JP3908350B2 - Monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a monitoring device that monitors the surface of the earth from an artificial satellite or an aircraft and acquires image information of a monitoring target point such as an object to be monitored or a disaster occurrence area with an imaging device.
[0002]
[Prior art]
FIG. 6 is a diagram for explaining a conventional monitoring device. In the figure, 1 is a flying object, 2 is an imaging device, 9 is a monitoring target, 10 is the earth, 12 is a ground station, 13 is a computer, and 19 is a map. is there. In a conventional monitoring device that monitors an object to be monitored on the earth surface or a disaster occurrence area from an artificial satellite or an aircraft, the flying object 1 flies with the image pickup device 2, and the line of sight of the image pickup device 1 sets the monitoring target 9. The image information of the monitoring target point is acquired by operating the image pickup device 2 within the capturing range. At this time, the selection of the monitoring target is searched by the map 19, and the human being reads the latitude and longitude of the target point. Next, the human collates the trajectory conditions of the flying object 1, and the human reads the time when the flying object 1 passes the vicinity of the monitoring target 9 and the vicinity position coordinates. Next, the calculator 13 calculates the directivity angle of the flying object 1 or the imaging device 2 for imaging the target point from the read vicinity position. Thereafter, the flying object 1 is instructed to capture the optimum imaging time determined by the human and the directivity angle condition calculated by the computer 13.
[0003]
[Problems to be solved by the invention]
Among conventional monitoring devices, a monitoring device that uses an artificial satellite as a flying object searches for a monitoring target 9 on a map 19 and investigates latitude and longitude information, and then determines the orbit of the artificial satellite and the viewing direction of the imaging device 2. Analyzing and then predicting the range and time in which the field of view of the image pickup device 2 captures the monitoring target 9 and instructing the artificial satellite to take an image via the computer 13, so There is a problem that it takes time and effort to analyze the trajectory and the field of view of the image pickup device 2 and it is difficult to immediately respond to an emergency or a disaster. In addition, since the prediction error in the trajectory and visual field direction is large, there is a problem that the accuracy of capturing the monitoring target is poor.
[0004]
In addition, among conventional monitoring devices that use an aircraft as a flying object, there is a problem that it takes time and labor for the crew of the aircraft to visually recognize the monitoring target and adjust the direction of the imaging device. . In addition, there is a problem that the monitorable region is limited to the flightable range of the aircraft.
[0005]
The present invention has been made in order to improve the above-described problems. By simply accessing a terminal, it is possible to search and determine a monitoring target and to set an imaging condition of an imaging device, and to enable rapid imaging. A device is provided. In addition, a monitoring apparatus is provided that has a simple procedure for capturing the monitoring target from the field of view of the image pickup device and can acquire image information with high accuracy. In addition, it is possible to provide a monitoring device that can monitor any region of the entire earth by using an artificial satellite as a flying object.
[0006]
[Means for Solving the Problems]
A monitoring device according to a first aspect of the present invention is a flying object, an imaging device mounted on the flying object and directed to the surface of the earth, a plurality of navigation satellites whose known positions in orbit for generating a distance measuring radio wave according to a radio wave propagation time, and the flight A navigation satellite signal receiver that is mounted on the body and receives ranging radio waves emitted from the navigation satellites and analyzes the position coordinates of the flying object, an attitude detector that detects the attitude of the flying object, and is mounted on the flying object Analyzing the attitude information of the flying object received from the navigation satellite signal receiver and the attitude angle information of the flying object received from the attitude detector, and changing the attitude of the flying object. And an installed computer that analyzes the amount of deviation between the attitude angle and the target value planned in advance and generates a control signal for attitude change for the attitude change machine, a ground station, a computer installed in the ground station, Geographic information on various parts of the earth A database having location information, a terminal that accesses the computer and the database, a memory that stores software that operates on the terminal and accesses the computer and the database, and the memory that stores the software is stored in the database. It stores monitoring target search software that searches for geographic information to find a monitoring target, and position coordinate generation software that converts the position coordinates of the monitoring target into position coordinates based on the coordinate system adopted by the navigation satellite. Is for controlling the attitude changing machine using the position coordinates of the monitoring target calculated by the position coordinate generation software as a control target value.
[0007]
Further, the monitoring target according to the second invention is a flying object, an imaging device mounted on the flying object, directed to the earth surface, a plurality of navigation satellites whose position in the orbit where a radio wave for distance measurement is generated by a radio wave propagation time is known, A navigation satellite signal receiver that is mounted on a flying object and receives ranging radio waves emitted from the navigation satellite and analyzes the position coordinates of the flying object, an attitude detector that detects the attitude of the flying object, and the navigation satellite signal reception Receiving the position information of the flying object received from the aircraft and the attitude angle information of the flying object received from the attitude detector, and analyzing the viewing direction directed by the imaging device based on the position and attitude angle of the flying object, Installed in onboard computers, ground stations, and ground stations that analyze the amount of deviation from the planned target value in the field of view of the imaging device and generate control signals for changing the field of view direction for the field of view direction changing device Calculator on the earth A database having geographical information and location information, a computer accessing the database, a terminal accessing the database, and a memory storing software that operates on the terminal and accesses the computer and the database. , Which stores monitoring target search software that searches the geographic information in the database to find the monitoring target, and position coordinate generation software that converts the position coordinates of the monitoring target into position coordinates based on the coordinate system adopted by the navigation satellite. The on-board computer controls the viewing direction changing machine using the position coordinates of the monitoring target as the control target value.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram showing Embodiment 1 of the present invention, in which 1 is a flying object such as an artificial satellite, an aircraft, an airship, and the like, 2 is an imaging device mounted on the flying object 1 and directed to the earth surface, 3 is a navigation satellite whose position in the orbit that generates a distance measurement radio wave based on the radio wave propagation time is known. 4 is mounted on the flying object 1 and receives the distance measurement radio waves emitted from the plurality of navigation satellites 3 to receive the flying object 1. Navigation satellite signal receiver 5 for analyzing the position coordinates of the aircraft, 5 is an attitude detector for detecting the attitude of the flying object 1, 6 is an attitude changing machine that is mounted on the flying object 1 and changes the attitude of the flying object 1, and 8 Is an on-board computer, 9 is a monitoring target, 10 is the earth, 11 is the line of sight of the image pickup device, 12 is a ground station, 13 is a computer installed on the ground station 12, and 14 is provided with geographical information and position information of each place on the earth. Database 15 and the above computer 12 and database 4 is a terminal connected by a signal transmission path, 16 is installed in the terminal 15, a memory storing software for accessing the computer 13 and the database 14, 17 is stored in the memory 16, and the geographical information of the database 14 18 is a position coordinate generation software which is stored in the memory 16 and converts the position coordinates of the monitoring target into a coordinate system adopted by the navigation satellite 3 and digitizes it.
[0009]
In the figure, the flying object 1 is an artificial satellite such as an observation satellite that orbits the earth in a low orbit, a meteorological satellite that observes the earth from a geostationary orbit, an aerial triangulation aircraft, an earth observation airship, and the like. The imaging device 2 can be a visible optical sensor that acquires a visual image, an imaging radar such as a synthetic aperture radar, a microwave radiometer, an infrared sensor, an ultraviolet sensor, or the like. Further, since the position of any point on the navigation satellite 3, the flying object 1 and the earth 10 can be uniquely expressed by the coordinate system adopted by the navigation satellite 3, the position coordinates of the flying object 1 by the navigation satellite signal receiver 4 By using the attitude information of the flying object 1 by the attitude detector 5, the starting point and direction of the line of sight 11 of the imaging device 2 can be determined as the position coordinate and direction vector of the coordinate system adopted by the navigation satellite 3. On the other hand, as the ground station 12, a tracking control station for artificial satellites and a satellite signal receiving station are candidates, but in addition to this, the ground station can also be used by utilizing a personal computer as the terminal 15 and the computer 13 in local government organizations, companies, and private homes. 12 can be used. The computer 13 is installed in the ground station 12 and reads the memory 16 storing the software, operates the stored software, accesses the database 14, and the results analyzed by the position coordinate generation software 18. 1 is executed.
[0010]
Next, the database 14 may be map information stored in a database, or a database such as GIS (Geographic Information System) may be used. At this time, the positional information provided together with the geographical information may be the positional coordinates of the coordinate system used by the navigation satellite 3 or may be latitude / longitude information. As a coordinate system adopted by the navigation satellite, there is a geodetic coordinate system called, for example, World Geodetic System 84. Further, for the planned monitoring location, the position coordinates may be measured in advance on the ground using a navigation satellite receiver and recorded in the database 14, or the result of actual measurement by stereoscopic view from an artificial satellite or analysis of aerial photographs may be used. It may be recorded in the database 14. The terminal 15 is not necessarily installed in the ground station 12 where the computer 13 is installed, and can be connected to the computer 13 using a telephone line or a satellite line as a signal transmission path. It is also possible to share the computer 13 as a personal computer. A memory 16 for storing software stores monitoring target search software 17 and position coordinate generation software 18, which are operated by the terminal 15 to access the computer 13 and the database 14. The database 14 and the memory 16 for storing the software do not need to be installed in the same ground station as the ground station 12 in which the computer 13 is installed, but the software 9 and the database 14 are obtained from another ground station 12 via a network such as the Internet. An operation of downloading or transmitting the result analyzed by the position coordinate generation software 18 to the flying object 1 via another ground station 12 may be performed.
[0011]
Next, a method of determining the posture change amount using the position coordinates as a target value will be described with reference to FIG. In the figure, 1 is a flying object, 9 is a monitoring target, 10 is the earth, 11 is the line of sight of the image pickup device, 12 is a position coordinate database, 20 is a coordinate origin, 21 is a coordinate system, 22a is the X-axis direction of the coordinate system 21 A first target angle 22b formed by the X-axis direction and the direction cosine of the image line of sight of the imaging device in the plane formed by the Y-axis direction is formed in a plane orthogonal to the plane on which the first target angle 22a is formed. , A second target angle formed by the Y-axis direction and the imaging device line of sight. If the coordinate system 21 in which the center of gravity of the earth is the coordinate origin 20 and the three-dimensional position coordinates are described by three parameters X, Y, and Z is adopted as the coordinate system, the coordinate origin 20 becomes (0, 0, 0), and the monitoring target The position coordinates of 9 are uniquely determined as (X1, Y1, Z1), and the position coordinates of the flying object 1 are uniquely determined as (X2, Y2, Z2). The line-of-sight direction 11 of the imaging device is a vector that connects the position coordinates (X2, Y2, Z2) of the flying object 1 and the position coordinates (X1, Y1, Z1) of the monitoring target 9, and therefore the line-of-sight 11 of the imaging device is the monitoring target 9 The target angle for directing is uniquely determined as the first target angle 22a and the second target angle 22b. Since the direction in which the flying object 1 is pointing is previously measured by the angle detector and analyzed by the on-board computer, if the difference between the first target angle 22a and the second target angle 22b is obtained, the on-board computer A posture change amount to be instructed to the posture change machine is determined. Although an example in which two parameters are used as the angle related to the posture change amount is shown here, it is needless to say that the angle component rotation parameter can be added to handle the three angle components.
[0012]
Next, processing in the onboard computer 8 will be described with reference to FIG. In the figure, 4 is a navigation satellite signal receiver, 5 is an attitude detector, 6 is an attitude change machine, 8 is an on-board computer, 12 is a position coordinate database, and d1 is an initial value indicating a relative angle of the flying object and the imaging device in the line-of-sight direction. Is an operation 2 for calculating a line-of-sight vector of the image pickup device, d3 is an operation 3 for calculating a target line-of-sight vector, and d4 is an operation 4 for giving an attitude angle change amount. The flying object position coordinates X2, Y2, and Z2 received from the signal receiver 4 and the flying object attitude angles φ2, θ2, and λ2 received from the attitude detector 5 are recorded in advance in the on-board computer 8 as operation 1. Based on the initial value indicating the relative angle between the flying object and the imaging device in the direction of the visual line, as operation 2, the visual vector of the imaging device at a specific moment can be calculated. Similarly, the onboard computer 8 operates as operation 3 based on the position coordinates X2, Y2, Z2 of the flying object received from the navigation satellite signal receiver 4 and the position coordinates X1, Y1, Z1 of the monitoring target received from the position coordinate database 12. Target line-of-sight vectors (X1-X2, Y1-Y2, Z1-Z2) can be calculated. Therefore, as the operation 4, the posture angle change amounts Δφ, Δθ, and Δλ can be calculated by calculating the difference between the line-of-sight vector and the target line-of-sight vector. This result is transmitted to the attitude change machine 6 as a control parameter.
[0013]
Specific examples of the monitoring target 9 include a disaster occurrence area and a monitoring required area. As a monitoring target searching method, the monitoring target searching software 17 on the terminal 15 is used to turn a map as a visual image. The monitoring target search software 17 is programmed so that it is possible to search for a place, search by keyword search, or search by a combination of latitude and longitude. After the monitoring target 9 is determined as a result of the search, the position information is transmitted to the position coordinate generation software 18 by designating the corresponding part on the screen. This operation can be performed as if the user is double-clicking an arbitrary place on the screen with the pointing device of the terminal 15.
[0014]
Next, the processing contents of the software and the processing contents of the database included in the memory storing the software will be described with reference to FIG. In the figure, 1 is a flying object, 14 is a database, 17 is monitoring target search software, 18 is position coordinate generation software, 9 is a monitoring target, s1 is processing 1 for accessing the database 5 in the monitoring target search software 8, and s2 is monitoring target. The process 2 for performing the first target search in the search software 8, s 3 is the process 3 for performing the second target search in the monitored target search software 8, and s 4 performs the final target search in the monitored target search software 8 to determine the target. The determining process 4, s5 is a process 5 for reading geographic information in the monitoring target search software 8, s6 is a process 6 for extracting position information in the position coordinate generating software 9, and s7 is a process 7 for performing coordinate conversion in the position coordinate generating software 9. , S8 is a process 8 for calculating position coordinates in the position coordinate generation software 9. The user first loads the monitoring target search software 17 from a terminal connected to the computer. As processing of the monitoring target search software 17, first, the database 5 is accessed as processing 1, and a desired target is searched as processing 2 from the image information in the database 14. This operation can be realized by clicking the selected position with a pointing device attached to the terminal. The target search work process 2 and the process 3 are executed several times to narrow down a desired monitoring target. When a determination command in the monitoring target search software 17 is pressed as processing 4 after the monitoring target is determined, geographic information of the corresponding location of the image information in the database 14 is read into the monitoring target search software 17 as processing 5. In the database 14, place names, keywords, main equipment, position information, position coordinates, etc. are described as geographic information linked to image information as shown in the figure. As a method other than searching from image information as shown in the figure, Keyword search can also be made possible.
[0015]
Next, the position coordinate generation software 18 extracts position information from the geographic information of the monitoring target 9 read by the monitoring target search software 17 as processing 6. This position information may be a coordinate position or may be described by longitude and latitude as shown in the figure. Since these pieces of information have a one-to-one correspondence as position information even if the described coordinate system and description form are different, they can be converted into position coordinates of a specific coordinate system by performing a specific coordinate conversion process. . Therefore, as processing 7, for example, it is converted by a geodetic coordinate system such as WGS 84 adopted by the navigation satellite, calculated as position coordinates as processing 8, and transmitted to the onboard computer 8. Next, the mounted computer 8 analyzes the necessary posture change amount for the line of sight 11 of the image pickup device 2 to point to the monitoring target 9 and operates the posture change machine 6. For this reason, the attitude of the flying object 1 is changed, and the line of sight 11 of the imaging device 2 is controlled so as to be directed to the monitoring target 9.
[0016]
Embodiment 2. FIG.
FIG. 5 is a block diagram showing Embodiment 2 of the present invention. In the figure, 1 to 5 are the same as those in Embodiment 1, and 7 is attached to the image pickup device 2, and the direction of the line of sight of the image pickup device 2 is shown. The viewing direction changing machine to be changed, and 8 to 18 are the same as those in the first embodiment.
In the monitoring apparatus according to the second embodiment, the position coordinate generation software 18 converts the position of the monitoring target 9 received from the monitoring target search software 17 as the position coordinates of the coordinate system adopted by the navigation satellite 3 in the same manner as in the first embodiment. To the on-board computer 8. Next, the on-board computer 8 analyzes the visual field direction change amount for the line of sight 11 of the image pickup device 2 to be directed to the monitoring target 9 and operates the visual field direction change machine 7. Therefore, the line of sight 11 of the image pickup device 2 is controlled so as to be directed to the monitoring target 9. As the field of view changing machine, a method of rotating the reflection mirror with an optical sensor, a method of rotating the sensor itself, a method of electrically changing the direction of the field of view with a radio wave sensor, or a method of selecting the detector used part Etc. can be adopted. Other operations are the same as those in the first embodiment.
[0017]
【The invention's effect】
According to the first invention, since the monitoring target can be quickly converted into a quantitative target value on the ground and the coordinate control of the monitoring target is directly set as the target value in the flying object, the direct control is performed in real time. This makes it possible to monitor quickly and acquire data immediately in response to a disaster or emergency situation. In addition, it is possible to search and determine the monitoring target and set the imaging condition of the imaging device by simply accessing the terminal, and there is an effect that the work becomes familiar and intuitive. Further, since the position of the monitoring target is directly set as the target value of the control system, there are few error factors, and there is an effect that the image information can be acquired with high accuracy by the imaging device. Moreover, there is an effect that it is possible to provide a monitoring device capable of monitoring any region of the entire earth by using an artificial satellite as a flying object.
[0018]
According to the second aspect of the present invention, it is possible to provide a monitoring apparatus that can perform quick and agile monitoring in real time, can accurately acquire image information with an imaging device, and can monitor any area. Although it is the same, in addition to this, there is an effect that the field of view can be changed with less effort compared to changing the attitude of the flying object itself. Also, by providing a plurality of imagers, there is an effect that a plurality of monitoring targets can be imaged simultaneously.
[Brief description of the drawings]
FIG. 1 is a block diagram showing Embodiment 1 of a monitoring device according to the present invention.
FIG. 2 is a diagram illustrating a method for determining a posture change amount using a position coordinate as a target value in the monitoring apparatus according to the first embodiment of the present invention.
FIG. 3 is a diagram showing processing in the on-board computer by the monitoring apparatus according to the first embodiment of the present invention.
FIG. 4 is a diagram showing a processing example of software and a database in the monitoring apparatus according to Embodiment 1 of the present invention.
FIG. 5 is a block diagram showing Embodiment 2 of the monitoring device according to the present invention.
FIG. 6 is a diagram showing a conventional monitoring device.
[Explanation of symbols]
1 Aircraft, 2 Imager, 3 Navigation Satellite, 4 Navigation Satellite Signal Receiver, 5 Attitude Detector, 6 Attitude Changer, 7 View Direction Changer, 8 On-board Computer, 9 Monitoring Target, 10 Earth, 11 Line of sight, 12 position coordinate database, 12 ground station, 13 computer, 14 database, 15 terminal, 16 software, 17 monitoring target search software, 18 position coordinate generation software, 19 map.

Claims (6)

An observation satellite orbiting the earth,
An imager that is mounted on the observation satellite and faces the earth's surface,
A navigation satellite signal receiver that receives the ranging radio waves emitted from the navigation satellite and measures the position coordinates of the observation satellite in the coordinate system adopted by the navigation satellite,
An attitude detector mounted on the observation satellite for detecting the attitude of the observation satellite;
An attitude change machine mounted on the observation satellite and changing the attitude of the observation satellite;
Onboard computer mounted on the observation satellite,
A computer installed in the ground station,
A database installed at the ground station and having geographical information and location information on the earth;
A monitoring target searching means for selecting a monitoring target from geographical information in the database by operating a terminal connected to the database;
Position coordinate generation means for converting the position coordinates of the monitoring target selected by the monitoring target search means into three-dimensional position coordinates by a coordinate system adopted by the navigation satellite;
And
The computer transmits the position coordinates of the monitoring target by the coordinate system adopted by the navigation satellite converted by the position coordinate generation means to the observation satellite,
Further, the on-board computer is based on the position coordinates of the monitoring target transmitted from the computer, the position information of the observation satellite received from the navigation satellite signal receiver, and the attitude angle information of the observation satellite received from the attitude detector. Then, the amount of deviation between the visual field direction of the image pickup device and the direction of the monitoring target with respect to the observation satellite is calculated, and based on the calculated amount of deviation, the position coordinates of the monitoring target are used as control target values. A monitoring device, wherein the attitude changing device is instructed to change the attitude of the observation satellite so that the line of sight is directed toward the monitoring target. An observation satellite orbiting the earth,
An imager that is mounted on the observation satellite and faces the earth's surface,
A navigation satellite signal receiver that receives the ranging radio waves emitted from the navigation satellite and measures the position coordinates of the observation satellite in the coordinate system adopted by the navigation satellite,
An attitude detector mounted on the observation satellite for detecting the attitude of the observation satellite;
An attitude change machine mounted on the observation satellite and changing the attitude of the observation satellite;
Onboard computer mounted on the observation satellite,
A computer installed in the ground station,
A database comprising geographical information and location information on the earth,
A memory storing software connected to the computer and the database by operating the terminal;
The memory searches the monitoring target from the geographic information in the database, extracting monitoring target search software, 3D positional coordinates of monitoring targets extracted by the monitoring target search software by the coordinate system employed in the navigation satellite storing the position coordinate generation software that converts the position coordinates of
The computer transmits the position coordinate of the monitoring target converted into the position coordinate by the coordinate system adopted by the navigation satellite by the position coordinate generation software to the observation satellite,
Further, the on-board computer is based on the position coordinates of the monitoring target transmitted from the computer, the position information of the observation satellite received from the navigation satellite signal receiver, and the attitude angle information of the observation satellite received from the attitude detector. Then, the amount of deviation between the visual field direction of the image pickup device and the direction of the monitoring target with respect to the observation satellite is calculated, and the image pickup device uses the position coordinates of the monitoring target as a control target value based on the calculated amount of deviation. A monitoring apparatus characterized by changing the attitude of the observation satellite by instructing the attitude changer to change the attitude of the observation satellite so as to direct the monitoring target. A computer installed in the ground station,
A database comprising geographical information and location information on the earth,
A memory storing software connected to the computer and the database by operating the terminal;
The memory includes a monitoring target search software for searching for and extracting a monitoring target from geographical information in the database, and a three-dimensional coordinate system based on a coordinate system adopted by the navigation satellite using the position coordinates of the monitoring target extracted by the monitoring target search software . Stores position coordinate generation software to convert to position coordinates,
Based on the position coordinates of the monitoring target, the position information of the observation satellite orbiting the earth received from the navigation satellite signal receiver, and the attitude angle information of the observation satellite received from the attitude detector of the observation satellite Calculate the amount of deviation between the field-of-view direction of the imaging device mounted on the observation satellite and the direction of the monitoring target with respect to the observation satellite, and based on the calculated amount of deviation, use the position coordinates of the monitoring target as the control target value for the observation. The position coordinate of the monitoring target generated by the position coordinate generation software is set so that the attitude change amount is instructed to the attitude change machine of the satellite and the change control of the attitude is performed and the imaging device is directed to the monitoring target. A monitoring device characterized by transmitting to an observation satellite. Equipped with a computer installed in the ground station,
The computer is connected to a database having geographical information and location information on the earth,
Monitoring target search software for searching for and extracting a monitoring target from geographic information in the database, and the position coordinates of the monitoring target extracted by the monitoring target search software as three-dimensional position coordinates by the coordinate system adopted by the navigation satellite Connected to the memory that stores the position coordinate generation software to be converted,
Further, based on the position coordinates of the monitoring target, the position information of the observation satellite orbiting the earth received from the navigation satellite signal receiver, and the attitude angle information of the observation satellite received from the attitude detector of the observation satellite, the observation satellite Calculates the amount of deviation between the field of view of the imager mounted on the camera and the direction of the monitoring target with respect to the observation satellite, and based on the calculated amount of deviation, the position coordinates of the monitoring target are used as control target values to determine the attitude of the observation satellite. The position coordinate of the monitoring target generated by the operation processing of the position coordinate generation software is set so that the posture change amount is instructed to the changing machine, and the posture is changed and controlled. A monitoring device characterized by transmitting to an observation satellite. A monitoring device in which a computer installed in a ground station and software connected to a database including geographical information and location information on the earth are stored in a memory,
The software includes a monitoring target search software for searching for and extracting a monitoring target from geographical information in the database, and a three-dimensional coordinate system based on a coordinate system adopted by the navigation satellite for the position coordinates of the monitoring target extracted by the monitoring target search software. A position coordinate generation software for converting to the position coordinates of
Furthermore, the position coordinate generation software
Based on the position coordinates of the monitoring target, the position information of the observation satellite orbiting the earth received from the navigation satellite signal receiver, and the attitude angle information of the observation satellite received from the attitude detector of the observation satellite And the direction of the monitoring target with respect to the observation satellite, and based on the calculated amount of deviation, the position coordinate of the monitoring satellite is set as the control target value and the attitude change amount for the observation satellite attitude change machine is calculated. Instructing and changing the attitude, and transmitting the generated position coordinates of the monitoring target to a computer for communicating with the observation satellite so that the imaging device is directed to the monitoring target.
A monitoring device characterized by that. An observation satellite orbiting the earth,
An imager that is mounted on the observation satellite and faces the earth's surface,
A navigation satellite signal receiver that receives the ranging radio waves emitted from the navigation satellite and measures the position coordinates of the observation satellite in the coordinate system adopted by the navigation satellite,
An attitude detector for detecting the attitude of the observation satellite,
An attitude change machine mounted on the observation satellite and changing the attitude of the observation satellite;
An onboard computer mounted on the observation satellite,
The above-mentioned calculator is
The position coordinates of the monitoring target selected from the geographical information in the database by the operation of the computer installed in the ground station and the terminal connected to the database having the geographical information and the positional information on the earth, Receives the position coordinates converted into 3D position coordinates by the coordinate system adopted by the navigation satellite,
Based on the position coordinates of the received monitoring target, the position information of the observation satellite received from the navigation satellite signal receiver, and the attitude angle information of the observation satellite received from the attitude detector, A deviation amount from the direction of the monitoring target with respect to the observation satellite is calculated, and based on the calculated deviation amount, the position coordinate of the monitoring target is used as a control target value so that the line of sight of the imaging device is directed to the monitoring target. In addition, the monitoring apparatus is characterized by changing the attitude of the observation satellite by instructing the attitude change machine to change the attitude of the observation satellite.

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