Here is an approach using a multi-argument pic
called "strip" to define the circular nodes (see section 18.2 of the tikz manual; version 3.0.1a). These are placed with commands like:
\pic at (0,0){strip={raduis, start angle, end angle, draw style,
text colour, text}};
For example,
\pic at (0,0){strip={25mm, 16,-57,redshell, white, System Capabilities}};
To use this you need to explicitly work out appropriate angles but I think that this is probably unavoidable with a diagram like this. The end result is that you can produce a diagram like this:

using code like thus:
\documentclass[svgnames]{article}
\usepackage{xcolor}
\usepackage{tikz}
\usetikzlibrary{decorations.text, arrows.meta}
\tikzset{
myarrow/.style={thick, -latex},
redshell/.style={draw=Maroon,fill=red!50!black},
redcircle/.style={redshell,circle, align=center, font=\small\sffamily,
text=white, inner sep=1pt},
blueshell/.style={draw=CornflowerBlue,fill=LightSteelBlue},
% #1=radius, #2=start angle, #3=end angle, #4=draw style,
% #5 text colour, #6=text
pics/strip/.style args = {#1,#2,#3,#4,#5,#6}{
code = {
\draw[#4] (#2:#1-3mm) arc (#2:#3:#1-3mm)
-- (#3:#1) -- (#3:#1+3mm) arc (#3:#2:#1+3mm)
-- (#2:#1) -- cycle;
\path[font=\small\sffamily,
decoration={text along path, text color=#5, text = {#6},
text align = {align = center}, raise = -0.5ex},
decorate] (#2:#1) arc (#2:#3:#1);
}
}
}
\begin{document}
\begin{tikzpicture}
\node[redcircle](SOSA) at (0,0) {Sensor,\\Observation,\\Sample, and\\Actuator\\(SOSA)};
\draw[myarrow] (156:42mm) -- (156:28mm);
\draw[myarrow] (120:42mm) -- (120:28mm);
\draw[myarrow] (120:22mm) -- (SOSA);
\draw[myarrow] (219:32mm) -- (SOSA);
\draw[myarrow] (260:32mm) -- (SOSA);
\draw[myarrow] (301:32mm) -- (SOSA);
\draw[myarrow] (145:45mm) arc [start angle=145, end angle=150, radius=45mm];
\draw[myarrow] (142:25mm) arc [start angle=142, end angle=152, radius=25mm];
\draw[myarrow] (16:25mm) arc [start angle=16, end angle=24, radius=25mm];
\pic at (0,0){strip={25mm, 16,-57,redshell, white,System Capabilities}};
\pic at (0,0){strip={25mm,142, 24,redshell, white,Semantic Sensor Network (SSN)}};
\pic at (0,0){strip={25mm,217,152,blueshell,black,Sample Relations}};
\pic at (0,0){strip={35mm,224,159,redshell, white,O{\&}M Alignment module}};
\pic at (0,0){strip={35mm,295,228,blueshell,black,PROV Alignment module}};
\pic at (0,0){strip={35mm,370,299,blueshell,black,OBOE Alignment module}};
\pic at (0,0){strip={45mm,145, 90,blueshell,black,SSNX Alignment module}};
\pic at (0,0){strip={45mm,220,150,blueshell,black,Docle-UltraLite Alignment module}};
\end{tikzpicture}
\end{document}