JP7069682B2 - Correction device, system, correction method and program - Google Patents

Description

The present invention relates to a correction device, a system, a correction method and a program.

Non-Patent Document 1 discloses a target search system using a plurality of sensors. In such a target search system, it is necessary to integrate the target information received from each sensor, and it is necessary to match the absolute orientation of the installation (for example, due north) with respect to each sensor. By carrying out the adjustment, the accuracy of the target search can be improved. Correction of sensor installation error is also referred to as correction of "registration error".

G.C.Parkinson, D.P.Xue, and M. Farooq, "Registration in a Distributed Multi-Sensor Environment", Circuits and Systems, 1997. Proceedings of the 40th Midwest Symposium on, Aug. 1997.

The disclosure of the above prior art document shall be incorporated into this document by citation. The following analysis was made by the present inventors.

As described above, the registration error is corrected for the purpose of improving the accuracy. Here, the correction of the registration error is usually performed by matching the output of another sensor with the reference sensor. However, in such a correction, the registration error of the reference sensor itself is not corrected and remains. If only in a closed coordinate system with multiple sensors, the registration error will be corrected and the problem will not surface. However, for example, when exchanging information with a system having a fixed earth coordinate system, the problem of registration error of the reference sensor comes to the surface.

It is an object of the present invention to provide a correction device, a system, a correction method, and a program that contribute to improving the accuracy of the correction value of the registration error.

According to the first aspect of the present invention or the disclosure, a generator that generates a reference orbit, which is an estimation of the orbit of the orbiting satellite, based on observation data from a sensor that observes the orbiting satellite, and the reference. Provided is a correction device including a correction value calculation unit that uses a trajectory element of the trajectory as a true value and calculates a registration error correction value for correcting observation data from the sensor.

According to the second aspect of the present invention or the disclosure, the orbiting satellite, the sensor for observing the orbiting satellite, and the correction device are included, and the correction device includes the orbiting satellite for observation. To correct the observation data from the sensor by using the generator and the orbital element of the reference orbit to generate the reference orbit, which is an estimate of the orbit of the orbiting satellite, based on the observation data from the sensor. Provided is a system including a correction value calculation unit for calculating a registration error correction value of the above.

According to the third viewpoint of the present invention or the disclosure, in the correction device, a step of generating a reference orbit which is an estimation about the orbit of the orbiting satellite based on the observation data from the sensor whose observation target is the orbiting satellite, and A correction method including a step of calculating a registration error correction value for correcting observation data from the sensor using the orbital element of the reference orbit as a true value is provided.

According to the fourth aspect of the present invention or the disclosure, a process of generating a reference orbit, which is an estimation of the orbit of the orbiting satellite, based on observation data from a sensor whose observation target is the orbiting satellite,
A program is provided in which a computer mounted on a correction device executes a process of calculating a registration error correction value for correcting observation data from the sensor by using the orbital element of the reference orbit as a true value. To.
Note that this program can be recorded on a computer-readable storage medium. The storage medium may be a non-transient such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. The present invention can also be embodied as a computer program product.

According to each viewpoint of the present invention or the disclosure, a correction device, a system, a correction method, and a program that contribute to improving the accuracy of the correction value of the registration error are provided.

It is a figure for demonstrating the outline of one Embodiment. It is a figure which shows an example of the schematic structure of the target search system which concerns on 1st Embodiment. It is a figure which shows an example of the processing structure of the correction apparatus which concerns on 1st Embodiment. It is a figure for demonstrating the operation of the reference trajectory generation part. It is a figure for demonstrating the operation of a screening part. It is a figure for demonstrating operation of an error correction value calculation part. It is a figure for demonstrating operation of an error correction value calculation part. It is a figure for demonstrating operation of an error correction value calculation part. It is a flowchart which shows an example of the operation of the correction apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the hardware composition of the correction apparatus which concerns on 1st Embodiment.

First, an outline of one embodiment will be described. It should be noted that the drawing reference reference numerals added to this outline are added to each element for convenience as an example for assisting understanding, and the description of this outline is not intended to limit anything. Further, the connection line between the blocks in each figure includes both bidirectional and unidirectional. The one-way arrow schematically shows the flow of the main signal (data), and does not exclude bidirectionality.

The correction device 100 according to one embodiment includes a generation unit 101 and a correction value calculation unit 102 (see FIG. 1). The generation unit 101 generates a reference orbit, which is an estimation of the orbit of the orbiting satellite, based on the observation data from the sensor whose observation target is the orbiting satellite. The correction value calculation unit 102 uses the orbital element of the reference orbit as the true value, and calculates the registration error correction value for correcting the observation data from the sensor.

The correction device 100 calculates a registration error (registration error correction value) for correcting the observation data by the sensor by using the orbit of the orbiting satellite as the true value. Since the calculation of the correction value by the correction device 100 uses the orbital element of the orbiting satellite having highly accurate position information as the true value, a highly accurate correction value can be obtained.

Specific embodiments will be described in more detail below with reference to the drawings. In each embodiment, the same components are designated by the same reference numerals, and the description thereof will be omitted.

[First Embodiment]
The first embodiment will be described in more detail with reference to the drawings.

FIG. 2 is a diagram showing an example of a schematic configuration of a target search system according to the first embodiment. Referring to FIG. 2, the target search system includes a plurality of sensors 10-1 and 10-2, a correction device 20, and an orbiting satellite 30. Although FIG. 2 illustrates two sensors, it is of course not intended to limit the number of sensors. The system may include more than one sensor. If there is no particular reason for distinguishing the sensors 10-1 and 10-2, the term "sensor 10" is simply used.

The sensor 10 is, for example, a radio wave detector using a radar. The sensor 10 is connected to the correction device 20 via a network (not shown). Alternatively, the correction device 20 may be incorporated inside the sensor 10 (registration error correction may be performed by the sensor 10 itself).

The correction device 20 is a device for correcting the registration error of the sensor 10. The correction device 20 acquires observation data (sensor output) from the sensor 10 and corrects the registration error of each sensor 10. The observation data of each sensor 10 corrected by the correction device 20 is provided to another system (for example, a system having a fixed earth coordinate system).

FIG. 3 is a diagram showing an example of a processing configuration (processing module) of the correction device 20. Referring to FIG. 3, the correction device 20 includes a reference trajectory generation unit 201, a coordinate conversion unit 202, a screening unit 203, an accumulated data processing unit 204, and an error correction value calculation unit 205. ..

The reference orbit generation unit 201 is a means for generating a reference orbit which is an estimation regarding the orbit of the orbiting satellite 30 based on the observation data from the sensor 10 whose observation target is the orbiting satellite 30. The reference trajectory is used to correct the registration error. The reference orbit generation unit 201 estimates the reference orbit of the orbiting satellite 30 at each time of the observation plot of the orbiting satellite 30 (observation data of the orbiting satellite 30 from the sensor 10). At that time, the reference orbit generation unit 201 generates a reference orbit by performing Lagrange interpolation (for example, 10-point Lagrange interpolation) on the observation data from the sensor 10. The points sampled at predetermined intervals on the generated reference orbit (orbit estimated as the true orbit of the orbiting satellite 30) are the orbital elements on the reference orbit.

FIG. 4 is a diagram for explaining the operation of the reference trajectory generation unit 201. In FIG. 4, the observation plot of the orbiting satellite 30 by the sensor 10 is shown as “x”. Further, the orbital elements interpolated on the reference orbit generated by Lagrange interpolation are illustrated by "Δ". Further, the orbital elements of the orbiting satellite 30 sampled at predetermined intervals are illustrated by “◯”. In FIG. 4, the time of the observation plot is shown as "to", and the time of the orbital element is _{shown as "t c "} . The reference orbit generation unit 201 generates the "true track" shown in FIG. 4 as the reference orbit.

The reference orbit generation unit 201 generates a reference orbit based on the following equation (1).

[Equation 1]

In equation (1), X ^base is the coordinates of the orbital elements at time T. The coordinate system of the orbital element is the Earth Centered Earth Fixed (ECEF). Xi is the coordinates of the _i -th orbital element. The coordinate system of _Xi is also a fixed coordinate system of the earth. _Ai is calculated by the following equation (2).

[Equation 2]

In equation (2), T indicates the time of the observation plot. T _i indicates the time of the i-th orbital element, and T _j indicates the time of the j-th orbital element.

It should be noted that the equations (1) and (2) are premised on the implementation of 10-point Lagrange interpolation, but it is of course not intended to limit the number of Lagrange interpolations. When the number of Lagrange interpolations is changed, the equations (1) and (2) may be appropriately modified.

The coordinate conversion unit 202 is a means for converting the reference orbit from the earth fixed coordinate system to the sensor polar coordinate system. That is, the coordinate conversion unit 202 converts the coordinate system of the reference orbit from the three-dimensional Cartesian coordinate system having the center of gravity of the earth as the origin to the polar coordinate system having the sensor 10 as the origin.

The screening unit 203 is a means for comparing the observation data from the sensor 10 with the reference orbit and excluding the observation data from the sensor 10 that is a predetermined distance away from the reference orbit. That is, the screening unit 203 screens (selects) the observation data acquired from the sensor 10. More specifically, the screening unit 203 compares the reference trajectory with the observation data obtained by the sensor 10, and removes the observation data that deviates significantly from the reference trajectory.

FIG. 5 is a diagram for explaining the operation of the screening unit 203. The meanings of the symbols (Δ, etc.) shown in FIG. 5 are the same as those in FIG. As shown in FIG. 5, the screening unit 203 sets a “screening threshold” at a position separated from the reference trajectory (true track) by a predetermined distance, and removes observation plots outside the threshold. In FIG. 5, the removed observation plot is shown as “★”.

The storage data processing unit 204 is a means for storing observation data after screening in a storage medium. More specifically, the storage data processing unit 204 stores the selected observation data in the storage medium. Further, the accumulated data processing unit 204 appropriately updates the observation data stored in the storage medium with the selected new observation data.

The error correction value calculation unit 205 is a means for calculating the registration error correction value for correcting the observation data from the sensor 10 by using the orbital element of the reference orbit as the true value. At that time, the error correction value calculation unit 205 calculates the registration error correction value using the observation data stored in the storage medium by the storage data processing unit 204. At that time, the error correction value calculation unit 205 calculates the registration error correction value for a plurality of items in the coordinate system with the sensor 10 as the origin. Here, the registration error correction value by the error correction value calculation unit 205 will be described below as a correction value in the coordinate system of the distance, the elevation angle, and the three axes around the center.

The error correction value calculation unit 205 calculates the registration error of the sensor 10 by the following equation (3).

[Equation 3]

In the formula (3), Y _j is the registration error calculated in the jth registration calculation. The currently applied registration error is used as the initial registration error _Y0 . The breakdown of Y _j is as shown in the following equation (4).

[Equation 4]

In equation (4), _RRG is the registration error in the distance direction (see FIG. 6). _{Since RRG} is a registration error in the distance direction, its unit is, for example, meters (m). R shown in FIG. 6 indicates the distance from the sensor 10 to the true target (orbiting satellite 30). R _m shown in FIG. 6 indicates the distance to the target observed by the sensor 10. _ΔRG shown in FIG. 6 indicates a registration error in the distance direction. Therefore, the relationship of R = R _m + ΔR _RG is established.

In equation (4), φ _RG is the registration error in the elevation angle direction (see FIG. 7). The unit of _φRG is, for example, a deg. Φ shown in FIG. 7 is an elevation angle with respect to a true target with respect to the sensor 10. Φ _m shown in FIG. 7 is the elevation angle of the target observed by the sensor 10. _ΔφRG is a registration error in the elevation angle direction. Therefore, the relationship of φ = φ _m + Δφ _RG is established.

In this way, the error correction value calculation unit 205 calculates the registration error correction value regarding the distance to the orbiting satellite 30 and the elevation angle with respect to the orbiting satellite 30 in the sensor polar coordinate system with the sensor 10 as the origin.

In the formula (4), δX _RG , δY _RG , and δZ _RG are registration errors in the X-axis, Y-axis, and Z-axis directions, respectively (see FIG. 8). The unit such as δX _RG is, for example, a deg. In this way, the error correction value calculation unit 205 calculates the registration error correction value for the three axes in the earth fixed coordinate system including the three axes.

The error correction value calculation unit 205 corrects the observation data from the sensor 10 by using the registration error calculated by the above equation (3). For example, as shown in FIG. 6, since the relationship of R = R _m + ΔR _RG is established between the true target position R, the position R _m of the observation plot, and the registration error ΔRR _RG , ΔR By calculating the _RG , the position R _m of the observation plot can be corrected.

In the formula (3), P is expressed as the following formula (5).

なお、Ｐ_ｉは観測プロットｉの観測誤差共分散行列である。当該行列は、地球固定座標系にて計算される。 [Equation 5]

Note that P _i is an observation error covariance matrix of the observation plot i. The matrix is calculated in the Earth fixed coordinate system.

L _j-1 in the formula (3) is calculated by the following formula (6).

[Equation 6]

は観測プロットｉに対する基準位置である。当該基準位置は、地球固定座標系の位置である。また、

はレジストレーション誤差（基準値）Ｙ_ｊ－１により補正された観測プロットｉの位置である。当該位置は、地球固定座標系の位置である。 In equation (6)

Is the reference position with respect to the observation plot i. The reference position is the position of the earth fixed coordinate system. also,

Is the position of the observation plot i corrected by the registration error (reference value) Y _j-1 . The position is the position of the earth fixed coordinate system.

The error correction value calculation unit 205 calculates the position of the observation plot i corrected by the registration error Y by the following equation (7). The position is the position of the earth fixed coordinate system.

[Equation 7]

In equation (7), Γ ₁ is obtained by the following equation (8).

[Equation 8]

Γ ₁ indicates the position of the sensor 10. The position is the position of the earth fixed coordinate system.

In equation (7), Γ ₂ is obtained by the following equation (9).

[Equation 9]

はセンサ１０の緯度であり、

はセンサ１０の経度である。 In equation (9)

Is the latitude of sensor 10

Is the longitude of the sensor 10.

はレジストレーション誤差Ｙで補正した後の観測プロットｉの位置を示す。当該位置は、センサ直交座標系の位置である。

は、下記の式（１０）により得られる。 In equation (7)

Indicates the position of the observation plot i after correction with the registration error Y. The position is the position of the sensor Cartesian coordinate system.

Is obtained by the following equation (10).

[Equation 10]

は回転レジストレーション誤差であり、下記の式（１１）により得られる。 In equation (10)

Is a rotation registration error, which is obtained by the following equation (11).

[Equation 11]

は距離と仰角のレジストレーション誤差補正後の観測プロットｉの位置（センサ直交座標系）であり、下記の式（１２）により得られる。 In equation (10)

Is the position (sensor orthogonal coordinate system) of the observation plot i after correcting the registration error of the distance and the elevation angle, and is obtained by the following equation (12).

[Equation 12]

In the formula (12), R _ci is the distance after the registration error correction of the observation plot i, and is obtained by the following formula (13).

[Equation 13]

In the formula (12), φ _ci is the elevation angle of the observation plot i after registration error correction, and is obtained by the following formula (14).

[Equation 14]

In equations (12), (13), and (14), R _i , θ _i , and φ _i are the distance of the observation plot i, the azimuth angle of the observation plot i, and the elevation angle of the observation plot i, respectively. These are the parameters of the sensor polar coordinate system.

In the formula (3), B _j-1 is obtained by the following formula (15).
[Equation 15]

は、以下の式（１６）により得られる。 In equation (15)

Is obtained by the following equation (16).

[Equation 16]

The first item from the left of the formula (16) is obtained by the following formula (17).

[Equation 17]

The second item from the left of the formula (16) is obtained by the following formula (18).

[Equation 18]

The third item from the left of the formula (16) is obtained by the following formula (19).

[Equation 19]

The fourth item from the left of the formula (16) is obtained by the following formula (20).

[Equation 20]

The fifth item from the left of the formula (16) is obtained by the following formula (21).

[Equation 21]

The RMS (Root Mean Square) change rate, which indicates the degree of convergence of the calculated result in the iterative calculation, can be expressed by the following equation (22).

[Equation 22]

In the formula (22), the RMS value σj at the jth registration is obtained by the following formula (23).

[Equation 23]

のそれぞれは、観測プロットｉに対する基準位置

を３軸表現としたものである。
同様に、

のそれぞれは、レジストレーション誤差（基準値）Ｙ_ｊにより補正された観測プロットｉの位置を３軸表現としたものである。また、ｎは計算対象の観測プロット数である。 In addition, in the formula (23),

Each of the reference positions with respect to the observation plot i

Is expressed in three axes.
Similarly,

Each of the above is a three-axis representation of the position of the observation plot i corrected by the registration error (reference value) Y _j . Further, n is the number of observation plots to be calculated.

The operation of the correction device 20 according to the first embodiment is summarized in the flowchart shown in FIG.

The correction device 20 generates a reference orbit for the orbiting satellite 30 (step S101). The correction device 20 converts the reference orbit from the earth fixed coordinate system to the sensor polar coordinate system (step S102). The correction device 20 performs a screening regarding the observation data from the sensor 10 (step S103). The correction device 20 stores the observation data after screening in the storage medium and updates the stored data (step S104). The correction device 20 calculates the registration error correction value (step S105).

Subsequently, the hardware configuration of the correction device 20 according to the first embodiment will be described.

FIG. 10 is a diagram showing an example of the hardware configuration of the correction device 20. The correction device 20 can be configured by a so-called information processing device (computer), and includes the configuration illustrated in FIG. For example, the correction device 20 includes a CPU (Central Processing Unit) 21, a memory 22, an input / output interface 23, a NIC (Network Interface Card) 24 which is a communication means, and the like, which are connected to each other by an internal bus.

The configuration shown in FIG. 10 is not intended to limit the hardware configuration of the correction device 20. The correction device 20 may include hardware (not shown) or may not include the NIC 24 if necessary. Alternatively, the number of CPUs and the like included in the correction device 20 is not limited to the example of FIG. 10, and for example, a plurality of CPUs may be included in the correction device 20.

The memory 22 is a RAM (Random Access Memory), a ROM (Read Only Memory), and an auxiliary storage device (hard disk or the like).

The input / output interface 23 is a means that serves as an interface for a display device or an input device (not shown). The display device is, for example, a liquid crystal display or the like. The input device is, for example, a device that accepts user operations such as a keyboard and a mouse.

The function of the correction device 20 is realized by the above-mentioned processing module. The processing module is realized, for example, by the CPU 21 executing a program stored in the memory 22. In addition, the program can be downloaded via a network or updated using a storage medium in which the program is stored. Further, the processing module may be realized by a semiconductor chip. That is, the function performed by the processing module may be realized by executing the software on some hardware.

As described above, the correction device 20 according to the first embodiment is a resist that corrects the observation data by the sensor 10 by using the orbital elements of the orbiting satellite 30 as true values as shown in the equation (6) and the like. Calculate the ratio error. As a result, a highly accurate registration error (highly accurate correction value) for the sensor 10 can be obtained. That is, a highly accurate correction value can be obtained by using the orbital element of the orbiting satellite having highly accurate position information as the true value and calculating the registration error. Further, since the calculation of the correction value can be performed individually for each sensor 10, highly accurate registration error correction can be performed for all the target sensors 10.

Further, in the normal registration error correction, there is a problem that the correction is not performed for all the axes in which the registration error occurs. That is, in a sensor for an aircraft or the like, two-dimensional correction is often performed, and correction is performed for two items of distance and direction. On the other hand, in sensors targeting orbiting satellites and the like, the earth fixed coordinate system is often used as the coordinate system, and the information on the observation plot is also three-dimensional. Therefore, it is necessary to perform correction for three dimensions, and it is not possible to sufficiently correct the registration error with only two items in two dimensions. The correction device 20 according to the first embodiment solves such a problem by setting a plurality of items such as a distance, an elevation angle, and three axes around the center as targets for registration error correction.

Further, in the normal registration error correction, there is a problem that the accuracy of the registration error correction value is low. In other words, since the registration error (correction value of error) is generally calculated using only the observation plot acquired for each measurement, the observation plot required for the calculation may not be obtained, and the iterative calculation does not converge. Sometimes. As a result, a registration error correction value with low accuracy is calculated. For such a problem, the correction device 20 according to the first embodiment accumulates observation plots obtained from the target orbiting satellite 30, and uses the accumulated observation plots to obtain a registration error correction value. It is dealt with by calculating.

Although the industrial applicability of the present invention is clear from the above description, the present invention is suitably applied to technical fields such as a multi-sensor orbiting satellite and debris monitoring system and a multi-sensor monitoring system in missile defense. It is possible.

Some or all of the above embodiments may also be described, but not limited to:
[Appendix 1]
A generator that generates a reference orbit, which is an estimate of the orbit of the orbiting satellite, based on the observation data from the sensor that observes the orbiting satellite.
A correction value calculation unit that calculates a registration error correction value for correcting observation data from the sensor by using the orbital element of the reference orbit as a true value.
A correction device.
[Appendix 2]
The correction value calculation unit calculates the registration error correction value for a plurality of items in the coordinate system with the sensor as the origin, preferably the correction device according to Appendix 1.
[Appendix 3]
The correction value calculation unit is
The correction device of Appendix 2 for calculating the registration error correction value regarding the distance to the orbiting satellite and the elevation angle with respect to the orbiting satellite in the polar coordinate system with the sensor as the origin.
[Appendix 4]
The correction value calculation unit is
The correction device according to Appendix 2 or 3, preferably, which calculates the registration error correction value for the three axes in the earth fixed coordinate system including the three axes.
[Appendix 5]
Further equipped with a storage medium for accumulating observation data from the sensor,
The correction device according to any one of Supplementary note 1 to 4, wherein the correction value calculation unit calculates the registration error correction value using the observation data stored in the storage medium.
[Appendix 6]
It further comprises a screening unit that compares the observation data from the sensor with the reference orbit and excludes the observation data from the sensor that is a predetermined distance away from the reference orbit, preferably appendices 1 to 5. The correction device according to any one of.
[Appendix 7]
The correction device according to any one of Supplementary note 1 to 6, wherein the generation unit generates the reference trajectory by performing Lagrange interpolation on the observation data from the sensor.
[Appendix 8]
Orbiting satellite and
Sensors for observation of the orbiting satellite and
With the correction device,
Including
The correction device is
A generator that generates a reference orbit, which is an estimate of the orbit of the orbiting satellite, based on the observation data from the sensor that observes the orbiting satellite.
A correction value calculation unit that calculates a registration error correction value for correcting observation data from the sensor by using the orbital element of the reference orbit as a true value.
The system.
[Appendix 9]
In the correction device
A step to generate a reference orbit, which is an estimate of the orbit of the orbiting satellite, based on the observation data from the sensor that observes the orbiting satellite.
The step of calculating the registration error correction value for correcting the observation data from the sensor by using the orbital element of the reference orbit as the true value, and
Correction method including.
[Appendix 10]
Based on the observation data from the sensor that observes the orbiting satellite, the process of generating the reference orbit, which is an estimation of the orbit of the orbiting satellite, and
The process of calculating the registration error correction value for correcting the observation data from the sensor by using the orbital element of the reference orbit as the true value, and
A program that causes the computer installed in the compensator to execute.
It should be noted that the forms of the appendices 8 to 10 can be expanded into the forms of the appendix 2 to the form of the appendix 7 in the same manner as the form of the appendix 1.

The disclosure of the above-mentioned non-patent documents cited shall be incorporated into this document by citation. Within the framework of the entire disclosure (including the scope of claims) of the present invention, it is possible to change or adjust the embodiments or examples based on the basic technical idea thereof. Further, various combinations or selections of various disclosure elements (including each element of each claim, each element of each embodiment or embodiment, each element of each drawing, etc.) within the framework of all disclosure of the present invention. Is possible. That is, it goes without saying that the present invention includes all disclosure including claims, various modifications and modifications that can be made by those skilled in the art in accordance with the technical idea. In particular, with respect to the numerical range described in this document, any numerical value or small range included in the range should be construed as being specifically described even if not otherwise described.

10, 10-1, 10-2 Sensor 20, 100 Correction device 21 CPU
22 Memory 23 I / O interface 24 NIC
30 Orbiting satellite 101 Generation unit 102 Correction value generation unit 201 Reference orbit generation unit 202 Coordinate conversion unit 203 Screening unit 204 Accumulated data processing unit 205 Error correction value calculation unit

Claims (10)

A generator that generates a reference orbit, which is an estimate of the orbit of the orbiting satellite, based on the observation data from the sensor that observes the orbiting satellite.
A correction value calculation unit that calculates a registration error correction value for correcting observation data from the sensor by using the orbital element of the reference orbit as a true value.
A correction device. The correction device according to claim 1, wherein the correction value calculation unit calculates the registration error correction value for a plurality of items in a coordinate system having the sensor as an origin. The correction value calculation unit is
The correction device according to claim 2, which calculates the registration error correction value regarding the distance to the orbiting satellite and the elevation angle with respect to the orbiting satellite in the polar coordinate system with the sensor as the origin. The correction value calculation unit is
The correction device according to claim 2 or 3, which calculates the registration error correction value for the three axes in the earth fixed coordinate system including the three axes. Further equipped with a storage medium for accumulating observation data from the sensor,
The correction device according to any one of claims 1 to 4, wherein the correction value calculation unit calculates the registration error correction value using the observation data stored in the storage medium. Claims 1 to 5, further comprising a screening unit that compares the observation data from the sensor with the reference orbit and excludes the observation data from the sensor that is a predetermined distance away from the reference orbit. The correction device according to any one of the items. The correction device according to any one of claims 1 to 6, wherein the generation unit generates the reference trajectory by performing Lagrange interpolation on the observation data from the sensor. Orbiting satellite and
Sensors for observation of the orbiting satellite and
With the correction device,
Including
The correction device is
A generator that generates a reference orbit, which is an estimate of the orbit of the orbiting satellite, based on the observation data from the sensor that observes the orbiting satellite.
A correction value calculation unit that calculates a registration error correction value for correcting observation data from the sensor by using the orbital element of the reference orbit as a true value.
The system. In the correction device
A step to generate a reference orbit, which is an estimate of the orbit of the orbiting satellite, based on the observation data from the sensor that observes the orbiting satellite.
The step of calculating the registration error correction value for correcting the observation data from the sensor by using the orbital element of the reference orbit as the true value, and
Correction method including. Based on the observation data from the sensor that observes the orbiting satellite, the process of generating the reference orbit, which is an estimation of the orbit of the orbiting satellite, and
The process of calculating the registration error correction value for correcting the observation data from the sensor by using the orbital element of the reference orbit as the true value, and
A program that causes the computer installed in the compensator to execute.

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