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 grasp the state of a predetermined point of a swinging body. A positioning system includes a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to a swing body, and a computing device. In a positioning system, an arithmetic device acquires a first position measured by a first positioning antenna, a second position measured by a second positioning antenna, and a third position measured by a third positioning antenna. The calculation device calculates the current orientation of the oscillating body at the first position on the basis of a first vector from the acquired first position to the second position and a second vector from the first position to the third position. The calculation device corrects the reference vector from the first positioning antenna to the predetermined point in the attitude of the oscillating body at the predetermined time on the basis of the calculated current attitude of the oscillating body at the first position. Furthermore, the calculation device calculates the position of a predetermined point in the current orientation of the swinging body by adding the corrected reference vector to the first position.

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 that detects 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 disposed at a first position on the vehicle and a second GPS receiver disposed 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 forward direction of the vehicle and detects posture changes of the vehicle based on the first and second position information and the forward direction of the vehicle.

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

[0004] The multipath detection device inputs the calculated carrier phase difference between the GPS antennas and the LOS (Line Of Sight) vector indicating the direction from the specific GPS antenna to the specific GPS satellite determined by an arbitrary method, and uses the CPU to calculate the baseline length indicating the distance between the GPS antennas as the observed baseline length based on the input carrier phase difference and the input LOS vector. The multipath detection device uses the CPU to compare the 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 multipath waves are included in each carrier used to calculate the observed baseline length.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2005-207831

[0008] Patent Document 2: Japanese Patent Application Publication No. 2008-298443 Summary of the invention

[0009] An object of the present disclosure is to grasp the state of a predetermined point in a swinging body.

[0010] The positioning system of the first aspect of the present disclosure comprises:

[0011] The first positioning antenna, the second positioning antenna and the third positioning antenna are mounted on the swing body; and

[0012] computing device,

[0013] in,

[0014] The computing device is configured to perform the following operations:

[0015] obtaining 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;

[0016] calculating a current posture of the 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;

[0017] Correcting a reference vector from the first positioning antenna to a predetermined point in the posture of the oscillating body at a predetermined time based on the calculated current posture of the oscillating body at the first position; and

[0018] The position of the predetermined point in the current posture of the swinging body is calculated by adding the corrected reference vector to the first position.

[0019] The positioning program product of the second aspect of the present disclosure causes a computing device to execute the information processing method, wherein the computing device is connected to a first positioning antenna, a second positioning antenna, and a third positioning antenna installed on a swinging body.

[0020] in,

[0021] The information processing method comprises:

[0022] obtaining 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;

[0023] calculating a current posture of the 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;

[0024] Correcting a reference vector from the first positioning antenna to a predetermined point in the posture of the oscillating body at a predetermined time based on the calculated current posture of the oscillating body at the first position; and

[0025] The position of the predetermined point in the current posture of the swinging body is calculated by adding the corrected reference vector to the first position.

[0026] Effects of the Invention

[0027] According to the present disclosure, the state of a predetermined point of the oscillating body can be grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a diagram showing a schematic structure of a positioning system.

[0029] Figure 2 This is a diagram showing an example of changes in the positions of each antenna and a predetermined point when the ship swings.

[0030] Figure 3 This is a block diagram schematically showing an example of the functional configuration of a computing device.

[0031] Figure 4 This is a diagram showing an example of a table structure of position information held in a position information database.

[0032] Figure 5 This is a flowchart of the first process executed by the control unit in the computing device.

[0033] Figure 6 This is a flowchart of the second process executed by the control unit in the computing device.

[0034] (Explanation of symbols)

[0035] 1: positioning system; 10: ship; 100: computing device; 101: control unit; 102: acquisition unit; 103: position information DB; 210: first antenna; 220: second antenna; 230: third antenna. DETAILED DESCRIPTION

[0036] Suppose that the position of the predetermined point of the swinging body is calculated. In this case, it is assumed that the position of the predetermined point also changes due to the swinging of the swinging body when the swinging body does not move. In other words, it is assumed that the position of the predetermined point of the swinging body changes according to the posture of the swinging body. Therefore, it is difficult to accurately grasp the position of the predetermined point of the swinging body. Therefore, the positioning system of the first scheme of the present disclosure solves such a problem.

[0037] The positioning system of the first embodiment of the present disclosure is a system including a first positioning antenna, a second positioning antenna, and a third positioning antenna installed on a swinging body, and a computing device. The computing device in the positioning system of the first embodiment of the present disclosure obtains 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.

[0038] The computing 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. In addition, the second vector is a vector from the first position to the third position. The computing device corrects the reference vector from the first positioning antenna to the predetermined point in the posture of the swinging body at a predetermined time based on the calculated current posture. Here, a given vector from the first positioning antenna to the predetermined point in the predetermined posture of the swinging body is determined as the reference vector.

[0039] The corrected reference vector becomes a vector from the first position to the current predetermined point (a vector to the predetermined point based on the first position). Therefore, the calculation device calculates the position of the predetermined point in the current posture of the swinging body by adding the first position to the corrected reference vector.

[0040] As described above, the information processing device can calculate the position of a predetermined point affected by the swing of the swing body using the positions of the three points of the swing body located by the three positioning antennas. In this way, the state of the predetermined point of the swing body can be grasped.

[0041] The specific embodiments of the present disclosure are described below with reference to the drawings. Unless otherwise specified, the hardware configuration, module configuration, functional configuration, etc. described in each embodiment are not intended to limit the technical scope of the disclosure to these. <First embodiment>

[0042] (System Overview)

[0043] based on Figure 1 The positioning system 1 in this embodiment will be described. Figure 1 2 is a diagram showing a schematic configuration of a positioning system 1. The positioning system 1 includes a computing device 100, a first antenna 210, a second antenna 220, and a third antenna 230. In the positioning system 1, the first antenna 210, the second antenna 220, and the third antenna 230 are connected to the computing device 100.

[0044] (antenna)

[0045] The first antenna 210, the second antenna 220, and the third antenna 230 are positioning antennas installed on the 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.

[0046] In this embodiment, the first antenna 210, the second antenna 220, and the third antenna 230 are installed on the upper surface of the ship 10. This can prevent the first antenna 210, the second antenna 220, and the third antenna 230 from failing to receive radio waves from GNSS satellites. In addition, the first antenna 210, the second antenna 220, and the third antenna 230 may not necessarily be installed on the ship 10 horizontally.

[0047] (Computing device)

[0048] The computing device 100 is a device for calculating the position (latitude, longitude and altitude) of a predetermined point of the ship 10. Here, the predetermined point is an arbitrary point in the ship 10. The predetermined point is, for example, a point on the surface of the ship 10. In addition, the predetermined point may also be, for example, a point inside the ship 10.

[0049] The computing device 100 is connected to the first antenna 210, the second antenna 220, and the third antenna 230. The computing device 100 obtains the current position of the first antenna 210 measured by the first antenna 210 (hereinafter sometimes referred to as the "first position") from the first antenna 210. In addition, the computing device 100 obtains the current position of the second antenna 220 measured by the second antenna 220 (hereinafter sometimes referred to as the "second position") from the second antenna 220. In addition, the computing device 100 obtains the current position of the third antenna 230 measured by the third antenna 230 (hereinafter sometimes referred to as the "third position") from the third antenna 230.

[0050] Figure 2 1 is a diagram showing an example of changes in the positions of each antenna and a predetermined point when the ship 10 swings. Figure 2 , it is shown that the positions of the first antenna 210, the second antenna 220, and the third antenna 230 (the first position, the second position, and the third position) change due to the swing of the 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 reference vector (described later) are depicted by solid lines when the ship 10 is not swinging. Figure 2In FIG. 1 , the first antenna 210, the second antenna 220, the third antenna 230, the first vector, the second vector, and the reference vector are depicted by dotted lines when the ship 10 is swinging. Figure 2 As shown, the first position, the second position, the third position, and the predetermined point change due to the swinging of the ship 10.

[0051] The operation device 100 calculates the first vector and the 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 operation device 100 calculates the current posture of the ship 10 at the first position using the first vector and the second vector. Specifically, the operation device 100 calculates the roll, pitch, and yaw at the first position.

[0052] Here, a reference vector is predetermined for a predetermined point of the ship 10. The reference vector is a vector from the first antenna 210 to the predetermined point in the posture of the ship 10 at a predetermined time. Here, the posture at the predetermined time is, for example, the posture at a time point when the ship 10 is not swinging. That is, the posture at the predetermined time is the posture when the roll, pitch, and yaw at the first position are 0. The computing device 100 corrects the reference vector based on the current posture of the ship 10 at the first position (including the current posture of the roll, pitch, and yaw at the first position). Then, the computing device 100 calculates the position of the predetermined point using the corrected reference vector and the first position. Details of the method of correcting the reference vector and the method of calculating the position of the predetermined point by the computing device 100 will be described later.

[0053] The computing device 100 is configured to include a computer having a processor 110, a main storage unit 120, and an auxiliary storage unit 130. 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, an HDD (Hard Disk Drive) or a disk recording medium such as 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.

[0054] In the computing device 100, the auxiliary storage unit 130 stores an operating system (OS), various programs, various information tables, etc. In addition, in the 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, so that various functions described later can be realized. However, part or all of the functions in the computing device 100 can also be realized by a hardware circuit such as ASIC or FPGA. In addition, the computing device 100 does not necessarily need to be realized by a single physical structure, and can also be composed of multiple computers that cooperate with each other.

[0055] (Functional structure)

[0056] Next, based on Figure 3 The functional structure of the arithmetic device 100 constituting the positioning system 1 will be described. Figure 3 This is a block diagram schematically showing an example of the functional configuration of the computing device 100 .

[0057] The computing device 100 is configured to include a control unit 101, an acquisition unit 102, and a position information database 103 (position information DB103). The control unit 101 has a function of performing a computing process for controlling the computing device 100. The control unit 101 can be implemented by the processor 110 in the 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. In addition, the acquisition unit 102 has a function of acquiring the movement amount of the ship 10 from the drive control device of the ship 10. The acquisition unit 102 can be implemented by an interface for connecting the computing device 100 to an external device (each antenna and the drive control device).

[0058] 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.

[0059] The control unit 101 calculates the roll, pitch, and yaw of the first position by using the first vector and the second vector, thereby calculating the current posture of the ship 10 at the first position. Here, in the present embodiment, the roll, pitch, and yaw of the first position are determined by angles around the following axes: the axis in the latitude direction, the axis in the longitude direction, and the axis in the altitude direction, which are used as a coordinate system with the latitude, longitude, and altitude as the reference (origin). Then, the control unit 101 corrects the reference vector based on the calculated current posture of the ship 10 at the first position.

[0060] Here, it is assumed that the current posture of the ship 10 at the first position is represented by the roll angle r, the pitch angle p, and the yaw angle h. The corrected reference vector (x', y', z') is expressed by the following equation using the rotation matrix about the roll angle r, the pitch angle p, and the yaw angle h and the reference vector (x, y, z) before correction. Here, the reference vector is determined by a coordinate system determined by latitude, longitude, and altitude.

[0061] (Formula 1)

[0062]

[0063] The corrected reference vector (x', y', z') becomes a vector from the first position to the current predetermined point with the latitude, longitude, and altitude as the coordinate system. Therefore, the control unit 101 calculates the current position of the predetermined point by adding the components of the coordinates of the first position to the components of the corrected reference vector (x', y', z').

[0064] The position information DB 103 has a function of storing position information. The position information DB 103 can be realized by the auxiliary storage unit 130 in the computing device 100. When the control unit 101 calculates the current position of the predetermined point, it updates the position information stored in the position information DB 103. The position information is information related to the calculated current position of the predetermined point. Figure 4 1 is a diagram showing an example of a table structure of position information held in the position information DB 103 .

[0065] like Figure 4 As shown, the position information has a point ID field, a date and time field, a position field, a position change field, a movement field, and a swing change field. In the point ID field, an identifier (point ID) for specifying a predetermined point of the ship 10 is stored. In the position information, point IDs for a plurality of predetermined points are stored.

[0066] The date and time field stores information indicating the date and time when the control unit 101 calculates the position of the predetermined point. The date and time field stores information indicating the date and time from early to late in order from top to bottom. The position field stores the position of the predetermined point calculated by the control unit 101 at the date and time indicated by the information stored in the date and time field.

[0067] In the position change amount field, the change amount of the position of the predetermined point within the following time, that is, the time between the date and time represented by the information stored in the corresponding date and time field and the date and time represented by the information stored in the previous date and time field of the corresponding date and time field (hereinafter sometimes referred to as "specific time"). Here, the change amount of the position of the predetermined point is calculated by subtracting the position of the predetermined point stored in the previous position field of the position field from the position of the predetermined point stored in the corresponding position field. Here, the change amount of the position of the predetermined point is the change amount of each component of latitude, longitude and altitude.

[0068] In the movement amount field, the movement amount of the ship 10 within a specific time is stored. The control unit 101 obtains the speed of the ship 10 from the drive control device of the ship 10. Here, the speed of the ship 10 obtained by the control unit 101 is the speed in each direction of the latitude direction, the longitude direction and the altitude direction. Then, the control unit 101 calculates the movement amount of the ship 10 based on the speed of the ship 10. Specifically, the control unit 101 calculates the movement amount by multiplying the obtained speed by the specific time. When the speed of the ship 10 changes within a specific time, the integral value of the speed within the specific time can also be calculated as the movement amount of the ship 10.

[0069] The change amount of the position of the predetermined point stored in the position change amount field includes the change amount of the position caused by the swing of the ship 10 and the change amount of the position caused by the movement of the ship 10. Therefore, by subtracting the change amount of the position caused by the movement of the ship 10 from the change amount of the position of the predetermined point, the change amount of the position caused by the swing of the ship 10 can be calculated. Therefore, the control unit 101 calculates the change amount of the position caused by the swing of the ship 10 by subtracting the movement amount of the ship 10 stored in the movement amount field from the change amount of the position of the ship 10 stored in the position change amount field. Then, the control unit 101 stores information indicating the calculated change amount of the position caused by the swing of the ship 10 in the swing change amount field.

[0070] Here, it is assumed that the center of buoyancy of the ship 10 changes due to the arrangement or number of cargo carried on the ship 10 or people boarding the ship 10. In addition, it is assumed that the center of buoyancy is the position where the change in position due to the swing of the ship 10 is the smallest. Therefore, the control unit 101 refers to the transition of the change amount due to the swing of the ship 10, and determines the predetermined point where the change amount of the position due to the swing of the ship 10 is the smallest as the center of buoyancy of the ship 10.

[0071] Specifically, the control unit 101 obtains the position information stored in the position information DB 103. The control unit 101 totals the amount of change in position caused by the swing of the ship 10 stored in the swing change amount field of the position information for each point ID, and calculates the total value. The control unit 101, for example, determines the point ID with the smallest amount of change in position caused by the swing of the ship 10. The control unit 101, for example, obtains the amount of change in each direction and calculates the absolute value. That is, the control unit 101 calculates the change distance of the predetermined point caused by the swing. Then, the predetermined point with the smallest amount of change in position caused by the swing of the ship 10 is determined as the buoyancy center of the ship 10.

[0072] (1st process)

[0073] Next, based on Figure 5 The first process executed by the control unit 101 in the computing device 100 in the positioning system 1 will be described. Figure 5 1 is a flowchart of a first process executed by the control unit 101 in the computing device 100. The first process is a process of calculating the position of a predetermined point of the ship 10. The first process is repeatedly executed at predetermined intervals.

[0074] In the first process, first, in S101, the first position, the second position, and the third position are obtained from the first antenna 210, the second antenna 220, and the third antenna 230, respectively. Next, in S102, the first vector and the second vector are calculated using the first position, the second position, and the third position. Next, in S103, the posture of the ship 10 at the first position is calculated using the first vector and the second vector. Next, in S104, the reference vector is corrected using the posture of the ship 10 at the first position. Next, in S105, the position of the predetermined point is calculated using the corrected reference vector and the first position. Next, in S106, the position information maintained in the position information DB 103 is updated. Then, the first process is temporarily terminated.

[0075] (Second Process)

[0076] based on Figure 6 The second process executed by the control unit 101 in the arithmetic device 100 in the positioning system 1 will be described. Figure 6This is a flowchart of the second process executed by the control unit 101 in the computing device 100. The second process is a process of calculating the buoyancy center of the ship 10. The second process starts to be executed at a predetermined timing. The predetermined timing is, for example, when the manager of the ship 10 instructs the computing device 100 to execute the second process. In addition, the predetermined timing may also be a timing when a predetermined time has passed since the ship 10 set sail. In addition, the predetermined timing may also be repeated until it arrives.

[0077] In the second process, first, in S201, position information stored in the position information DB 103 is acquired. Next, in S202, the position information is referenced to determine the predetermined point where the change in position due to the swing of the ship 10 is the smallest as the buoyancy center of the ship 10. Then, the second process ends.

[0078] As described above, in the positioning system 1, the position of the predetermined point is calculated based on the current positions of the first antenna 210, the second antenna 220, and the third antenna 230. As a result, the position of the predetermined point affected by the swing of the ship 10 can be grasped. In addition, when the predetermined point is set as a point on the surface of the ship 10, the distance between the surface of the ship 10 and other objects (for example, a pier, etc.) can be calculated. As a result, it is possible to suppress the ship 10 from contacting other objects due to the swing of the ship 10. In addition, the center of buoyancy of the ship 10 can be determined by the change in the position of the predetermined point caused by the swing of the ship 10. That is, it can be grasped that the predetermined point is a point with a characteristic such as the center of buoyancy. In this way, the state of the predetermined point of the ship 10 can be grasped by the positioning system 1.

[0079] (Variant 1)

[0080] In the present embodiment, the coordinate system used for the reference vector is a coordinate system determined by latitude, longitude, and altitude. However, the coordinate system used for the reference vector 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 heading direction of the ship 10, the lateral direction of the ship 10, and the up-down direction of the ship 10. In addition, the coordinate system used for the posture of the ship 10, etc. may be a coordinate system different from the coordinate system determined by latitude, longitude, and altitude. In this case, the computing device 100 calculates the position of the predetermined point by appropriately performing coordinate transformation.

[0081] (Variant 2)

[0082] 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 mobile body among the floating bodies is calculated. However, this embodiment can also be applied to non-moving floating bodies such as offshore wind power generation facilities among the floating bodies. In this case, the change in the position of the floating body caused by the swing is consistent with the change in the position of the floating body. Therefore, the center of buoyancy of the floating body can be determined without considering the movement. In addition, the floating body (mobile body) can also be an object floating in the air such as an airplane or a drone.

[0083] In addition, a vehicle sways when traveling due to vibration or acceleration (front-rear or lateral acceleration) generated during traveling. In addition, buildings also sway due to earthquakes or wind. Therefore, this embodiment can also be applied to objects other than floating bodies such as vehicles and buildings. In this case, it is assumed that the point at which the amount of change caused by the swaying of the object is the smallest is the center of gravity. Therefore, the computing device 100 determines the center of gravity of the object based on the amount of change in the position of the object caused by the swaying.

[0084] (Variant 3)

[0085] In this embodiment, the computing device 100 is directly connected to the first antenna 210, the second antenna 220, and the third antenna 230. However, the connection form with the antenna is not limited to this example. In another example, the computing device 100 can be indirectly connected to at least one of the first antenna 210, the second antenna 220, and the third antenna 230 via one or more external computers such as a relay device.

[0086] (Variant 4)

[0087] In addition, the computing device 100 can also obtain the posture of the ship 10 through the inertial measurement unit when it is unable to obtain the current position of at least one of the first antenna 210, the second antenna 220, and the third antenna 230. Here, the inertial measurement unit is installed on the ship 10. Then, the 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 reference vector from the antenna to the predetermined point based on the current posture of the ship 10 at the current position of the antenna. In addition, the computing device 100 can 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 if all three antennas cannot obtain the current position, the accurate position of the predetermined point can be grasped. <Other embodiments>

[0088] The above-mentioned embodiment is only an example, and the present disclosure can be implemented with appropriate changes without departing from the gist thereof. In addition, the processes and technical solutions described in the present disclosure can be implemented in combination as long as no technical contradiction occurs.

[0089] 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 what hardware structure (server structure) is used to implement each function.

[0090] The present disclosure can also be implemented by supplying a computer program equipped with the functions described in the above embodiments to a computer, and reading and executing the program by one or more processors of the computer. Such a computer program can be provided to the computer via 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 commands such as an optical card.

Claims

1. A positioning system comprising: The first positioning antenna, the second positioning antenna and the third positioning antenna are mounted on the swing body; and computing device, in, The computing device is configured to perform the following operations: obtaining 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 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 reference vector from the first positioning antenna to a predetermined point in the posture of the oscillating body at a predetermined time based on the calculated current posture of the oscillating body at the first position; as well as The position of the predetermined point in the current posture of the swinging body is calculated by adding the corrected reference vector to the first position.

2. The positioning system according to claim 1, characterized in that: The predetermined point includes a point on the surface of the oscillator.

3. The positioning system according to claim 1 or 2, characterized in that: The swinging body is a moving body, Calculating the position of the predetermined point includes calculating the positions of a plurality of predetermined points about the swinging body, The computing device is configured to further perform the following operations: Obtaining changes in positions of the plurality of predetermined points; calculating the amount of change caused by the swing of the swing body with respect to the plurality of predetermined points by removing the amount of change caused by the movement of the swing body from the amount of change in the positions with respect to the plurality of predetermined points; obtaining a change in the amount of change caused by the swing of the swing body with respect to the plurality of predetermined points; as well as With reference to the change amount caused by the swing of the swing body, a point of the plurality of predetermined points at which the change amount caused by the swing of the swing body is the smallest is determined as the buoyancy center or the gravity center of the swing body.

4. The positioning system according to claim 1 or 2, characterized in that: The oscillating body is not a moving body, Calculating the position of the predetermined point includes calculating the positions of a plurality of predetermined points about the swinging body, The computing device is configured to further perform the following operations: obtaining a change in the amount of change caused by the swing of the swing body with respect to the plurality of predetermined points; and With reference to the change amount caused by the swing of the swing body, a point at which the change amount caused by the swing of the swing body is the smallest among the plurality of predetermined points is determined as the center of buoyancy or the center of gravity of the swing body.

5. A positioning program product, which causes a computing device to execute an information processing method, wherein the computing device is connected to a first positioning antenna, a second positioning antenna and a third positioning antenna installed on a swinging body, in, The information processing method comprises: obtaining 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 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 reference vector from the first positioning antenna to a predetermined point in the posture of the oscillating body at a predetermined time based on the calculated current posture of the oscillating body at the first position; and The position of the predetermined point in the current posture of the swinging body is calculated by adding the corrected reference vector to the first position.

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