WO2022013948A1 - Dispositif de calcul de trajectoire, procédé de calcul de trajectoire et système de calcul de trajectoire - Google Patents

Dispositif de calcul de trajectoire, procédé de calcul de trajectoire et système de calcul de trajectoire Download PDF

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Publication number
WO2022013948A1
WO2022013948A1 PCT/JP2020/027399 JP2020027399W WO2022013948A1 WO 2022013948 A1 WO2022013948 A1 WO 2022013948A1 JP 2020027399 W JP2020027399 W JP 2020027399W WO 2022013948 A1 WO2022013948 A1 WO 2022013948A1
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WIPO (PCT)
Prior art keywords
time
angle
light
orbit
calculation unit
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PCT/JP2020/027399
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English (en)
Japanese (ja)
Inventor
貴雄 遠藤
俊行 安藤
隆 高根澤
多伸 福田
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三菱電機株式会社
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Priority to PCT/JP2020/027399 priority Critical patent/WO2022013948A1/fr
Priority to JP2022536022A priority patent/JP7134382B2/ja
Publication of WO2022013948A1 publication Critical patent/WO2022013948A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Definitions

  • the present disclosure relates to an orbit calculation device, an orbit calculation method, and an orbit calculation system for calculating the orbit of a flying object.
  • the electromagnetic wave is transmitted toward the flying object, while the transmitting / receiving antenna that receives the electromagnetic wave reflected by the flying object and the electromagnetic wave transmitted / received by the transmitting / receiving antenna are used.
  • an orbit calculation system (hereinafter referred to as "conventional orbit calculation system") including a signal processing unit for calculating the orbit of a flying object.
  • the conventional orbit calculation system since the electromagnetic wave reciprocates between the transmitting / receiving antenna and the flying object, the propagation distance of the electromagnetic wave is twice the distance between the transmitting / receiving antenna and the flying object.
  • the orbit arithmetic unit since the flying object transmits the electromagnetic wave, the propagation distance of the electromagnetic wave in the orbit arithmetic unit is half of the propagation distance of the electromagnetic wave in the conventional orbit calculation system.
  • the conventional orbit calculation system In the conventional orbit calculation system, the power of the electromagnetic wave transmitted and received by the transmission / reception antenna becomes weaker in inverse proportion to the square of the propagation distance of the electromagnetic wave. Therefore, the conventional orbit calculation system has a problem that the orbit of the flying object may not be calculated depending on the distance between the transmitting / receiving antenna and the flying object.
  • the propagation distance of the electromagnetic wave in the orbit calculation device disclosed in Patent Document 1 is shorter than the propagation distance of the electromagnetic wave in the conventional orbit calculation system. Therefore, even for a distant flying object whose orbit cannot be calculated by the conventional orbit calculation system, the orbit calculation device disclosed in Patent Document 1 may be able to calculate the orbit. However, in the orbit calculation device, if the flying object does not have a transmitter for transmitting electromagnetic waves, the electromagnetic waves cannot be transmitted.
  • the orbit cannot be calculated for the flying object without a transmitter. Therefore, if the orbit arithmetic unit is applied to a conventional orbit calculation system, the orbit of a flying object without a transmitter cannot be calculated. That is, the orbit arithmetic unit cannot be applied to an orbit calculation system that needs to calculate an orbit even for a flying object that does not have a transmitter.
  • This disclosure is made to solve the above-mentioned problems, and may be able to calculate the orbit of a distant projectile that cannot be calculated by the conventional orbit calculation system.
  • Orbit calculation device, orbit calculation method, and orbit calculation. The purpose is to get the system.
  • the orbit calculation device includes the direction directions of the first light collector that collects the light reflected by the projectile after being emitted from the illumination light source at the first time and the second time. , The first time and the second time as the first angle when the light is viewed from the first condensing device from the respective reflection positions of the light with respect to the flying object at the first time and the second time. The direction of direction at the first time and the second time of the first angle calculation unit that calculates each first angle in the above and the second light collector that collects the light reflected by the flying object.
  • a second angle calculation unit that calculates each second angle at time, a first angle calculated by the first angle calculation unit, and a second angle calculated by the second angle calculation unit. It is provided with an orbit calculation unit that calculates the orbit of the flying object from the position of the first light condensing device and the position of the second light condensing device at the first time and the second time.
  • FIG. 6 is a hardware configuration diagram of a computer when the trajectory calculation device 13 is realized by software, firmware, or the like. It is a concrete block diagram which shows the trajectory calculation system which concerns on Embodiment 1. It is a flowchart which shows the trajectory calculation method which is the processing procedure of the trajectory calculation apparatus 13 shown in FIG.
  • FIG. It is explanatory drawing which shows the calculation accuracy of the orbit in the orbit calculation system which concerns on Embodiment 1.
  • FIG. It is explanatory drawing which shows an example of the positional relationship of the illumination light source 1, the flying object 2, the 1st optical angle measuring station 3 and the 2nd optical angle measuring station 4 in the orbit calculation system which concerns on Embodiment 2.
  • FIG. It is explanatory drawing which shows the calculation accuracy of an angle and the calculation accuracy of a distance in the trajectory calculation system which concerns on Embodiment 2.
  • FIG. It is explanatory drawing which shows an example of the positional relationship of the flying object 2, the 1st optical angle measuring station 3 and the 2nd optical angle measuring station 4 in the orbit calculation system which concerns on Embodiment 3.
  • FIG. 1 is an explanatory diagram showing an example of the positional relationship between the illumination light source 1, the flying object 2, the first optical angle measuring station 3 and the second optical measuring station 4 in the orbit calculation system according to the first embodiment. ..
  • the illumination light source 1 is a star such as the sun that emits light. However, the illumination light source 1 may be any light source that emits light, and is not limited to a star.
  • the projectile 2 is a moving body that orbits the earth and reflects the light emitted from the illumination light source 1.
  • the first optical angle measuring station 3 is a fixed station fixed on the ground of the earth. In the orbit calculation system shown in FIG. 1, the first optical angle measuring station 3 is a fixed station. However, this is only an example, and the first optical measuring station 3 may be a portable station whose position changes.
  • the first optical angle measuring station 3 includes at least the first condensing device 11, the first angle calculating unit 21, and the orbit calculating unit 23 shown in FIG. 2.
  • the specific components mounted on the first optical angle measuring station 3 are shown in FIG.
  • the second optical angle measuring station 4 is a fixed station or a portable station.
  • the second optical angle measuring station 4 is equipped with at least the second light collecting device 12 and the second angle calculating unit 22 shown in FIG.
  • the specific components mounted on the second optical angle measuring station 4 are shown in FIG.
  • the reference signal source 5 uses the reference signal used by the first optical measuring station 3 and the second optical measuring station 4 for time synchronization as the first optical measuring station 3 and the second optical measuring station 4. Send to each of.
  • FIG. 2 is a configuration diagram showing an orbit calculation system according to the first embodiment.
  • the orbit calculation system shown in FIG. 2 includes a first light condensing device 11, a second light condensing device 12, and an orbit calculation device 13.
  • FIG. 3 is a hardware configuration diagram showing the hardware of the trajectory calculation device 13 according to the first embodiment.
  • the first condensing device 11 is realized by, for example, one or more telescopes among a refraction type telescope that utilizes refraction of light and a reflection type telescope that utilizes reflection of light.
  • the first condensing device 11 condenses the light emitted by the illumination light source 1 and then reflected by the projectile 2.
  • the second condensing device 12 is realized by, for example, one or more telescopes among a refraction type telescope and a reflection type telescope.
  • the second condensing device 12 condenses the light emitted by the illumination light source 1 and then reflected by the projectile 2.
  • the orbit calculation device 13 includes a first angle calculation unit 21, a second angle calculation unit 22, and an orbit calculation unit 23.
  • the first angle calculation unit 21 is realized by, for example, the first angle calculation circuit 31 shown in FIG.
  • the first angle includes an azimuth angle Az A seen from the first light collecting device 11 and an elevation angle Elv A seen from the first light collecting device 11. ..
  • the azimuth angle at a first time t 1 is, Az A1
  • the azimuth angle at a second time t 2 is, Az A2
  • elevation angle at a first time t 1 is, Elv A1
  • the elevation angle at 2 is Elv A2 .
  • the first angle calculation unit 21 outputs each of the azimuth angles Az A1 and Az A2 and the elevation angles Elv A1 and Elv A2 to the orbit calculation unit 23 as the calculated first angle.
  • the second angle calculation unit 22 is realized by, for example, the second angle calculation circuit 32 shown in FIG.
  • the second angle calculation unit 22 each of the directivity direction in the first time t 1 and second time t 2 of the second condenser 12, a first time t 1 and the light with respect to the projectile 2 From each reflection position at the second time t2, a second angle, which is the angle at which the projectile 2 is viewed from the second light collecting device 12, is calculated.
  • the second angle includes an azimuth angle Az B as seen from the second light collector 12 and an elevation angle Elv B as seen from the second light collector 12. ..
  • the azimuth angle at a first time t 1 is, Az B1
  • the azimuth angle at a second time t 2 is, Az B2
  • elevation angle at a first time t 1 is, Elv B1
  • the elevation angle at 2 is Elv B2 .
  • the second angle calculation unit 22 outputs each of the azimuth angles Az B1 and Az B2 and the elevation angles Elv B1 and Elv B2 to the orbit calculation unit 23 as the calculated second angle.
  • the orbit calculation unit 23 is realized by, for example, the orbit calculation circuit 33 shown in FIG.
  • the orbit calculation unit 23 is calculated by the first angle at the first time t 1 and the second time t 2 calculated by the first angle calculation unit 21, and by the second angle calculation unit 22.
  • the second angles at the first time t 1 and the second time t 2 are acquired.
  • the trajectory of the projectile 2 is calculated from the position of.
  • each of the first angle calculation unit 21, the second angle calculation unit 22, and the trajectory calculation unit 23, which are the components of the trajectory calculation device 13, is realized by dedicated hardware as shown in FIG. I'm assuming something. That is, it is assumed that the trajectory calculation device 13 is realized by the first angle calculation circuit 31, the second angle calculation circuit 32, and the trajectory calculation circuit 33.
  • Each of the first angle calculation circuit 31, the second angle calculation circuit 32, and the trajectory calculation circuit 33 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC (Application Specific Integrated Circuit). ), FPGA (Field-Programmable Gate Array), or a combination thereof.
  • the components of the trajectory calculation device 13 are not limited to those realized by dedicated hardware, but the trajectory calculation device 13 is realized by software, firmware, or a combination of software and firmware. It is also good.
  • the software or firmware is stored as a program in the memory of the computer.
  • a computer means hardware for executing a program, and corresponds to, for example, a CPU (Central Processing Unit), a central processing unit, a processing unit, a computing device, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor). do.
  • FIG. 4 is a hardware configuration diagram of a computer when the trajectory calculation device 13 is realized by software, firmware, or the like.
  • a program for causing a computer to execute each processing procedure in the first angle calculation unit 21, the second angle calculation unit 22, and the trajectory calculation unit 23 is provided. It is stored in the memory 41. Then, the processor 42 of the computer executes the program stored in the memory 41.
  • FIG. 3 shows an example in which each of the components of the trajectory calculation device 13 is realized by dedicated hardware
  • FIG. 4 shows an example in which the trajectory calculation device 13 is realized by software, firmware, or the like. ..
  • FIG. 5 is a specific configuration diagram showing the trajectory calculation system according to the first embodiment.
  • the first optical angle measuring station 3 has a first light collecting device 11, a light shielding device 51, a position detection unit 52, an angle calculation unit 53, a time calibration unit 54, a counter 55, and a control. It includes a device 56, a pointing device 57, a communication unit 58, a recording device 59, and an orbit calculation unit 60.
  • the second optical angle measuring station 4 has a second light collecting device 12, a light shielding device 71, a position detection unit 72, an angle calculation unit 73, a time calibration unit 74, a counter 75, and a control. It includes a device 76, a directional device 77, and a communication unit 78.
  • the shading device 51 is realized by, for example, a mechanical shutter or an electronic shutter.
  • the shading device 51 is arranged in an optical path between the first light collecting device 11 and the position detection unit 52.
  • the light-shielding device 51 controls the opening and closing of the shutter according to the exposure time controlled by the control device 56. By controlling the opening and closing of the shutter, the light-shielding device 51 alternately blocks the light collected by the first light-collecting device 11 and transmits the light.
  • the first angle calculation unit 21 shown in FIG. 5 is the same angle calculation unit as the first angle calculation unit 21 shown in FIG.
  • the first angle calculation unit 21 shown in FIG. 5 includes a position detection unit 52 and an angle calculation unit 53.
  • the position detection unit 52 is realized by, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Sensor) image sensor.
  • the position detection unit 52 acquires the image pickup command output from the control device 56 at the first time t 1 and the second time t 2 , the position detection unit 52 detects the light transmitted through the light shielding device 51 by detecting the light transmitted through the light shielding device 51. An image of the light intensity showing the projectile 2 is captured.
  • the position detection unit 52 captures a light intensity image in which the projectile 2 is reflected by detecting the light transmitted through the light shielding device 51 at the first time t 1, and the second time t. By detecting the light transmitted through the shading device 51 at the time of 2, the light intensity image in which the projectile 2 is reflected is captured.
  • the position detection unit 52 outputs each of the light intensity image at the first time t 1 and the light intensity image at the second time t 2 to the angle calculation unit 53.
  • the position detection unit 52 is provided inside the first angle calculation unit 21. However, this is only an example, and the position detection unit 52 may be provided outside the first angle calculation unit 21.
  • the position detection unit 52 is realized by a CCD image sensor or a CMOS image sensor.
  • the position detection unit 52 is simply a sensor that detects the presence or absence of light, and is realized by a sensor that detects light when the projectile 2 enters the field of view. You may.
  • the field of view of the sensor that simply detects the presence or absence of light is narrower than the field of view of the CCD image sensor. Therefore, when the position detection unit 52 is realized by a sensor that simply detects the presence or absence of light, the directing direction of the first light collecting device 11 is finely controlled as compared with the case where the position detection unit 52 is realized by a CCD image sensor. There is a need.
  • the position detection unit 52 When the position detection unit 52 is realized by a CCD image sensor or a CMOS image sensor, even if the directing direction of the first light collecting device 11 deviates from the center position of the light intensity image, the flying object If 2 is included in the light intensity image, the flying object 2 can be detected. Therefore, when the position detection unit 52 is realized by a CCD image sensor or a CMOS image sensor, the orientation of the first light collecting device 11 is higher than that realized by a sensor that simply detects the presence or absence of light. The direction can be easily controlled.
  • the position detection unit 52 grasps whether the moving direction of the flying object 2 is the vertical direction of the visual field, the horizontal direction of the visual field, or the like. can do. In addition, it is possible to grasp the presence or absence of leaked light from a star or another flying object.
  • Angle calculation unit 53 the controller 56 obtains the orientation of the first focusing device 11 at a first time t 1, from the position detection unit 52, obtains the light intensity image at a first time t 1 do.
  • the angle calculation unit 53 detects the position of the light in the light intensity image at the first time t 1 as the reflection position of the light with respect to the projectile 2 at the first time t 1.
  • the angle calculation unit 53 calculates the first angle at the first time t 1 from the directing direction of the first light collecting device 11 at the first time t 1 and the reflection position at the first time t 1 . do.
  • the angle calculation unit 53 the controller 56 obtains the first orientation of the condenser 11 at the second time t 2, from the position detection unit 52, the light intensity image at a second time t 2 To get.
  • the angle calculation unit 53 detects the position of the light in the light intensity image at the second time t 2 as the reflection position of the light with respect to the projectile 2 at the second time t 2.
  • the angle calculation unit 53 calculates the first angle at the second time t 2 from the directing direction of the first light collecting device 11 at the second time t 2 and the reflection position at the second time t 2 . do.
  • the time calibration unit 54 includes, for example, a GPS (Global Positioning System) receiver, a receiving antenna, and a clock.
  • the receiving antenna of the time calibration unit 54 receives the reference signal transmitted from the reference signal source 5.
  • the GPS receiver of the time calibration unit 54 repeatedly receives the GPS signal transmitted from the GPS satellite.
  • the time calibration unit 54 acquires the position of the first light collecting device 11 and the current time from the GPS signal received by the GPS receiver.
  • the position information included in the GPS signal indicates the position of the first optical angle measuring station 3 equipped with the time calibration unit 54. Since the first condensing device 11 is mounted on the first optical angle measuring station 3, the time calibration unit 54 sets the position of the first optical measuring station 3 to the first condensing. It is acquired as the position of the device 11.
  • the time calibration unit 54 calibrates the time of the internal clock using the acquired current time, and outputs the time after calibration to the counter 55.
  • the time calibration unit 54 calibrates the time of the internal clock and outputs the time after calibration to the counter 55.
  • the time calibration unit 54 may output the current time acquired from the GPS signal to the counter 55 as the time after calibration.
  • the time calibration unit 54 acquires the current time from the radio wave received by the GPS receiver.
  • the time calibration unit 54 may acquire the current time from a standard radio wave represented by a radio clock or the like, or a network device represented by NTP (Network Time Protocol).
  • NTP Network Time Protocol
  • the time calibration unit 54 outputs the position of the first light collecting device 11 to the control device 56. Further, the time calibration unit 54 acquires the position of the first light collecting device 11 at the first time t 1 and the position of the first light collecting device 11 at the second time t 2 from the control device 56. Then, the position of the first light collecting device 11 at the first time t 1 and the position of the first light collecting device 11 at the second time t 2 are output to the recording device 59.
  • the counter 55 acquires the time after calibration by the time calibration unit 54 and measures the elapsed time from a certain typical time.
  • a typical time is, for example, the calculation start time of the orbit of the projectile 2.
  • the counter 55 outputs the measured elapsed time to the control device 56.
  • the control device 56 is realized by, for example, a semiconductor integrated circuit on which a CPU is mounted, or a program board such as an FPGA.
  • the control device 56 grasps each of the first time t 1 and the second time t 2 as the observation time of the projectile 2 according to the elapsed time output from the counter 55. Further, the control device 56 acquires the past orbit information of the flying object 2 from the orbit database 80 via the communication unit 58, and obtains the approximate past orbit information of the flying object 2 at the first time t1 from the past orbit information. The position and the approximate position of the projectile 2 at the second time t2 are grasped.
  • Controller 56 among the position of the first condenser 11 output from the time correcting unit 54, the position of the first focusing device 11 at a first time t 1, at a second time t 2
  • the position of the first light collector 11 is specified. Controller 56, the position of the first focusing device 11 at a first time t 1, and a rough position of the projectile 2 in the first time t 1, the projectile with respect to the first condenser 11 calculating the relative position at a first time t 1 of 2.
  • the control device 56 the position of the first condenser 11 at the second time t 2, the from the approximate position of the projectile 2 in the second time t 2, the relative first condenser 11 calculating the relative position at a second time t 2 of the projectile 2.
  • Controller 56 from the relative position at a first time t 1, the direction in which the first condenser 11 sees the projectile 2 at the first time t 1, i.e., first at a first time t 1 The direction of direction of the light collecting device 11 of 1 is grasped. Further, the control device 56, from the relative position at the second time t 2, the direction in which the first condenser 11 sees the projectile 2 at the second time t 2, i.e., the second time t 2 The direction of direction of the first light collector 11 in the above is grasped.
  • Controller 56 the orientation of the first focusing device 11 at a first time t 1 and outputs to each of the directing device 57 and the angle calculation unit 53, a first condenser at a second time t 2
  • the pointing direction of 11 is output to each of the pointing device 57 and the angle calculation unit 53.
  • the control device 56 controls the light-shielding device 51 so as to open the shutter for a predetermined exposure time at the first time t 1 and the second time t 2.
  • the control device 56 outputs an image pickup command to the position detection unit 52 at the first time t 1 and the second time t 2.
  • the directional device 57 is realized by a rotary stage and a motor having one or more rotation axes.
  • An altazimuth mount, an equatorial mount, or the like can be considered as a rotation stage having one or more rotation axes.
  • a first condensing device 11 is mounted on the rotating stage of the directional device 57. Directing device 57, the orientation direction of the first condenser 11 at a first time t 1 is consistent with the orientation of the first focusing device 11 at a first time t 1 the controller 56 is outputted By driving the motor, the rotary stage is rotated.
  • the orientation direction of the first condenser 11 at a second time t 2 is consistent with the orientation of the first focusing device 11 at a second time t 2 the controller 56 is outputted By driving the motor, the rotary stage is rotated.
  • the communication unit 58 acquires the past orbit information of the flying object 2 from the orbit database 80, and outputs the orbit information to the control device 56.
  • the communication unit 58 is transmitted from the second communication unit 78 of the optical angle measuring station 4, receives the respective second angle and the second angle at a second time t 2 at a first time t 1 .
  • the communication unit 58 receives transmitted from the second communication unit 78 of the optical angle measuring station 4, the first respective positions at the time t 1 and second time t 2 of the second condenser 12 ..
  • the communication unit 58 to record each of the second angle and the second angle at a second time t 2 at a first time t 1 to the recording device 59, a first time of the second condenser 12 Have the recording device 59 record each position at t 1 and the second time t 2.
  • the orbit calculation unit 23 shown in FIG. 5 is the same orbit calculation unit as the orbit calculation unit 23 shown in FIG.
  • the orbit calculation unit 23 shown in FIG. 5 includes a recording device 59 and an orbit calculation unit 60.
  • the recording device 59 is realized by a recording medium such as a RAM (Random Access Memory) or a hard disk.
  • Recording apparatus 59, each of the positions at a first time t 1 and second time t 2 of the first condenser 11, a first time t 1 and the second of the second condenser 12 recording the respective positions at the time t 2.
  • Trajectory calculation unit 60 from the recording device 59, respectively and each of the first angle at a first time t 1 and second time t 2, at a first time t 1 and second time t 2 the Get the angle of 2.
  • the orbit calculation unit 60 is from the recording device 59 to the respective positions of the first light collecting device 11 at the first time t 1 and the second time t 2 and the first of the second light collecting device 12. The respective positions at the time t 1 and the second time t 2 of the first time t 1 and the second time t 2 are acquired.
  • Trajectory calculation unit 60 a first condenser respective position at time t 1 and second time t 2 the first 11, a first time t 1 and the second second condenser 12 time from the respective positions at time t 2, the time of the first time t 1, a first condenser 11 and the inter-device distance is a distance between the second condenser 12, the second The distance between devices at t 2 is calculated.
  • Trajectory calculation unit 60 each of the inter-device distances at a first time t 1 and second time t 2, the respectively first angle at a first time t 1 and second time t 2, the first from the first time t 1 and second time t 2 and each of the second angle, the respective positions at a first time t 1 and second time t 2 of the first condenser 11, the The first distance from the light collecting device 11 of 1 to the projectile 2 is calculated. That is, the orbit calculation unit 60 calculates the first distances at the first time t 1 and the second time t 2.
  • Trajectory calculation unit 60 each of the inter-device distances at a first time t 1 and second time t 2, the respectively first angle at a first time t 1 and second time t 2, the first from the first time t 1 and second time t 2 and each of the second angle, the respective positions at a first time t 1 and second time t 2 of the second condenser 12, the The second distance from the light collector 12 of 2 to the projectile 2 is calculated. That is, the orbit calculation unit 60 calculates the second distances at the first time t 1 and the second time t 2.
  • Trajectory calculation unit 60 and the respective second angle and each of the first angle at a first time t 1 and second time t 2, the at a first time t 1 and second time t 2, the from each of the first distance at a first time t 1 and second time t 2, the a respective second distance at a first time t 1 and second time t 2, the position of the projectile 2 And each of the speeds are calculated. That is, the orbit calculation unit 60 calculates the respective positions of the flying object 2 at the first time t 1 and the second time t 2.
  • trajectory calculation unit 60 and each of the first angle at a first time t 1 and second time t 2, each of the second angle at a first time t 1 and second time t 2
  • the projectile 2 calculates a first position and velocity at time t 1 of the.
  • the velocity is obtained as the difference between the positions of the projectile 2 at the time from time t 1 to time t 2.
  • the orbit calculation unit 60 determines the flying object from the respective positions of the flying object 2 at the first time t 1 and the second time t 2 , or the position and the speed of the first time t 1 of the flying object 2. Calculate the orbit of 2.
  • the recording device 59 is provided inside the trajectory calculation unit 23. However, this is only an example, and the recording device 59 may be provided outside the trajectory calculation unit 23.
  • the shading device 71 is realized by, for example, a mechanical shutter or an electronic shutter.
  • the shading device 71 is arranged in an optical path between the second light collecting device 12 and the position detection unit 72.
  • the light-shielding device 71 controls the opening and closing of the shutter according to the exposure time controlled by the control device 76. By controlling the opening and closing of the shutter, the light-shielding device 71 alternately blocks the light collected by the second light-collecting device 12 and transmits the light.
  • the second angle calculation unit 22 shown in FIG. 5 is the same angle calculation unit as the second angle calculation unit 22 shown in FIG.
  • the second angle calculation unit 22 shown in FIG. 5 includes a position detection unit 72 and an angle calculation unit 73.
  • the position detection unit 72 is realized by, for example, a CCD image sensor or a CMOS image sensor.
  • the position detection unit 72 acquires the image pickup command output from the control device 76 at the first time t 1 and the second time t 2 , the position detection unit 72 detects the light transmitted through the light shielding device 71 by detecting the light transmitted through the light shielding device 71. An image of the light intensity showing the projectile 2 is captured.
  • the position detection unit 72 captures a light intensity image in which the projectile 2 is reflected by detecting the light transmitted through the light shielding device 71 at the first time t 1, and the second time t. By detecting the light transmitted through the shading device 71 at the time of 2, the light intensity image in which the projectile 2 is reflected is captured.
  • the position detection unit 72 outputs each of the light intensity image at the first time t 1 and the light intensity image at the second time t 2 to the angle calculation unit 73.
  • Angle calculation unit 73 the controller 76 obtains the orientation of the second condenser 12 at a first time t 1, the position detection unit 72, obtains the light intensity image at a first time t 1 do.
  • the angle calculation unit 73 detects the position of the light in the light intensity image at the first time t 1 as the reflection position of the light with respect to the projectile 2 at the first time t 1.
  • the angle calculation unit 73 calculates the second angle at the first time t 1 from the directing direction of the second light collecting device 12 at the first time t 1 and the reflection position at the first time t 1 . do.
  • the angle calculation unit 73 acquires the pointing direction of the second light collecting device 12 at the second time t 2 from the control device 76, and the position detection unit 72 obtains the light intensity image at the second time t 2. To get.
  • the angle calculation unit 73 detects the position of the light in the light intensity image at the second time t 2 as the reflection position of the light with respect to the projectile 2 at the second time t 2.
  • the angle calculation unit 73 calculates the second angle at the second time t 2 from the directing direction of the second light collecting device 12 at the second time t 2 and the reflection position at the second time t 2 . do.
  • the angle calculation unit 73 outputs each of the second angle at the first time t 1 and the second angle at the second time t 2 to the communication unit 78.
  • the position detection unit 72 is provided inside the second angle calculation unit 22. However, this is only an example, and the position detection unit 72 may be provided outside the second angle calculation unit 22.
  • the time calibration unit 74 includes, for example, a GPS receiver, a receiving antenna, and a clock.
  • the receiving antenna of the time calibration unit 74 receives the reference signal transmitted from the reference signal source 5.
  • the GPS receiver of the time calibration unit 74 repeatedly receives the GPS signal transmitted from the GPS satellite.
  • the time calibration unit 74 acquires the position of the second light collecting device 12 and the current time from the GPS signal received by the GPS receiver.
  • the position information included in the GPS signal indicates the position of the second optical angle measuring station 4 equipped with the time calibration unit 74. Since the second light collecting device 12 is mounted on the second light measuring station 4, the time calibration unit 74 sets the position of the second light measuring station 4 to the second light collecting station 4. It is acquired as the position of the device 12.
  • the time calibration unit 74 calibrates the time of the internal clock using the acquired current time.
  • the time calibration unit 74 calibrates the time of the internal clock and outputs the time after calibration to the counter 75.
  • the time calibration unit 74 may output the current time acquired from the GPS signal to the counter 75 as the time after calibration.
  • the time calibration unit 74 acquires the current time from the radio wave received by the GPS receiver.
  • the time calibration unit 74 may acquire the current time from a standard radio wave represented by a radio clock or the like, or for time synchronization of a network device represented by NTP.
  • the current time may be obtained by using the protocol of.
  • the time calibration unit 74 calibrates the time of the internal clock with subsecond accuracy. do.
  • the time calibration unit 74 outputs the position of the second light collecting device 12 to the control device 76. Further, the time calibration unit 74 acquires the position of the second light collecting device 12 at the first time t 1 and the position of the second light collecting device 12 at the second time t 2 from the control device 76. Then, the position of the second light collecting device 12 at the first time t 1 and the position of the second light collecting device 12 at the second time t 2 are output to the communication unit 78.
  • the counter 75 acquires the time after calibration by the time calibration unit 74 and measures the elapsed time from a certain typical time.
  • the counter 75 outputs the measured elapsed time to the control device 76.
  • the control device 76 is realized by, for example, a semiconductor integrated circuit on which a CPU is mounted, or a program board such as an FPGA.
  • the control device 76 grasps each of the first time t 1 and the second time t 2 as the observation time of the projectile 2 according to the elapsed time output from the counter 75. Further, the control device 76 acquires the past orbit information of the flying object 2 from the orbit database 80 via the communication unit 78, and from the past orbit information, the control device 76 approximates the flying object 2 at the first time t1. The position and the approximate position of the projectile 2 at the second time t2 are grasped.
  • Controller 76 among the position of the second condenser 12 output from the time correcting unit 74, and the position of the second condenser 12 at a first time t 1, at a second time t 2
  • the position of the second light collector 12 is specified.
  • control device 76 the position of the second condenser 12 at the second time t 2, the from the approximate position of the projectile 2 in the second time t 2, the relative second condenser 12 calculating the relative position at a second time t 2 of the projectile 2.
  • Control device 76 from the relative position at a first time t 1, the direction in which the second condenser 12 sees the projectile 2 at the first time t 1, i.e., first at a first time t 1 Grasp the directing direction of the light collecting device 12 of 2. Further, the control device 76, from the relative position at the second time t 2, the direction in which the second condenser 12 when the second time t 2 to see the flying body 2, i.e., the second time t 2 The direction of direction of the second light collecting device 12 in the above is grasped.
  • Controller 76 the orientation of the second condenser 12 at a first time t 1 and outputs to each of the directing device 77 and the angle calculation unit 73, the second condensing device at a second time t 2
  • the direction of the 12 is output to the pointing device 77 and the angle calculation unit 73, respectively.
  • the control device 76 controls the light-shielding device 71 so that the shutter is opened for a predetermined exposure time at the first time t 1 and the second time t 2.
  • the control device 76 outputs an image pickup command to the position detection unit 72 at the first time t 1 and the second time t 2.
  • the directional device 77 is realized by a rotary stage and a motor having one or more rotation axes.
  • a second condensing device 12 is mounted on the rotating stage of the directional device 77.
  • Directing device 77, the directivity direction of the second condenser 12 at a first time t 1 is consistent with the orientation of the second condenser 12 at a first time t 1 the controller 76 is output By driving the motor, the rotary stage is rotated.
  • Directing device 77, the directivity direction of the second condenser 12 at a second time t 2 is consistent with the orientation of the second condenser 12 at a second time t 2 the controller 76 is output By driving the motor, the rotary stage is rotated.
  • the communication unit 78 acquires the past orbit information of the flying object 2 from the orbit database 80, and outputs the orbit information to the control device 76.
  • the communication unit 78 is outputted from the angle calculating unit 73, and transmits the respective second angle and the second angle at a second time t 2 at a first time t 1 to the communication unit 58.
  • the communication unit 78 is output from the time correcting unit 74, and transmits to the second first time point t 1 and the second communication unit 58 to respective positions at the time t 2 of the condenser 12.
  • the orbital database 80 is realized by, for example, a RAM or a recording medium such as a hard disk.
  • the orbit database 80 stores past orbit information in the projectile 2.
  • the trajectory database 80 is provided outside the trajectory calculation system. However, this is only an example, and the trajectory database 80 may be provided inside the trajectory calculation system. Further, the orbital database 80 may be connected to a network (not shown), and the orbital database 80 may be connected to the orbital calculation system via the network.
  • FIG. 6 is a flowchart showing a trajectory calculation method which is a processing procedure of the trajectory calculation device 13 shown in FIG.
  • the reference signal source 5 uses the reference signal used by the first optical measuring station 3 and the second optical measuring station 4 for time synchronization as the first optical measuring station 3 and the second optical measuring station 3.
  • the receiving antenna of the time calibration unit 54 in the first optical angle measuring station 3 receives the reference signal transmitted from the reference signal source 5.
  • the GPS receiver of the time calibration unit 54 repeatedly receives the GPS signal transmitted from the GPS satellite.
  • the time calibration unit 54 acquires the position of the first light collecting device 11 and the current time from the GPS signal received by the GPS receiver.
  • the time calibration unit 54 calibrates the time of the internal clock using the acquired current time.
  • the time calibration unit 54 outputs the position of the first light collecting device 11 to the control device 56.
  • the GPS receiver of the time calibration unit 74 When the receiving antenna receives the reference signal, the GPS receiver of the time calibration unit 74 repeatedly receives the GPS signal transmitted from the GPS satellite.
  • the time calibration unit 74 acquires the position of the second light collecting device 12 and the current time from the GPS signal received by the GPS receiver.
  • the time calibration unit 74 calibrates the time of the internal clock using the acquired current time.
  • the time calibration unit 74 outputs the position of the second light collecting device 12 to the control device 76.
  • the time calibration unit 54 of the first optical angle measuring station 3 calibrates the time of the internal clock
  • the time calibration unit 74 of the second optical measuring station 4 calibrates the time of the internal clock. The time is synchronized between the angle measuring station 3 and the second optical angle measuring station 4.
  • time synchronization is limited by the accuracy of the shutter opening / closing time of the shading devices 51 and 71. Since the shutter opening / closing time is about millisecond, time synchronization may be performed with an accuracy of about microsecond.
  • the time used by the internal clocks of the time calibration units 54 and 74 is, for example, Coordinated Universal Time.
  • the counter 55 of the first optical angle measuring station 3 acquires the time after calibration by the time calibration unit 54 and measures the elapsed time t from a certain representative time.
  • a typical time is, for example, the calculation start time of the orbit of the projectile 2.
  • the counter 55 outputs the measured elapsed time t to the control device 56.
  • the counter 75 of the second optical angle measuring station 4 acquires the time after calibration by the time calibration unit 74 and measures the elapsed time t from a certain representative time.
  • the counter 75 outputs the measured elapsed time t to the control device 76.
  • the communication unit 58 of the first optical angle measuring station 3 acquires the past orbit information of the flying object 2 from the orbit database 80, and outputs the orbit information to the control device 56.
  • the communication unit 78 of the second optical angle measuring station 4 acquires the past orbit information of the flying object 2 from the orbit database 80, and outputs the orbit information to the control device 76.
  • the control device 56 of the first optical angle measuring station 3 acquires the elapsed time t output from the counter 55.
  • the control device 56 grasps each of the first time t 1 and the second time t 2 as the observation time of the flying object 2 according to the elapsed time t. Further, the control unit 56 acquires orbit information output from the communication unit 58, from the track information, and approximate location of the projectile 2 in the first time t 1, the projectile at the second time t 2 2 Grasp the approximate position.
  • Controller 56 among the position of the first condenser 11 output from the time correcting unit 54, the position of the first focusing device 11 at a first time t 1, at a second time t 2 The position of the first light collector 11 is specified. Controller 56, the position of the first focusing device 11 at a first time t 1, and a rough position of the projectile 2 in the first time t 1, the projectile with respect to the first condenser 11 calculating the relative position at a first time t 1 of 2. Since the process of calculating the relative position of the projectile 2 with respect to the first condensing device 11 is a known technique, detailed description thereof will be omitted.
  • control device 56 the position of the first condenser 11 at the second time t 2, the from the approximate position of the projectile 2 in the second time t 2, the relative first condenser 11 calculating the relative position at a second time t 2 of the projectile 2.
  • Controller 56 from the relative position at a first time t 1, the direction in which the first condenser 11 sees the projectile 2 at the first time t 1, i.e., first at a first time t 1 The direction of direction of the light collecting device 11 of 1 is grasped. Further, the control device 56, from the relative position at the second time t 2, the direction in which the first condenser 11 sees the projectile 2 at the second time t 2, i.e., the second time t 2 The direction of direction of the first light collector 11 in the above is grasped.
  • Controller 56 the orientation of the first focusing device 11 at a first time t 1 and outputs to each of the directing device 57 and the angle calculation unit 53, a first condenser at a second time t 2
  • the pointing direction of 11 is output to each of the pointing device 57 and the angle calculation unit 53.
  • the control device 56 controls the light-shielding device 51 so as to open the shutter for a predetermined exposure time at the first time t 1 and the second time t 2.
  • the control device 56 outputs an image pickup command to the position detection unit 52 at the first time t 1 and the second time t 2.
  • the control device 56 outputs the position of the first light collecting device 11 at the first time t 1 and the position of the first light collecting device 11 at the second time t 2 to the time calibration unit 54.
  • Directing device 57 of the first optical angle measuring station 3 the orientation direction of the first condenser 11 at a first time t 1 is, controller 56 first time t 1 in the first output
  • the rotary stage is rotated by driving the motor so as to coincide with the directing direction of the light collecting device 11.
  • Directing device 57, the orientation direction of the first condenser 11 at a second time t 2 is consistent with the orientation of the first focusing device 11 at a second time t 2 the controller 56 is outputted By driving the motor, the rotary stage is rotated. Since the first condensing device 11 has a function of projecting an object surface onto an image plane and has a reference optical axis, the directing device 57 controls the optical axis of the first condensing device 11.
  • the directing direction of the first condensing device 11 is controlled by adjusting to the directing direction output from the device 56.
  • the orientation of the control of the first condenser 11 by directing device 57 it takes a certain amount of time, the control device 56, before the observation time is a first time t 1, a first time the orientation of the first focusing device 11 outputs to the directing device 57 in the t 1.
  • the control device 56 outputs the pointing direction of the first condensing device 11 at the second time t 2 to the pointing device 57 before the observation time reaches the second time t 2.
  • the control device 56 directs the directing direction of the first condensing device 11 to the directing device 57 so that the projectile 2 is within the field of view of the first condensing device 11. I'm instructing.
  • the control device 56 uses the narrower of the field of view of the first light collecting device 11 and the field of view of the position detection unit 52.
  • the directing device 57 is instructed to direct the directing direction of the first condensing device 11 so that the projectile 2 is within the range of the field of view of.
  • the relative positions of the first optical measuring station 3 and the flying object 2 do not change.
  • the control device 56 once instructs the directing device 57 in the direction of the first condensing device 11 so that the projectile 2 is within the field of view of the first condensing device 11. Then, after that, the directing direction of the first light collecting device 11 may be fixed. Strictly speaking, the relative position changes slightly due to the difference in the orbital inclination angle, but if the observation time is about several seconds, there is no problem even if the directing direction of the first condensing device 11 is fixed. ..
  • the first light collecting device 11 of the first optical angle measuring station 3 collects the light emitted from the illumination light source 1 and then reflected by the projectile 2.
  • the first light-shielding device 51 of the optical angle measuring station 3 when the first time t 1 and second time t 2, the by the controller 56, a predetermined exposure time, are controlled to open the shutters ..
  • a predetermined exposure time by opening the shutter of the shading device 51, is condensed light by the first condenser apparatus 11 through the shading device 51, the light It reaches the position detection unit 52.
  • the predetermined exposure time by opening the shutter of the shading device 51, light condensed by the first condensing device 11 is transmitted through the shading device 51, the The light reaches the position detection unit 52.
  • Position detection unit 52 of the first optical angle measuring station 3 when the first time t 1, when acquiring the imaging command output from the controller 56, the detection processing of the light transmitted through the shading device 51 Start and take a light intensity image showing the projectile 2.
  • Position detector 52 the light intensity image captured, as a light intensity image at a first time t 1, and outputs the angle calculation unit 53.
  • the position detection unit 52 when the second time t 2, the acquiring the imaging command output from the control unit 56 starts the detection process of light transmitted through the shading device 51, the projectile 2 Take an image of the reflected light intensity.
  • Angle calculating portion 53 of the first optical angle measuring station 3, the controller 56 obtains the orientation of the first focusing device 11 at a first time t 1, from the position detection unit 52, a first for obtaining an optical intensity image at time t 1.
  • the angle calculation unit 53 detects the position of the light in the light intensity image at the first time t 1 as the reflection position of the light with respect to the projectile 2 at the first time t 1.
  • the angle calculation unit 53 calculates the first angle at the first time t 1 from the directing direction of the first light collecting device 11 at the first time t 1 and the reflection position at the first time t 1 . (Step ST1 in FIG. 6).
  • Angle calculation unit 53 a first removal process of blackout flow noise contained in the light intensity image at time t 1 of, removal processing of the background light noise included in the light intensity image, or included in the light intensity image It is also possible to carry out attenuation processing of the peripheral light amount and the like, and calculate the first angle from the light intensity image after these processings.
  • the first angle calculation process by the angle calculation unit 53 will be specifically described.
  • the angle calculation unit 53 obtains the viewing angle of the light intensity image on the assumption that the directing direction of the first light collecting device 11 is the center of the field of view of the position detecting unit 52.
  • the viewing angle per pixel can be obtained from the size of one pixel included in the light intensity image and the focal length of the first condensing device 11.
  • the size of one pixel and the focal length of the first light collecting device 11 are already values in the angle calculation unit 53.
  • the viewing angle of the light intensity image is obtained by multiplying the viewing angle per pixel by the number of pixels from the pixel at the center of the light intensity image to the pixel at the center of the field of view of the light intensity image.
  • the angle calculation unit 53 can obtain the direction of the position detection unit 52 and the apparent size of the projectile 2 from the center of the field of view of the light intensity image and the viewing angle of the light intensity image. If the direction of the position detection unit 52 and the apparent size of the projectile 2 are obtained, the angle calculation unit 53 determines the positions of the coordinates on the light intensity image and the celestial sphere coordinates indicating the position of the illumination light source 1 in space. You can ask for a relationship.
  • the coordinate system of celestial sphere coordinates may be an equator coordinate system based on the celestial equator, a horizontal coordinate system based on the horizon seen by the observer, or a galaxy coordinate system based on the galaxy surface. good.
  • the position on the light intensity image can be represented by the position of the celestial sphere coordinates, right ascension, declination, or an angle such as an azimuth angle and an elevation angle.
  • the angle calculation unit 53 determines that the point image, which is a group of pixels in which pixels having a pixel value equal to or larger than a threshold value among a plurality of pixels included in the light intensity image, represents the projectile 2. Then, the position of the center of gravity of the point image is calculated.
  • the threshold value is a value larger than 0 and smaller than the maximum value of the pixel value, and is stored in the internal memory of the angle calculation unit 53, for example.
  • the angle calculation unit 53 calculates the position of the center of gravity of the point image in order to obtain the position of the point image having a spread as the position of light reflection with respect to the projectile 2.
  • the position on the light intensity image can be represented by an angle such as an azimuth angle and an elevation angle. Therefore, the angle calculation unit 53 expresses the position of the center of gravity of the calculated point image by an angle. Find the angle of 1.
  • the first angle is the angle at which the flying object 2 is viewed from the first condensing device 11, the azimuth angle Az A when the flying object 2 is viewed from the first condensing device 11, and the first condensing device. It includes the elevation angle Elv A , which is the view of the projectile 2 from 11.
  • Angle calculation unit 53, a first angle at a first time t 1, the azimuth angle Az A1 at a first time t 1, and the elevation angle Elv A1 at a first time t 1 to the recording device 59 Have them record.
  • Angle calculation unit 53 the controller 56 obtains the orientation of the first focusing device 11 at the second time t 2, from the position detection unit 52, obtains the light intensity image at a second time t 2 do.
  • the angle calculation unit 53 detects the position of the light in the light intensity image at the second time t 2 as the reflection position of the light with respect to the projectile 2 at the second time t 2.
  • the angle calculation unit 53 calculates the first angle at the second time t 2 from the directing direction of the first light collecting device 11 at the second time t 2 and the reflection position at the second time t 2 . (Step ST2 in FIG. 6).
  • Angle calculation unit 53 the removal process of the blackout flow noise contained in the light intensity image at a second time t 2, the process of removing the background light noise included in the light intensity image, or included in the light intensity image It is also possible to carry out attenuation processing of the peripheral light amount and the like, and calculate the first angle from the light intensity image after these processings. Since the calculation process of the first angle at the second time t 2 is the same as the calculation process of the first angle at the first time t 1, detailed description thereof will be omitted. Angle calculation unit 53, a first angle at the second time t 2, the azimuth angle Az A2 at the second time t 2, the elevation angle Elv A2 at a second time t 2 to the recording device 59 Have them record.
  • Time correcting unit 54 output from the controller 56, the position of the first focusing device 11 at a first time t 1, and the position of the first focusing device 11 at a second time t 2 get.
  • time correcting unit 54, the recording position of the first focusing device 11 at a first time t 1, and the position of the first focusing device 11 at a second time t 2 to the recording device 59 I'm letting you. If the first optical angle measuring station 3 is a fixed station, the position of the first light collecting device 11 does not change, so that the position of the first light collecting device 11 at any time is recorded in the recording device 59. Just let me do it.
  • the control device 76 of the second optical angle measuring station 4 acquires the elapsed time t output from the counter 75.
  • the control device 76 grasps each of the first time t 1 and the second time t 2 as the observation time of the flying object 2 according to the elapsed time t. Further, the control unit 76 acquires orbit information output from the communication unit 78, from the track information, and approximate location of the projectile 2 in the first time t 1, the projectile at the second time t 2 2 Grasp the approximate position.
  • Controller 76 among the position of the second condenser 12 output from the time correcting unit 74, and the position of the second condenser 12 at a first time t 1, at a second time t 2
  • the position of the second light collector 12 is specified.
  • control device 76 the position of the second condenser 12 at the second time t 2, the from the approximate position of the projectile 2 in the second time t 2, the relative second condenser 12 calculating the relative position at a second time t 2 of the projectile 2.
  • Control device 76 from the relative position at a first time t 1, the direction in which the second condenser 12 sees the projectile 2 at the first time t 1, i.e., first at a first time t 1 Grasp the directing direction of the light collecting device 12 of 2. Further, the control device 76, from the relative position at the second time t 2, the direction in which the second condenser 12 when the second time t 2 to see the flying body 2, i.e., the second time t 2 The direction of direction of the second light collecting device 12 in the above is grasped.
  • Controller 76 the orientation of the second condenser 12 at a first time t 1 and outputs to each of the directing device 77 and the angle calculation unit 73, the second condensing device at a second time t 2
  • the direction of the 12 is output to the pointing device 77 and the angle calculation unit 73, respectively.
  • the control device 76 controls the light-shielding device 71 so that the shutter is opened for a predetermined exposure time at the first time t 1 and the second time t 2.
  • the control device 76 outputs an image pickup command to the position detection unit 72 at the first time t 1 and the second time t 2.
  • the control device 76 outputs the position of the second light collecting device 12 at the first time t 1 and the position of the second light collecting device 12 at the second time t 2 to the time calibration unit 74.
  • Directing device 77 of the second optical angle measuring station 4 the directivity direction of the second condenser 12 at a first time t 1 is the control unit 76 is a first time t 1 in the second output
  • the rotary stage is rotated by driving the motor so as to match the direction of the light collector 12.
  • Directing device 77, the directivity direction of the second condenser 12 at a second time t 2 is consistent with the orientation of the second condenser 12 at a second time t 2 the controller 76 is output By driving the motor, the rotary stage is rotated.
  • the directing device 77 controls the optical axis of the second condensing device 12.
  • the directing direction of the second light collecting device 12 is controlled by adjusting to the directing direction output from the device 76.
  • the control of the orientation of the second condenser 12 by directing device 77 it takes a certain amount of time, the control device 76, before the observation time is a first time t 1, a first time the orientation of the second condenser 12 and outputs to the directing device 77 in the t 1.
  • the control device 76 outputs the pointing direction of the second condensing device 12 at the second time t 2 to the pointing device 77 before the observation time reaches the second time t 2.
  • the control device 76 directs the directing direction of the second condensing device 12 to the directing device 77 so that the projectile 2 is within the field of view of the second condensing device 12. I'm instructing.
  • the control device 76 is the narrower of the field of view of the second light collecting device 12 and the field of view of the position detection unit 72.
  • the directing device 77 is instructed to direct the direction of the second condensing device 12 so that the projectile 2 is within the range of the field of view of.
  • the relative positions of the second optical measuring station 4 and the flying object 2 do not change. If the relative position does not change, the control device 76 once instructs the directing device 77 in the direction of the second condensing device 12 so that the projectile 2 is within the field of view of the second condensing device 12. Then, after that, the directing direction of the second light collecting device 12 may be fixed. Strictly speaking, the relative position changes slightly due to the difference in the orbital inclination angle, but if the observation time is about several seconds, there is no problem even if the direction of the second light collector 12 is fixed. ..
  • the second light collecting device 12 of the second optical measuring station 4 collects the light emitted from the illumination light source 1 and then reflected by the projectile 2.
  • the shading device 71 of the second optical measuring station 4 is controlled by the control device 76 to open the shutter for a predetermined exposure time at the first time t 1 and the second time t 2. ..
  • a predetermined exposure time by opening the shutter of the shading device 71, is condensed light by the second focusing device 12 through the shading device 71, the light It reaches the position detection unit 72.
  • the predetermined exposure time by opening the shutter of the shading device 71, is condensed light passes through the shading device 71 by the second condenser 12, the The light reaches the position detection unit 72.
  • Position detector 72 of the second optical angle measuring station 4 when the first time t 1, when acquiring the imaging command output from the controller 76, the detection processing of the light transmitted through the shading device 71 Start and take a light intensity image showing the projectile 2.
  • Position detector 72 the light intensity image captured, as a light intensity image at a first time t 1, and outputs the angle calculation unit 73.
  • the position detection unit 72 when the second time t 2, the acquiring the imaging command outputted from the control unit 76 starts the detection process of light transmitted through the shading device 71, the projectile 2 Take an image of the reflected light intensity.
  • Angle calculating portion 73 of the second optical angle measuring station 4 the controller 76 obtains the orientation of the second condenser 12 at a first time t 1, the position detector 72, a first for obtaining an optical intensity image at time t 1.
  • the angle calculation unit 73 detects the position of the light in the light intensity image at the first time t 1 as the reflection position of the light with respect to the projectile 2 at the first time t 1.
  • the angle calculation unit 73 calculates the second angle at the first time t 1 from the directing direction of the second light collecting device 12 at the first time t 1 and the reflection position at the first time t 1 . (Step ST3 in FIG. 6).
  • a second angle may be calculated from the light intensity images after these treatments by performing attenuation processing of the peripheral light amount and the like. Since the second angle calculation process by the angle calculation unit 73 is the same as the first angle calculation process by the angle calculation unit 53, detailed description thereof will be omitted.
  • the angle calculation unit 73 acquires the pointing direction of the second light collecting device 12 at the second time t 2 from the control device 76, and acquires the light intensity image at the second time t 2 from the position detection unit 72. do.
  • the angle calculation unit 73 detects the position of the light in the light intensity image at the second time t 2 as the reflection position of the light with respect to the projectile 2 at the second time t 2.
  • the angle calculation unit 73 determines the second angle at the second time t 2 from the directing direction of the second light collecting device 12 at the second time t 2 and the reflection position at the second time t 2 . Calculate (step ST4 in FIG. 6).
  • a second angle may be calculated from the light intensity images after these treatments by performing attenuation processing of the peripheral light amount and the like.
  • Time correcting unit 74 output from the controller 76, and the position of the second condenser 12 at a first time t 1, and the position of the second condenser 12 at a second time t 2 get.
  • the time calibration unit 74 outputs the position of the second light collecting device 12 at the first time t 1 and the position of the second light collecting device 12 at the second time t 2 to the communication unit 78.
  • the communication unit 78 has a second angle at the first time t 1, a second angle at the second time t 2 , a position of the second light collector 12 at the first time t 1, and a second time. transmitting the respective positions of the second focusing device 12 at t 2 to the communication unit 58.
  • the communication unit 58 from the communication unit 78, has a second angle at the first time t 1, a second angle at the second time t 2 , and a position of the second light collector 12 at the first time t 1. and receiving the respective positions of the second condenser 12 at the second time t 2.
  • the communication unit 58 has a second angle at the first time t 1, a second angle at the second time t 2 , a position of the second light collector 12 at the first time t 1, and a second time.
  • the respective positions of the second condenser 12 is recorded in the recording device 59 in the t 2.
  • the communication unit 58 causes the recording device 59 to record the position of the second light collecting device 12 at the first time t 1 and the position of the second light collecting device 12 at the second time t 2. ing. If the second optical measuring station 4 is a fixed station, the position of the second light collecting device 12 does not change, so that the recording device 59 records the position of the second light collecting device 12 at any time. Just do it.
  • Trajectory calculation unit 60 from the recording device 59, respectively and each of the first angle at a first time t 1 and second time t 2, at a first time t 1 and second time t 2 the Get the angle of 2. From the recording device 59, the orbit calculation unit 60 determines the position of the first light collecting device 11 at the first time t 1 and the position of the first light collecting device 11 at the second time t 2 . The position of the second light collecting device 12 at the time t 1 and the position of the second light collecting device 12 at the second time t 2 are acquired.
  • FIG. 12 is an explanatory diagram showing the accuracy of orbit calculation in the orbit calculation system according to the first embodiment.
  • the first condenser apparatus 11 and the projectile 2 the second condenser 12 is disposed in each of the vertices in the triangle.
  • the distance from each of the optical devices 12 to the projectile 2 can be calculated geometrically.
  • the orbit calculation unit 60 has a distance L AB1 between devices, a first angle (Az A1 , Elv A1 ), a second angle (Az B1 , Elv B1 ), and a position (x) of the first condensing device 11. since A1, y A1, z A1) and, using the cosine theorem, as the distance to the projectile 2 from the first condenser 11, calculates a first distance Renge A1 at a first time t 1. Further, the orbit calculation unit 60 has a distance L AB1 between devices, a first angle (Az A1 , Elv A1 ), a second angle (Az B1 , Elv B1 ), and a position of the second light collector 12. since the (x B1, y B1, z B1), using the cosine theorem, as the distance to the projectile 2 from the second condenser 12, calculates a second distance Renge B1 at a first time t 1 do.
  • Trajectory calculation unit 60 the position of the first focusing device 11 at a second time t 2 (x A2, y A2 , z A2), the position of the second condenser 12 at a second time t 2 since (x B2, y B2, z B2) and, at the second time t 2, the calculated first condenser 11 inter-device distance L AB2 between the second condenser 12.
  • the orbit calculation unit 60 includes the inter-device distance L AB2 , the first angle (Az A2 , Elv A2 ), the second angle (Az B2 , Elv B2 ), and the position (x) of the first condensing device 11.
  • the orbit calculation unit 60 has a distance between the devices L AB2 , a first angle (Az A2 , Elv A2 ), a second angle (Az B2 , Elv B2 ), and a position of the second light collecting device 12. since the (x B2, y B2, z B2), by using the cosine theorem, as the distance to the projectile 2 from the second condenser 12, calculates a second distance Renge B2 at a second time t 2 do.
  • Trajectory calculation unit 60 includes a first angle at a first time t 1 (Az A1, Elv A1 ), the position of the first focusing device 11 at a first time t 1 (x A1, y A1 , z and A1), the first distance Renge A1 Metropolitan at a first time t 1, the position of the projectile 2 in the first time t 1 (x 1 ', y 1', z 1 ') is calculated.
  • the trajectory calculating section 23 includes a second angle at a first time t 1 (Az B1, Elv B1 ), the position of the second condenser 12 at a first time t 1 (x B1, y B1 calculates a z B1), the second distance Renge B1 Metropolitan at a first time t 1, the position of the projectile 2 in the first time t 1 (x 1 ", y 1", the z 1 ”) ..
  • the position (x 1 ', y 1 ', z 1 ') and the position (x 1 ", y 1 ", z 1 ") of the orbit calculation unit 60 are different, for example, the following equation (1) As shown in, as the position (x 1 , y 1 , z 1 ) of the projectile 2 at the first time t 1, the position (x 1 ', y 1 ', z 1 ') and the position (x 1 ', Calculate the average value with y 1 ", z 1").
  • Trajectory calculation unit 60 includes a first angle at a second time t 2 (Az A2, Elv A2 ), the position of the first focusing device 11 at a second time t 2 (x A2, y A2 , z and A2), the first distance Renge A2 Metropolitan at the second time t 2, the position of the projectile 2 at the second time t 2 (x 2 ', y 2', z 2 ') is calculated.
  • the trajectory calculating section 23 includes a second angle at a second time t 2 (Az B2, Elv B2 ), the position of the second condenser 12 at a second time t 2 (x B2, y B2 calculates a z B2), the second distance Renge B2 Metropolitan at the second time t 2, the position of the projectile 2 at the second time t 2 (x 2 ", y 2", the z 2 ”) ..
  • the position (x 2 ', y 2 ', z 2 ') and the position (x 2 ", y 2 ", z 2 ") of the orbit calculation unit 60 are different, for example, the following equation (2) As shown in, as the position (x 2 , y 2 , z 2 ) of the projectile 2 at the second time t 2, the position (x 2 ', y 2 ', z 2 ') and the position (x 2 ', Calculate the average value with y 2 ", z 2").
  • the orbit calculation unit 60 determines the position of the projectile 2 at the first time t 1 (x 1 , y 1 , z 1 ) and the position of the projectile 2 at the second time t 2 (x 2 , y 2 , z). 2 ) and is calculated. Alternatively, the orbit calculation unit 60 calculates the position and velocity of the projectile 2 at the first time t1. Therefore, the position of the projectile 2 at the first time t 1 (x 1 , y 1 , z 1 ) and the position of the projectile 2 at the second time t 2 (x 2 , y 2 , z 2 ), or.
  • the trajectory of the projectile 2 can be calculated. ..
  • the orbit represents the time change of the position of the projectile and the trajectory, and assuming that the projectile 2 is moving mainly according to the gravity of the earth, the motion is Kepler motion.
  • the locus can be approximated by a quadratic curve.
  • Quadratic curve is eccentricity, long radius, defined by track 6 elements represented by the orbit inclination angle, etc., the parameters of the track 6 elements, the position at time t 1, t 2 with a projectile (x 1, y It is determined from 1 , z 1 ), (x 2 , y 2 , z 2 ), and the orbit is obtained.
  • the orbit of a moving object near the earth changes from moment to moment, and the six elements of the orbit are insufficient to represent the orbit, so the position (x 1 , y 1 , z 1 ) and velocity ( v x 1 , vy 1 , Sequentially finding vz 1 ) may be regarded as finding the orbit.
  • the orbit calculation unit 60 determines the position of the projectile 2 at the first time t 1 (x 1 , y 1 , z 1 ) and the position of the projectile 2 at the second time t 2 (x 2 , y 2 , z). 2 ) Or, the orbit of the projectile 2 is calculated from the position (x 1 , y 1 , z 1 ) and the velocity ( v x 1 , v y 1 , vz 1 ) of the projectile 2 at the first time t 1. (Step ST5 in FIG. 6).
  • the angle calculation unit 53 of the first optical angle measuring station 3 can calculate the first angle from the directing direction of the first light collecting device 11 and the light intensity image, but the first light collecting device It is not possible to calculate the distance from the first condensing device 11 to the projectile 2 with high accuracy only by the information of the directing direction of 11 and the light intensity image.
  • the angle calculation unit 73 of the second optical angle measuring station 4 can calculate the second angle from the directing direction of the second condensing device 12 and the light intensity image, but the second condensing device It is not possible to calculate the distance from the second condensing device 12 to the projectile 2 with high accuracy only by the information of the directing direction of 12 and the light intensity image.
  • FIG. 7 is an explanatory diagram showing the accuracy of distance calculation by the angle calculation unit 53 of the first optical angle measuring station 3.
  • the shaded ellipse region shows the distance calculation accuracy and the angle calculation accuracy, respectively. Since the shaded elliptical region has an elliptical shape that is long in the range direction, it indicates that the calculation accuracy of the distance is poor.
  • FIG. 8 is an explanatory diagram showing the calculation accuracy of each angle and the calculation accuracy of each distance at the three observation times t 0 , t 1 , and t 2.
  • the angle calculation unit 53 the first angle at observation time t 0 (Az A0, Elv A0 ), observation time can be calculated respective first angle in t 1 (Az A1, Elv A1 ) and a first angle at observation time t 2 (Az A2, Elv A2 ).
  • the orbit of the projectile 2 becomes a quadratic curve due to the Kepler motion.
  • the distance to the projectile 2 can be estimated from the first angle of each of the observation times t 0 , t 1 , and t 2 and the time when the projectile 2 moves at each point. Therefore, the orbit of the projectile 2 is uniquely determined. Actually, it may contain an error because it is affected by the gravity anomaly of the earth or radiation pressure, but in principle, if there are three observations of the projectile 2, the projectile 2 The orbit can be calculated.
  • the angle measuring station installed on the ground emits radio waves, and the angle measuring station receives the radio waves reflected by the flying object 2, thereby calculating the distance from the angle measuring station to the flying object 2.
  • the distance from the angle measuring station to the projectile 2 is calculated. The distance is calculated from the time difference from the time or the phase difference between the phase of the emitted radio wave and the phase of the received radio wave. Therefore, the angle measuring station can calculate the angle (Az, Elv) of the projectile 2 with respect to the angle measuring station in addition to the distance.
  • FIG. 9 the angle measuring station installed on the ground emits radio waves, and the angle measuring station receives the radio waves reflected by the flying object 2, thereby calculating the distance from the angle measuring station to the flying object 2.
  • the shaded ellipse region shows the distance calculation accuracy and the angle calculation accuracy, respectively. Since the shaded ellipse region shown in FIG. 9 has a shorter length in the range direction than the shaded ellipse region shown in FIG. 7, the calculation accuracy of the distance in the angle measuring station shown in FIG. 9 is the calculation of the distance in FIG. It is higher than the accuracy. However, since the wavelength (cm) of the radio wave is longer than the wavelength (micron) of visible light, for example, the angle calculation accuracy in the angle measuring station shown in FIG. 9 is worse than the angle calculation accuracy in FIG. There is.
  • FIG. 10 is an explanatory diagram showing the calculation accuracy of each angle and the calculation accuracy of each distance at the two observation times t 1 and t 2. From the respective distances and angles at the two observation times t 1 and t 2, the position of the projectile 2 at the observation time t 1 (x 1 , y 1 , z 1 ) and the position of the projectile 2 at the observation time t 2. (X 2 , y 2 , z 2 ) can be obtained.
  • the speed of the projectile 2 from the position of the projectile 2 at the observation time t 1 (x 1, y 1 , z 1) at the observation time t 1 (vx 1, vy 1 , vz 1) is obtained. Therefore, if both the distance and the angle can be calculated at the two observation times t 1 and t 2, the orbit of the projectile 2 can be calculated.
  • FIG. 11 is an explanatory diagram showing the accuracy of angle calculation and the accuracy of distance calculation in the trajectory calculation system according to the first embodiment.
  • the first optical angle measuring station 3 and the second optical measuring station 4 which are two optical measuring stations having different installation positions, fly at the same time.
  • the angle with respect to the body 2 is calculated. Therefore, the first condensing device 11 in the first optical angle measuring station 3, the second condensing device 12 in the second optical measuring station 4, and the projectile 2 have their respective vertices in the triangle.
  • the triangular cosine theorem can be applied as if it were placed in.
  • the distance from each of the first condensing device 11 and the second condensing device 12 to the projectile 2 can be calculated geometrically. Since the triangular cosine theorem cannot be applied unless the first optical measuring station 3 and the second optical measuring station 4 calculate the angle with respect to the same projectile 2 at the same time, FIG. 7 As shown by the shaded elliptical region of, the calculation accuracy of the distance deteriorates.
  • the diamond-shaped region including the projectile 2 shows the accuracy of calculating the distance and the accuracy of calculating the angle, respectively.
  • the diamond-shaped region has a shorter length in the range direction than the shaded elliptical region shown in FIG.
  • the distance calculation accuracy in the trajectory calculation system shown in FIG. 5 is higher than that shown in FIG. 7. From the above, the reason why the time is synchronized between the first optical measuring station 3 and the second optical measuring station 4 is to improve the accuracy of distance calculation. This is also to enable the orbit of the projectile 2 to be calculated even if the observation time is two.
  • the first time as the first angle when the light collector 2 is viewed from the first condensing device 11 from the direction and the respective reflection positions of the light with respect to the projectile 2 at the first time and the second time.
  • the first time and the second of the first angle calculation unit 21 that calculates the respective first angles at the second time and the second light collector 12 that collects the light reflected by the projectile 2.
  • a second angle calculation unit 22 that calculates each second angle at the first time and a second time, a first angle calculated by the first angle calculation unit 21, and a second angle. From the second angle calculated by the angle calculation unit 22 of the above, and the position of the first light collector 11 and the position of the second light collector 12 at the first time and the second time, the flying object.
  • the orbit calculation device 13 is configured to include the orbit calculation unit 23 for calculating the orbit of 2. Therefore, it may be possible to calculate the orbit of the distant projectile 2 which cannot be calculated by the conventional orbit calculation system.
  • the orbit calculation system shown in FIG. 5 includes a first optical angle measuring station 3 and a second optical measuring station 4 as two optical measuring stations.
  • the first optical measuring station 3 can collect the light reflected by the projectile 2
  • the second optical measuring station 4 is reflected by the flying object 2. It may cause a situation where light cannot be focused. In such a situation, the orbit calculation system shown in FIG. 5 cannot calculate the orbit of the projectile 2.
  • a third optical angle measuring station is provided in addition to the first optical measuring station 3 and the second optical measuring station 4. You may.
  • the configuration of the third optical angle measuring station is the same as the configuration of the second optical measuring station 4, and the installation position of the third optical measuring station is the first optical measuring station 3 and the second optical measuring station. It is different from each installation position in the optical angle measuring station 4.
  • Embodiment 2 an orbit calculation system in which the first optical angle measuring station 3 is a fixed station and the second optical angle measuring station 4 is a portable station will be described.
  • FIG. 13 is an explanatory diagram showing an example of the positional relationship between the illumination light source 1, the projectile 2, the first optical angle measuring station 3 and the second optical measuring station 4 in the orbit calculation system according to the second embodiment. ..
  • the first optical angle measuring station 3 is a fixed station
  • the second optical angle measuring station 4 is a portable station.
  • FIG. 14 is an explanatory diagram showing the accuracy of angle calculation and the accuracy of distance calculation in the trajectory calculation system according to the second embodiment.
  • the same principle as that of the orbit calculation system shown in FIG. 5 can be used.
  • the trajectory of the projectile 2 can be calculated.
  • the position of the sun which is the illumination light source 1, or the position of the second optical angle measuring station 4, which is a portable station
  • the first optical measuring station 3 and the second optical measuring station 3 are changed. 4 may be an observation condition in which light from the same projectile 2 cannot be received at the same time. For example, when the second optical measuring station 4 is located on the back side of the earth when viewed from the first optical measuring station 3, the first optical measuring station 3 and the second optical measuring station 3 are measured.
  • the corner station 4 cannot receive the light from the same projectile 2 at the same time.
  • the orbit calculation system shown in FIG. 13 can be shown in FIG. Similar to the trajectory calculation system shown, the trajectory of the projectile 2 can be calculated.
  • the communication unit 78 of the second optical angle measuring station 4 determines the second angle and the position of the second condensing device 12. , Is transmitted to the communication unit 58 of the first optical angle measuring station 3.
  • the communication unit 78 since the second optical measuring station 4 is moving in orbit, for example, the communication unit 78 may be used depending on the positional relationship between the first optical measuring station 3 and the second optical measuring station 4. , The second angle and the position of the second light collecting device 12 may not be directly transmitted to the communication unit 58 of the first optical measuring station 3. In such a case, the communication unit 78 of the second optical angle measuring station 4 transmits the second angle and the position of the second light collecting device 12 to the ground station 6 shown in FIGS.
  • the ground station 6 may transfer the second angle and the position of the second light collecting device 12 to the communication unit 58 of the first optical measuring station 3.
  • the ground station 6 is a ground station that operates the second optical angle measuring station 4, and controls, for example, the posture and position of the second optical measuring station 4.
  • Embodiment 3 an orbit calculation system in which the first optical angle measuring station 3 is provided with the ranging device 91 and the second optical angle measuring station 4 is provided with the retroreflective unit 81 will be described.
  • FIG. 15 is an explanatory diagram showing an example of the positional relationship between the flying object 2, the first optical angle measuring station 3, and the second optical angle measuring station 4 in the orbit calculation system according to the third embodiment.
  • the second optical angle measuring station 4 includes a retroreflective unit 81.
  • the retroreflective unit 81 is realized by an optical member having a function of emitting light in the incident direction. As the optical member, a corner cube reflector or the like can be considered in addition to a member in which beads are spread.
  • the retroreflective unit 81 retroreflects the light radiated from the ranging device 91 of the first optical angle measuring station 3.
  • FIG. 16 is a specific configuration diagram showing the trajectory calculation system according to the third embodiment.
  • the distance measuring device 91 is mounted on the first optical angle measuring station 3.
  • the distance measuring device 91 includes a light collecting device 92, an optical transmitting unit 93, an optical receiving unit 94, a distance calculation unit 95, and a directing device 96.
  • the distance measuring device 91 receives the light reflected by the retroreflective unit 81 after radiating the light toward the retroreflective unit 81, and from the emitted light and the received light, the first optical angle measuring station 3 And the second optical measuring station 4 are calculated.
  • the condensing device 92 is realized by, for example, one or more telescopes among a refraction type telescope and a reflection type telescope.
  • the light collecting device 92 radiates the laser light output from the light transmitting unit 93 toward the retroreflective unit 81, and collects the laser light reflected by the retroreflective unit 81.
  • the optical transmission unit 93 is realized by, for example, a laser light source, an optical amplifier, and an optical modulator.
  • the light transmitting unit 93 outputs the laser light to the condensing device 92, so that the laser light is radiated from the condensing device 92 toward the retroreflective unit 81.
  • the optical receiver 94 is realized by, for example, a semiconductor optical receiver. As the semiconductor optical receiver, a photodiode, a quadrant photodiode, or the like can be considered.
  • the light receiving unit 94 receives the laser light collected by the condensing device 92.
  • the distance calculation unit 95 is based on the time difference between the time when the radio wave is radiated from the optical transmission unit 93 and the time when the radio wave is received by the optical reception unit 94, or the phase of the radio wave output from the optical transmission unit 93 and the optical reception unit 94. From the phase difference with the phase of the received radio wave, the distance between the devices, which is the distance between the first optical measuring station 3 and the second optical measuring station 4, is calculated. That is, the distance calculation unit 95, the inter-device distance L AB1 at a first time t 1 is calculated and the inter-device distance L AB2 at the second time t 2, the a unit distance L AB1 and apparatus distance L AB2 Is output to the orbit calculation unit 61 of the orbit calculation unit 23.
  • the directional device 96 is realized by a rotary stage and a motor having one or more rotation axes.
  • An altazimuth mount, an equatorial mount, or the like can be considered as a rotation stage having one or more rotation axes.
  • a condensing device 92 is mounted on the rotating stage of the directional device 96. Directing device 96, so that the directivity direction of the light collection device 92 when the first time t 1 coincides with the orientation direction of the condenser 92 when the first time t 1 the controller 56 is outputted In addition, the rotary stage is rotated by driving the motor.
  • Directing device 96 so that the directivity direction of the light collection device 92 when the second time t 2 coincides with the orientation direction of the condenser 92 when the second time t 2 the controller 56 is outputted
  • the rotary stage is rotated by driving the motor.
  • the orbit calculation unit 23 includes a recording device 59 and an orbit calculation unit 61.
  • the orbit calculation unit 61 from the distance calculation unit 95, indicates the direction directions of the light collector 92 at the first time t 1 and the second time t 2 , and the first time t 1 and the second time t 2.
  • the distances L AB1 and L AB2 between the devices in the above are acquired.
  • Trajectory calculation unit 61 from the recording apparatus 59 acquires the first position at time t 1 and second time t 2 of the first focusing device 11.
  • the orbit calculation unit 61 has the direction directions of the light collector 92 at the first time t 1 and the second time t 2 , and the first time t 1 and the second time of the first light collector 11.
  • the first time t of the second light collector 12 is used. and it calculates the respective positions in the first and second time t 2.
  • the orbit calculation unit 61 has a first angle and a first time t at the first time t 1 and the second time t 2 from the recording device 59. obtaining a respective second angle in the first and second time t 2. Similar to the orbit calculation unit 60 shown in FIG. 5, the orbit calculation unit 61 has a first angle, a second angle, and the first condensing device 11 and the second condensing device 12. from the respective positions, as the distance to the projectile 2 from the first condenser 11, to calculate a respective first distance at a first time t 1 and second time t 2. Similar to the orbit calculation unit 60 shown in FIG.
  • the orbit calculation unit 61 is a flying object from the second light collector 12 from each first angle, each second angle, and each position. as the distance to 2, and calculates the respective second distance at a first time t 1 and second time t 2.
  • Trajectory calculation unit 61 like the trajectory calculation unit 60 shown in FIG. 5, first, respectively at a first time t 1 and second time t 2 the angle a, the first time t 1 and the second a respective second angle at time t 2, the respective a first distance at a first time t 1 and second time t 2, the respective at a first time t 1 and second time t 2 From the second distance, each of the position and speed of the projectile 2 is calculated.
  • the orbit calculation unit 61 calculates the respective positions of the projectile 2 at the first time t 1 and the second time t 2 , or the position and velocity of the projectile 2 at the first time t 1. .. Similar to the orbit calculation unit 60 shown in FIG. 5, the orbit calculation unit 61 is located at each position of the projectile 2 at the first time t 1 and the second time t 2 , or the first time of the projectile 2. The orbit of the projectile 2 is calculated from the position and velocity of t 1.
  • the orbit calculation unit 60 uses the first light collector 11 and the second light collector 12 from their respective positions in the first light collector 11 and the second light collector 12.
  • the distances L AB1 and L AB2 between the devices with 12 are calculated.
  • the trajectory calculation system shown in FIG. 16, the distance measuring device 91, as the distance between the distance L AB1, L AB2 between the first condenser 11 and the second condenser 12, a first optical angle measuring station 3 It differs from the orbit calculation system shown in FIG. 5 in that the distance between the light and the second optical measuring station 4 is calculated.
  • the accuracy of distance calculation by the distance measuring device 91 is higher than the accuracy of distance calculation by the trajectory calculation system shown in FIG.
  • the accuracy of distance calculation by the trajectory calculation system shown in FIG. 5 is the length in the range direction in the diamond-shaped region shown in FIG.
  • the distance measuring device 91 may not be able to calculate the inter-device distances LA AB1 and LA AB2. In the orbit calculation system shown in FIG.
  • the second optical measuring station 4 since the second optical measuring station 4 includes the retroreflecting unit 81, the attenuation of the laser beam intensity due to the reflection of the second optical measuring station 4 is suppressed. ing. Therefore, in the orbit calculation system shown in FIG. 16, the distance that can be calculated is longer than that in the second optical measuring station 4 that does not have the retroreflection unit 81.
  • the control device 56 outputs the pointing direction of the condensing device 92 at the first time t1 to the directional device 96, and outputs the directional direction of the condensing device 92 at the second time t 2 to the directional device 96.
  • the control device 56 outputs a laser beam radiation command to each of the light transmission unit 93 and the distance calculation unit 95 at the first time t 1 and the second time t 2.
  • the orbit information of the second optical measuring station 4 is recorded in the internal memory of the control device 56. Controller 56, based on the orbital information to identify the orientation of the condenser 92 at a first time t 1, to identify the orientation of the condenser 92 at the second time t 2.
  • Directing device 96 so that the directivity direction of the light collection device 92 when the first time t 1 coincides with the orientation direction of the condenser 92 when the first time t 1 the controller 56 is outputted
  • the rotary stage is rotated by driving the motor.
  • Directing device 96 so that the directivity direction of the light collection device 92 when the second time t 2 coincides with the orientation direction of the condenser 92 when the second time t 2 the controller 56 is outputted
  • the rotary stage is rotated by driving the motor.
  • the control device 56 Since it takes a certain amount of time to control the directivity direction of the condensing device 92 by the directivity device 96, the control device 56 sets the observation time at the first time t 1 before the observation time reaches the first time t 1 .
  • the directivity direction of the light collector 92 is output to the directivity device 96. Further, the control device 56 outputs the directivity direction of the condensing device 92 at the second time t 2 to the directivity device 96 before the observation time reaches the second time t 2.
  • the optical transmission unit 93 When the optical transmission unit 93 receives a laser light emission command from the control device 56 at the first time t 1 and the second time t 2 , the light transmission unit 93 outputs the laser light to the condensing device 92 by outputting the laser light to the condensing device 92.
  • Laser light is radiated from the light collector 92 toward the retroreflecting unit 81.
  • the light collecting device 92 radiates the laser light output from the light transmitting unit 93 toward the retroreflecting unit 81.
  • the first time t 1 the laser light emitted from the light collector 92 is reflected by the retroreflective portion 81 attached to the second optical angle measuring station 4.
  • the laser light reflected by the retroreflective unit 81 is collected by the condensing device 92.
  • the light receiving unit 94 receives the laser light focused by the condensing device 92, and outputs the received signal of the laser light to the distance calculation unit 95.
  • the distance calculation unit 95 is based on the time difference between the time when the radio wave is radiated from the optical transmission unit 93 and the time when the radio wave is received by the optical reception unit 94, or the phase of the radio wave output from the optical transmission unit 93 and the optical reception unit 94.
  • the distance between the first optical measuring station 3 and the second optical measuring station 4 is calculated from the phase difference with the phase of the received radio wave. That is, the distance calculation unit 95, from the first time t 1 is the time when the emission command is output from the controller 56, based on the time until receiving the reception signal of the laser beam from the optical receiving unit 94, the first calculating the inter-device distance L AB1 at time t 1 of the.
  • the distance calculation unit 95, second from the time t 2 is the time at which the emission command is output from the controller 56, based on the time until receiving the reception signal of the laser beam from the optical receiving unit 94, the second calculating the inter-device distance L AB2 at time t 2 of the.
  • Distance calculation unit 95, the pointing direction of the condenser 92 at a first time t 1, the pointing direction of the condenser 92 at the second time t 2, the inter-device distance L AB1 at a first time t 1 and the Each of the inter-device distances LAB2 at time t2 of 2 is output to the orbit calculation unit 61 of the orbit calculation unit 23.
  • the orbit calculation unit 61 from the distance calculation unit 95, indicates the direction directions of the light collector 92 at the first time t 1 and the second time t 2 , and the first time t 1 and the second time t 2.
  • the distances L AB1 and L AB2 between the devices in the above are acquired.
  • Trajectory calculation unit 61 from the recording apparatus 59 acquires the first respective positions at the time t 1 and second time t 2 of the first focusing device 11.
  • Trajectory calculation unit 61 the orientation of the condenser 92 at a first time t 1, the position of the first focusing device 11 at a first time t 1, the inter-device distances at a first time t 1 by using the L AB1, it calculates the position of the second condenser 12 at a first time t 1.
  • the orbit calculation unit 61 has a first angle at the first time t 1 and a second time t 2 , respectively, and the first time t 1 and the second time t 1. obtaining a respective second angle at time t 2. Similar to the orbit calculation unit 60 shown in FIG. 5, the orbit calculation unit 61 has a first angle, a second angle, a position in the first condensing device 11, and a second angle. from the respective positions of the light collection device 12, as the distance to the projectile 2 from the first condenser 11, to calculate a respective first distance at a first time t 1 and second time t 2 .. Similar to the orbit calculation unit 60 shown in FIG.
  • the orbit calculation unit 61 has a first angle, a second angle, a position in the first condensing device 11, and a second angle. from the respective positions of the light collection device 12, as the distance to the projectile 2 from the second condenser 12, to calculate the respective second distance at a first time t 1 and second time t 2 ..
  • Trajectory calculation unit 61 like the trajectory calculation unit 60 shown in FIG. 5, first, respectively at a first time t 1 and second time t 2 the angle a, the first time t 1 and the second a respective second angle at time t 2, the respective a first distance at a first time t 1 and second time t 2, the respective at a first time t 1 and second time t 2 From the second distance, each of the position and speed of the projectile 2 is calculated. That is, the orbit calculation unit 61 calculates the respective positions of the projectile 2 at the first time t 1 and the second time t 2 , or the position and velocity of the projectile 2 at the first time t 1. .. Similar to the orbit calculation unit 60 shown in FIG. 5, the orbit calculation unit 61 is located at each position of the projectile 2 at the first time t 1 and the second time t 2 , or the first time of the projectile 2. from the position and velocity of the t 1, to calculate the trajectory of the projectile 2.
  • the second optical angle measuring station 4 includes a retroreflecting unit 81 that retroreflects light, and the first optical angle measuring station 3 radiates light toward the retroreflecting unit 81. After that, the light reflected by the retroreflection unit 81 is received, and the distance between the first optical angle measuring station 3 and the second optical measuring station 4 is calculated from the emitted light and the received light.
  • the orbit calculation system shown in FIG. 16 is provided so that the orbit calculation unit 23 calculates the position of the second condensing device 12 by using the distance calculated by the distance measuring device 91. Configured. Therefore, the orbit calculation system shown in FIG. 16 may be able to calculate the orbit of the distant projectile 2 which cannot be calculated by the conventional orbit calculation system, similar to the orbit calculation system shown in FIG. Further, the trajectory calculation system shown in FIG. 16 has improved accuracy of calculating the trajectory of the projectile 2 as compared with the trajectory calculation system shown in FIG.
  • Embodiment 4 the orbit calculation system in which the second optical angle measuring station 4 is arranged in an orbit having an altitude different from that of the orbit of the projectile 2 will be described.
  • FIG. 17 is an explanatory diagram showing an example of the positional relationship between the flying object 2, the first optical angle measuring station 3, and the second optical angle measuring station 4 in the orbit calculation system according to the fourth embodiment.
  • 101 shows a trajectory of the second optical angle measuring station 4
  • h 1 represents the height of the track 101
  • 102 shows the orbit of the flying object 2
  • h 2 shows the altitude of the orbit 102
  • 103 shows a trajectory of the second optical angle measuring station 4
  • h 3 shows a high degree of track 103.
  • the second optical angle measuring station 4 may be arranged in an orbit 101 having an altitude lower than the orbit 102 of the projectile 2, and may be arranged in an orbit 103 having an altitude higher than the orbit 102 of the projectile 2.
  • the orbit of the second optical measuring station 4 may be switched from the orbit 101 to the orbit 103, while the orbit 103 may be switched to the orbit 101.
  • the orbit around the earth is determined by the gravity and altitude of the earth.
  • v 1 is the speed of the second optical measuring station 4 moving in the orbit 101 at the altitude h 1
  • v 3 is the speed of the second optical measuring station 4 moving in the orbit 103 at the altitude h 3.
  • v 2 is the velocity of the projectile 2.
  • r E is the radius of the earth
  • G is the gravitational constant
  • M is the mass of the earth.
  • Second optical angle measuring station 4 speed v i (i 1, 3), as is apparent from equation (3), as the altitude h i is high, slower. Therefore, when the second optical measuring station 4 is arranged in the orbit 101 having an altitude higher than the orbit 102 of the flying object 2, the second optical measuring station 4 becomes the flying object 2 with the passage of time. You may be overtaken. On the other hand, when the second optical measuring station 4 is arranged in the orbit 101 whose altitude is lower than the orbit 102 of the flying object 2, the second optical measuring station 4 sets the flying object 2 with the passage of time. You may overtake.
  • the temporal change in the geometrical arrangement of the first optical measuring station 3, the second optical measuring station 4, and the projectile 2 is the altitude of the orbit where the second optical measuring station 4 is arranged. Depends on.
  • the orbit calculation system has, for example, a second optical angle measuring station 4 arranged in an orbit 101 having an altitude lower than the orbit 102 of the projectile 2, and an altitude higher than the orbit 102 of the projectile 2. May include both with a second optical measuring station 4 located in a high orbit 101. If the orbit calculation system includes two second optical measuring stations 4, the geometric arrangement related to the second optical measuring station 4 arranged in the orbit 101 and the arrangement in the orbit 103 are arranged. The orbit 102 of the projectile 2 can be calculated based on any of the geometrical arrangements related to the second optical angle measuring station 4.
  • any combination of the embodiments can be freely combined, any component of the embodiment can be modified, or any component can be omitted in each embodiment.
  • This disclosure is suitable for an orbit calculation device, an orbit calculation method, and an orbit calculation system for calculating the orbit of a flying object.

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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Dispositif de calcul de trajectoire comprenant une première unité de calcul d'angle permettant d'utiliser les directions de pointage à un premier instant et un second instant d'un premier dispositif de condensation de lumière permettant de condenser la lumière émise par une source de lumière d'éclairage et réfléchie par un objet volant, et les positions de réflexion de lumière provenant de l'objet volant au premier instant et au second instant afin de calculer des premiers angles de l'objet volant tel qu'observé depuis le premier dispositif de condensation de lumière au premier instant et au second instant, une seconde unité de calcul d'angle permettant d'utiliser les directions de pointage au premier instant et au second instant d'un second dispositif de condensation de lumière permettant de condenser la lumière réfléchie par l'objet volant et les positions de réflexion de lumière provenant de l'objet volant au premier instant et au second instant afin de calculer des seconds angles de l'objet volant tel qu'observé depuis le second dispositif de condensation de lumière au premier instant et au second instant, et une unité de calcul de trajectoire permettant d'utiliser les premiers angles calculés, les seconds angles calculés, et les positions du premier dispositif de condensation de lumière et du second dispositif de condensation de lumière au premier instant et au second instant pour calculer la trajectoire de l'objet volant.
PCT/JP2020/027399 2020-07-14 2020-07-14 Dispositif de calcul de trajectoire, procédé de calcul de trajectoire et système de calcul de trajectoire WO2022013948A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4622458A (en) * 1982-11-30 1986-11-11 Messerschmitt-Boelkow-Blohm Gmbh Trajectory acquisition and monitoring system
US5812247A (en) * 1995-12-23 1998-09-22 Stn Atlas Electronik Gmbh Arrangement for optically tracking moving objects and for measuring their trajectories
US20130265200A1 (en) * 2012-04-05 2013-10-10 Raytheon Company Position Determination Using Local Time Difference
US20160041266A1 (en) * 2014-08-11 2016-02-11 Gerard Dirk Smits Three-dimensional triangulation and time-of-flight based tracking systems and methods

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4622458A (en) * 1982-11-30 1986-11-11 Messerschmitt-Boelkow-Blohm Gmbh Trajectory acquisition and monitoring system
US5812247A (en) * 1995-12-23 1998-09-22 Stn Atlas Electronik Gmbh Arrangement for optically tracking moving objects and for measuring their trajectories
US20130265200A1 (en) * 2012-04-05 2013-10-10 Raytheon Company Position Determination Using Local Time Difference
US20160041266A1 (en) * 2014-08-11 2016-02-11 Gerard Dirk Smits Three-dimensional triangulation and time-of-flight based tracking systems and methods

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