KR102768619B1 - Method and system for estimating the trajectory of long-range flying objects using multiple aircraft - Google Patents

Abstract

A method for estimating a trajectory of a remote object in the sky is provided, which can easily estimate a trajectory of an object (e.g., a missile flying while spurting flames) moving in the sky at a long distance using electro-optical equipment mounted on a plurality of aircraft. The method for estimating a trajectory of a remote object in the sky includes: i) a primary search step in which a plurality of aircraft search for an object in the sky using electro-optical equipment mounted on each of the aircraft; ii) a command transmission step in which one of the plurality of aircraft, which succeeds in detecting the object first, tracks the object and transmits a secondary search command to another aircraft; iii) a secondary search step in which, after the other aircraft receives the secondary search command, it searches for the object based on information provided by one of the aircraft using the electro-optical equipment mounted on the other aircraft; and iv) a trajectory estimation step in which the trajectory of the object is estimated using a line-of-sight vector of the electro-optical equipment mounted on one of the aircraft and a line-of-sight vector of the electro-optical equipment mounted on the other aircraft.

Description

{METHOD AND SYSTEM FOR ESTIMATING THE TRAJECTORY OF LONG-RANGE FLYING OBJECTS USING MULTIPLE AIRCRAFT}

The present invention relates to a method for estimating the trajectory of a remote aerial object. More specifically, the present invention relates to a method for estimating the trajectory of a remote aerial object using a plurality of aircraft.

When an unidentified object is moving in the sky, the distance from the observation point to the object can be measured using a laser device. However, the measurement distance of a general laser device is limited to tens of kilometers. Accordingly, it is difficult to measure the distance from the observation point to the object with a laser device in the case of an object moving in the sky at a distance of hundreds of kilometers. Electro-optical equipment generally mounted on aircraft for surveillance and reconnaissance purposes can capture objects moving in the sky at a distance of hundreds of kilometers (e.g., missiles flying while spewing flames), but cannot measure the distance.

The present invention provides a method and system for estimating the trajectory of a long-distance aerial object, which can easily estimate the trajectory of an object (e.g., a missile flying while spewing flames) moving in the sky over a long distance by using electro-optical equipment mounted on multiple aircraft.

By using the method for estimating the trajectory of a long-distance aerial object according to an embodiment of the present invention, it is possible to easily estimate the trajectory of a missile, etc., moving in the sky from a long distance of several hundred km. The method for estimating the trajectory of a long-distance aerial object is a method for estimating the trajectory of a long-distance aerial object by utilizing a plurality of aircraft, and includes: i) a first search step in which the plurality of aircraft search for an aerial object using electro-optical equipment mounted on each of the aircraft; ii) a command transmission step in which one of the plurality of aircraft, which succeeds in detecting the object first, tracks the object and transmits a second search command to the other aircraft; iii) a second search step in which, after the other aircraft receives the second search command, it searches for the object based on information provided by one of the aircraft using the electro-optical equipment mounted on the other aircraft; and iv) a trajectory estimation step in which the trajectory of the object is estimated by using the line of sight vector of the electro-optical equipment mounted on one of the aircraft and the line of sight vector of the electro-optical equipment mounted on the other aircraft.

In the second search phase, information provided by one aircraft may include line-of-sight information of the electro-optical equipment mounted on one aircraft toward the object, and information provided by the other aircraft may enable the one aircraft to perform a search along a virtual path that connects the object with the shortest distance.

During the first and second search phases, the aircraft searching for the object can use the Step-Stare Image Gathering technique.

In the trajectory estimation step, when the line-of-sight vector of the electro-optical equipment mounted on one aircraft and the line-of-sight vector of the electro-optical equipment mounted on the other aircraft are directed toward the object and if no intersection of the two line-of-sight vectors is generated, the center point of the virtual line connecting the two line-of-sight vectors with the shortest distance can be set as the position of the object. In addition, in order to predict the trajectory of the object, an extended Kalman filter (EKF) is used which estimates and corrects the state by comparing a model designed with a state vector and a nonlinear model designed with measurements, and the object is assumed to move with constant acceleration, the state vector is defined as the position, velocity, and acceleration of the object, and the measurements can be defined as a unit direction vector from the measurement position toward the object.

By using the system for estimating the trajectory of a long-distance aerial object according to an embodiment of the present invention, it is possible to easily estimate the trajectory of a missile, etc., moving in the sky from a long distance of several hundred km. The system for estimating the trajectory of a long-distance aerial object, a system for estimating the trajectory of a long-distance aerial object by utilizing a plurality of aircraft, comprises: i) a first aircraft equipped with electro-optical equipment and searching for an object in the sky, ii) a second aircraft equipped with electro-optical equipment and searching for an object in the sky, and iii) a calculation unit, wherein, if the first aircraft detects the object before the second aircraft, it commands the second aircraft to additionally search for the object based on the line of sight information of the electro-optical equipment mounted on the first aircraft toward the object, and if the second aircraft that received the command succeeds in searching for the object, the calculation unit estimates the trajectory of the object by using the line of sight vector of the electro-optical equipment mounted on the first aircraft and the line of sight vector of the electro-optical equipment mounted on the second aircraft.

In addition, if the second aircraft detects the object before the first aircraft, it commands the first aircraft to perform additional search for the object based on the line-of-sight information of the electro-optical equipment mounted on the second aircraft looking at the object, and if the first aircraft that received the command succeeds in searching for the object, the calculation unit estimates the trajectory of the object using the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft.

The operation unit may be provided to set the center point of an imaginary line connecting the two line-of-sight vectors at the shortest distance as the position of the object when the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft are directed toward one object and no intersection of the two line-of-sight vectors is created.

The operation unit may be provided on the first aircraft or the second aircraft, or may be provided on both the first aircraft and the second aircraft.

A system for estimating the trajectory of a distant aerial object using multiple aircraft may further include an operation control center controlling the first aircraft and the second aircraft, and in some cases, multiple commands and multiple operations may be performed at the operation control center.

Using the method and system for estimating the trajectory of a long-distance aerial object according to an embodiment, it is possible to easily estimate the trajectory of a missile or the like moving in the sky at a long distance of several hundred kilometers.

FIG. 1 is a configuration diagram of a system for estimating the trajectory of a remote aerial object according to an embodiment of the present invention.
FIG. 2 is a flowchart of a method for estimating the trajectory of a remote aerial object according to an embodiment of the present invention.
Figure 3 is a geometrical diagram illustrating the first search phase performed on a single aircraft.
Figure 4 shows the search procedure and interlocking relationship of multiple aircraft.
Figure 5 is a geometrical diagram illustrating the second exploration stage.
Figure 6 is a flowchart of the second search stage.
Figure 7 is a graph showing an example result calculated by applying a second search algorithm [(a) is the result calculated without the overlap rate, (b) is the result with the overlap rate additionally applied].
Figure 8 shows a technique for finding the center point of an imaginary line connecting two line-of-sight vectors with the shortest distance in a three-dimensional coordinate system.
Figure 9 is a flowchart of trajectory estimation using the extended Kalman filter.
Figure 10 is a graph showing the results of trajectory estimation using a method for estimating the trajectory of a long-distance aerial object.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a,” “an,” and “the” include plural forms as well, unless the context clearly dictates otherwise. The word “comprising,” as used herein, specifies particular features, regions, integers, steps, operations, elements, and/or components, but does not exclude the presence or addition of other particular features, regions, integers, steps, operations, elements, components, and/or groups.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms defined in commonly used dictionaries are additionally interpreted as having a meaning consistent with the relevant technical literature and the presently disclosed content, and are not interpreted in an ideal or very formal meaning unless defined. As an example, "applied" described below is interpreted to include both a state of being suitably used and a state before being suitably used.

In this specification, expressions described in the singular may be interpreted as singular or plural, unless explicit expressions such as “one” or “singular” are used.

In this specification, terms including ordinal numbers such as first, second, etc. may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

In the flowcharts described with reference to the drawings in this specification, the order of operations may be changed, several operations may be merged, some operations may be split, and certain operations may not be performed.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

FIG. 1 is a block diagram of a system (100) for estimating a trajectory of a remote aerial object according to an embodiment of the present invention. As illustrated in FIG. 1, the system (100) for estimating a trajectory of a remote aerial object may include a plurality of aircraft [a first aircraft (110), a second aircraft (120)] and a computational unit (not shown). In addition, the system (100) for estimating a trajectory of a remote aerial object may further include an operation control center (130). The system (100) for estimating a trajectory of a remote aerial object is used to estimate a trajectory of an object (T) moving in the sky at a long distance. The above-mentioned long-distance distance may be a distance of 100 km or more. The object (T) may be a missile, an unmanned aerial vehicle, a manned aircraft, etc.

The number of aircraft is not limited to a specific number and may be two or more. In this specification, for convenience, the description is given with two aircraft, which are the minimum configuration requirements for the remote aerial object trajectory estimation system (100). The first aircraft (110) and the second aircraft (120) are not limited to specific aircraft. Each of the first aircraft (110) and the second aircraft (120) may be a fighter jet, a transport aircraft, a reconnaissance aircraft, etc. In addition, each of the first aircraft (110) and the second aircraft (120) may be provided as a fixed wing or a rotary wing. In addition, each of the first aircraft (110) and the second aircraft (120) may be provided as an unmanned aerial vehicle or a manned aircraft. The first aircraft (110) and the second aircraft (120) may be different types of aircraft. The first aircraft (110) is equipped with electro-optical equipment (not shown). The second aircraft (120) is equipped with electro-optical equipment (not shown). The electro-optical equipment equipped on the first aircraft (110) and the electro-optical equipment equipped on the second aircraft (120) may each include an electro-optical (EO) camera and an infrared (IR) camera. The electro-optical camera provides high-resolution images in the visible light range during the day and at night, and is mainly used for high-resolution photography and video shooting. The infrared camera detects heat signals to identify targets even at night or under bad weather conditions, and can generate images based on heat signals to detect heat sources (such as flames generated from propellant) generated from an object (T). The first aircraft (110) and the second aircraft (120) are each equipped with communication equipment, and can exchange information collected by each other.

The computation unit calculates the position and expected trajectory of the object (T) based on information collected from the first aircraft (110) and the second aircraft (120). The computation unit may be provided in both the first aircraft (110) and the second aircraft (120). In some cases, the computation unit may be provided in either the first aircraft (110) or the second aircraft (120). Additionally, the computation unit may be provided in the operation control center (130).

The operation control center (130) issues missions to the first aircraft (110) and the second aircraft (120) and controls the operations of the first aircraft (110) and the second aircraft (120). The operation control center (130) may include a control function. The operation control center (130) may include a communication server. The operation control center (130) includes the aforementioned calculation unit and can calculate the location and expected trajectory of the object (T) based on the information collected from the first aircraft (110) and the second aircraft (120). If the operation control center (130) is provided inside a building on the ground, there is an advantage in that a large calculation unit with excellent calculation performance can be provided. In some cases, the operation control center (130) may be provided inside an aircraft, a ship, a vehicle, etc.

FIG. 2 is a flowchart of a method (S100) for estimating a trajectory of a remote aerial object according to an embodiment of the present invention. As illustrated in FIG. 2, the method (S100) for estimating a trajectory of a remote aerial object includes a first search step (S110), a command transmission step (S120), a second search step (S130), and a trajectory estimation step (S140). The method (S100) for estimating a trajectory of a remote aerial object can be performed by a system (100) for estimating a trajectory of a remote aerial object.

FIG. 3 is a diagram geometrically illustrating a first search step (S110) performed in a single aircraft (110, 120). Referring to FIGS. 1 to 3, in the first search step (S110), multiple aircraft [the first aircraft (110), the second aircraft (120)] search for an object (T) in the sky using electro-optical equipment mounted on each of them. The first search command can be transmitted to the first aircraft (110) and the second aircraft (120) through the operation control center (130).

In the first search stage (S110), the electro-optical equipment (M) mounted on the aircraft can perform a horizontal search by considering the field of view (FOV) of the image centered on the coordinates of the area of interest (latitude, longitude, altitude). As shown in [Mathematical Formula 1] below, first, the position of the electro-optical equipment (M) mounted on the aircraft Target-centered in gaze vector toward At this time, the reference coordinates can be set as the initial location where the electro-optical equipment (M) mounted on the aircraft started the first search, the location of the operation control center (130), etc. Continuing, Angle to scan in the reference horizontal direction Assign the desired number n of gaze vectors Find the DCM (Direction Cosine Matrix) here. The DCM (Direction Cosine Matrix) means the Rotation Matrix. Continuing, each gaze vector This distance is heading Coordinates corresponding to Towards the coordinates thus derived, a scan operation is performed using the Step-Stare Image Gathering technique, and each time the scan operation is completed in one direction, the segmentation coordinates are recalculated by considering the amount that the object (T) has moved, and the search operation is repeated. In the Step-Stare Image Gathering technique, images collected (scanned) at two consecutive points in time can be overlapped at a predetermined ratio.

FIG. 4 shows the search procedure and interlocking relationship of multiple aircraft [the first aircraft (110), the second aircraft (120)]. Referring to FIG. 4, in the command transmission step (S120), one of the multiple aircraft [the first aircraft (110), the second aircraft (120)] that succeeds in detecting the object (T) first performs tracking of the object (T) and transmits a secondary search command (= additional search command) to the other aircraft. More specifically, in the first search step (S110), if the first aircraft (110) detects the object (T) before the second aircraft (120), the first aircraft (110) commands the second aircraft (120) to perform an additional search for the object (T) based on the information the first aircraft (110) has. The above information may include information on the line of sight of the electro-optical equipment mounted on the first aircraft (110) toward the object (T). Similarly, if the second aircraft (120) detects the object (T) before the first aircraft (110) in the first search phase (S110), the second aircraft (120) commands the first aircraft (110) to perform additional search for the object (T) based on information possessed by the second aircraft (120). The above information may include information on the line of sight of the electro-optical equipment mounted on the second aircraft (120) toward the object (T). In some embodiments, a search command issued from one aircraft to another aircraft may pass through the operation control center (130).

In the secondary search step (S130), another aircraft that received the secondary search command performs additional search for the object (T) based on information provided by one of the aircraft using the electro-optical equipment mounted on the aircraft. The above information may include information on the line of sight of the electro-optical equipment mounted on one of the aircraft toward the object (T). In other words, the other aircraft can perform search along a virtual path that connects one of the aircraft and the object (T) at the shortest distance.

Hereinafter, the electro-optical equipment mounted on an aircraft that succeeds in the first search among multiple aircraft is defined as the main electro-optical equipment (M), and the electro-optical equipment mounted on an aircraft that receives the second search command and performs the second search is defined as the sub electro-optical equipment (S). Referring to Fig. 5, the main electro-optical equipment (M) first succeeds in the search and is considered to be directing its gaze toward an object (T), and the sub electro-optical equipment (S) searches for the target by changing the direction of its gaze along the gaze of the main electro-optical equipment (M).

Secondary search is important in terms of how accurately and quickly the sub-electro-optical equipment (S) can search the object (T) based on the line of sight information of the main electro-optical equipment (M) that changes every moment, considering the situation where multiple aircraft and objects (T) are moving. As shown in Figs. 5 and 6, a method of obtaining a pointing command value by utilizing the FOV (Field Of View) as a secondary search execution algorithm is presented. Utilizing the FOV means that the sub-electro-optical equipment (S) scans spatially without gaps by moving by the horizontal angle component of the FOV, since there should be no gaps between consecutive frames captured by the sub-electro-optical equipment (S). If the frame is expressed in differential time, the relationship between the position P that the sub-electro-optical equipment (S) should aim at (n+1)th based on the nth is the half-angle of the FOV , the position of the main electro-optical equipment (M), the position of the sub-electro-optical equipment (S), and the previous aiming position P. However, since organizing this relationship consists of a fairly complicated equation composed of high-order trigonometric functions, it may be difficult to derive the P value mathematically. Therefore, as shown in Fig. 6, a numerical analysis method can be utilized to obtain the P value, and an approximate value of the P value can be obtained through an iteration calculation technique. Here, the d value is an initial value required to obtain the approximate value and represents the distance from the main electro-optical equipment (M) to an arbitrary point. Considering the value of P for the previous frame and the position of the main electro-optical equipment (M), an appropriate initial value of d can be obtained through the FOV as in [Mathematical Formula 2] below.

Figure 7 is an example using the above algorithm. Referring to Figure 7(a), it can be seen that the orientation position is well calculated without any gaps between each frame in space. Also, referring to Figure 7(b), if necessary, By applying the overlap rate, it can be seen that overlapped calculations are also possible. If the second search step (S130) is successfully performed, at least two lines of sight information toward the object (T) can be acquired from the main electro-optical equipment (M) and the sub-electro-optical equipment (S).

The trajectory estimation step (S140) calculates the position and trajectory of the object (T) by the line of sight vector of the main electro-optical equipment (M) and the line of sight vector of the sub-electro-optical equipment (S). The trajectory estimation step (S140) may be performed by an arithmetic unit. As mentioned above, the arithmetic unit may be provided to at least one aircraft (110, 120) and/or an operation control center (130). The trajectory estimation step (S140) is performed in real time in the arithmetic unit.

The position of the object (T) can be estimated by calculating the point where the line of sight vector of the main electro-optical equipment (M) and the line of sight vector of the sub-electro-optical equipment (S) intersect. Fig. 8 shows a technique for finding the center point of the virtual line connecting two line of sight vectors with the shortest distance in a three-dimensional coordinate system. In Fig. 8 , are the respective positions of the two cameras, , is the unit line of sight vector that the camera is looking at. is the position of the actual object (target). When two different gaze vectors are pointing to the object with an arbitrary error, there is no intersection between the two gaze vectors, so a solution cannot be obtained. Accordingly, the center point of the virtual line connecting the two gaze vectors with the shortest distance can be set as the position of the object (T). In other words, if the two gaze vectors are pointing exactly to the object (T), the two gaze vector measurement values , can be applied to general trigonometry to find the position of the object (T). On the other hand, if the two line-of-sight vectors do not intersect, the position of the object (T) cannot be found using only the relationship between the two line-of-sight vectors, so the center point of the imaginary line connecting the two line-of-sight vectors with the shortest distance is is used as an estimate of the position of the object (T). If this is expressed in a mathematical formula, it is expressed as [Mathematical Formula 3] using six equations using the inner/outer products of vectors. can be obtained, and the final output value is can be obtained. (However, are each ) The center point obtained in this way can be used as a measurement in the Extended Kalman Filter.

Even if the line-of-sight vectors of the main electro-optical equipment (M) and the sub-electro-optical equipment (S) are directed toward the object (T), the collected measurement values may include various measurement noises. These noise components cause significant errors in the trajectory estimation of the object (T). Therefore, in this specification, a signal processing method using a Kalman filter is proposed as a means to alleviate the noise components. The center point described above can be used as the initial value of the Extended Kalman Filter (EKF).

In order to construct an extended Kalman filter, a state vector, equations of motion, and a measurement model are designed. First, the position, velocity, and acceleration of an object (T) in a three-dimensional coordinate system are expressed as a state vector as in [Mathematical Equation 4]. Assuming that the object (T) moves with uniform acceleration, the relationship of the discrete-time state vector can be expressed. Here, A is the state transition matrix, is the time interval, is assumed to be white noise due to system disturbance. In order to design a measurement model, each line-of-sight vector corresponding to the measurement value is is a measurement model Wow, measurement noise It is composed of the sum of the components. Each The measurement model is defined as a unit direction vector from the measurement location to the object (T). Since the measurement model in discrete time has nonlinear elements in the denominator, the Jacobian matrix is used for the linearization process. In order to perform the extended Kalman filter of the discrete-time system, the parameters configured above are utilized in the calculation of the extended Kalman filter, as shown in Fig. 9, and the state vectors of each frame can be estimated.

Fig. 10 is an example of modeling a long-distance missile trajectory through simulation, and comparing the estimated trajectory information finally obtained through a method for estimating a trajectory of a long-distance aerial object (S100) with actual trajectory information. Referring to Fig. 10, it can be confirmed that the method for estimating a trajectory of a long-distance aerial object (S100) effectively alleviates measurement noise through application of an extended Kalman filter and produces a result value that meaningfully tracks the state information of an actual object.

Using the method for estimating the trajectory of a long-distance aerial object (S100) and the system for estimating the trajectory of a long-distance aerial object (100) described above, it is possible to easily estimate the trajectory of a missile, etc. moving in the sky at a long distance of several hundred km.

Although the present invention has been described in the foregoing manner, it will be readily understood by those skilled in the art that various modifications and variations are possible without departing from the concept and scope of the claims set forth below.

100. Trajectory estimation system for distant aerial objects
110. Aircraft 1
120. Second aircraft
130. Operations Control Center
T. Object
S100. Method for estimating the trajectory of a distant object in the sky
S110. First Exploration Phase
S120. Command transmission stage
S130. Second Exploration Phase
S140. Trajectory estimation step

Claims (17)

A method for estimating the trajectory of a distant aerial object using multiple aircraft,
The first search stage, in which multiple aircraft search for objects in the sky using the electro-optical equipment mounted on each aircraft;
A command transmission step in which one of the plurality of aircraft that first succeeds in detecting the object performs tracking of the object and transmits a secondary search command to another aircraft;
A second search step in which the other aircraft searches for the object based on information provided by one of the aircraft using the electro-optical equipment onboard after receiving the second search command, and
A trajectory estimation step for estimating the trajectory of the object by using the line of sight vector of the electro-optical equipment mounted on one of the above aircraft and the line of sight vector of the electro-optical equipment mounted on the other aircraft.
Including,
In the first exploration step above,
A method for estimating the trajectory of a distant object in the sky using the Step-Stare Image Gathering technique for an aircraft searching for the above object. In paragraph 1,
In the second exploration step above,
A method for estimating the trajectory of a remote object in the sky, wherein the information provided by any one of the above aircraft includes information on the line of sight of the electro-optical equipment mounted on any one of the above aircraft toward the object. In paragraph 2,
In the second exploration step above,
A method for estimating the trajectory of a distant aerial object, wherein the other aircraft performs a search along a virtual path connecting the one aircraft and the object at the shortest distance. delete In paragraph 1,
In the second exploration step above,
A method for estimating the trajectory of a distant aerial object using a step-step image collection technique for an aircraft searching for the above object. In paragraph 1,
A method for estimating the trajectory of a distant object in the sky, wherein the images collected at two consecutive points in time overlap at a predetermined ratio in the above step-step image collection technique. In paragraph 1,
In the above trajectory estimation step,
A method for estimating the trajectory of a remote aerial object, wherein when the line-of-sight vector of electro-optical equipment mounted on one of the above aircraft and the line-of-sight vector of electro-optical equipment mounted on the other of the above aircraft are directed toward the object and no intersection of the two line-of-sight vectors is created, the center point of an imaginary line connecting the two line-of-sight vectors at the shortest distance is set as the position of the object. In Article 7,
In the above trajectory estimation step,
A method for estimating a trajectory of a remote aerial object, wherein an extended Kalman filter (EKF) is used to estimate and correct a state by comparing a model designed with a state vector and a nonlinear model designed with measurements to predict the trajectory of the object, the object is assumed to move with constant acceleration, the state vector is defined as the position, velocity, and acceleration of the object, and the measurements are defined as a unit direction vector from a measurement position toward the object. A system for estimating the trajectory of a distant object in the sky by utilizing multiple aircraft.
The first aircraft, equipped with electro-optical equipment and using step-step image collection techniques to search for objects in the sky,
A second aircraft equipped with electro-optical equipment and using step-stairs image collection techniques to search for objects in the sky, and
Operation unit
Including,
If the first aircraft detects the object before the second aircraft, it orders the second aircraft to perform additional search for the object based on the line-of-sight information of the electro-optical equipment mounted on the first aircraft looking at the object.
The above-mentioned operation unit is a system for estimating the trajectory of a remote aerial object, which estimates the trajectory of the object by using the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft when the second aircraft that received the above-mentioned command successfully searches for the object. In Article 9,
If the second aircraft detects the object before the first aircraft, it orders the first aircraft to perform additional search for the object based on the line-of-sight information of the electro-optical equipment mounted on the second aircraft looking at the object.
The above-mentioned operation unit is a system for estimating the trajectory of a remote object in the sky, which estimates the trajectory of the object by using the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft when the first aircraft that received the above-mentioned command successfully searches for the object. In Article 10,
The above-mentioned operation unit is a system for estimating the trajectory of a remote aerial object, which sets the center point of an imaginary line connecting the two line-of-sight vectors at the shortest distance as the position of the object when the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft are directed toward one object and no intersection of the two line-of-sight vectors is created. In Article 11,
The above operation unit is a system for estimating the trajectory of a remote aerial object provided to the first aircraft or the second aircraft. In Article 11,
The above operation unit is a system for estimating the trajectory of a remote aerial object provided to both the first aircraft and the second aircraft. A system for estimating the trajectory of a distant object in the sky by utilizing multiple aircraft.
The first aircraft, equipped with electro-optical equipment and using step-step image collection techniques to search for objects in the sky,
A second aircraft equipped with electro-optical equipment and using step-step image collection techniques to search for objects in the sky;
The operational control center controlling the first and second aircraft, and
Operation unit
Including,
The above-mentioned operation control center, if the first aircraft detects the object before the second aircraft, orders the second aircraft to conduct additional searches for the object based on the line-of-sight information of the electro-optical equipment mounted on the first aircraft looking at the object.
The above-mentioned operation unit is a system for estimating the trajectory of a remote aerial object, which estimates the trajectory of the object by using the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft when the second aircraft that received the above-mentioned command successfully searches for the object. In Article 14,
The above-mentioned operation control center, if the second aircraft detects the object before the first aircraft, orders the first aircraft to conduct additional searches for the object based on the line-of-sight information of the electro-optical equipment mounted on the second aircraft looking at the object.
The above-mentioned operation unit is a system for estimating the trajectory of a remote object in the sky, which estimates the trajectory of the object by using the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft when the first aircraft that received the above-mentioned command successfully searches for the object. In Article 15,
The above-mentioned operation unit is a system for estimating the trajectory of a remote aerial object, which sets the center point of an imaginary line connecting the two line-of-sight vectors at the shortest distance as the position of the object when the line-of-sight vector of the electro-optical equipment mounted on the first aircraft and the line-of-sight vector of the electro-optical equipment mounted on the second aircraft are directed toward one object and no intersection of the two line-of-sight vectors is created. In Article 16,
The above operation unit is a system for estimating the trajectory of a remote aerial object provided to the above operation control center.

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