JP6498351B1 - Observation planning device, observation planning method, and observation planning program - Google Patents

Abstract

In an observation system for observing the ground surface or the like by a sensor mounted on a navigation body, an efficient observation plan can be generated when a wide range of observation requests are given. An observation opportunity specifying unit 22 specifies a plurality of orbital paths that can observe an area within the observation range based on an observation range indicated by an observation request and an orbital calendar of a navigation body, and for each specified orbital path. Then, by changing at least one of the scanning direction and the off-nadir angle, one or more observation scenes for observing the region in which the number of observation scenes to be combined is minimized are specified. The observation plan determination unit 23 determines a combination of observation scenes in which the observation range can be observed as an observation plan. [Selection] Figure 1

Description

  The present invention relates to a technique for generating an observation plan for an observation system for observing the ground surface or the like using sensors mounted on a space navigation body (hereinafter referred to as a navigation body) such as one or more artificial satellites and an aircraft.

  In an observation system that observes the surface of the earth or the like using sensors mounted on one or more satellites and aircraft, considering the purpose of observation and the performance of the navigation object when a wide range of observation requests are given It is required to generate an observation plan. For example, when multiple navigational objects pass through the observation range in succession, if the information and range that can be observed differ depending on the navigational object, which information in which range is to be observed by which navigational object, It is required to decide according to the performance of the navigation body.

  Such a navigation body often flies repeatedly in a predetermined orbit. For example, an artificial satellite flying in an orbit around the earth with an altitude of several hundred km to several thousand km orbits the earth more than 10 times during the day, and the earth rotates during that day, so Pass the neighborhood more than once. A predetermined orbit of one round is called an orbit path. When generating an observation plan for a certain period, for example, one week, even if an observation request for a certain observation range on the ground surface is given, what orbital paths can be observed within that period. Since it also passes, it is required to determine which orbital path to observe.

  In such observation with a sensor mounted on a navigation body, restrictions are set on the navigation body type, the observation sensor type, the observation mode type, the observation period, the off-nadir angle range, and the like depending on the purpose of the observation. In addition, the performance of the navigation body is subject to constraints such as power performance, resolution, observation width, off-nadir angle range, and maximum continuous observation time. In order to achieve the objective of observation and generate an observation plan that can be realized by the performance of the navigation vehicle, it is necessary to satisfy all the constraints.

  Patent Document 1 describes generating an observation plan for one aircraft when a certain observation request is given. In Patent Document 1, an observation plan is generated by maximizing an area that can be observed at once within the observation range by posture control.

  Patent Document 2 describes generating an observation plan for one or more aircrafts when a certain observation request is given. In Patent Document 2, a plurality of observations are assigned to a plurality of satellites based on the usage rate of the navigation body, and an observation plan is generated.

JP 2013-95162 A JP 2011-183911 A JP 2012-144137 A

The number of orbital paths that can observe a certain range is finite, and the number of navigation bodies that can be used for observation is finite. Therefore, it is required to reduce unnecessary observations in order to improve the efficiency of the entire observation plan. However, the conventional technique may not reduce unnecessary observations.
When generating an observation plan for one aircraft, it is only necessary to observe a certain observation range at least once. In this case, as in Patent Document 1, when the observation area is maximized by the attitude control and the observation plan is generated, the areas not observed in the first round are dispersed, and the second round. After that, there is a possibility that the observation plan becomes wasteful.
When generating an observation plan for one or more aircraft, it is only necessary to observe an observation range at least once with an arbitrary navigation vehicle. In this case, as in Patent Document 2, when a plurality of observations are assigned to a plurality of satellites based on the usage rate of the navigation body, the other navigation body again observes the area observed by one navigation body, which is wasteful It may be an observation plan.

  The present invention enables an efficient observation plan to be generated when an observation request for a wide range is given in an observation system that observes the ground surface or the like with sensors mounted on one or more aircraft. With the goal.

The observation planning apparatus according to this invention is
Based on the observation range indicated by the observation request and the orbital calendar of the navigation vehicle, a plurality of orbital paths that can observe the region within the observation range are specified, and at least the scanning direction and the off-nadir angle are determined for each specified orbital path. An observation opportunity specifying unit for specifying one or more observation scenes for observing the region, in which any one of the observation scenes is changed and the number of observation scenes to be combined is minimized,
An observation plan determining unit that determines a combination of the observation scenes capable of observing the observation range as an observation plan.

  In the present invention, a plurality of observation scenes for observing an area within the observation range are identified, and at least one of the scanning direction and the off-nadir angle is changed for each identified orbital path, and the number of observation scenes to be combined is determined. One or more observation scenes for observing the region that are minimized are specified. Then, a combination of observation scenes in which the observation range can be observed is determined as an observation plan. This makes it possible to generate an efficient observation plan when a wide range of observation requests are given.

1 is a configuration diagram of an observation planning apparatus 10 according to Embodiment 1. FIG. 3 is a flowchart showing overall processing of the observation planning apparatus 10 according to the first embodiment. 5 is a flowchart showing an observation opportunity specifying process according to the first embodiment. FIG. 3 is a schematic diagram showing determination of availability of observation according to the first embodiment. FIG. 4 is a schematic diagram showing a search in a scanning direction in which the number of observation scenes according to the first embodiment is minimized. FIG. 4 is a schematic diagram showing a search for an off-nadir angle that minimizes the number of observation scenes according to Embodiment 1. 5 is a flowchart showing an observation plan determination process according to the first embodiment. The block diagram of the observation plan apparatus 10 which concerns on the modification 1. FIG.

Embodiment 1 FIG.
*** Explanation of configuration ***
With reference to FIG. 1, the structure of the observation plan apparatus 10 which concerns on Embodiment 1 is demonstrated.
The observation planning apparatus 10 is a computer.
The observation planning apparatus 10 includes hardware including a processor 11, a memory 12, a storage 13, and a communication interface 14. The processor 11 is connected to other hardware via a signal line, and controls these other hardware.

  The processor 11 is an IC (Integrated Circuit) that performs processing. The processor 11 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit) as specific examples.

  The memory 12 is a storage device that temporarily stores data. As a specific example, the memory 12 is an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory).

  The storage 13 is a storage device that stores data. The storage 13 is an HDD (Hard Disk Drive) as a specific example. The storage 13 is an SD (registered trademark, Secure Digital) memory card, CF (CompactFlash, registered trademark), NAND flash, flexible disk, optical disk, compact disk, Blu-ray (registered trademark) disk, DVD (Digital Versatile Disk), or the like. It may be a portable recording medium.

  The communication interface 14 is an interface for communicating with an external device. As a specific example, the communication interface 14 is a port of Ethernet (registered trademark), USB (Universal Serial Bus), or HDMI (registered trademark, High-Definition Multimedia Interface).

The observation planning apparatus 10 includes a receiving unit 21, an observation opportunity specifying unit 22, an observation plan determining unit 23, and an output unit 24 as functional components. The function of each functional component of the observation planning apparatus 10 is realized by software.
The storage 13 stores a program that realizes the function of each functional component of the observation planning apparatus 10. This program is read into the memory 12 by the processor 11 and executed by the processor 11. Thereby, the function of each functional component of the observation plan apparatus 10 is implement | achieved.

The storage 13 realizes the function of the navigation body information storage unit 31.
The navigation body information storage unit 31 stores navigation body information related to the navigation body in advance.
The navigation object information includes information indicating the navigation object type, the observation sensor type, the power performance, and the trajectory history for each navigation object. The navigation information includes information indicating whether the observation mode type and the observation width are indefinite for each observation sensor. The navigation information includes, for each observation mode type, resolution, observation width, off-nadir angle range, maximum continuous observation time, whether or not the scan direction can be specified, and whether or not the off-nadir angle is fixed. Contains information to indicate.
Power performance is information on power performance used to determine whether or not the attitude control required from the end of observation of one observation scene to the start of the other observation is completed for a combination of two observation scenes. is there. For example, it is represented by an angle and a time required until the attitude control of the angle is completed. The orbital calendar indicates the trajectory of the navigation body and the time of passing through each point.

  In FIG. 1, only one processor 11 is shown. However, a plurality of processors 11 may be provided, and a plurality of processors 11 may execute programs that realize each function in cooperation with each other.

*** Explanation of operation ***
With reference to FIG. 2 to FIG. 7, the operation of the observation planning apparatus 10 according to the first embodiment will be described.
The operation of the observation planning apparatus 10 according to the first embodiment corresponds to the observation planning method according to the first embodiment. The operation of the observation planning apparatus 10 according to the first embodiment corresponds to the processing of the observation planning program according to the first embodiment.

(Step S1: reception process in FIG. 2)
The accepting unit 21 accepts an observation request input via the communication interface 14. The accepting unit 21 writes the accepted observation request in the memory 12.
The observation request includes information indicating one or more observation ranges. In addition, the observation request is information indicating the navigation vehicle type, the observation sensor type, the observation mode type, the observation period, the off-nadir angle range, the priority index, and the unobserved area rate threshold for each observation range. Is included.
The observation range is position information of a region to be observed, and is represented by coordinates of a polygon vertex or the like. The navigation body type indicates the type of the navigation body to be designated. The observation sensor type indicates the type of observation sensor to be designated. The observation mode type indicates a scanning direction designation observation mode in which a scanning direction can be designated, an off-nadir angle fixed observation mode, or the like. The observation period indicates the designated observation period. The off-nadir angle range indicates a range of off-nadir angles to be designated. The priority index indicates which index is used to determine the priority used when determining the observation plan. The priority index may indicate a plurality of indices. The unobserved area rate threshold indicates a threshold used when determining an observation plan.

(Step S2 in FIG. 2: Observation opportunity specifying process)
The observation opportunity specifying unit 22 reads the observation request received in step S <b> 1 from the memory 12. Further, the observation opportunity specifying unit 22 reads the navigation body information from the navigation body information storage unit 31.
Based on the observation range indicated by the read observation request and the orbital calendar of the navigation object indicated by the read navigation information, the observation opportunity identification unit 22 can observe a plurality of orbital paths that can observe an area within the observation range. Is identified. The observation opportunity specifying unit 22 specifies one or more observation scenes for observing an area within the observation range for each specified orbital path. The observation opportunity specifying unit 22 writes information about each specified observation scene in the memory 12.

(Step S3 in FIG. 2: Observation plan determination process)
The observation plan determination unit 23 reads a plurality of observation scenes identified in step S2 from the memory 12. The observation plan determination unit 23 determines a combination of observation scenes capable of efficiently observing the observation range as an observation plan from the plurality of read observation scenes. The observation plan determination unit 23 writes the determined observation plan in the memory 12. Here, “efficient” means that the ratio of all the observation scenes that select the entire observation range is increased and the overlap of the observation scenes is reduced.
At this time, the observation plan determination unit 23 determines, as an observation plan, a combination of observation scenes in which the sum of evaluation values set for each observation scene is high and satisfies the constraints. That is, the observation plan determination unit 23 determines an observation plan by solving a constrained combination optimization problem.

(Step S4 in FIG. 2: output processing)
The output unit 24 reads the observation plan determined in step S3 from the memory 12. The output unit 24 outputs the read observation plan to an output device such as a display device or a printer via the communication interface 14. The output unit 24 may output the observation plan to the navigation body and operate the navigation body according to the observation plan.

With reference to FIG. 3, the observation opportunity specifying process according to Embodiment 1 will be described.
In step S <b> 101, the observation opportunity specifying unit 22 reads the navigation object information indicating the navigation object type and the observation sensor type indicated by the observation request from the navigation object information storage unit 31. The observation opportunity specifying unit 22 extracts an orbit path that allows observation of an area within the observation range based on the geometric relationship between the observation range and the orbital calendar indicated by each read vehicle information. For example, when viewed from the observation range, whether or not the observation range can be observed can be determined based on whether or not the navigation object is hidden by the horizon.

  The observation opportunity specifying unit 22 executes the processing from step S102 to step S112 for each orbital path extracted in step S101.

  In step S102, the observation opportunity specifying unit 22 calculates the passing date and the off-nadir angle at the time of passing for each vertex of the observation range based on the target trajectory path and the time at each point indicated by the orbital calendar of the navigation object information. To do.

In step S103, the observation opportunity specifying unit 22 determines the off-nadir angle at the time of passing through each vertex of the observation range calculated in step S102, the off-nadir angle range of the observation range indicated by the observation request, and the off-nadir angle indicated by the navigation information. Whether or not the observation range can be observed is determined based on the range.
Specifically, the observation opportunity specifying unit 22 has the off-nadir angle at the time of passing the apex of the observation range within the off-nadir angle range requested for observation, and the off-nadir angle at the time of passing the apex of the observation range is the navigation information. Is within the off-nadir angle range indicated by On the other hand, the observation opportunity specifying unit 22 determines that observation is not possible in other cases. For example, in the case of FIG. 4A, it is determined that observation is possible, and in the case of FIG. 4B, it is determined that observation is impossible.
If the observation opportunity specifying unit 22 determines that observation is possible, the observation opportunity specifying unit 22 advances the process to step S104. On the other hand, when it is determined that the observation is impossible, the observation opportunity specifying unit 22 ends the process for the target orbital path.

In step S104, the observation opportunity specifying unit 22 determines whether the observation width of the target sensor indicated by the navigation information is indefinite. The target sensor is a sensor of the observation sensor type indicated by the observation request.
When the target sensor is a sensor whose observation width varies depending on the off-nadir angle, such as an optical sensor, the observation width is indefinite. On the other hand, when the target sensor is a sensor having a constant observation width regardless of the off-nadir angle, such as a synthetic aperture radar, the observation width is constant.
If the observation width is indefinite, the observation opportunity specifying unit 22 advances the process to step S105. On the other hand, if the observation width is not indefinite, the observation opportunity specifying unit 22 advances the process to step S108.

In step S105, the observation opportunity specifying unit 22 determines whether the observation request observation mode is the scanning direction designation observation mode. For example, in the case of a sensor that scans in a certain direction, such as a line sensor, the scanning direction can be specified.
If the observation mode is the scanning direction designation observation mode, the observation opportunity specifying unit 22 advances the process to step S106. On the other hand, if the observation mode is not the scanning direction designation observation mode, the observation opportunity specifying unit 22 advances the process to step S107.

In step S106, the observation opportunity specifying unit 22 specifies the scanning direction in which the number of observation scenes is minimized based on the observable range and the observation width indicated by the navigation information. Then, the observation opportunity specifying unit 22 specifies the minimum observation scene in the specified scanning direction. The observation plan becomes more efficient when there are few observation scenes. The observation scene is position information of an area where one aircraft can be observed by one observation, and is represented by coordinates of vertexes of a polygon.
Specifically, as shown in FIG. 5, the observation opportunity specifying unit 22 calculates how many observation scenes the entire observable range can be observed while changing the scanning direction. FIG. 5A shows a case where the scanning direction is parallel to the orbital path, and five observation scenes are required to observe the entire observable range. On the other hand, FIG. 5B shows a case where the scanning direction is set along the longitudinal direction of the observable range, and only three observation scenes are used to observe the entire observable range. is necessary. As a result, the observation opportunity specifying unit 22 specifies a scanning direction in which observation is possible with the fewest observation scenes.
As shown in FIG. 6, the observation opportunity specifying unit 22 specifies an observation scene that observes the entire observable range with the fewest observation scenes in the specified scanning direction. For example, the observation opportunity specifying unit 22 assigns observation scenes in order from one end of the observable range in the specified scanning direction and vertical direction, thereby observing the entire observable range with the fewest observation scenes. Is identified. FIG. 6A shows a case where the number of observation scenes is not the minimum, and FIG. 6B shows a case where the number of observation scenes is the minimum. As shown in FIG. 6, when the number of observation scenes is not the minimum, the range that the observation scenes protrude from the observable range becomes large.

In step S107, the observation opportunity specifying unit 22 specifies the minimum observation scene based on the observable range and the observation width indicated by the navigation information. The method for specifying the minimum observation scene is the same as that in step S106.
As shown in FIG. 6, the observation range varies depending on the off-nadir angle. In this case, it is necessary to consider that the observation width changes depending on the off-nadir angle. For example, in the case of an optical sensor, the observation width becomes wider as it is farther from the orbital path, so that the number of observation scenes can be appropriately calculated by considering the change in the observation width.

In step S108, the observation opportunity specifying unit 22 determines whether or not the observation request observation mode is the off-nadir angle fixed observation mode. For example, when the off-nadir angle is fixed as in the beam section of the synthetic aperture radar, the off-nadir angle fixed observation mode is set.
If the observation mode is the off-nadir angle fixed observation mode, the observation opportunity specifying unit 22 advances the process to step S109. On the other hand, if the observation mode is not the off-nadir angle fixed observation mode, the observation opportunity specifying unit 22 advances the process to step S110.

  In step S109, the observation opportunity specifying unit 22 specifies an observation scene corresponding to the fixed off-nadir angle.

  In step S110, the observation opportunity specifying unit 22 specifies the minimum observation scene based on the observable range and the observation width indicated by the navigation information. The method for specifying the minimum observation scene is the same as that in step S106.

  The observation opportunity specifying unit 22 executes the processes of steps S111 and S112 for each observation scene specified in any of step S106, step S107, step S109, and step S110.

  In step S111, the observation opportunity specifying unit 22 divides the target observation scene in the scanning direction based on the maximum continuous observation time indicated by the navigation information. That is, the observation opportunity specifying unit 22 divides the target observation scene in the scanning direction every maximum continuous observation time. If observation is possible in one observation scene, there is no need to divide.

In step S112, the observation opportunity specifying unit 22 calculates observation scene attribute information about the target observation scene. Observation scene attribute information includes observation range number, navigation vehicle type, observation sensor type, observation mode type, observation start date and time, observation end date and time, orbit pass number, resolution, and off-nadir angle. And observation scenes. The exclusive observation scene indicates an observation scene that cannot be observed when the target observation scene is adopted.
Specifically, the observation opportunity specifying unit 22 includes an observation range number, a navigation vehicle type, an observation sensor type, an observation mode type, an observation start date and time, an observation end date and time, an orbital path number, a resolution, For the off-nadir angle, the information specified in steps S101 to S110 and the information indicated by the navigation information about the target sensor are used.
The observation opportunity specifying unit 22 determines whether or not the observation scene has the same orbital path other than the target observation scene, and determines whether or not it is an exclusive observation scene as follows. The observation opportunity specifying unit 22 is necessary from the end of observation of one observation scene to the start of the other observation based on the power performance of the navigation object information, the observation start date / time and observation end date / time of the observation scene, and the off-nadir angle. It is determined whether or not correct posture control is completed. When it is determined not to be completed, the determination target observation scene is an exclusive observation scene. In addition to the power performance, the sensor restart time, the observation mode switching time, and the like may also be constraints.

With reference to FIG. 7, the observation plan determination process according to Embodiment 1 will be described.
As described above, the observation plan determination unit 23 determines an observation plan by solving a constrained combinatorial optimization problem. Here, the observation plan determination unit 23 specifies a combination of observation scenes having a high evaluation value using the priority index indicated by the observation request as an evaluation value. In addition, the observation plan determination unit 23 specifies combinations of observation scenes that satisfy the constraints, with the unobserved area ratio as a constraint. Here, of the areas in the observation range that are observed in the target observation scene, the areas that are not observed in the observation scenes that have already been adopted are unobserved areas, and the ratio of the area of the unobserved area to the total area of the observation scene is not yet observed. It is the observation area rate.

In step S201, the observation plan determination unit 23 sets the list of observation scenes specified in step S2 as an observation scene list. Then, the observation plan determination unit 23 calculates the priority of each observation scene based on the priority index, and sorts the observation scene list in descending order of priority.
The priority index indicates an index capable of uniquely calculating the priority. For example, the priority index is time. In this case, priorities are given in the order of observation start date and time or observation end date and time. For example, the priority index is a population included in the observation scene. In this case, population information is separately input, and a priority is given by calculating a population included in the observation scene by superimposing it with the observation scene. Furthermore, the priority index may be two of time and population. In this case, the priority is given by weighting the priority given based on each of the time and the population.

  In step S202, the observation plan determination unit 23 places the pointer at the head of the sorted observation scene list, and targets the observation scene specified by the pointer.

In step S203, the observation plan determination unit 23 determines whether or not the target observation scene is on hold. The hold state is set in step S206 and step S211 described later.
The observation plan determination part 23 advances a process to step S204, when it is a pending | holding state. In step S204, the observation plan determination unit 23 advances the pointer by one, and targets the observation scene with the next highest priority. On the other hand, the observation plan determination part 23 advances a process to step S205, when not on hold.

In step S205, the observation plan determination unit 23 calculates the unobserved area ratio for the target observation scene. Then, the observation plan determination unit 23 determines whether or not the calculated unobserved area rate is equal to or greater than the unobserved area rate threshold indicated by the observation request.
If the unobserved area rate is less than the unobserved area rate threshold, the observation plan determination unit 23 advances the process to step S206. In step S206, the observation plan determination unit 23 sets the target observation scene in the hold state, advances the pointer by one, and targets the observation scene with the next highest priority. On the other hand, if the unobserved area rate is equal to or greater than the unobserved area rate threshold, the observation plan determination unit 23 advances the process to step S207. In step S207, the observation plan determination unit 23 adopts the target observation scene in the observation plan, and deletes the target observation scene from the observation scene list.

  In step S208, the observation plan determination unit 23 deletes an area within the observation range observed by the target observation scene from the unobserved area. In step S209, the observation plan determination unit 23 deletes the exclusive observation scene for the target observation scene from the observation scene list. This is because the exclusive observation scene cannot be adopted because the target observation scene is adopted.

In step S210, when the observation range is divided into a plurality of areas, the observation plan determination unit 23 determines whether or not an unobserved area remains in the area observed by the target observation scene.
The observation plan determination part 23 advances a process to step S211 when the unobserved area | region does not remain. In step S211, the observation plan determination unit 23 puts all observation scenes that observe the same area as the target observation scene into a pending state. On the other hand, the observation plan determination part 23 advances a process to step S212, when an unobserved area | region remains.
Note that the observation plan determination unit 23 may determine whether or not an unobserved region remains based on a certain threshold value.

In step S212, the observation plan determination unit 23 determines whether or not an unobserved region remains in the entire observation range.
The observation plan determination part 23 advances a process to step S213, when the unobserved area | region does not remain. In step S213, the observation plan determination unit 23 resets the unobserved area, returns the pointer to the head, and returns the process to step S203. That is, since an observation plan that can be observed for all observation ranges has been completed, the observation plan determination unit 23 returns the processing to step S203 and creates an observation plan for observing the once observed region again. On the other hand, the observation plan determination part 23 advances a process to step S214, when the unobserved area | region remains. In step S214, the observation plan determination unit 23 advances the pointer by one and targets the observation scene with the next highest priority.

In step S215, the observation plan determination unit 23 determines whether the pointer is at the end of the observation scene list.
If the pointer is not at the end of the observation scene list, the observation plan determination unit 23 advances the process to step S203. On the other hand, if the pointer is at the end of the observation scene list, the observation plan determination unit 23 advances the process to step S216. In step S216, the observation plan determination unit 23 employs a suspended observation scene from the top of the observation scene list.

*** Effects of Embodiment 1 ***
As described above, the observation planning apparatus 10 according to Embodiment 1 identifies a plurality of observation scenes that observe an area within the observation range, and determines a combination of observation scenes that can observe the entire observation range as an observation plan. . This makes it possible to generate an efficient observation plan when a wide range of observation requests are given. In addition, the observation planning apparatus 10 according to Embodiment 1 can generate an observation plan that satisfies the constraints when the constraints are given.

*** Other configurations ***
<Modification 1>
In the first embodiment, each functional component is realized by software. However, as a first modification, each functional component may be realized by hardware. The first modification will be described with respect to differences from the first embodiment.

With reference to FIG. 8, the structure of the observation plan apparatus 10 which concerns on the modification 1 is demonstrated.
When each functional component is realized by hardware, the observation planning apparatus 10 includes an electronic circuit 15 instead of the processor 11, the memory 12, and the storage 13. The electronic circuit 15 is a dedicated circuit that realizes the functions of the functional components, the memory 12, and the storage 13.

Examples of the electronic circuit 15 include a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array). is assumed.
Each functional component may be realized by one electronic circuit 15 or may be realized by distributing each functional component to a plurality of electronic circuits 15.

<Modification 2>
As a second modification, some of the functional components may be realized by hardware, and other functional components may be realized by software.

  The processor 11, the memory 12, the storage 13, and the electronic circuit 15 are called processing circuits. That is, the function of each functional component is realized by the processing circuit.

The above is summarized as follows.
The observation planning device
Based on the observation range indicated by the observation request and the orbital calendar of the navigation object, a plurality of orbital paths that can observe the region within the observation range are identified, and one or more of the regions are observed for each identified orbital path An observation opportunity specifying section for specifying an observation scene;
An observation plan determining unit that determines a combination of the observation scenes capable of observing the observation range as an observation plan.

  The observation opportunity specifying unit specifies a plurality of orbital paths that can observe an area within the observation range and satisfy a restriction indicated by the observation request.

  The observation opportunity specifying unit specifies an observation scene for observing the region with a small number by changing at least one of a scanning direction and an off-nadir angle for each orbital path.

  The observation plan determination unit determines, as an observation plan, a combination of the observation scenes in which the sum of evaluation values set for each observation scene is high.

  The observation plan determination unit sets the observation range as an unobserved area ratio, which is a ratio of an area that is not observed in the observation scene that has already been adopted in the observation range that is observed in the target observation scene to the observation range. Until the combination of the observation scenes that can be observed is adopted, the observation plan is determined by adopting the observation scenes having the unobserved area ratio equal to or higher than the reference value in order from the observation scene having the highest evaluation value.

  The observation plan determination unit determines, as an observation plan, a combination of the observation scenes that does not include a set of observation scenes that cannot be simultaneously employed.

The observation plan method is
The observation opportunity identifying unit identifies a plurality of orbital paths that can observe the region within the observation range based on the observation range indicated by the observation request and the orbital calendar of the navigation object, and sets the region for each identified orbital path. Identify one or more observation scenes to observe,
An observation plan determination unit determines a combination of the observation scenes that can observe the observation range as an observation plan.

The observation planning program
Based on the observation range indicated by the observation request and the orbital calendar of the navigation object, a plurality of orbital paths that can observe the region within the observation range are identified, and one or more of the regions are observed for each identified orbital path Observation opportunity identification processing for identifying observation scenes,
An observation plan determination process for determining a combination of the observation scenes in which the observation range can be observed as an observation plan is executed by a computer.

  DESCRIPTION OF SYMBOLS 10 Observation plan apparatus, 11 Processor, 12 Memory, 13 Storage, 14 Communication interface, 15 Electronic circuit, 21 Reception part, 22 Observation opportunity specific part, 23 Observation plan determination part, 24 Output part, 31 Navigation body information storage part.

Claims (11)

Based on the observation range indicated by the observation request and the orbital calendar of the navigation vehicle, a plurality of orbital paths that can observe the region within the observation range are specified, and at least the scanning direction and the off-nadir angle are determined for each specified orbital path. An observation opportunity specifying unit for specifying one or more observation scenes for observing the region, in which any one of the observation scenes is changed and the number of observation scenes to be combined is minimized,
An observation planning apparatus comprising: an observation plan determination unit that determines, as an observation plan, a combination of the observation scenes in which the observation range can be observed. The observation opportunity specifying unit specifies the observation scene so that the non-observation region outside the region within the observation range observed by each specified observation scene becomes small, so that the number of observation scenes to be combined is determined. The observation planning apparatus according to claim 1, wherein the observation scene for observing the region is minimized. The observation opportunity specifying unit specifies the scanning direction that can be observed with the smallest number of observation scenes by calculating the number of observation scenes that can observe the region in the observation range while changing the scanning direction. 3. The observation planning apparatus according to claim 1 or 2, wherein an observation scene for observing the region is specified by changing the off-nadir angle in the specified scanning direction to minimize the number of observation scenes to be combined. The observation opportunity specifying unit determines, for each orbital path, whether or not the region within the observation range can be measured, and if measurement is possible, changes at least one of a scanning direction and an off-nadir angle. The observation planning apparatus according to any one of claims 1 to 3, wherein an observation scene is specified. The said observation opportunity specific | specification part can observe the area | region in the said observation range, and specifies the several orbit path | pass which satisfy | fills the restrictions which the said observation request | requirement shows. Observation planning device. The observation plan apparatus according to any one of claims 1 to 5, wherein the observation plan determination unit determines, as an observation plan, a combination of the observation scenes in which a total of evaluation values set for each observation scene is high. The observation plan determination unit sets the observation range as an unobserved area ratio, which is a ratio of an area that is not observed in the observation scene that has already been adopted in the observation range that is observed in the target observation scene to the observation range. The observation plan is determined by adopting observation scenes in which the unobserved area ratio is equal to or higher than a reference value in order from the observation scene having the highest evaluation value until a combination of the observation scenes that can be observed is adopted. 6. The observation planning device according to 6. The observation plan apparatus according to claim 6 or 7, wherein the observation plan determination unit determines a combination of the observation scenes that do not include a set of observation scenes that cannot be simultaneously employed as an observation plan. If the scanning direction can be changed, the observation opportunity specifying unit changes the scanning direction for each specified orbital path, and changes the off-nadir angle according to the changed scanning direction. The observation planning apparatus according to any one of claims 1 to 8, wherein an off-nadir angle is changed in accordance with a fixed scanning direction for each specified orbital path when the change in the orbital path is impossible. The observation opportunity identifying unit identifies a plurality of orbital paths that can observe the region within the observation range based on the observation range indicated by the observation request and the orbital calendar of the navigation object, and for each identified orbital path, the scanning direction and By changing at least one of the off-nadir angles and identifying one or more observation scenes for observing the region with the smallest number of observation scenes to be combined,
An observation planning method in which an observation plan determination unit determines a combination of the observation scenes in which the observation range can be observed as an observation plan. Based on the observation range indicated by the observation request and the orbital calendar of the navigation vehicle, a plurality of orbital paths that can observe the region within the observation range are specified, and at least the scanning direction and the off-nadir angle are determined for each specified orbital path. An observation opportunity specifying process for specifying one or more observation scenes for observing the region, in which any one of the observation scenes is changed and the number of observation scenes to be combined is minimized.
An observation plan program for causing a computer to execute an observation plan determination process for determining a combination of the observation scenes capable of observing the observation range as an observation plan.

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