Mutekiou Tri-Zenon (2000)

During the Edo Period, 3 mysterious space capsules were sent down to earth. Fear that it might bring chaos to the earth, the humans at that time buried these 3 objects down beneath the ground and entrusted a piece of descriptive map to the Kamui family. Today, these 3 objects were awaken one by one. The first to awaken, Tri-Zenon, one of the Zenon Guardians is now driven by the descendant of the Kamui family, Akira Kamui, his brother Ai Kamui and his friend Kanna. Aliens who descend to earth with a purpose will now have to face Tri-Zenon.

Source: www.anisearch.com/anime/1621