Positioning system and positioning program product

Abstract

The invention relates to a positioning system and a positioning program product. The purpose of the present invention is to accurately grasp the positional relationship between two swinging bodies. The first calculation device acquires a first position, a second position, and a third position of the first swinging body. The first calculation device calculates a current orientation of the first swinging body at the first position on the basis of a first vector from the first position to the second position and a second vector from the first position to the third position. The first calculation device corrects a first reference vector from the first positioning antenna to the first predetermined point in the attitude of the first swinging body at the predetermined time on the basis of the current attitude of the first swinging body. The first calculation device adds the corrected first reference vector to the first position to calculate the position of a first predetermined point in the current orientation of the first swinging body. The first calculation device acquires the position of a second predetermined point in the current posture of the second swing body calculated on the basis of the fourth position, fifth position, and sixth position of the second swing body. Then, the first calculation device calculates a current positional relationship between the first predetermined point and the second predetermined point.

Description

Technical Field

[0001] The present disclosure relates to a positioning system and a positioning program product. Background Art

[0002] Patent document 1 discloses a posture detection device for detecting posture changes of a two-wheeled vehicle based on GPS signals. The posture detection device disclosed in Patent document 1 includes a first GPS receiver provided at a first position on the vehicle and a second GPS receiver provided at a second position lower than the first position. In addition, the posture detection device obtains first position information based on the GPS signal detected by the first GPS receiver, and obtains second position information based on the GPS signal detected by the second GPS receiver. In addition, the posture detection device detects the direction of travel of the vehicle, and detects posture changes of the vehicle based on the first and second position information and the direction of travel of the vehicle.

[0003] Patent document 2 discloses a multipath detection device, which detects whether each carrier wave transmitted from each GPS satellite and received by each GPS antenna contains a multipath wave in a mobile body provided with a plurality of GPS antennas at fixed relative positions between the GPS antennas. The multipath detection device disclosed in Patent document 2 inputs information on the carrier phase representing the distance between each GPS satellite and each GPS antenna in terms of the number of carrier waves, and calculates the difference in carrier phase between the GPS antennas and the same GPS satellite using a CPU based on the input carrier phase information.

[0004] The multipath detection device inputs the calculated carrier phase difference between GPS antennas and a LOS (Line Of Sight) vector indicating the direction from a specific GPS antenna toward a specific GPS satellite determined by an arbitrary method, and uses a CPU to calculate a baseline length indicating the distance between the GPS antennas as an observed baseline length based on the input carrier phase difference and the input LOS vector. The multipath detection device uses a CPU to compare a known baseline length indicating the distance between the GPS antennas calculated in advance with the observed baseline length calculated by the baseline length calculation unit, and when the observed baseline length differs from the known baseline length by more than a predetermined threshold, it is determined that each carrier used in the calculation of the observed baseline length contains a multipath wave.

[0005] Prior art literature Patent Literature Patent Document 1: Japanese Patent Application Publication No. 2005-207831 Patent Document 2: Japanese Patent Application Publication No. 2008-298443 Summary of the invention Problem that the invention aims to solve The purpose of the present disclosure is to accurately grasp the positional relationship between two swinging bodies.

[0006] Solutions for solving problems The positioning system of the first aspect of the present disclosure includes a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to a first swinging body, and a first computing device, wherein: The first computing device is configured to perform the following operations: Acquire a first position measured by the first positioning antenna, a second position measured by the second positioning antenna, and a third position measured by the third positioning antenna; calculating a current posture of the first swinging body at the first position based on the acquired first vector from the first position to the second position and the acquired second vector from the first position to the third position; Correcting a first reference vector from the first positioning antenna to a first predetermined point at a posture of the first swinging body at a predetermined time based on the calculated current posture of the first swinging body at the first position; calculating the position of the first predetermined point in the current posture of the first swinging body by adding the corrected first reference vector to the first position; acquiring a position of a second predetermined point of a second swinging body on which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are installed, wherein the position of the second predetermined point is a position of a predetermined point in a current posture of the second swinging body calculated based on a fourth position measured by the fourth positioning antenna, a fifth position measured by the fifth positioning antenna, and a sixth position measured by the sixth positioning antenna; and The current positional relationship between the first predetermined point and the second predetermined point is calculated with reference to the position of the first predetermined point and the position of the second predetermined point.

[0007] The positioning program product of the second aspect of the present disclosure causes a computing device connected to a first positioning antenna, a second positioning antenna, and a third positioning antenna mounted on a first swinging body to execute an information processing method, wherein: The information processing method comprises: Acquire a first position measured by the first positioning antenna, a second position measured by the second positioning antenna, and a third position measured by the third positioning antenna; calculating a current posture of the first swinging body at the first position based on the acquired first vector from the first position to the second position and the acquired second vector from the first position to the third position; Correcting a first reference vector from the first positioning antenna to a first predetermined point at a posture of the first swinging body at a predetermined time based on the calculated current posture of the first swinging body at the first position; calculating the position of the first predetermined point in the current posture of the first swinging body by adding the corrected first reference vector to the first position; acquiring a position of a second predetermined point of a second swinging body on which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are installed, wherein the position of the second predetermined point is a position of a predetermined point in a current posture of the second swinging body calculated based on a fourth position measured by the fourth positioning antenna, a fifth position measured by the fifth positioning antenna, and a sixth position measured by the sixth positioning antenna; and The current positional relationship between the first predetermined point and the second predetermined point is calculated with reference to the position of the first predetermined point and the position of the second predetermined point.

[0008] Effects of the Invention According to the present disclosure, the positional relationship between two swinging bodies can be accurately grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a diagram showing a schematic structure of a positioning system.

[0010] Figure 2 This is a diagram showing an example of changes in the positions of each antenna and a predetermined point when the first ship and the second ship are swinging.

[0011] Figure 3 This is a diagram showing the positional relationship between a first predetermined point of a first ship and a second predetermined point of a second ship.

[0012] Figure 4 This is a block diagram schematically showing an example of the functional configuration of the first computing device and the second computing device constituting the positioning system.

[0013] Figure 5 This is a flowchart of information processing executed by the control unit in the first computing device.

[0014] Description of Reference Numerals 1…positioning system; 10…first ship; 100…first computing device; 101…control unit; 102…acquisition unit; 103…communication unit; 210…first antenna; 220…second antenna; 230…third antenna; 30…second ship; 300…second computing device; 301…control unit; 302…acquisition unit; 303…communication unit; 410…fourth antenna; 420…fifth antenna; 430…sixth antenna. DETAILED DESCRIPTION

[0015] Consider a situation where the positional relationship between two swinging bodies is calculated. In this case, even when the swinging body does not move, the position of the predetermined point of the swinging body will change due to the swinging of the swinging body. In other words, it is assumed that the predetermined position of the swinging body changes according to the posture of the swinging body. Therefore, it is assumed that the positional relationship between the predetermined point of one swinging body and the predetermined point of the other swinging body changes due to the change of the posture of at least one of the two swinging bodies due to the swinging. Therefore, it is difficult to grasp the positional relationship between the two predetermined points of the two swinging bodies. Therefore, the positioning system of the first method of the present disclosure solves such a problem.

[0016] The positioning system of the first embodiment of the present disclosure is a system including a first positioning antenna, a second positioning antenna, a third positioning antenna, and a first computing device. The first positioning antenna, the second positioning antenna, and the third positioning antenna in the positioning system are installed on a first swinging body. The first computing device in the positioning system acquires a first position, a second position, and a third position. Here, the first position, the second position, and the third position are positions measured by the first positioning antenna, the second positioning antenna, and the third positioning antenna, respectively.

[0017] The first operation device calculates the current posture of the swinging body at the first position based on the first vector and the second vector. Here, the first vector is a vector from the first position to the second position. The second vector is a vector from the first position to the third position. The first operation device corrects the first reference vector from the first positioning antenna to the first predetermined point in the posture of the first swinging body at a predetermined time based on the calculated current posture. Here, the given vector from the first positioning antenna to the first predetermined point in the predetermined posture of the first swinging body is determined as the first reference vector.

[0018] The corrected first reference vector is a vector from the first position to the current first predetermined point (a vector to the first predetermined point based on the first position). Therefore, the first computing device calculates the position of the first predetermined point in the current posture of the first swinging body by adding the first position to the corrected first reference vector.

[0019] In addition, the first computing device acquires the position of the second predetermined point of the second swinging body provided with the fourth positioning antenna, the fifth positioning antenna, and the sixth positioning antenna in the current posture of the second swinging body. Here, the position of the second predetermined point is a position calculated based on the fourth position measured by the fourth positioning antenna, the fifth position measured by the fifth positioning antenna, and the sixth position measured by the sixth positioning antenna. Then, the first computing device calculates the current positional relationship between the first predetermined point and the second predetermined point with reference to the position of the first predetermined point and the position of the second predetermined point.

[0020] As described above, the positioning system can calculate the position of the first predetermined point affected by the swing of the first swing using the positions of the three points of the swing located by the three positioning antennas of the first swing. In addition, the positioning system obtains the position of the second predetermined point of the second swing calculated based on the fourth position, the fifth position, and the sixth position. Thus, the positioning system can grasp the positional relationship between the first predetermined point and the second predetermined point that change due to the swing. As a result, the positional relationship between the two swings can be accurately grasped.

[0021] The following describes specific embodiments of the present disclosure based on the drawings. Unless otherwise specified, the hardware configuration, module configuration, functional configuration, etc. described in each embodiment do not limit the scope of protection of the disclosure to these.

[0022] <First Embodiment> (System Overview) based on Figure 1 The positioning system 1 in this embodiment will be described. Figure 1 1 is a diagram showing a schematic structure of a positioning system 1. The positioning system 1 is configured to include a first operation device 100, a first antenna 210, a second antenna 220, and a third antenna 230, and a second operation device 300, a fourth antenna 410, a fifth antenna 420, and a sixth antenna 430. In the positioning system 1, the first antenna 210, the second antenna 220, and the third antenna 230 are connected to the first operation device 100. In addition, in the positioning system 1, the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are connected to the second operation device 300.

[0023] In addition, the first computing device 100 and the second computing device 300 are configured to be able to communicate. The first computing device 100 and the second computing device 300 communicate directly, for example, via Wi-Fi (registered trademark). Thus, even when the first computing device 100 and the second computing device 200 are located at sea and cannot use a telephone communication network such as a mobile phone, the first computing device 100 and the second computing device 300 can communicate. In this case, if the first ship 10 (first computing device 100) and the second ship 30 (second computing device 300) are located within the communication range, the first computing device 100 and the second computing device 300 start communicating. It should be noted that the first computing device 100 and the second computing device 300 can also communicate via a WAN (Wide Area Network), a world-wide public communication network such as the Internet, or a telephone communication network such as a mobile phone.

[0024] (antenna) The first antenna 210, the second antenna 220, and the third antenna 230 are positioning antennas installed on the first ship 10. The first antenna 210, the second antenna 220, and the third antenna 230 are, for example, GNSS positioning antennas. The current positions of the first antenna 210, the second antenna 220, and the third antenna 230 can be measured by the first antenna 210, the second antenna 220, and the third antenna 230. The current positions measured by the first antenna 210, the second antenna 220, and the third antenna 230 are, for example, the latitude, longitude, and altitude of each.

[0025] The fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are positioning antennas installed on the second ship 30. The fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are, for example, GNSS positioning antennas. The current positions of the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 can be measured by the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430. The current positions measured by the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are, for example, the latitude, longitude, and altitude of each.

[0026] In the present embodiment, the first antenna 210, the second antenna 220, and the third antenna 230 are mounted on the upper surface of the first ship 10. In addition, the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are mounted on the upper surface of the second ship 30. Thus, it is possible to suppress the first antenna 210, the second antenna 220, the third antenna 230, and the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 from failing to receive radio waves from GNSS satellites. It should be noted that the first antenna 210, the second antenna 220, and the third antenna 230 do not need to be mounted horizontally in the first ship 10. In addition, the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 do not need to be mounted horizontally in the second ship 30.

[0027] Figure 2 FIG. 1 is a diagram showing an example of changes in the positions of each antenna and a predetermined point when the first ship 10 and the second ship 30 are swinging. Figure 2 , the current position of the first antenna 210, the current position of the second antenna 220, and the current position of the third antenna 230 (hereinafter, sometimes referred to as "first position", "second position", and "third position", respectively) changes due to the swing of the first ship 10. Figure 2 In FIG. 1 , the first antenna 210, the second antenna 220, the third antenna 230, the first vector (described later), the second vector (described later), and the first reference vector (described later) when the first ship 10 is not swinging are depicted by solid lines. Figure 2In FIG. 1 , the first antenna 210, the second antenna 220, the third antenna 230, the first vector, the second vector, and the first reference vector when the first ship 10 is swinging are depicted by dotted lines. Figure 2 As shown, the first position, the second position, the third position, and the first predetermined point change as the first ship 10 swings.

[0028] In addition, if Figure 2 As shown, the current position of the 4th antenna 410 (4th position), the current position of the 5th antenna 420 (5th position), the current position of the 6th antenna 430 (6th position), the 3rd vector (described later), the 4th vector (described later), and the 2nd reference vector (described later) also change due to the swinging of the 2nd ship 30.

[0029] (Second computing device) The second computing device 300 is a device that acquires the current positions of the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 of the second ship 30. The second computing device 300 acquires the current position (the fourth position) of the fourth antenna 410 measured by the fourth antenna 410 from the fourth antenna 410. In addition, the second computing device 300 acquires the current position (the fifth position) of the fifth antenna 420 measured by the fifth antenna 420 from the fifth antenna 420. In addition, the second computing device 300 acquires the current position (the sixth position) of the sixth antenna 430 measured by the sixth antenna 430 from the sixth antenna 430. Then, the second computing device 300 transmits the fourth position, the fifth position, and the sixth position to the first computing device 100 by communicating with the first computing device 100.

[0030] (First computing device) The first computing device 100 is a device that calculates the position (latitude, longitude, and altitude) of the first predetermined point of the first ship 10. Here, the first predetermined point is an arbitrary point of the first ship 10. The first predetermined point is, for example, a point on the surface of the first ship 10. In addition, the first predetermined point may be, for example, a point inside the first ship 10, such as the center of gravity or the center of buoyancy.

[0031] The first computing device 100 acquires the current position (first position) of the first antenna 210 measured by the first antenna 210 from the first antenna 210. In addition, the first computing device 100 acquires the current position (second position) of the second antenna 220 measured by the second antenna 220 from the second antenna 220. In addition, the first computing device 100 acquires the current position (third position) of the third antenna 230 measured by the third antenna 230 from the third antenna 230.

[0032] The first calculation device 100 calculates a first vector and a second vector. Here, the first vector is a vector from the first position to the second position. In addition, the second vector is a vector from the first position to the third position. Then, the first calculation device 100 calculates the current posture of the first ship 10 at the first position using the first vector and the second vector. Specifically, the first calculation device 100 calculates the roll, pitch, and yaw at the first position.

[0033] Here, a first reference vector is predetermined for a first predetermined point of the first ship 10. The first reference vector is a vector from the first antenna 210 to the first predetermined point in the posture of the first ship 10 at a predetermined time. Here, the posture at the predetermined time is, for example, the posture at a time point when the first ship 10 is not swinging. That is, the posture at the predetermined time is the posture when the roll, pitch, and yaw of the first position are 0. The first computing device 100 corrects the first reference vector based on the current posture of the first ship 10 at the first position (including the current posture of the roll, pitch, and yaw at the first position). Then, the first computing device 100 calculates the position of the first predetermined point using the corrected first reference vector and the first position.

[0034] In addition, the first computing device 100 receives the fourth position, the fifth position, and the sixth position from the second computing device 300 by communicating with the second computing device 300. The first computing device 100 calculates the position of the second predetermined point of the second ship 30 from the fourth position, the fifth position, and the sixth position in the same manner as the method of calculating the position of the first predetermined point from the first position, the second position, and the third position. Here, the second predetermined point is an arbitrary point of the second ship 30. The second predetermined point is, for example, a point on the surface of the second ship 30. In addition, the second predetermined point may be, for example, a point inside the second ship 30 such as the center of gravity or the center of buoyancy.

[0035] Specifically, the first operation device 100 calculates the third vector and the fourth vector, and calculates the current posture of the second ship 30 at the fourth position. Here, the third vector is a vector from the fourth position to the fifth position. In addition, the fourth vector is a vector from the fourth position to the sixth position. In addition, a second reference vector is preset with respect to the second predetermined point of the second ship 30. The second reference vector is a vector from the fourth antenna 410 to the second predetermined point at the posture of the second ship 30 at a predetermined time. Here, the posture at the predetermined time is, for example, the posture at a time point when the second ship 30 is not swinging. The first operation device 100 corrects the second reference vector based on the current posture of the second ship 30 at the fourth position, and calculates the position of the second predetermined point. Details of the method of correcting the first reference vector (the second reference vector) and the method of calculating the position of the first predetermined point (the second predetermined point) by the first operation device 100 will be described later.

[0036] Figure 3 1 is a diagram showing the positional relationship between the first predetermined point of the first ship 10 and the second predetermined point of the second ship 30. Figure 3 , the position of the first predetermined point calculated based on the first position, the second position, and the third position acquired by the first antenna 210, the second antenna 220, and the third antenna 230, and the position of the second predetermined point calculated based on the fourth position, the fifth position, and the sixth position acquired by the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are shown. The first computing device 100 calculates the positional relationship between the first predetermined point and the second predetermined point based on the calculated position of the first predetermined point and the position of the second predetermined point.

[0037] Here, the positional relationship between the first predetermined point and the second predetermined point includes, for example, the distance between the first predetermined point and the second predetermined point and the azimuth with the first predetermined point as the base point. In addition, the positional relationship between the first predetermined point and the second predetermined point may also be the relative distance to the second predetermined point with the first predetermined point as the base point. In addition, the positional relationship between the first predetermined point and the second predetermined point may also include the relative speed with the second predetermined point with the first predetermined point as the base point. In this case, the first computing device 100 calculates the relative speed between the first predetermined point and the second predetermined point by calculating the time shift of the relative distance between the first predetermined point and the second predetermined point. It should be noted that the positional relationship between the first predetermined point and the second predetermined point may also include the relative distance, azimuth and relative speed with the second predetermined point as the base point.

[0038] The first computing device 100 is configured to include a computer having a processor 110, a main storage unit 120, an auxiliary storage unit 130, and a communication interface (communication I / F) 140. The processor 110 is, for example, a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). The main storage unit 120 is, for example, a RAM (Random Access Memory). The auxiliary storage unit 130 is, for example, a ROM (Read Only Memory). In addition, the auxiliary storage unit 130 is, for example, a disk recording medium such as an HDD (Hard Disk Drive) or a CD-ROM, a DVD disk, or a Blu-ray disk. In addition, the auxiliary storage unit 130 may also be a removable medium (removable storage medium). Here, as a removable medium, for example, a USB memory or an SD card is exemplified.

[0039] In the first computing device 100, an operating system (OS), various programs, various information tables, etc. are stored in the auxiliary storage unit 130. In addition, in the first computing device 100, the processor 110 loads the program stored in the auxiliary storage unit 130 into the main storage unit 120 and executes it, thereby realizing various functions as described later. However, part or all of the functions in the first computing device 100 can also be realized by a hardware circuit such as ASIC or FPGA. It should be noted that the first computing device 100 does not necessarily have to be realized by a single physical structure, and can also be composed of multiple computers that cooperate with each other. In addition, the second computing device 300 is also configured to include a computer in the same way as the first computing device 100.

[0040] (Functional structure) Next, based on Figure 4 The functional configurations of the first computing device 100 and the second computing device 300 constituting the positioning system 1 will be described. Figure 4 This is a block diagram schematically showing an example of the functional configuration of the first computing device 100 and the second computing device 300 constituting the positioning system 1 .

[0041] (Second computing device) The second computing device 300 is configured to include a control unit 301, an acquisition unit 302, and a communication unit 303. The control unit 301 has a function of performing a computing process for controlling the second computing device 300. The control unit 301 can be implemented by a processor in the second computing device 300. The acquisition unit 302 has a function of acquiring the current positions of the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430. The acquisition unit 302 can be implemented by an interface for connecting the second computing device 300 and each antenna. The communication unit 303 has a function of communicating with the first computing device 100. The communication unit 303 can be implemented by a communication I / F in the second computing device 300.

[0042] The control unit 301 acquires the current positions (the fourth position, the fifth position, and the sixth position) of the fourth antenna 410 , the fifth antenna 420 , and the sixth antenna 430 via the acquisition unit 302 . Then, the control unit 301 transmits the fourth position, the fifth position, and the sixth position to the first computing device 100 via the communication unit 303 .

[0043] (First computing device) The first computing device 100 is configured to include a control unit 101, an acquisition unit 102, and a communication unit 103. The control unit 101 has a function of performing a computing process for controlling the first computing device 100, and the control unit 101 can be implemented by the processor 110 in the first computing device 100. The acquisition unit 102 has a function of acquiring the current positions of the first antenna 210, the second antenna 220, and the third antenna 230. The acquisition unit 102 can be implemented by an interface for connecting the first computing device 100 and each antenna. The communication unit 103 has a function of communicating with the second computing device 300. The communication unit 103 can be implemented by the communication I / F 140 in the first computing device 100.

[0044] The control unit 101 obtains the current positions (first position, second position, and third position) of the first antenna 210, the second antenna 220, and the third antenna 230 through the acquisition unit 102. The control unit 101 calculates the first vector using the first position and the second position. In addition, the control unit 101 calculates the second vector using the first position and the third position. In this embodiment, each component of the first vector and the second vector is set using latitude, longitude, and altitude as a coordinate system.

[0045] The control unit 101 calculates the roll, pitch, and yaw of the first position using the first vector and the second vector, thereby calculating the current posture of the first ship 10 at the first position. Here, in the present embodiment, the roll, pitch, and yaw of the first position are determined by the angles of the axis in the latitude direction, the axis in the longitude direction, and the axis in the altitude direction around the first position as a reference (origin) using the latitude, longitude, and altitude as a coordinate system. Then, the control unit 101 corrects the first reference vector based on the calculated current posture of the first ship 10 at the first position.

[0046] Here, it is assumed that the current posture of the first ship 10 at the first position is represented by the roll angle r, the pitch angle p, and the yaw angle h. The corrected first reference vector (x', y', z') is represented by the following equation by the rotation matrix about the roll angle r, the pitch angle p, and the yaw angle h and the first reference vector (x, y, z) before correction. Here, the first reference vector is determined by a coordinate system determined by latitude, longitude, and altitude.

[0047] [Mathematical formula 1]

[0048] The corrected first reference vector (x', y', z') becomes a vector from the first position to the current first predetermined point with latitude, longitude, and altitude as a coordinate system. Therefore, the control unit 101 calculates the current position of the first predetermined point by adding each component of the coordinates of the first position to each component of the corrected first reference vector (x', y', z').

[0049] The control unit 101 receives the fourth position, the fifth position, and the sixth position from the second operation device 300 via the communication unit 103. The control unit 101 calculates the third vector using the fourth position and the fifth position. In addition, the control unit 101 calculates the fourth vector using the fourth position and the sixth position.

[0050] Then, the control unit 101 calculates the current posture of the second ship 30 at the fourth position using the third vector and the fourth vector. Next, the control unit 101 corrects the second reference vector based on the calculated current posture of the second ship 30 at the fourth position. Thereafter, the control unit 101 calculates the current position of the second predetermined point by adding the components of the coordinates of the fourth position to the components of the corrected second reference vector. Here, the second reference vector, which is the vector from the fourth antenna 410 to the second predetermined point at the posture of the second ship 30 at a predetermined time, is grasped by the control unit 101 as a given vector. In addition, the control unit 101 may receive the second reference vector from the second computing device 300 when receiving the fourth position, the fifth position, and the sixth position. In addition, the method of calculating the current position of the second predetermined point using the fourth position, the fifth position, and the sixth position is the same as the method of calculating the current position of the first predetermined point using the first position, the second position, and the third position (described above), and therefore the description thereof is omitted.

[0051] (flow chart) Next, based on Figure 5 Information processing executed by the control unit 101 in the first operation device 100 in the positioning system 1 will be described. Figure 5 2 is a flowchart of information processing executed by the control unit 101 in the first computing device 100 . Figure 5 The information processing shown is a process for calculating the positional relationship between the first ship 10 and the second ship 30. After the first computing device 100 and the second computing device 300 start communicating, the processing is repeatedly performed at predetermined intervals. Figure 5 The information processing shown.

[0052] exist Figure 5In the information processing shown, first, in S101, the first position, the second position, and the third position are acquired from the first antenna 210, the second antenna 220, and the third antenna 230. In addition, in S101, the fourth position, the fifth position, and the sixth position are acquired by receiving from the second operation device 300. Next, in S102, the first vector and the second vector are calculated using the first position, the second position, and the third position. In addition, in S102, the third vector and the fourth vector are calculated using the fourth position, the fifth position, and the sixth position.

[0053] Next, in S103, the posture (first posture) of the first ship 10 at the first position is calculated using the first vector and the second vector. In addition, in S103, the posture (second posture) of the second ship 30 at the fourth position is calculated using the third vector and the fourth vector. Next, in S104, the first reference vector is corrected using the posture of the first ship 10 at the first position. In addition, in S104, the second reference vector is corrected using the posture of the second ship 30 at the fourth position.

[0054] Next, in S105, the position of the first predetermined point is calculated using the corrected first vector and the first position. In addition, in S105, the position of the second predetermined point is calculated using the corrected second vector and the fourth position. Next, in S106, the positional relationship between the first predetermined point and the second predetermined point is calculated using the position of the first predetermined point and the position of the second predetermined point calculated in S105.

[0055] As described above, in the positioning system 1, the positional relationship between the first predetermined point and the second predetermined point is calculated based on the current position of each antenna. As a result, the positional relationship between the first predetermined point and the second predetermined point affected by the swing of the first ship 10 and the second ship 30 can be grasped. As a result, the positional relationship between the first ship 10 and the second ship 30 can be accurately grasped. In addition, when the first predetermined point is a point on the surface of the first ship 10 and the second predetermined point is a point on the surface of the second ship 30, the distance between the surface of the first ship 10 and the surface of the second ship 30 can be calculated. As a result, safety can be ensured when the first ship 10 wants to board the second ship 30.

[0056] (Variant 1) In the present embodiment, the coordinate system used for the (first and second) reference vectors is a coordinate system determined by latitude, longitude, and altitude. However, the coordinate system used for the reference vectors may be a coordinate system other than the coordinate system determined by latitude, longitude, and altitude. For example, it may be a coordinate system of the travel direction of the first ship 10 (second ship 30), the lateral direction of the first ship 10 (second ship 30), and the upward direction of the first ship 10 (second ship 30). In addition, the coordinate system used for the posture of the first ship 10 (second ship 30) and the like may also be a coordinate system different from the coordinate system determined by latitude, longitude, and altitude. In this case, the first computing device 100 calculates the positions of the (first and second) predetermined points by appropriately performing coordinate transformation.

[0057] (Variant 2) In this embodiment, the position of the predetermined point of the ship is calculated. That is, in this embodiment, the position of the predetermined point of the floating moving body is calculated. However, this embodiment can also be applied to non-moving floating bodies such as floating offshore wind power generation equipment. In addition, the floating body (moving body) can also be an object floating in the air such as an airplane or a drone. In addition, the vehicle sways due to vibrations during driving or accelerations (front and rear directions or lateral accelerations) generated during driving. In addition, buildings also sway due to earthquakes or wind effects. Therefore, this embodiment can also be applied to objects other than floating bodies such as vehicles or buildings.

[0058] (Variant 3) In this embodiment, the first computing device 100 is directly connected to the first antenna 210, the second antenna 220, and the third antenna 230. In addition, the second computing device 300 is directly connected to the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430. However, the connection method with the antenna is not limited to this example. In another example, the first computing device 100 (the second computing device 300) can be indirectly connected to at least one of the first antenna 210, the second antenna 220, and the third antenna 230 (the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430) via one or more external computers such as a relay device.

[0059] (Variant 4) In addition, when the current position of at least one of the first antenna 210, the second antenna 220, and the third antenna 230 cannot be obtained, the first computing device 100 may also obtain the posture of the first ship 10 through the inertial measurement unit. Here, the inertial measurement unit is installed on the first ship 10. In addition, the first computing device 100 obtains the current position of the antenna that can obtain the current position among the first antenna 210, the second antenna 220, or the third antenna 230, and corrects the first reference vector from the antenna to the first predetermined point based on the current posture of the first ship 10 at the current position of the antenna. It should be noted that the first computing device 100 may also obtain the current position of the inertial measurement unit and correct the reference vector from the inertial measurement unit to the predetermined point. In this way, even in the situation where all three antennas of the first ship 10 cannot obtain the current position, the accurate position of the first predetermined point can be grasped.

[0060] In addition, when the current position of at least one of the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 cannot be acquired, the second computing device 300 may acquire the posture of the second ship 30 through the inertial measurement unit. Then, the second computing device 300 acquires the current position of the antenna that can acquire the current position among the fourth antenna 410, the fifth antenna 420, or the sixth antenna 430, and transmits it to the first computing device 100 together with the posture of the second ship 30. In this way, even in a situation where all three antennas of the second ship 30 cannot acquire the current position, the accurate position of the second predetermined point can be grasped.

[0061] (Variant 5) In the present embodiment, the first computing device 100 calculates the position of the second predetermined point using the fourth position, the fifth position, and the sixth position. Thus, even if the second computing device 300 does not have a function of calculating the position of the second predetermined point, the first computing device 100 can calculate the position of the second predetermined point and calculate the positional relationship between the first predetermined point and the second predetermined point. On the other hand, in the present variation, the second computing device 300 calculates the position of the second predetermined point using the fourth position, the fifth position, and the sixth position. In this case, after calculating the position of the second predetermined point using the fourth position, the fifth position, and the sixth position, the second computing device 300 transmits the position to the first computing device 100 through communication. The first computing device 100 that receives the position of the second predetermined point calculates the positional relationship between the first predetermined point and the second predetermined point using the calculated position of the first predetermined point and the received position of the second predetermined point. In this way, the first computing device 100 and the second computing device 300 each calculate the position of the predetermined point, so that the load on the first computing device 100 for calculating the position of the predetermined point can be reduced. Therefore, the calculation time of the position of the predetermined point can be shortened, and the positional relationship between the first ship 10 and the second ship 30 can be accurately grasped.

[0062] <Other Implementation Methods> The above-mentioned embodiment is only an example, and the present disclosure can be implemented with appropriate changes within the scope of the gist thereof. In addition, the processes and components described in the present disclosure can be implemented in combination as long as no technical contradiction occurs.

[0063] In addition, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by one device. In a computer system, it is possible to flexibly change which hardware structure (server structure) implements each function.

[0064] The present disclosure can also be implemented in the following manner: a computer program having the functions described in the above embodiments is supplied to a computer, and one or more processors of the computer read and execute the program. Such a computer program can be provided to the computer by a non-temporary computer-readable storage medium that can be connected to the system bus of the computer, or it can be provided to the computer via a network. Non-temporary computer-readable storage media include, for example, any type of disk (floppy disk (registered trademark) or hard disk drive (HDD)), optical disk (CD-ROM, DVD disk, or Blu-ray disk, etc.), read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetic card, flash memory, or any type of medium suitable for storing electronic instructions such as an optical card.

Claims

1. A positioning system comprising a first computing device and a first positioning antenna, a second positioning antenna and a third positioning antenna mounted on a first swinging body, wherein: The first computing device is configured to perform the following operations: Acquire a first position measured by the first positioning antenna, a second position measured by the second positioning antenna, and a third position measured by the third positioning antenna; calculating a current posture of the first swinging body at the first position based on the acquired first vector from the first position to the second position and the acquired second vector from the first position to the third position; Correcting a first reference vector from the first positioning antenna to a first predetermined point at a posture of the first swinging body at a predetermined time based on the calculated current posture of the first swinging body at the first position; calculating the position of the first predetermined point in the current posture of the first swinging body by adding the corrected first reference vector to the first position; Acquire the position of a second predetermined point of a second swinging body on which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are installed, wherein the position of the second predetermined point is the position of the predetermined point in the current posture of the second swinging body calculated based on a fourth position measured by the fourth positioning antenna, a fifth position measured by the fifth positioning antenna, and a sixth position measured by the sixth positioning antenna; as well as The current positional relationship between the first predetermined point and the second predetermined point is calculated with reference to the position of the first predetermined point and the position of the second predetermined point.

2. The positioning system according to claim 1, wherein: Acquiring the position of the second predetermined point includes: Obtaining the fourth position, the fifth position, and the sixth position; calculating a current posture of the second swinging body at the fourth position based on the acquired third vector from the fourth position to the fifth position and the acquired fourth vector from the fourth position to the sixth position; Correcting a second reference vector from the fourth positioning antenna to the second predetermined point at the posture of the second swinging body at a predetermined time based on the calculated current posture of the second swinging body at the fourth position; and The position of the second predetermined point in the current posture of the second swinging body is calculated by adding the corrected second reference vector to the fourth position.

3. The positioning system according to claim 1, wherein: The first computing device is capable of communicating with a second computing device mounted on the second swinging body. The second computing device is configured to perform the following operations: Obtaining the fourth position, the fifth position, and the sixth position; calculating a current posture of the second swinging body at the fourth position based on the acquired third vector from the fourth position to the fifth position and the acquired fourth vector from the fourth position to the sixth position; Correcting a second reference vector from the fourth positioning antenna to the second predetermined point at the posture of the second swinging body at a predetermined time based on the calculated current posture of the second swinging body at the fourth position; as well as The position of the second predetermined point in the current posture of the second swinging body is calculated by adding the corrected second reference vector to the fourth position. Acquiring the position of the second predetermined point includes: the first computing device receiving, from the second computing device, the position of the second predetermined point calculated by the second computing device.

4. A positioning program product, which causes a computing device connected to a first positioning antenna, a second positioning antenna and a third positioning antenna installed on a first swinging body to execute an information processing method, wherein: The information processing method comprises: Acquire a first position measured by the first positioning antenna, a second position measured by the second positioning antenna, and a third position measured by the third positioning antenna; calculating a current posture of the first swinging body at the first position based on the acquired first vector from the first position to the second position and the acquired second vector from the first position to the third position; Correcting a first reference vector from the first positioning antenna to a first predetermined point at a posture of the first swinging body at a predetermined time based on the calculated current posture of the first swinging body at the first position; calculating the position of the first predetermined point in the current posture of the first swinging body by adding the corrected first reference vector to the first position; acquiring a position of a second predetermined point of a second swinging body on which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are installed, wherein the position of the second predetermined point is a position of a predetermined point in a current posture of the second swinging body calculated based on a fourth position measured by the fourth positioning antenna, a fifth position measured by the fifth positioning antenna, and a sixth position measured by the sixth positioning antenna; and The current positional relationship between the first predetermined point and the second predetermined point is calculated with reference to the position of the first predetermined point and the position of the second predetermined point.

5. The positioning program product according to claim 4, wherein: Acquiring the position of the second predetermined point includes: Obtaining the fourth position, the fifth position, and the sixth position; calculating a current posture of the second swinging body at the fourth position based on the acquired third vector from the fourth position to the fifth position and the acquired fourth vector from the fourth position to the sixth position; Correcting a second reference vector from the fourth positioning antenna to the second predetermined point at the posture of the second swinging body at a predetermined time based on the calculated current posture of the second swinging body at the fourth position; and The position of the second predetermined point in the current posture of the second swinging body is calculated by adding the corrected second reference vector to the fourth position.

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