the existing system is constructing | assembling a system for every object terminal classification for every area | region, when the object terminal classification and service classification to watch over increase. On the other hand, by using the global satellite cloud system, it is possible to cope with the same system at low cost.

  In addition, third-party organizations (governments and local governments) can audit interference with other services and social life by securing message transmission / reception and advanced access controllability to satellite communication networks using authentication functions etc. become. In addition, high information confidentiality can be secured between users.

[Other embodiments]
Next, some variations of the embodiment will be described. Also, the items described in each modification can be combined as appropriate. In the following description, the explanation of matters that have already been described, such as management of a terminal device, is omitted.

[Modification 1]
Each of the large number of satellites constituting the LEO satellite system 1 is configured to include the management unit 11 and the communication unit 12 as in the first embodiment. The communication unit 12 is configured to be capable of bi-directional communication with many terminal devices on the earth (area in charge), as in the case of inter-satellite communication. The communication unit 12 of this embodiment uses a DTN protocol (Delay, Disruption, Disconnection Tolerant Protocol) as a communication protocol.

  By using this DTN protocol, it is possible to reinforce regular connectivity for communication protocols such as TCP (Transmission Control Protocol). More specifically, in the LEO satellite system 1, lossless information such as safety command (Safety_Command) and anomaly notification (Anomaly_Nofication), etc., is not lost even in high delay, intermittent communication environment. It can be taken. Also, by constructing a D-tolerance-resistant network between satellites and terminal devices using the DTN protocol, it relates to collection of various status information (such as position information and sensor values) sent from the terminal device group in the management area. It is possible to increase the overall communication line utilization rate and to improve the communication economy.

  In addition, it is desirable that the communication unit 12 of each satellite be constructed by software radio (SDR: Software-defined radio), though not limited thereto. By constructing a communication unit by software radio, for example, the corresponding communication method can be switched on the satellite to be able to newly communicate with the existing facility of the service vendor (eg, railway radio equipment and disaster prevention radio), or a corresponding communication method can be added. / Deletion / Version change etc. possible.

  Furthermore, the communication unit 12 separates the satellite communication unit 12A and the ground communication unit 12B and configures them on a common hardware by software radio, so that at least the ground communication unit can simultaneously communicate with the terminal device group by multi communication method. It is desirable to configure.

  This makes it possible to secure further diversity and further expandability of communication (terminal type). It is preferable that the communication unit 12 adopt software defined network (SDN) / network functions virtualization (NFV) in consideration of end-to-end communication and maintenance extensibility.

  By configuring each satellite in this way, economics and diversity can be further enhanced.

[Modification 2]
The LEO satellite system 1 (satellite constellation) may accept the setting of reaction conditions and reaction action by any method, but it is appropriate to provide a ground sector that is responsible for information aggregation and expansion. This terrestrial sector is called the supervisory control center manager station from now on.

  This supervisory control center manager station receives and manages the setting of reaction conditions and reaction actions for each terminal device status from a service vendor or the like via a general communication network (optical fiber network, mobile communication network, etc.) . The supervisory control center manager station sets its setting to each satellite every moment. In addition to direct communication to individual satellites by telemetry or telecommand, the setting to this satellite can be set by a communication method in which the above-mentioned terminal device and satellite communicate, or a satellite network constructed between satellites and satellites It is also possible to set via. By setting via this satellite network, for example, even if the relationship between the supervisory control center manager station and the setting target satellite is not in line of sight, setting can be enabled. Further, the immediacy of setting can be enhanced by using a satellite within the line of sight as a transponder without waiting for the orbit of the setting target satellite. In addition, the reaction conditions and the setting of the reaction operation may manage the setting of the reaction conditions and the reaction operation using satellites flying in middle orbits or high orbits such as a geostationary satellite or QZSS.

  In addition, the supervisory control center manager station has a mechanism for receiving and managing the operation plan of the terminal device or the expected value of the position of the terminal device for each time from the user or service vendor via the communication network, which is convenient. And the balance of economy can realize the remote service with good balance. In addition, the supervisory control center manager station can also carry out abnormal notification of terminal device groups and aggregation and expansion of control messages.

  Each satellite receives an operation plan for each terminal apparatus or setting of an expected value for each time of the position of the terminal apparatus by direct / indirect communication. Each satellite compares this setting with the status (specifically, position information) of a large number of terminals sent from the management target area on the earth side every moment, and the position coordinates of each terminal are in an abnormal range. Determine if it is not When the position coordinates of a certain terminal device fall within an abnormal range, the satellite executes a reaction operation that is preset for the terminal device, the service vendor, and the user. For example, the satellite may generate an anomaly notification and broadcast it to other satellites and / or earth stations, and may transmit a safing command to the corresponding terminal device status. At this time, it is desirable for each satellite to increase the priority of abnormality notification and control message with respect to other messages. Further, when the satellite passes the status of the terminal device group for each management area, it is desirable that the generated notification be given to the terminal device group together with the abnormal notification of the generated terminal device. In addition, it is desirable that relay satellites also provide time histories for important information such as abnormality notification messages and safing command messages.

  It is desirable that the history of important information such as an error notification message or a safing command message should be aggregated in the supervisory control center manager station or a specific data center, for example, by linking the ID of the terminal device and the determination result and time. . If managed in this way, the service vendor or the user can appropriately access the information to take appropriate measures such as state confirmation, repair, recovery, maintenance, etc. of the terminal device to be managed. For example, it becomes possible to deliver a safing command message from a specific area to a managed terminal on the back side of the earth via the LEO satellite system 1.

  In this way, the LEO satellite system 1 provides the processing resources of each responsible satellite to compare and judge the instantaneous position coordinates and the actual position coordinates determined from the operation plan together with or separately from the reaction condition and reaction operation described above. As a result, it is possible to provide safety and high reliability services at a low cost on a global scale.

  The guarding mechanism by the LEO satellite system 1 can be realized globally by a large number of LEO satellites. In other words, it is possible to simultaneously provide the surveillance infrastructure on the back side of the earth together with the surveillance infrastructure to a certain area.

  At the same time, it is also possible to remotely monitor / remote control a large number of various terminal devices such as all aircraft and all operation drones in a specific area, all route buses, and service subscriber smartphones by the same mechanism. Technically, it is possible to always keep track of all the terminals, regardless of where they are in the world, within the sight of the satellite. In addition, even if the terminal device travels in and out of the satellite line of sight, by combining DTN communication, it is possible to provide a watching service that boasts extremely high all-time connectivity.

  As described above, the satellites responsible for each area of the LEO satellite system 1 execute communication with the terminal devices in the management area currently handled by the communication unit via the communication unit, and the terminal apparatuses existing in the management area A status including group position information is collected, and when each terminal condition matches a reaction condition, a reaction operation associated with the reaction condition is executed to manage a large number of terminals.

  In this way, it is possible to coordinately monitor each satellite in a global manner for a specific terminal device and / or a plurality of terminal device groups existing on the earth side while switching each management area (to perform remote monitoring control). Become.

[Modification 3]
The LEO satellite system 1 (satellite constellation), when remotely monitoring and remotely managing a large number of terminal devices, has a huge amount of information when all terminal statuses are exchanged between satellites. Therefore, when the number of terminal devices to be serviced is greater than the capacity of the inter-satellite network, it is necessary to take measures against bandwidth compression and congestion. In such a case, it is necessary to appropriately limit the amount of communication between satellites.

  As a countermeasure to this, an embodiment of a satellite constellation in which a function of generating an anomaly notification message is provided to the satellites and only the anomaly notification message and the safing command are shared between satellites via the inter-satellite network is also useful. Since this satellite constellation can reduce the amount of inter-satellite communication bandwidth, the number of satellites and the size of satellites can be reduced, which is economical. In other words, the satellite constellation in which the transmission of the abnormality notification message and the safing command is set as the main service can dramatically increase the number of services provided compared to the satellite constellation transmitting all the various statuses of the same scale.

  That is, the satellites constituting the LEO satellite system 1 determine whether the management unit generates an abnormal notification message or not, as in the above-described embodiment, while the management unit generates an abnormal notification message. Share with other satellites when you generate In order to enable the user or the like to notify the corresponding terminal via the satellite network in response to the abnormality notification message, the user also passes the safing instruction via the satellite network. Each satellite may execute the reaction operation registered in association with the generation of the abnormality notification message as the reaction condition.

  With this configuration, it is possible to construct a satellite constellation with relatively simple message exchange only, and it is possible to place more terminals under remote monitoring globally. In other words, the economy can be further enhanced. Also, with the operation configuration of the period for constructing the satellite constellation as the present configuration, after the number of satellites increases, the service may be expanded according to the communication allowable capacity.

  Moreover, it is desirable to standardize the various messages described above in the same manner as the existing Internet protocol and SIP protocol (Session Initiation Protocol). If standardized, it is possible to secure the freedom of terminal device development and the diversity of services. Also, by adopting SDN / NFV, it is possible to secure the diversity of watching services.

  In the above description, it has been described that only the anomaly notification message and the safing command pass through the inter-satellite network, but depending on the capability of the inter-satellite communication network, a service that passes only the anomaly notification message and the safing command You may make the service which passes all the various messages side by side.

  In addition, dynamic QoS control / route setting can be performed best-effort according to the state of the inter-satellite communication network for various watch users with different service operation time zones and QoS (Quality of Service) requirements for supervisory control. You may

[Management area handover method]
We now describe some of the management domain handover techniques that are implemented between each of the satellites that make up the satellite constellation of the LEO satellite system. The handover method of the management area in FIG. 4 is a method in which one satellite is in charge of one management area. Further, the handover method of the management area in FIG. 5 is a method in which one satellite handles a plurality of management areas.

Inter-satellite transfer of a single management area
FIG. 4 (a) shows three satellites that form part of the satellite constellation of the LEO satellite system. Moreover, FIG.4 (b) has shown the ground surface expanded.
In FIGS. 4 (a) and 4 (b), a group of polar partial regions divided into a large number of regions are visibly described. This area division is an example, and in general, areas are allocated so as to fill the entire earth using polygons or circles having triangles or more. In the figure, many satellites forming the satellite constellation and many areas on the ground surface are omitted for clarity of the explanation.
Each satellite (the area management satellite 10, the subsequent satellite 20, the preceding satellites 30, and other omitted satellites) constituting the LEO satellite system 1 can perform satellite-satellite communication within the communicable range. Further, each satellite can carry out satellite-to-terminal communication with a terminal device group existing on the earth side within the communicable range. Also, each satellite can communicate with facilities (not shown) such as a supervisory control center manager station or data center existing on the earth as needed. It is also desirable to be able to communicate with existing satellite systems.

  In the example shown in FIG. 4, the area which the satellite group autonomously passes within the LEO satellite system 1 to be described is called the management area (area A), and the terminal apparatus group existing in the area A is the terminal apparatus group It is referred to as A, and the other area surrounding the area A is described as a surrounding area. The satellites that have passed the management area (area A) take charge of the next area (area B). Similarly to the area A, the area B and other areas are also managed while the satellite group autonomously changes the management authority in the LEO satellite system 1.

  The terminal device group shown in FIG. 4 (b) includes general-purpose products such as IoT devices, and may include vehicles (cars, aircraft, ships), autonomous vehicles, and drones such as multicopters and flying objects. . In FIG. 4B and similar figures described later, the number of terminal devices is described in a deformed manner. These terminal devices are classified into fixedly installed devices, mobile devices, autonomously moving devices, and incidentally moving devices. The present LEO satellite system 1 supports many communication methods, and there is no need to particularly limit the type of each terminal device. In general, many of these terminals support high precision positioning at the present or near future. A terminal device compatible with high accuracy positioning can notify the LEO satellite system 1 of position time information. In addition, many of these terminal devices can receive a notification command via the LEO satellite system 1 and execute this command.

  Each satellite of the LEO satellite system 1 identifies the management area it is responsible for in accordance with the management authority, and manages the status of the terminal devices in the management area. At the timings shown in FIGS. 4A and 4B, the area management satellite 10 activates the management authority of the area A. For this reason, the area management satellite 10 manages the status together with the identifier (ID: identifier) of the terminal device group A present in the management area A which the area management satellite 10 is responsible for. The confirmation of the new terminal apparatus in the management area A and the acquisition of the status may be performed by, for example, an in-area check using satellite-terminal communication or a state acquisition request, as in the state acquisition of an existing IoT device. Further, when a request for connection to the satellite network (for example, transmission of a file or message to a specific destination) is received from the terminal device side, the area management satellite 10 at that time may obtain the state. Also, as described later, the status of the terminal device group A is acquired from the surrounding satellites. If status is illustrated, the position information of each terminal device, the power state of each terminal device, and states such as various internal settings may be mentioned. The position information of the terminal device may be position information measured by the terminal device, or may be position information of the terminal device specified by the LEO satellite system 1, or both of them. Each satellite may automatically collect other data (for example, sensing values and image data) from each terminal device together with the status, or may transfer a message or packet from the terminal device to a destination.

  The area management satellite 10 in FIGS. 4A and 4B contains the area A within the communicable area at the current timing. Then, as time passes, the area management satellite 10 can not fit the area A into the communicable range, or the communication efficiency deteriorates. For this reason, each satellite according to the present embodiment is a terminal device group A existing in the management area when it goes out of the management area with respect to the satellite (following satellite 20) which puts the management area (area A) in the communicable area. Passes the status of the (managed status) by satellite-satellite communication. The status shared among the satellites may include an abnormality notification group generated during management by the individual satellites. In addition, a mechanism may be provided to notify the subsequent satellite of the reaction condition, the reaction operation, the expected value, and the like of the terminal device that has generated the abnormality notification during management, together with the status. According to this mechanism, the subsequent satellites more reliably hold the reaction conditions and the like of the terminal device (group) for which the abnormality notification has been generated. Note that satellites outside the management area (area management satellite 10) are sent to subsequent satellites (following satellite 20) via the earth station (not shown) or satellites (not shown) flying around according to the amount of communication. It is good also as delivering status etc. At this time, it is desirable that the satellite (area management satellite 10) which is out of the management area transmits together with the status of the terminal apparatus group A, each identifier of the terminal apparatus group A located in the management area. Also, as required, satellites outside the management area (area management satellite 10) link the location time of each terminal, error frequency, etc., and notify subsequent satellites (following satellite 20) as the status of that terminal. You may do it.

  The satellite (following satellite 20) taking over the management area (area A) receives and holds the status of the terminal device group A communicated from the preceding satellite (area management satellite 10), and manages the management area (area A) This area (area A) management authority is activated when it enters the range where it starts. The activation timing of the management authority may be implemented individually between individual satellites according to, for example, the negotiation of the handover source and handover destination, or a predetermined time interval, switching space coordinates and the like are predetermined in the LEO satellite system, and The LEO satellite system can be operated to change the area management according to the rules.

  The satellite (following satellite 20) taking over the management authority collects and manages the status of the terminal device group A present in the management area. At this time, various statuses can be obtained by receiving the status etc. of the terminal device group A existing in this area in advance from the satellite (the flew area management satellite 10) that previously managed this area. The status of the terminal group A can be managed without collecting from the beginning. Further, if each identifier of the terminal device group A located in the management area is received from a satellite (area management satellite 10) out of the management area, confirmation of existence of the terminal (location confirmation, existence confirmation) can also be omitted. For this reason, when each satellite changes the management area, a significant reduction in satellite-to-terminal communication can be realized as compared with the method of collecting confirmation and status collection of terminal devices in that area from the beginning. For example, in the case of a system in which the area management satellite 10 periodically monitors the status of all the terminal devices, satellite-to-terminal communication only needs to handle the difference in status. On the other hand, in the above scheme, satellite-to-terminal communication needs to handle all the statuses. Due to this difference, the management method of the terminal device group according to the present embodiment can dramatically increase the number of terminal devices that can be received by each satellite / vacant communication band as compared with the above-described system using satellites of the same size. It will be possible. Further, in the terminal device group management method, each satellite can acquire the reaction condition and the reaction operation for the state of the terminal device in the area before the charge of each area by sharing setting information and the like by the communication unit. There is. For this reason, the management method of the terminal device group according to the present embodiment can monitor and remotely operate many terminal devices without generating a large amount of communication related to instantaneous setting immediately after activating the authority in charge of the area. We can provide the environment to service vendors without interruption.

  Furthermore, when the management unit 11 leaves the management area and enters the next management area, the satellite communication unit 12A displays the status (bundle) etc. of the terminal device group A present in the management area with satellites (see FIG. And the following satellites 20) and leading satellites 30). At this time, another satellite flying around the subsequent satellite 20 may be used as a backup satellite of the subsequent satellite 20 while the subsequent satellite 20 manages the management area. In addition, the management unit 11 may extend the status of the terminal device group received from other satellites to a management area that the satellite itself will be responsible for in the future (within a predetermined period).

  The operation according to the configuration of the management unit 11 will be described below in chronological order.

Before reaching management area A:
The management unit 11 identifies the management area (area A) that the satellite takes charge of next, and manages the area A from the satellite (preceding satellite 30) having the management authority of the previous management area (area A). Before entering, the satellite communication unit 12A receives and holds the status of the terminal device group A in the area A communicated from the satellite (the leading satellite 30) having the management authority.

Area management start of management area A:
After entering the management area (area A), the management unit 11 activates the management authority, and uses the status of the terminal apparatus group A which has previously received and held the status management (management area A management) of the terminal apparatus group A. Start.

  During area management, the management unit 11 updates the status of each terminal device, collects the status of the terminal device newly included in the region A, and discards the status of the terminal device not included in the region A, Etc. may be implemented via the surface communication unit 12B. Further, during area management, the management unit 11 shares setting information (reaction condition and reaction operation) for each terminal device state with other satellites via the communication unit 12. The other satellites need not be limited to the subsequent satellites 20 and the preceding satellites 30, and the setting information may be appropriately shared with the satellites within the communication range. In addition, during area management, when the state of each terminal device matches the reaction condition, the management unit 11 executes the reaction operation associated with the reaction condition to manage a large number of terminal devices.

Before leaving management area A:
The management unit 11 identifies the surrounding area (area B) that the satellite receives next, and manages the area B from the satellite (preceding satellite 30) having the management authority before the surrounding area (area B). Before entering the range, the satellite communication unit 12A receives and holds the status of the terminal device group B in the peripheral area (area B) communicated from the satellite (preceding satellite 30) having the management authority. With the operation corresponding to this next area (area B), the following satellite 20 operates as follows.
Before leaving the management area, the management unit 11 communicates at least the minimum status of the terminal device group A to the satellite (following satellite 20) responsible for the management area (area A) next.

After leaving management area A:
The management unit 11 cancels the management authority of the management area A, and ends the status management of the terminal device group. At this time, the management unit 11 activates the management authority of the next management area B, and starts area management of the management area B (status management of the terminal device group B).

  As described above, the management unit 11 mounted on each satellite autonomously and cooperatively executes the above operation, thereby autonomously handing over the management area which each satellite is in charge of the terminal device group and the management authority of that area. A mechanism (satellite constellation) is built.

For example, in the case of the LEO satellite system in which a plurality of satellites independently determine the management area and monitor the IoT device group, requests for status acquisition are transmitted redundantly in the same area from the plurality of satellites to each IoT device, A request for status acquisition to the IoT device is required each time the management satellite switches.
As a result, symptoms such as tightness and congestion of communication bandwidth in the area and battery loss of the IoT device occur.

  On the other hand, the LEO satellite system 1 can prevent these problems. As a result, the present LEO satellite system 1 can suppress data loss and waste of bandwidth in the area even in the area where many terminal devices exist. This allows the LEO satellite system to increase the number of terminal devices that can be managed simultaneously without causing data loss in the area.

  In this way, it is possible to provide a good LEO satellite system in which the satellites autonomously hand over the management area where each satellite takes charge of the terminal equipment and the management of the terminal equipment.

  When the above-mentioned LEO satellite system is described from the terminal device side, it becomes as follows. Each terminal device transmits a terminal identifier and various statuses to a control satellite having its own management authority which changes from moment to moment, as required or spontaneously. The transmitted various statuses are taken over from the current management satellite to the subsequent satellites and managed in the LEO satellite system. Therefore, the terminal device reduces or does not need to notify the LEO satellite system of the same information each time the management satellite switches. This works beneficially, for example, to reduce battery problems and traffic for individual IoT devices.

  We will now describe some of the management domain handover techniques that are implemented between each satellite that builds up the satellite constellation.

Inter-satellite transfer of multiple management areas
FIGS. 5 (a) and 5 (b) are the same as FIGS. 4 (a) and 4 (b). This system differs from the above system in that this one satellite simultaneously has management authority for a plurality of areas. 5A and 5B, the area management satellite 10 sets the management authority of the area A, the area B, and the area C, and manages three management areas corresponding to the set management authority for each area. An example is shown.

  Each satellite of the LEO satellite system 1 identifies one or more management areas that it is responsible for according to the management authority, and manages the status of the terminal device group present in the management area for each area. In addition, the status etc. of the terminal device group located in each area is passed between the preceding satellite and the succeeding satellite by satellite-satellite communication.

  By having this mechanism, in the LEO satellite system 1, for example, one satellite manages one area in an area where many terminals per unit area exist, and one in an area where there are few terminals per unit area. It is possible for one satellite to manage multiple areas. Also, it is possible to divide the area according to the service level (service availability, communication speed) assigned to each area.

FIG. 6 shows another example of area division in which one satellite takes charge of a plurality of areas.
FIG. 6A shows an example in which the area management satellite 10 sets the management authority of the area B, the area C, and the area D, and manages three management areas corresponding to the set management authority for each area. . For example, the area including the ocean has few terminal devices, and one satellite can handle many areas. Further, in the urban area and the like, there are more terminal devices than in other areas, and one satellite (a plurality of satellites as needed) may be in charge.
FIG. 6B shows an example in which the area management satellite 10 sets the management authority of the area B and the area D, and manages two management areas corresponding to the set management authority for each area. Thus, there may be physically divided area divisions.

  By implementing an area division method in which a plurality of areas can be allocated to one satellite, it is possible to reduce the number and amount of times of passing information such as the status of the terminal between satellites. In addition, by using this method, it is possible to optimize the processing load among the satellites to be distributed among the satellites. Furthermore, it is possible to complement the area management with the surrounding satellites, for example when a particular satellite fails.

  In this way, it is possible to provide a good LEO satellite system in which the satellites autonomously hand over the management area where each satellite takes charge of the terminal equipment and the management of the terminal equipment. And, management of the global terminal equipment group by the LEO satellite system can be better maintained.

[Transfer of management authority of management area among satellites]
FIGS. 7A and 7B illustrate one satellite of another orbit, which is omitted in the above description. The description of management of the terminal device group, status sharing, and the like will be omitted.

  In this scheme, the leading satellites identify subsequent satellites. 7 (a) shows an example in which one satellite manages one management area, and FIG. 7 (b) shows an example in which one satellite simultaneously has management authority for one or more areas.

  In this method, each satellite (area management satellite 10) transmits the satellite taking over the management authority of each area to the corresponding satellite (following satellite 20) using the handover notification of the management authority. When the selected satellite (following satellite 20) enters the management area, it activates the management authority of the corresponding area based on the notification of the handover of the management authority notified. As the notification of the transfer of the management authority, as long as the management authority for each area can be identified, a plurality of areas may be collectively reported in one message, or each area may be notified by a separate message.

  Each satellite included in the satellite constellation holds the system time, position information of the management area, and its orbit information, as well as orbit information of other satellites included in the satellite constellation. Also, each satellite may be held including the life-or-death flag and resource amount for each satellite. Various types of information may be managed on table information covering the entire satellite constellation, or may be managed on a table with a limited area and orbit. Each satellite refers to the orbit information of the other satellites held and selects a satellite that is more suitable for managing the management area as the next area management satellite.

  Although the selection processing method of this handover destination satellite is not particularly limited, for example, the center of the passing area (management area), the gravity center of the terminal device distribution, and the gravity center of the communication amount distribution among satellites that can be subsequent satellites. A method of selecting one closest satellite as the satellite to which the management authority is handed over (following satellite 20) is used.

  In addition, the area management satellite 10 may widely advertise the surrounding satellites with a signal for a handover destination of the management area, and notify the satellite that first responds to the notification of handover of management authority. In addition, the area management satellite 10 widely advertises signals to the surrounding satellites for a handover destination of the management area, identifies the orbits of a plurality of satellites that have responded, and subsequently manages the management area that it has the management authority next You may select satellites and notify of notification of handover of management authority.

  As described with reference to the drawings, in the example of FIG. 7 (a), the area management satellite 10 identifies the orbits of the surrounding satellites, and subsequent satellites next manage the management area that they have the management authority of. As a satellite orbiting another orbit (following satellite 20 in the figure) is selected, and notification of handover of management authority is notified to the corresponding satellite. In this example, it is determined that a satellite orbiting another orbit (following satellite 20 in the figure) is more suitable for management of the management area A than a satellite orbiting the same orbit (following orbit satellite in the figure). Is the case. The selected subsequent satellite 20 takes over the status of the terminal device group A in advance from the area management satellite 10 based on the notification of the notification of the handover of the management authority, and when entering the management area A, the management authority of the corresponding area Activate and manage the terminal device group A.

  In the example of FIG. 7 (b), the area management satellite 10 identifies the orbits of the surrounding satellites, and subsequently controls the management area (area A, area B, area C) where it has the management authority. Satellites are selected for each area, and two satellites (following satellites 20-1 and 20-2 in the figure) are notified of notification of transfer of management authority. Each of the selected subsequent satellites 20-1 and 20-2 takes over the status of the terminal device group in its area from the area management satellite 10 in advance based on the notification of the handover of the management authority notified, and enters the management area to be in charge At the same time, each area's management authority is activated.

  As described above, in the LEO satellite system, a mechanism may be provided in which each satellite autonomously transfers the management area responsible for the terminal device and the management authority of the area.

  Note that the process of determining the management authority is not to be selected by each satellite having the management authority at the present time, and a satellite constellation having a management satellite (not shown) that manages the management authority of the area is adopted. Good. For example, existing geostationary satellites or quasi-zenith satellites can be used as this management satellite. This management satellite identifies the orbit of each satellite orbiting the upper area of each area to be managed, selects a group of satellites to manage each management area according to the timeline, and transfers notification of the selected management authority to the corresponding satellite You just need to notify When this satellite constellation is adopted, there is no need for the area management satellite to carry out subsequent satellite selection (handover processing). As a result, inexpensive satellites can be included in the satellite constellation.

  Also, both management of management authority by management satellite and autonomous transfer of management authority may be used simultaneously. In this case, the satellite (subsequent satellite 20) that finally performs area management takes over the status of the terminal devices in the area in its charge from area management satellite 10 in advance based on the notified notification of management authority handover. When entering the area, you can activate the management authority of the area. In some cases, the satellites (management satellites) that transmit notification of handover of management authority and the satellites (region management satellite 10) that transmit the status of the terminal device group in the assigned area are different.

  The satellite management can be exemplified by a method of assigning one satellite to one orbital plane, or a method of managing by, for example, three geostationary satellites so as to cover the entire satellite in orbit.

  Next, operations related to the management unit 11 (the state operation storage unit 11A, the state change detection unit 11B, and the previous state storage unit 11C) will be described from another viewpoint using FIG.

  FIG. 8 is an explanatory view visibly showing an operation or the like for taking over the status of the terminal device group between satellites. In FIG. 8, some items related to the reaction conditions of the terminal device are described. T1 to T3 in FIG. 8 are assumed to be an autonomous flying drone in this case, T4 to T7 in FIG. 8 are slope monitoring devices (IoT devices), and T8 to T10 are weather observation devices (IoT devices).

  Each satellite shares and manages the reaction condition and reaction operation for each terminal device state through the communication unit. As a result, each satellite stores the flight prohibited area of each area stored as the reaction condition, the prohibited action, the positional relationship, the weather condition and the like. Then, when a target (terminal device (group)) matching the reaction condition of each terminal device is generated in each management area, the state change is detected and the reaction operation is performed.

  Within area A1, a service vendor provides drone management services. The satellite A of the LEO satellite system 1 uses the operation state (status) and position information (status) of the terminal device acquired by the terminal-satellite communication for detection of the abnormal state of the drone.

  Each satellite in turn manages a large number of drones (with other types of management terminal devices) located in the management area A1. At this time, the state change detection unit 11B monitors each managed drone by individual management or group management.

  Abnormality detection of the drone by the state change detection unit 11B is determined directly from the drone's operating state (status: power supply capacity, altitude, speed, autonomic abnormality diagnosis result, etc.) Based on the reaction conditions, it will be judged whether the operation is normal by comparing the flight / cruise route information with the current position information.

  State change detection unit 11B of the satellite refers to state storage unit 11C last time as appropriate, and when an abnormality occurs (when normal changes to an abnormality or a warning under reaction conditions), generation and notification of an abnormality notification (surrounding satellites) Sharing and sending to the destination) and referring to the reaction action of the state action storage unit 11A, the communication command such as speed adjustment, altitude adjustment, turning (re-navigation), emergency stop, etc. is made safe command to the relevant drone It notifies by satellite-terminal communication. This reaction operation is, for example, an operation that after an attempt is made to correct an abnormality after stepping on several steps of corrective action with a plurality of communication commands such as speed adjustment and turn instructions, the emergency stop will eventually occur if the abnormality does not improve. It may be.

In the area A2, a service vendor provides group management service of the slope monitoring device.
In this area, the slope monitoring devices of snow mountains and dangerous slopes are managed by the LEO satellite system 1. If the position movement (collapse) of the slope monitoring group or failure (precursor) of the positional relationship is detected under reaction conditions, the satellite B of the LEO satellite system 1 is described in the reaction operation together with the generation and notification of the abnormality notification. It controls so that the communication command which outputs a warning to a smart phone, a disaster prevention radio (alarm device), and various terminal devices which are in near range as it has been sent.

  In the area A3, a service vendor provides a regional management service by a weather observation apparatus. In this area, for example, a meteorological observation apparatus group for atmospheric observation (PM 2.5 etc.) and an air purifier (IoT device) are managed by the LEO satellite system. If the atmospheric pollutant concentration of the meteorological observation group detects an outlier value recorded in the reaction condition, the satellite C of the LEO satellite system 1 together with the generation and notification of the abnormality notification as described in the reaction operation A communication command for operating the air purifier group is controlled to be sent as a safing command based on the concentration of air pollutants within a specific range.

  In this way, each satellite deciphers satellite communication from the terminal group in the management area currently handled by itself and manages it according to the reaction condition and reaction operation, for example, a flight route whose position coordinates are predetermined. When a drone or the like that has deviated is detected, the satellite transmits a communication command for the relevant model that causes the drone to change direction or execute a predetermined operation to the earth side. By this, for example, even in an environment not connected to the ground side communication network, it is possible to cope with abnormal behavior or state displacement of the terminal device.

  That is, each satellite holds in advance a reaction condition for the status of a group of terminal devices and a communication command or the like that causes the corresponding terminal device to execute a predetermined operation when the reaction conditions are met. It becomes manageable with the same mechanism.

  Therefore, this LEO satellite system can manage many terminal devices at low cost in terms of the number of terminal devices. For this reason, even if it is a remote place, a mountainous area, and the terminal device on the ocean, for example, it will be able to connect to the network as long as the view in the sky is secured.

  Although the above service example has been described using a drone, a slope monitoring device, and a weather observation device as a terminal device, a mechanism in which a large number of terminal devices including a combination of airplanes, cars, smartphones, and sensor terminals are combined in a complex manner. It may be managed by For example, many services provided by a plurality of service vendors may be superimposed and implemented. In this service, a LEO satellite system may be constructed so that service providers, government agencies, service users, etc. can appropriately set reaction conditions and reaction actions in the LEO satellite system for each service.

As described above, according to the present invention, it is possible to provide an LEO satellite system that constructs a global surveillance infrastructure for many terminal devices. By realizing this satellite constellation, the number of terminal devices that can be managed by the LEO satellite system can be dramatically increased. In other words, a large number of terminal devices can be managed globally at low cost. In addition, it is possible to provide a platform that can realize various services globally. In addition, by incorporating the security / privacy platform described above into the LEO satellite system, it is possible to provide a method of managing terminal devices by the LEO satellite system with high security.
In other words, it is possible to provide a platform on which a wide variety of global solutions are provided, including "sustaining economics", "sustaining diversity" and "suring safety".

  The internal configuration (control mechanism, management unit) of each satellite may be realized using a combination of hardware and software of a computer system. The computer system includes one or more processors and memory tailored to the desired configuration. In addition, part or all of each part of the computer system may be replaced with hardware or firmware (for example, one or more LSIs: Large-Scale Integration, FPGA: Field Programmable Gate Array, a combination of electronic elements).

  The program for realizing the management unit may be recorded non-temporarily on a recording medium and distributed. The program recorded on the recording medium is read into a memory through a wired, wireless, or recording medium itself to operate a processor or the like.

  In the present specification, recording media also include storage media, memory devices, storage devices and the like of similar terms. Examples of this recording medium include an optical disk, a magnetic disk, a semiconductor memory device, a hard disk device, and a tape medium. Further, it is desirable that the recording medium be non-volatile. Further, a combination of a volatile module (for example, RAM: Random Access Memory) and a non-volatile module (for example, ROM: Read Only Memory) may be used as the recording medium.

  The present invention has been described by exemplifying the embodiment. However, the specific configuration of the present invention is not limited to the above-described embodiment, and any changes without departing from the scope of the present invention are included in the present invention. For example, changes such as combinations of the above-described embodiments and replacement of procedures are free as long as the purpose of the present invention and the functions to be described are satisfied, and the above description does not limit the present invention.

  Also, some or all of the above embodiments may be described as follows. The following appendices do not limit the present invention at all.

[Supplementary note]
Constellation is composed of many satellites orbiting low altitude orbit,
Each of the multiple satellites
A communication unit for communicating with a large number of terminal devices located on the earth side and other satellites located on the orbit side;
Managing the reaction condition and reaction operation for each terminal device state with the other satellite via the communication unit
Communication with a terminal group existing in a management area currently handled by the communication unit is performed via the communication unit to collect statuses including position information of the terminal groups existing in the management area. A management unit that manages the plurality of terminal devices by executing a reaction operation associated with the reaction condition when the terminal device state of the device matches the reaction condition;
A LEO satellite system characterized in that the large number of satellites cooperate to change over each management area and globally watch over a specific terminal device and / or a plurality of terminal device groups existing on the earth side.

[Supplementary note]
The LEO satellite system according to the above-mentioned supplementary note, wherein each of the satellites uses a DTN protocol for a communication protocol with the terminal device and the earth station using the communication unit.

[Supplementary note]
The LEO satellite system receives from the service vendor providing the service the setting of reaction conditions and reaction actions for the terminal condition every moment of the terminal device managed by each satellite.
Each of the satellites shares the setting of the reaction condition and the reaction operation with respect to the terminal device status every moment of the terminal device managed by each satellite received from each service vendor through the communication unit. Additional information LEO satellite system.

[Supplementary note]
Each of the satellites
Retaining a reaction condition for the status of each terminal group and a communication command for causing the corresponding terminal apparatus to execute a predetermined operation when the reaction condition is met,
The satellite communication from the terminal group in the management area currently handled by the self is read, and when the status of each terminal matches the reaction condition, the communication command corresponding to the reaction condition is sent to the earth side The LEO satellite system as described in the above-mentioned appendix, characterized by transmitting.

[Supplementary note]
Each of the satellites generates an abnormality notification as a reaction condition for each terminal device state, and shares the abnormality notification generated through the communication unit with the other satellites. .

[Supplementary note]
Each of the satellites is a control message which is a communication command including at least one of navigation recalculation / stop / turning / turning back to a predetermined / required number of terminal devices as a reaction operation to any reaction condition. The above-mentioned LEO satellite system, wherein the satellite is transmitted from a satellite having the management authority of the corresponding management area.

[Supplementary note]
The LEO satellite system has a supervisory control center manager station on the ground,
The supervisory control center manager station receives and manages reaction conditions and reaction operation settings for each terminal device state held by each of the large number of satellites via a communication network, as well as for each satellite constituting a constellation. The LEO satellite system as set forth above, wherein the set reaction conditions and reaction actions are set via a satellite network.

[Supplementary note]
The LEO satellite system has a supervisory control center manager station on the ground,
Each of the satellites generates an abnormality notification as a reaction condition for each terminal device state, relays / notifies an abnormality notification generated via the communication unit, and transmits the notification to the supervisory control center manager station. The LEO satellite system described above.

[Supplementary note]
The LEO satellite system has a supervisory control center manager station on the ground,
The supervisory control center manager station receives from a user and manages a service operation plan for calculating an expected value of position information which is each momentary terminal status held by each of the large number of satellites via a communication network. The LEO satellite system according to the above-mentioned supplementary note, wherein an expected value of position information calculated from the set service operation plan or the service operation plan is set via the satellite network to each satellite constituting the constellation. .

[Supplementary note]
Each of the plurality of satellites acquires the status including the position information of the terminal device group present in the management area currently handled by itself through the communication unit every moment, and the acquired position information is calculated from the operation plan or the operation plan When it deviates from the expected value of the position information, an abnormality notification is generated as a reaction condition for the corresponding terminal device state, and broadcast to the other satellite and / or the earth station, and toward the corresponding terminal device state The LEO satellite system as set forth in the above-mentioned additional feature, characterized by broadcasting a safing command.

[Supplementary note]
The satellite is the communication unit,
A surface communication unit configured to be able to communicate with a terminal device group existing on the earth side when being inserted into the LEO;
A satellite communication unit configured to be able to communicate with the other satellites present on the orbit side when LEO is introduced,
Together with SDR (Software Defined Radio),
The surface communication unit and the satellite communication unit correspond to a plurality of communication methods,
The surface communication unit executes satellite communication with the terminal device group in the management area by the communication method corresponding to each of the terminal devices, and collects the status of the terminal device group in the management area. ,
The above-mentioned LEO described in the above supplementary note, wherein the satellite communication unit takes over the management authority of the management area and the status of the collected terminal apparatus group by the communication method corresponding to the other satellites of plural types to the other satellite. Satellite system.

[Supplementary note]
Each of the satellites identifies a management area that it is responsible for according to the management authority, and while the satellites having individual management authority manage the status of the terminal device group present in each management area, the satellites follow when they leave the management area. Communicating the status of the terminal group existing in the management area to the satellite, and the subsequent satellite receives the status of the terminal group communicated from the preceding satellite, and when the satellite enters the management area, The LEO satellite system according to the above-mentioned additional feature, wherein the subsequent satellites activate management authority to manage the status of the terminal group in the management area.

[Supplementary note]
A first satellite included in the plurality of satellites identifies a management area currently handled by the satellite, executes satellite communication with a group of terminal devices existing in the management area, and displays a terminal existing in the management area While managing the status of the group of devices, when leaving the management area, the status of the group of terminal devices present in the management area is communicated to the subsequent second satellite;
The second satellite included in the plurality of satellites identifies a management area that the second satellite is responsible for next, and the status of the terminal device group existing in the management area via satellite communication from the first satellite It receives and manages it, and when it enters the management area, it identifies the management area it is currently in charge of, executes satellite communication with the terminal devices in the management area, and exists in the management area The LEO satellite system as described in the above-mentioned appendix, which manages the status of a group of terminal devices.

[Supplementary note]
The LEO satellite system according to the above-mentioned addition, characterized in that, when passing the status of the terminal device group for each management area, the large number of satellites transmit the identifier of the terminal device group existing in the management area together.

[Supplementary note]
At the time of passing the status of the terminal device group for each management area, the large number of satellites transmit at least the abnormal notification of the terminal device generated to the terminal device group located in the management area and the generation time thereof. The LEO satellite system as described in the above-mentioned supplementary note.

[Supplementary note]
The plurality of satellites are characterized in that at the time of passing the status of the terminal device group for each management area, the plurality of satellites transmit at least the control messages transmitted to the terminal devices existing in the management area and their transmission times. The LEO satellite system described above.

[Supplementary note]
The LEO satellite system according to the supplementary note, wherein each of the plurality of satellites sets the management authority of one or more areas, and manages one or more management areas corresponding to the set management authority for each area. .

[Supplementary note]
Each of the plurality of satellites identifies the orbits of the other satellites included in the satellite constellation, selects the subsequent satellites to be managed next by the management area for which it has the management authority, and controls the selected satellites Notify of the notification of
The LEO satellite system according to the above-mentioned supplementary note, wherein, upon entering the management area, the selected corresponding satellite activates the management authority of the corresponding area based on the notification of handover of the management authority notified.

[Supplementary note]
The LEO satellite system includes management satellites that manage the management authority of one or more satellites,
The management satellite identifies the orbit of each satellite included in the satellite constellation, selects a satellite group that manages each management area according to a timeline, and notifies the selected satellite of notification of handover of management authority.
The LEO satellite system according to the above-mentioned supplementary note, wherein the selected satellite activates the management authority of the corresponding area when entering the management area based on the notification of the handover of the management authority notified.

[Supplementary note]
The management satellites are geostationary satellites and / or quasi-zenith satellites,
The management satellite identifies the orbit of each satellite included in the satellite constellation, selects a satellite group that manages each management area according to a timeline, and notifies the selected satellite of notification of handover of management authority.
The LEO satellite system according to the above-mentioned supplementary note, wherein the selected satellite activates the management authority of the corresponding area when entering the management area based on the notification of the handover of the management authority notified.

[Supplementary note]
The management satellites are geostationary satellites and / or quasi-zenith satellites,
The management satellite manages the setting of reaction conditions and reaction operations for each terminal device state held by each of the plurality of satellites, and also sets the reaction conditions and reaction operations set for each satellite constituting the constellation. The LEO satellite system as set forth in the above supplementary note, wherein the setting is performed via a network.

[Supplementary note]
The LEO satellite system according to claim 1, wherein the terminal device manages an IoT device.

[Supplementary note]
The LEO satellite system manages the drone as the terminal device, and when the drone position coordinate deviates from a predetermined flight route or enters a no-fly area, navigation recalculation / stop / direction is performed to the drone. The LEO satellite system as set forth in the above-mentioned additional feature, wherein a communication command notifying at least one of the conversions is transmitted from a satellite having the management authority of the corresponding management area.

[Supplementary note]
The LEO satellite system manages an autonomous vehicle as the terminal device, and recalculates navigation on the autonomous vehicle and / or surrounding vehicles when the position coordinates of the autonomous vehicle deviate from a predetermined traveling route. The LEO satellite system as set forth in the above-mentioned additional feature, wherein a communication command notifying at least one of stop / turn / redirect / warning is transmitted from a satellite having the management authority of the corresponding management area.

[Supplementary note]
A communication unit configured to communicate with a large number of terminal devices located on the earth side and other satellites located on the orbit side in a state of being disposed in a low altitude orbit;
Managing the reaction condition and reaction operation for each terminal device state with the other satellite via the communication unit
Communication with a terminal group existing in a management area currently handled by the communication unit is performed via the communication unit to collect statuses including position information of the terminal groups existing in the management area. And a management unit configured to manage the plurality of terminal devices by executing a reaction operation associated with the reaction condition when the terminal device state matches the reaction condition. LEO satellite.

[Supplementary note]
The LEO satellite described above, wherein the LEO satellite is configured to use a DTN protocol in a communication protocol with the terminal device and the earth station using the communication unit.

[Supplementary note]
The LEO satellite receives the setting of the reaction condition and reaction operation for the terminal condition every moment of the terminal device managed by each satellite received from each service vendor through the communication unit with the other satellites. A LEO satellite as claimed in any preceding claim, characterized in that it is configured to share.

[Supplementary note]
The LEO satellite is
Retaining a reaction condition for the status of each terminal group and a communication command for causing the corresponding terminal apparatus to execute a predetermined operation when the reaction condition is met,
The satellite communication from the terminal group in the management area currently handled by the self is read, and when the status of each terminal matches the reaction condition, the communication command corresponding to the reaction condition is sent to the earth side The LEO satellite as described in the above supplementary note, characterized in that it transmits.

[Supplementary note]
The LEO satellite is configured to generate an anomaly notification as a reaction condition for each terminal device status, and share the anomaly notification generated via the communication unit with the other satellites. The LEO satellites mentioned above.

[Supplementary note]
The LEO satellite is a control message that is a communication command including at least one of navigation recalculation / stop / turning / turning back to a predetermined / required number of terminal devices as a response operation to any reaction condition. The LEO satellite according to any of the preceding claims, characterized in that it is configured to transmit.

[Supplementary note]
From the supervisory control center manager station that receives and manages the reaction conditions and reaction operation settings for each terminal device state held by each of the large number of satellites, the setting of the reaction conditions and reaction operations set via the satellite network An LEO satellite as described in the above supplementary note, characterized in that it is accepted.

[Supplementary note]
The LEO satellite generates an abnormality notification as a reaction condition for each terminal device state, and transmits the abnormality notification generated via the communication unit to a supervisory control center manager station via a satellite network. The LEO satellites mentioned above.

[Supplementary note]
The above LEO satellite is characterized in that the expected value of the position information calculated from the set service operation plan or the service operation plan is set from the supervisory control center manager station via the satellite network. LEO satellites.

[Supplementary note]
The LEO satellite momentarily acquires the status including the position information of the terminal group existing in the management area currently handled by the LEO satellite through the communication unit, and the acquired position information is calculated from the operation plan or the operation plan When it deviates from the expected value of the position information, it generates an anomaly notification as a reaction condition for the corresponding terminal condition, broadcasts to the other satellite and / or the earth station, and secures it toward the corresponding terminal condition. A LEO satellite as described in the above supplementary note, characterized by broadcasting a command.

[Supplementary note]
The LEO satellite is configured to
A surface communication unit configured to be able to communicate with a terminal device group existing on the earth side when being inserted into the LEO;
A satellite communication unit configured to be able to communicate with the other satellites present on the orbit side when LEO is introduced,
Together with SDR (Software Defined Radio),
The surface communication unit and the satellite communication unit correspond to a plurality of communication methods,
The surface communication unit executes satellite communication with the terminal device group in the management area by the communication method corresponding to each of the terminal devices, and collects the status of the terminal device group in the management area. ,
The above-mentioned LEO described in the above supplementary note, wherein the satellite communication unit takes over the management authority of the management area and the status of the collected terminal apparatus group by the communication method corresponding to the other satellites of plural types to the other satellite. satellite.

[Supplementary note]
The LEO satellite identifies the management areas that it is responsible for according to the management authority, and while the satellites with individual management authority manage the status of the terminal devices in each management area, and when it leaves the management area, Communicate the status of the terminal group existing in the management area to
Also, the LEO satellite receives the status of the terminal group communicated from the preceding satellite, and when entering the management area, activates the management authority to manage the status of the terminal group in the management area The LEO satellite according to the above supplementary note, characterized in that:

[Supplementary note]
The LEO satellite identifies a management area currently handled by the LEO satellite, executes satellite communication with terminal groups existing in the management area, and manages the status of terminal groups existing in the management area. The LEO satellite according to the above-mentioned additional statement, wherein when leaving the management area, the status of the terminal device group existing in the management area is communicated to the subsequent satellites.

[Supplementary note]
The LEO satellite according to the supplementary note, wherein the LEO satellite transmits, together with an identifier of a terminal group existing in the management area, when passing the status of the terminal group for each management area.

[Supplementary note]
When passing the status of the terminal device group for each management area, the LEO satellite transmits at least the notification of abnormality of the terminal device generated to the terminal device group located in the management area and the generation time thereof. The LEO satellite described in the above supplementary note.

[Supplementary note]
The LEO satellite is characterized in that, at the time of passing the status of the terminal device group for each management area, at least the control message transmitted to the terminal device group located in the management area and the transmission time thereof are mutually exchanged. LEO satellites listed above.

[Supplementary note]
The LEO satellite according to the supplementary note, wherein the LEO satellite sets the management authority of one or more areas, and manages one or more management areas corresponding to the set management authority for each area.

[Supplementary note]
The LEO satellites identify the orbits of other satellites included in the satellite constellation, select subsequent satellites to manage the management area for which they have management authority next, and transfer management authority to the selected satellites. A LEO satellite as described in the above supplementary note, characterized by notifying a notification.

[Supplementary note]
The LEO satellite according to claim 1, characterized in that the LEO satellite manages an IoT device as the terminal device.

[Supplementary note]
A method of managing a group of terminals by an LEO satellite system comprising a constellation of a number of satellites orbiting a low altitude orbit, comprising:
Each of the plurality of satellites includes a plurality of terminal devices present on the earth side, a communication unit that communicates with other satellites present on the orbit side, and a management unit that is in charge of cooperation with other satellites,
Each of the plurality of satellites manages a reaction condition and a reaction operation for each terminal device state by sharing with the other satellites via the communication unit,
and,
Each of the plurality of satellites executes communication with a terminal group existing in a management area currently handled by the satellite via the communication unit, and a status including position information of the terminal group existing in the management area A method for managing the plurality of terminals by executing a reaction operation associated with the reaction conditions, when each terminal condition matches the reaction conditions.

[Supplementary note]
The method for managing a group of terminal devices as set forth in the above-mentioned additional feature, wherein each of the satellites uses a DTN protocol in a communication protocol with the terminal device and the earth station using the communication unit.

[Supplementary note]
The LEO satellite system receives from the service vendor providing the service the setting of reaction conditions and reaction actions for the terminal condition every moment of the terminal device managed by each satellite.
Each of the satellites shares the setting of the reaction condition and the reaction operation with respect to the terminal device status every moment of the terminal device managed by each satellite received from each service vendor through the communication unit. The management method of the terminal device group described in the supplementary note.

[Supplementary note]
Each of the satellites
Retaining a reaction condition for the status of each terminal group and a communication command for causing the corresponding terminal apparatus to execute a predetermined operation when the reaction condition is met,
The satellite communication from the terminal group in the management area currently handled by the self is read, and when the status of each terminal matches the reaction condition, the communication command corresponding to the reaction condition is sent to the earth side The management method of the terminal device group described in the above-mentioned additional feature, characterized by transmitting.

[Supplementary note]
Each of the satellites generates an anomaly notification as a reaction condition for each terminal device state, and shares the anomaly notification generated through the communication unit with the other satellites. How to manage

[Supplementary note]
Each of the satellites is a control message which is a communication command including at least one of navigation recalculation / stop / turning / turning back to a predetermined / required number of terminal devices as a reaction operation to any reaction condition. Is transmitted from a satellite having the management authority of the corresponding management area.

[Supplementary note]
The LEO satellite system has a supervisory control center manager station on the ground,
The supervisory control center manager station receives and manages reaction conditions and reaction operation settings for each terminal device state held by each of the large number of satellites via a communication network, as well as for each satellite constituting a constellation. The method for managing terminal devices as set forth above, wherein the set reaction conditions and reaction actions are set via a satellite network.

[Supplementary note]
The LEO satellite system has a supervisory control center manager station on the ground,
Each of the satellites generates an abnormality notification as a reaction condition for each terminal device state, relays / notifies an abnormality notification generated via the communication unit, and transmits the notification to the supervisory control center manager station. The management method of the terminal device group of the said additional remark description.

[Supplementary note]
The LEO satellite system has a supervisory control center manager station on the ground,
The supervisory control center manager station receives from a user and manages a service operation plan for calculating an expected value of position information which is each momentary terminal status held by each of the large number of satellites via a communication network. The terminal device group as set forth in the above supplementary note, wherein an expected value of position information calculated from the set service operation plan or the service operation plan is set via the satellite network to each satellite constituting the constellation. How to manage

[Supplementary note]
Each of the plurality of satellites acquires the status including the position information of the terminal device group present in the management area currently handled by itself through the communication unit every moment, and the acquired position information is calculated from the operation plan or the operation plan When it deviates from the expected value of the position information, an abnormality notification is generated as a reaction condition for the corresponding terminal device state, and broadcast to the other satellite and / or the earth station, and toward the corresponding terminal device state The management method of the terminal device group as described in the above-mentioned Supplementary note, characterized by broadcasting a safety control command.

[Supplementary note]
The satellite is the communication unit,
A surface communication unit configured to be able to communicate with a terminal device group existing on the earth side when being inserted into the LEO;
A satellite communication unit configured to be able to communicate with the other satellites present on the orbit side when LEO is introduced,
Together with SDR (Software Defined Radio),
The surface communication unit and the satellite communication unit correspond to a plurality of communication methods,
The surface communication unit executes satellite communication with the terminal device group in the management area by the communication method corresponding to each of the terminal devices, and collects the status of the terminal device group in the management area. ,
The terminal according to the supplementary note, wherein the satellite communication unit takes over the management authority of the management area and the status of the collected terminal apparatus group by the communication system corresponding to the plurality of other satellites to the other satellite. Device group management method.

[Supplementary note]
Each of the satellites identifies a management area that it is responsible for according to the management authority, and while the satellites having individual management authority manage the status of the terminal device group present in each management area, the satellites follow when they leave the management area. Communicating the status of the terminal group existing in the management area to the satellite, and the subsequent satellite receives the status of the terminal group communicated from the preceding satellite, and when the satellite enters the management area, The management method of a terminal group as described in the above-mentioned addition, characterized in that the subsequent satellite activates a management right to manage the status of the terminal group in the management area.

[Supplementary note]
A first satellite included in the plurality of satellites identifies a management area currently handled by the satellite, executes satellite communication with a group of terminal devices existing in the management area, and displays a terminal existing in the management area While managing the status of the group of devices, when leaving the management area, the status of the group of terminal devices present in the management area is communicated to the subsequent second satellite;
The second satellite included in the plurality of satellites identifies a management area that the second satellite is responsible for next, and the status of the terminal device group existing in the management area via satellite communication from the first satellite It receives and manages it, and when it enters the management area, it identifies the management area it is currently in charge of, executes satellite communication with the terminal devices in the management area, and exists in the management area The management method of a terminal group as set forth in the above-mentioned appendage, wherein the status of the terminal group is managed.

[Supplementary note]
The terminal device group according to the supplementary note, wherein, when passing the status of the terminal device group for each management area, the large number of satellites transmit an identifier of the terminal device group existing in the management area together. Management method.

[Supplementary note]
At the time of passing the status of the terminal device group for each management area, the large number of satellites transmit at least the abnormal notification of the terminal device generated to the terminal device group located in the management area and the generation time thereof. The management method of the terminal device group described in the above-mentioned supplementary note characterized by

[Supplementary note]
The plurality of satellites are characterized in that at the time of passing the status of the terminal device group for each management area, the plurality of satellites transmit at least the control messages transmitted to the terminal devices existing in the management area and their transmission times. The management method of the terminal device group of the said additional remark description.

[Supplementary note]
Each of the plurality of satellites sets the management authority of one or more areas, and manages one or more management areas corresponding to the set management authority for each area. How to manage

[Supplementary note]
Each of the plurality of satellites identifies the orbits of the other satellites included in the satellite constellation, selects the subsequent satellites to be managed next by the management area for which it has the management authority, and controls the selected satellites Notify of the notification of
The management of the terminal device group according to the above-mentioned supplementary note, wherein the selected corresponding satellite activates the management authority of the corresponding area when entering the management area based on the notification of the handover of the management authority notified. Method.

[Supplementary note]
The LEO satellite system includes management satellites that manage the management authority of one or more satellites,
The management satellite identifies the orbit of each satellite included in the satellite constellation, selects a satellite group that manages each management area according to a timeline, and notifies the selected satellite of notification of handover of management authority.
The management method of the terminal device group according to the above-mentioned supplementary note, wherein the selected satellite activates the management authority of the corresponding area when entering the management area based on the notification of the handover of the management authority notified. .

[Supplementary note]
The management satellites are geostationary satellites and / or quasi-zenith satellites,
The management satellite identifies the orbit of each satellite included in the satellite constellation, selects a satellite group that manages each management area according to a timeline, and notifies the selected satellite of notification of handover of management authority.
The management method of the terminal device group according to the above-mentioned supplementary note, wherein the selected satellite activates the management authority of the corresponding area when entering the management area based on the notification of the handover of the management authority notified. .

[Supplementary note]
The management satellites are geostationary satellites and / or quasi-zenith satellites,
The management satellite manages the setting of reaction conditions and reaction actions for each terminal device state held by each of the plurality of satellites, and also sets reaction conditions and reaction actions set for each satellite constituting the constellation, The management method of a terminal group as set forth in the above-mentioned supplementary note, characterized by setting via a satellite network.

[Supplementary note]
The management method of a terminal group as set forth in the supplementary note, wherein the LEO satellite system manages an IoT device as the terminal.

[Supplementary note]
The LEO satellite system manages the drone as the terminal device, and when the drone position coordinate deviates from a predetermined flight route or enters a no-fly area, navigation recalculation / stop / direction is performed to the drone. The management method of a terminal group as described in the above-mentioned addition, characterized in that a communication command notifying at least one of the conversions is transmitted from a satellite having the management authority of the corresponding management area.

[Supplementary note]
The LEO satellite system manages an autonomous vehicle as the terminal device, and recalculates navigation on the autonomous vehicle and / or surrounding vehicles when the position coordinates of the autonomous vehicle deviate from a predetermined traveling route. The management method of a terminal group as described in the above-mentioned Supplementary note, wherein a communication command notifying at least one of stop / turn / redirect / warning is transmitted from a satellite having the management authority of the corresponding management area.

  This application claims priority based on Japanese Patent Application No. 2016-076297 filed on Apr. 6, 2016, the entire disclosure of which is incorporated herein.

1 LEO satellite system 10 satellite (area management satellite)
11 management unit 11A condition operation storage unit 11B state change detection unit 11C previous state storage unit 12 communication unit 12A satellite communication unit 12B surface communication unit 20 satellite (following satellite)
30 satellites (advancing satellites)

Claims (26)

Constellation is composed of many satellites orbiting low altitude orbit,
Each of the multiple satellites
Communication means for communicating with a large number of terminal devices located on the earth side and other satellites located on the orbit side;
Managing the reaction condition and reaction operation for each terminal device state with the other satellite via the communication means
Communication with a terminal group existing in a management area currently handled by the communication unit is performed via the communication means to collect statuses including position information of the terminal groups existing in the management area, and individually And managing means for managing the plurality of terminal devices by executing a reaction corresponding to the reaction condition when the terminal condition of the device matches the reaction condition;
A LEO satellite system characterized in that the large number of satellites cooperate to change over each management area and globally watch over a specific terminal device and / or a plurality of terminal device groups existing on the earth side.   The LEO satellite system according to claim 1, wherein each of the satellites uses a DTN protocol in a communication protocol with the terminal device and the earth station using the communication means. The LEO satellite system receives from the service vendor providing the service the setting of reaction conditions and reaction actions for the terminal condition every moment of the terminal device managed by each satellite.
Each of the satellites shares the setting of the reaction condition and the reaction operation with respect to the momentary terminal device status of the terminal device managed by each satellite received from each service vendor via the communication unit. The LEO satellite system according to Item 1 or 2. Each of the satellites
Retaining a reaction condition for the status of each terminal group and a communication command for causing the corresponding terminal apparatus to execute a predetermined operation when the reaction condition is met,
The satellite communication from the terminal group in the management area currently handled by the self is read, and when the status of each terminal matches the reaction condition, the communication command corresponding to the reaction condition is sent to the earth side The LEO satellite system according to any one of claims 1 to 3, characterized in that it transmits.   5. The satellite according to any one of claims 1 to 4, wherein each of the satellites generates an anomaly notification as a reaction condition for each terminal device state, and shares the anomaly notification generated through the communication unit with the other satellites. LEO satellite system according to one item.   Each of the satellites is a control message which is a communication command including at least one of navigation recalculation / stop / turning / turning back to a predetermined / required number of terminal devices as a reaction operation to any reaction condition. The LEO satellite system according to any one of claims 1 to 5, wherein the satellite is transmitted from a satellite having the management authority of the corresponding management area. The LEO satellite system has a supervisory control center manager station on the ground,
The supervisory control center manager station receives and manages reaction conditions and reaction operation settings for each terminal device state held by each of the large number of satellites via a communication network, as well as for each satellite constituting a constellation. The LEO satellite system according to any one of claims 1 to 6, wherein the set reaction conditions and reaction actions are set via a satellite network. The LEO satellite system has a supervisory control center manager station on the ground,
Each of the satellites generates an abnormality notification as a reaction condition for each terminal device state, relays / notifies an abnormality notification generated via the communication unit, and transmits the notification to the supervisory control center manager station. The LEO satellite system according to any one of claims 1 to 7. The LEO satellite system has a supervisory control center manager station on the ground,
The supervisory control center manager station receives from a user and manages a service operation plan for calculating an expected value of position information which is each momentary terminal status held by each of the large number of satellites via a communication network. 9. The satellite communication system according to claim 1, wherein an expected value of position information calculated from the set service operation plan or the service operation plan is set via the satellite network to each satellite constituting the constellation. LEO satellite system according to one item.   Each of the plurality of satellites acquires the status including the position information of the terminal device group present in the management area currently handled by itself through the communication unit every moment, and the acquired position information is calculated from the operation plan or the operation plan When it deviates from the expected value of the position information, an abnormality notification is generated as a reaction condition for the corresponding terminal device state, and broadcast to the other satellite and / or the earth station, and toward the corresponding terminal device state The LEO satellite system according to any one of claims 1 to 9, wherein a safing command is broadcasted. Said satellite means for said communication means,
A surface communication means configured to be able to communicate with a group of terminal devices existing on the earth side when being introduced into LEO;
Satellite communication means configured to be able to communicate with the other satellites present on the orbit side when LEO is introduced;
Together with SDR (Software Defined Radio),
The surface communication means and the satellite communication means correspond to a plurality of communication methods,
The surface communication means executes satellite communication with the terminal device group in the management area by the communication method corresponding to each of the terminal devices, and collects the status of the terminal device group in the management area. ,
11. The satellite communication means is characterized in that the management authority of the management area and the status of the collected terminal device group are handed over to the other satellites according to a communication method supported by the other satellites of a plurality of types. LEO satellite system according to any one of the preceding claims. Each of the satellites identifies a management area that it is responsible for according to the management authority, and while the satellites having individual management authority manage the status of the terminal device group present in each management area, the satellites follow when they leave the management area. Communicating the status of the terminal group existing in the management area to the satellite, and the subsequent satellite receives the status of the terminal group communicated from the preceding satellite, and when the satellite enters the management area, The LEO satellite system according to any one of claims 1 to 11, wherein the subsequent satellite activates a management authority to manage the status of the terminal group in the management area. A first satellite included in the plurality of satellites identifies a management area currently handled by the satellite, executes satellite communication with a group of terminal devices existing in the management area, and displays a terminal existing in the management area While managing the status of the group of devices, when leaving the management area, the status of the group of terminal devices present in the management area is communicated to the subsequent second satellite;
The second satellite included in the plurality of satellites identifies a management area that the second satellite is responsible for next, and the status of the terminal device group existing in the management area via satellite communication from the first satellite It receives and manages it, and when it enters the management area, it identifies the management area it is currently in charge of, executes satellite communication with the terminal devices in the management area, and exists in the management area The LEO satellite system according to any one of claims 1 to 12, wherein the status of a group of terminal devices is managed.   14. The satellite according to any one of claims 1 to 13, wherein, when passing the status of the terminal device group for each management area, the large number of satellites transmit an identifier of the terminal device group located in the management area together. The LEO satellite system according to one item.   At the time of passing the status of the terminal device group for each management area, the large number of satellites transmit at least the abnormal notification of the terminal device generated to the terminal device group located in the management area and the generation time thereof. The LEO satellite system according to any one of the preceding claims, characterized in that   The plurality of satellites are characterized in that at the time of passing the status of the terminal device group for each management area, the plurality of satellites transmit at least the control messages transmitted to the terminal devices existing in the management area and their transmission times. The LEO satellite system according to any one of the preceding claims.   17. The plurality of satellites set management rights for one or more areas, and manage one or more management areas corresponding to the set management rights for each area. LEO satellite system according to one item. Each of the plurality of satellites identifies the orbits of the other satellites included in the satellite constellation, selects the subsequent satellites to be managed next by the management area for which it has the management authority, and controls the selected satellites Notify of the notification of
18. The satellite according to any one of claims 1 to 17, wherein the selected satellite activates the management authority of the corresponding area when it enters the management area based on the notification of the handover of the management authority notified. LEO satellite system described in Section. The LEO satellite system includes management satellites that manage the management authority of one or more satellites,
The management satellite identifies the orbit of each satellite included in the satellite constellation, selects a satellite group that manages each management area according to a timeline, and notifies the selected satellite of notification of handover of management authority.
19. The satellite according to any one of claims 1 to 18, wherein the selected satellite activates the management authority of the corresponding area when entering the management area based on the notification of the handover of the management authority notified. LEO satellite system described in. The management satellites are geostationary satellites and / or quasi-zenith satellites,
The management satellite identifies the orbit of each satellite included in the satellite constellation, selects a satellite group that manages each management area according to a timeline, and notifies the selected satellite of notification of handover of management authority.
20. The LEO satellite system according to claim 19, wherein, upon entering the management area, the selected satellite activates the management authority of the corresponding area based on the notification of handover of the management authority notified. The management satellites are geostationary satellites and / or quasi-zenith satellites,
The management satellite manages the setting of reaction conditions and reaction operations for each terminal device state held by each of the plurality of satellites, and also sets the reaction conditions and reaction operations set for each satellite constituting the constellation. 20. The LEO satellite system according to claim 19, wherein setting is made via a network.   The LEO satellite system according to any one of claims 1 to 21, wherein the LEO satellite system manages an IoT device as the terminal device.   The LEO satellite system manages the drone as the terminal device, and when the drone position coordinate deviates from a predetermined flight route or enters a no-fly area, navigation recalculation / stop / direction is performed to the drone. The LEO satellite system according to any one of claims 1 to 22, wherein a communication command notifying at least one of the conversions is transmitted from a satellite having the management authority of the corresponding management area.   The LEO satellite system manages an autonomous vehicle as the terminal device, and recalculates navigation on the autonomous vehicle and / or surrounding vehicles when the position coordinates of the autonomous vehicle deviate from a predetermined traveling route. The LEO satellite according to any one of claims 1 to 23, characterized in that a communication command notifying at least one of / stop / turning / warning is transmitted from a satellite having the management authority of the corresponding management area. system. Communication means configured to communicate with a large number of terminal devices located on the earth side and other satellites located on the side of the orbit while being placed in a low-altitude orbit;
Managing the reaction condition and reaction operation for each terminal device state with the other satellite via the communication unit
Communication with a terminal group existing in a management area currently handled by the communication unit is performed via the communication unit to collect statuses including position information of the terminal groups existing in the management area. And managing means configured to manage the plurality of terminal devices by executing a reaction operation associated with the reaction condition when the terminal device state of the device matches the reaction condition. LEO satellite. A method of managing a group of terminals by an LEO satellite system comprising a constellation of a number of satellites orbiting a low altitude orbit, comprising:
Each of the plurality of satellites includes a plurality of terminal devices present on the earth side, a communication unit that communicates with other satellites present on the orbit side, and a management unit that is in charge of cooperation with other satellites,
Each of the plurality of satellites manages a reaction condition and a reaction operation for each terminal device state by sharing with the other satellites via the communication unit,
and,
Each of the plurality of satellites executes communication with a terminal group existing in a management area currently handled by the satellite via the communication unit, and a status including position information of the terminal group existing in the management area A method for managing the plurality of terminals by executing a reaction operation associated with the reaction conditions, when each terminal condition matches the reaction conditions.

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