Positioning system and positioning program

Abstract

To accurately grasp the positional relationship between two oscillating bodies.SOLUTION: A first computing device acquires a first position, a second position, and a third position in a first oscillating body. The first computing device calculates the current posture of the first oscillating body at the first position from a first vector from the first position to the second position and a second vector from the first position to a third position. The first computing device modifies a first reference vector from a first positioning antenna to a first predetermined point in the posture of the first oscillating body at the predetermined time, according to the current posture of the first oscillating body. The first computing device calculates the position of the first predetermined point in the current posture of the first oscillating body by adding the modified first reference vector to the first position. The first computing device acquires a position of a second predetermined point in the current posture of a second oscillating body calculated by a fourth position, a fifth position, and a sixth position in the second oscillating body. Then, the first computing device calculates the current positional relationship between the first predetermined point and the second predetermined point.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] Patent Document 1 discloses an attitude detection device that detects a change in attitude of a motorcycle based on a GPS signal. The attitude 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. The attitude 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. The attitude detection device also detects the traveling direction of the vehicle, and detects a change in attitude of the vehicle based on the first and second position information and the traveling direction of the vehicle.

[0003] Patent Document 2 discloses a multipath detection device that detects whether or not multipath waves are included in each carrier wave transmitted from each GPS satellite and received by each GPS antenna in a moving object where multiple GPS antennas are installed with the relative positions between the GPS antennas fixed. The multipath detection device disclosed in Patent Document 2 inputs carrier phase information indicating the distance between each GPS satellite and each GPS antenna by the number of carrier waves, and calculates the carrier phase difference between the same GPS satellite and the GPS antennas using a CPU based on the input carrier phase information.

[0004] The multipath detection device inputs the calculated carrier phase difference between the GPS antennas and a LOS (Line Of Sight) vector indicating the direction from a specific GPS antenna to a specific GPS satellite specified by an arbitrary method, and calculates a baseline length indicating the distance between the GPS antennas as an observation baseline length using a CPU based on the input carrier phase difference and the input LOS vector. The multipath detection device compares a known baseline length indicating the distance between the GPS antennas calculated in advance with the observation baseline length calculated by the baseline length calculation unit using a CPU, and when the observation baseline length differs from the known baseline length by a predetermined threshold or more, it determines that a multipath wave is included in each carrier wave used to calculate the observation baseline length. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2005-207831 A [Patent Document 2] JP 2008-298443 A Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present disclosure is to accurately grasp the positional relationship between two oscillators. [Means for solving the problem]

[0007] A positioning system according to a first aspect of the present disclosure includes: a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to the first oscillator; and a positioning system including a first computing device, The first computing device is 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 attitude of the first oscillator at the first position from an acquired first vector from the first position to the second position and a 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 in the attitude of the first oscillator at a predetermined time according to the calculated current attitude of the first oscillator at the first position; calculating a position of the first predetermined point in a current attitude of the first oscillator by adding the corrected first reference vector to the first position; acquiring a second predetermined point on a second rocking body to which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are attached, the second predetermined point being 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 in a current attitude of the second rocking body; calculating a current positional relationship between the first predetermined point and the second predetermined point by referring to a position of the first predetermined point and a position of the second predetermined point; The apparatus is configured to execute the following steps:

[0008] A positioning program according to a second aspect of the present disclosure includes: A positioning program for causing a computing device connected to a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to a first oscillator to execute an information processing method, The information processing method includes: 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 attitude of the first oscillator at the first position from an acquired first vector from the first position to the second position and a 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 in the attitude of the first oscillator at a predetermined time according to the calculated current attitude of the first oscillator at the first position; calculating a position of the first predetermined point in a current attitude of the first oscillator by adding the corrected first reference vector to the first position; acquiring a second predetermined point on a second rocking body to which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are attached, the second predetermined point being 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 in a current attitude of the second rocking body; calculating a current positional relationship between the first predetermined point and the second predetermined point by referring to a position of the first predetermined point and a position of the second predetermined point; Includes. Effect of the Invention

[0009] According to the present disclosure, it is possible to accurately grasp the positional relationship between two oscillators. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a positioning system. [Diagram 2] FIG. 2 is a diagram showing an example of changes in the positions of the antennas and the predetermined point when the first ship and the second ship are rocking. [Diagram 3] FIG. 3 is a diagram showing the positional relationship between a first predetermined point on a first vessel and a second predetermined point on a second vessel. [Figure 4] FIG. 4 is a block diagram illustrating an example of a functional configuration of a first arithmetic device and a second arithmetic device that configure the positioning system. [Diagram 5] FIG. 5 is a flowchart of information processing executed by the control unit in the first arithmetic device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Assume that the positional relationship between two rocking bodies is calculated. At this time, even if the rocking body is not moving, it is assumed that the position of a specific point on the rocking body changes due to the rocking body's rocking. In other words, it is assumed that the specific position on the rocking body changes according to the attitude of the rocking body. Then, it is assumed that the positional relationship between a specific point on one rocking body and a specific point on the other rocking body changes due to the attitude of at least one of the two rocking bodies changing due to rocking. Therefore, it is difficult to grasp the positional relationship between two specific points on two rocking bodies. Therefore, the positioning system according to the first aspect of the present disclosure solves such a problem.

[0012] A positioning system according to a first aspect of the present disclosure is a system including a first positioning antenna, a second positioning antenna, and a third positioning antenna, and a first arithmetic device. The first positioning antenna, the second positioning antenna, and the third positioning antenna in the positioning system are attached to a first oscillator. The first arithmetic 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.

[0013] The first calculation device calculates the current attitude of the oscillating body at the first position from the first vector and the second vector. Here, the first vector is a vector from the first position to the second position. Also, the second vector is a 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 oscillating body at a predetermined time according to the calculated current attitude. Here, a given vector from the first positioning antenna to the first predetermined point in the predetermined attitude of the first oscillating body is defined as the first reference vector.

[0014] 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 with the first as the reference). Therefore, the first calculation device calculates the position of the first predetermined point in the current attitude of the first oscillator by adding the first position to the corrected first reference vector.

[0015] The first calculation device acquires the position of a second predetermined point in a second rocking body having a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna, in the current attitude of the second rocking body. Here, the position of the second predetermined point is a position calculated from 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. The first calculation device then refers to the positions of the first and second predetermined points and calculates the current positional relationship between the first and second predetermined points.

[0016] As explained above, the positioning system can calculate the position of the first predetermined point affected by the oscillation of the first oscillator, using the positions of three points on the oscillator measured by the three positioning antennas of the first oscillator. The positioning system also acquires the position of the second predetermined point on the second oscillator calculated from the fourth position, the fifth position, and the sixth position. This makes it possible for the positioning system to grasp the positional relationship between the first and second predetermined points, which changes due to the oscillation. As a result, the positional relationship between the two oscillators can be accurately determined. It becomes possible to grasp the

[0017] Specific embodiments of the present disclosure will be described below with reference to the drawings. Unless otherwise specified, the hardware configuration, module configuration, functional configuration, and the like described in each embodiment are not intended to limit the technical scope of the disclosure to only those.

[0018] First Embodiment (System Overview) A positioning system 1 in this embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing a schematic configuration of the positioning system 1. The positioning system 1 includes a first arithmetic device 100, a first antenna 210, a second antenna 220, and a third antenna 230, as well as a second arithmetic 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 arithmetic 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 arithmetic device 300.

[0019] The first arithmetic device 100 and the second arithmetic device 300 are configured to be able to communicate with each other. The first arithmetic device 100 and the second arithmetic device 300 communicate directly with each other, for example, by Wi-Fi (registered trademark). This allows the first arithmetic device 100 and the second arithmetic device 300 to communicate with each other even when the first arithmetic device 100 and the second arithmetic device 200 are on the sea and therefore cannot use a telephone communication network such as a mobile phone. In this case, the first arithmetic device 100 and the second arithmetic device 300 start communication when the first ship 10 (the first arithmetic device 100) and the second ship 30 (the second arithmetic device 300) are within the communication range. The first arithmetic device 100 and the second arithmetic device 300 may communicate with each other, for example, by a WAN (Wide Area Network), which is a global public communication network such as the Internet, or a telephone communication network such as a mobile phone.

[0020] (antenna) The first antenna 210, the second antenna 220, and the third antenna 230 are positioning antennas attached to the first vessel 10. The first antenna 210, the second antenna 220, and the third antenna 230 are, for example, GNSS positioning antennas. The first antenna 210, the second antenna 220, and the third antenna 230 can measure the current positions of 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 antenna.

[0021] The fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are positioning antennas attached to the second vessel 30. The fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are also, for example, GNSS positioning antennas. The fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 can measure the current positions of 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 also, for example, the latitude, longitude, and altitude of each antenna.

[0022] In this embodiment, the first antenna 210, the second antenna 220, and the third antenna 230 are attached to the upper surface of the first vessel 10. In addition, the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 are attached to the upper surface of the second vessel 30. In this way, the first antenna 210, the second antenna 220, and the third antenna 230, as well as the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430, correspond to the GNSS satellite. This can prevent radio waves from being unable to be received from the stars. The first antenna 210, the second antenna 220, and the third antenna 230 do not necessarily have to be mounted horizontally on the first ship 10. The fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 also do not necessarily have to be mounted horizontally on the second ship 30.

[0023] FIG. 2 is a diagram showing an example of changes in the positions of each antenna and a predetermined point when the first vessel 10 and the second vessel 30 are rocking. FIG. 2 shows how 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 the "first position", the "second position", and the "third position", respectively) change due to the rocking of the first vessel 10. In FIG. 2, 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 vessel 10 is not rocking are drawn with solid lines. Also, in FIG. 2, 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 vessel 10 is rocking are drawn with dashed lines. As shown in FIG. 2, the first position, the second position, the third position, and the first predetermined point change as the first vessel 10 sways.

[0024] Also, as shown in FIG. 2, the current position (fourth position) of the fourth antenna 410, the current position (fifth position) of the fifth antenna 420, the current position (sixth position) of the sixth antenna 430, the third vector (described later), the fourth vector (described later), and the second reference vector (described later) also change as the second vessel 30 sways.

[0025] (2nd arithmetic unit) The second arithmetic device 300 is a device that acquires the current positions of the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430 in the second ship 30. The second arithmetic device 300 acquires the current position (fourth position) of the fourth antenna 410 measured by the fourth antenna 410 from the fourth antenna 410. The second arithmetic device 300 also acquires the current position (fifth position) of the fifth antenna 420 measured by the fifth antenna 420 from the fifth antenna 420. The second arithmetic device 300 also acquires the current position (sixth position) of the sixth antenna 430 measured by the sixth antenna 430 from the sixth antenna 430. The second arithmetic device 300 then transmits the fourth position, the fifth position, and the sixth position to the first arithmetic device 100 by communicating with the first arithmetic device 100.

[0026] (1st arithmetic unit) The first calculation device 100 is a device that calculates the position (latitude, longitude, and altitude) of a first predetermined point on the first ship 10. Here, the first predetermined point is an arbitrary point on the first ship 10. The first predetermined point is, for example, a point on the surface of the first ship 10. Furthermore, the first predetermined point may be, for example, an internal point such as the center of gravity or center of buoyancy of the first ship 10.

[0027] The first arithmetic 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 arithmetic 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 arithmetic device 100 acquires the current position (third position) of the third antenna 230 measured by the third antenna 230 from the third antenna 230.

[0028] The first calculation device 100 calculates a first vector and a second vector. Here, the first vector is a vector from a first position to a second position. Also, the second vector is a vector from the first position to a third position. Then, the first calculation device 100 calculates the first vector and the second vector. The vector is used to calculate the current attitude of the first vessel 10 at the first position. Specifically, the first calculation device 100 calculates the roll, pitch, and yaw of the first position.

[0029] Here, a first reference vector is predefined for a first predetermined point on the first ship 10. The first reference vector is a vector from the first antenna 210 to the first predetermined point in the attitude of the first ship 10 at a predetermined time. Here, the attitude at the predetermined time is, for example, the attitude at a point in time when the first ship 10 is not swaying. In other words, the attitude at the predetermined time is the attitude when the roll, pitch, and yaw at the first position are 0. The first calculation device 100 corrects the first reference vector according to the current attitude of the first ship 10 at the first position (the current attitude including the roll, pitch, and yaw at the first position). Then, the first calculation device 100 calculates the position of the first predetermined point using the corrected first reference vector and the first position.

[0030] Moreover, the first arithmetic device 100 receives the fourth position, the fifth position, and the sixth position from the second arithmetic device 300 by communicating with the second arithmetic device 300. The first arithmetic device 100 calculates the position of the second predetermined point on the second ship 30 from the fourth position, the fifth position, and the sixth position in the same manner as the calculation of 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 on the second ship 30. The second predetermined point is, for example, a point on the surface of the second ship 30. Furthermore, the second predetermined point may be, for example, an internal point such as the center of gravity or center of buoyancy of the second ship 30.

[0031] Specifically, the first calculation device 100 calculates a third vector and a fourth vector, and calculates the current attitude of the second ship 30 at the fourth position. Here, the third vector is a vector from the fourth position to the fifth position. Also, the fourth vector is a vector from the fourth position to the sixth position. Also, a second reference vector is predefined for a second predetermined point on the second ship 30. The second reference vector is a vector from the fourth antenna 410 to the second predetermined point in the attitude of the second ship 30 at a predetermined time. Here, the attitude at the predetermined time is, for example, the attitude at a time when the second ship 30 is not swinging. The first calculation device 100 corrects the second reference vector according to the current attitude of the second ship 30 at the fourth position, and calculates the position of the second predetermined point. Details of the method by which the first calculation device 100 corrects the first reference vector (second reference vector) and the method by which the first calculation device 100 calculates the position of the first predetermined point (second predetermined point) will be described later.

[0032] Fig. 3 is a diagram showing the positional relationship between a first predetermined point on the first ship 10 and a second predetermined point on the second ship 30. Fig. 3 shows the position of the first predetermined point calculated from 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 from 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. The first calculation device 100 calculates the positional relationship between the first predetermined point and the second predetermined point from the calculated positions of the first and second predetermined points.

[0033] Here, the positional relationship between the first and second predetermined points includes, for example, the distance between the first and second predetermined points and the direction with the first predetermined point as the base point. The positional relationship between the first and second predetermined points may be a relative distance to the second predetermined point with the first predetermined point as the base point. The positional relationship between the first and second predetermined points may include a relative speed with the second predetermined point with the first predetermined point as the base point. In this case, the first arithmetic device 100 calculates the relative speed between the first and second predetermined points by calculating the time transition of the relative distance between the first and second predetermined points. The positional relationship between the first and second predetermined points may include a relative distance, a direction, and a relative speed with the second predetermined point as the base point.

[0034] The first calculation device 100 includes a computer having a processor 110, a main memory unit 120, an auxiliary memory unit 130, and a communication interface (communication I / F) 140. The processor 110 is, for example, a central processing unit (CPU) or a digital signal processor (DSP). The main memory 120 is, for example, a random access memory (RAM). The auxiliary memory 130 is, for example, a read only memory (ROM). The auxiliary memory 130 is, for example, a hard disk drive (HDD) or a disk recording medium such as a CD-ROM, a DVD disk, or a Blu-ray disk. The auxiliary memory 130 may be a removable medium (portable storage medium). Here, examples of the removable medium include a USB memory or an SD card.

[0035] In the first arithmetic device 100, the auxiliary storage unit 130 stores an operating system (OS), various programs, various information tables, and the like. In the first arithmetic device 100, the processor 110 loads the programs stored in the auxiliary storage unit 130 into the main storage unit 120 and executes them, thereby realizing various functions as described below. However, some or all of the functions in the first arithmetic device 100 may be realized by a hardware circuit such as an ASIC or an FPGA. The first arithmetic device 100 does not necessarily have to be realized by a single physical configuration, and may be configured by a plurality of computers that cooperate with each other. Similarly to the first arithmetic device 100, the second arithmetic device 300 is also configured to include a computer.

[0036] (Functional configuration) Next, the functional configuration of the first arithmetic device 100 and the second arithmetic device 300 constituting the positioning system 1 will be described with reference to Fig. 4. Fig. 4 is a block diagram illustrating an example of the functional configuration of the first arithmetic device 100 and the second arithmetic device 300 constituting the positioning system 1.

[0037] (2nd arithmetic unit) The second arithmetic device 300 includes a control unit 301, an acquisition unit 302, and a communication unit 303. The control unit 301 has a function of performing arithmetic processing for controlling the second arithmetic device 300. The control unit 301 can be realized by a processor in the second arithmetic 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 realized by an interface for connecting the second arithmetic device 300 and each antenna. The communication unit 303 has a function of communicating with the first arithmetic device 100. The communication unit 303 can be realized by a communication I / F in the second arithmetic device 300.

[0038] The control unit 301 acquires the current positions (fourth position, fifth position, and sixth position) of the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430, respectively, through the acquisition unit 302. Then, the control unit 301 transmits the fourth position, the fifth position, and the sixth position to the first arithmetic device 100 through the communication unit 303.

[0039] (1st arithmetic unit) The first arithmetic device 100 includes a control unit 101, an acquisition unit 102, and a communication unit 103. The control unit 101 has a function of performing arithmetic processing for controlling the first arithmetic device 100, and the control unit 101 can be realized by a processor 110 in the first arithmetic 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 realized by an interface for connecting the first arithmetic device 100 and each antenna. The communication unit 103 has a function of communicating with the second arithmetic device 300. The communication unit 103 can be realized by a communication I / F 140 in the first arithmetic device 100.

[0040] The control unit 101 acquires the current positions (first position, second position, and third position) of the first antenna 210, the second antenna 220, and the third antenna 230, respectively, by the acquisition unit 102. The control unit 101 calculates a first vector using the first position and the second position. The control unit 101 also calculates a 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.

[0041] The control unit 101 calculates the current attitude of the first ship 10 at the first position by calculating the roll, pitch, and yaw of the first position using the first vector and the second vector. Here, in this embodiment, the roll, pitch, and yaw of the first position are determined by angles around the latitudinal axis, the longitudinal axis, and the vertical axis with the first position as the reference (origin) using latitude, longitude, and altitude as a coordinate system. Then, the control unit 101 corrects the first reference vector according to the calculated current attitude of the first ship 10 at the first position.

[0042] Here, it is assumed that the current attitude of the first vessel 10 at the first position is represented by a roll with a roll angle r, a pitch with a pitch angle p, and a yaw with a yaw angle h. The corrected first reference vector (x', y', z') is represented by the following equation using a rotation matrix for the roll angle r, pitch angle p, and yaw angle h, and the first reference vector before correction (x, y, z). Here, the first reference vector is defined by a coordinate system determined by latitude, longitude, and altitude.

number

[0043] The corrected first reference vector (x', y', z') is a vector from the first position to the current first predetermined point in a coordinate system of latitude, longitude, and altitude. 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').

[0044] The control unit 101 receives the fourth position, the fifth position, and the sixth position from the second arithmetic device 300 via the communication unit 103. The control unit 101 calculates a third vector using the fourth position and the fifth position. Also, the control unit 101 calculates a fourth vector using the fourth position and the sixth position.

[0045] Then, the control unit 101 calculates the current attitude of the second vessel 30 at the fourth position using the third vector and the fourth vector. Then, the control unit 101 corrects the second reference vector according to the calculated current attitude of the second vessel 30 at the fourth position. Then, the control unit 101 calculates the current position of the second predetermined point by adding each component of the coordinates of the fourth position to each component of the corrected second reference vector. Here, the second reference vector, which is a vector from the fourth antenna 410 to the second predetermined point in the attitude of the second vessel 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 calculation device 300 when receiving the fourth position, the fifth position, and the sixth position. Note that the method of calculating the current position of the second predetermined point using the fourth position, the fifth position, and the sixth position is similar to 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), so the description will be omitted.

[0046] (flowchart) Next, information processing executed by the control unit 101 in the first arithmetic device 100 in the positioning system 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart of information processing executed by the control unit 101 in the first arithmetic device 100. The information processing shown in Fig. 5 is processing for calculating the positional relationship between the first ship 10 and the second ship 30. The information processing shown in Fig. 5 is repeatedly executed at a predetermined interval when the first arithmetic device 100 and the second arithmetic device 300 start communication.

[0047] In the information processing shown in Fig. 5, 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. Also, in S101, the fourth position, the fifth position, and the sixth position are acquired by receiving them from the second arithmetic 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. Also, in S102, the third vector and the fourth vector are calculated using the fourth position, the fifth position, and the sixth position.

[0048] Next, in S103, the attitude of the first ship 10 at the first position is calculated using the first vector and the second vector. Also, in S103, the attitude 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 attitude of the first ship 10 at the first position. Also, in S104, the second reference vector is corrected using the attitude of the second ship 30 at the fourth position.

[0049] Next, in S105, the position of the first predetermined point is calculated using the corrected first vector and the first position. Also, 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 and second predetermined points is calculated using the positions of the first and second predetermined points calculated in S105.

[0050] As described above, in the positioning system 1, the positional relationship between the first and second predetermined points is calculated from the current positions of each antenna. This makes it possible to grasp the positional relationship between the first and second predetermined points that are affected by the rocking of the first ship 10 and the second ship 30. As a result, it becomes possible to accurately grasp the positional relationship between the first and second ships 10 and 30. Furthermore, if 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, it becomes possible to calculate the distance between the surface of the first ship 10 and the surface of the second ship 30. This makes it possible to ensure safety when the first ship 10 is about to come alongside the second ship 30, for example.

[0051] (Variation 1) In this 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 traveling 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 attitude, etc. of the first ship 10 (second ship 30) may also be a coordinate system different from the coordinate system determined by latitude, longitude, and altitude. In this case, the first calculation device 100 calculates the positions of the (first and second) predetermined points by appropriately performing coordinate conversion.

[0052] (Variation 2) In this embodiment, the position of a predetermined point on a ship is calculated. In this embodiment, the position of a predetermined point of a moving body among the floating bodies is calculated. However, this embodiment can also be applied to floating bodies that do not move, such as offshore wind power generation facilities. Furthermore, the floating body (moving body) may be an object floating in the air, such as an airplane or a drone. Furthermore, a vehicle sways due to vibrations while traveling or acceleration (front-back or lateral acceleration) that occurs while traveling. Furthermore, buildings also sway due to the effects of earthquakes or wind. Therefore, this embodiment can also be applied to objects other than floating bodies, such as vehicles or buildings.

[0053] (Variation 3) In this embodiment, the first arithmetic device 100 is directly connected to the first antenna 210, the second antenna 220, and the third antenna 230. The second arithmetic device 300 is directly connected to the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430. However, the connection form with the antennas is not limited to this example. In another example, the first arithmetic device 100 (the second arithmetic device 300) may 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.

[0054] (Variation 4) In addition, the first arithmetic device 100 may acquire the attitude of the first ship 10 by the inertial measurement unit when the current position of at least one of the first antenna 210, the second antenna 220, and the third antenna 230 cannot be acquired. Here, the inertial measurement unit is attached to the first ship 10. Then, the first arithmetic device 100 acquires the current position of the antenna of which the current position can be acquired among the first antenna 210, the second antenna 220, and the third antenna 230, and corrects the first reference vector from the antenna to the first predetermined point according to the current attitude of the first ship 10 at the current position of the antenna. Note that the first arithmetic device 100 may acquire 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 a situation where the current positions of all three antennas on the first ship 10 cannot be acquired, the accurate position of the first predetermined point can be grasped.

[0055] Furthermore, the second arithmetic device 300 may also acquire the attitude of the second vessel 30 by the inertial measurement unit 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. Then, the second arithmetic device 300 acquires the current position of the antenna of which the current position has been acquired among the fourth antenna 410, the fifth antenna 420, and the sixth antenna 430, and transmits it to the first arithmetic device 100 together with the attitude of the second vessel 30. In this way, even in a situation where the current positions of all three antennas in the second vessel 30 cannot be acquired, the accurate position of the second predetermined point can be grasped.

[0056] (Variation 5) In this embodiment, the first arithmetic device 100 calculates the position of the second predetermined point using the fourth position, the fifth position, and the sixth position. As a result, even if the second arithmetic device 300 does not have a function for calculating the position of the second predetermined point, the first arithmetic device 100 can calculate the position of the second predetermined point and calculate the positional relationship between the first and second predetermined points. On the other hand, in this modified example, the second arithmetic device 300 calculates the position of the second predetermined point using the fourth position, the fifth position, and the sixth position. In this case, the second arithmetic device 300 calculates the position of the second predetermined point using the fourth position, the fifth position, and the sixth position, and then transmits the position to the first arithmetic device 100 by communication. The first arithmetic device 100 that receives the position of the second predetermined point calculates the positional relationship between the first and second predetermined points using the calculated position of the first predetermined point and the received position of the second predetermined point. In this way, the first calculation device 100 and the second calculation device 300 each calculate the position of the predetermined point, and the first calculation device This reduces the load on the computer 100. As a result, it is possible to accurately grasp the positional relationship between the first ship 10 and the second ship 30 while shortening the time required to calculate the position of a specific point.

[0057] <Other embodiments> The above-described embodiment is merely an example, and the present disclosure may be modified as appropriate without departing from the spirit and scope of the present disclosure. Furthermore, the processes and means described in the present disclosure may be freely combined and implemented as long as no technical contradiction occurs.

[0058] Furthermore, 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, the hardware configuration (server configuration) by which each function is realized can be flexibly changed.

[0059] The present disclosure can also be realized by supplying a computer program implementing the functions described in the above embodiments to a computer, and having one or more processors of the computer read and execute the program. Such a computer program may be provided to the computer by a non-transitory computer-readable storage medium connectable to the system bus of the computer, or may be provided to the computer via a network. The non-transitory computer-readable storage medium includes any type of medium suitable for storing electronic instructions, such as, for example, a magnetic disk (such as a floppy disk or a hard disk drive (HDD)), an optical disk (such as a CD-ROM, a DVD disk, or a Blu-ray disk), a read-only memory (ROM), a random access memory (RAM), an EPROM, an EEPROM, a magnetic card, a flash memory, or an optical card. [Explanation of symbols]

[0060] 1. Positioning system 10...1st ship 100...1st calculation unit 101 Control section 102...Acquisition part 103 Communications Department 210··First antenna 220··Second antenna 230··Third Antenna 30...2nd ship 300...Second arithmetic unit 301 Control section 302··Acquisition Department 303 Communications Department 410··4th antenna 420··5th Antenna 430··6th Antenna

Claims

1. a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to the first oscillator; and a positioning system including a first computing device, The first computing device is 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 attitude of the first oscillator at the first position from an acquired first vector from the first position to the second position and a 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 in the attitude of the first swinging body at a predetermined time according to the calculated current attitude of the first swinging body at the first position; calculating a position of the first predetermined point in a current attitude of the first oscillator by adding the corrected first reference vector to the first position; acquiring a second predetermined point on a second oscillating body to which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are attached, the second predetermined point being 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 in a current attitude of the second oscillating body; calculating a current positional relationship between the first predetermined point and the second predetermined point by referring to a position of the first predetermined point and a position of the second predetermined point; configured to execute Positioning system.

2. Obtaining the position of the second predetermined point includes: obtaining the fourth location, the fifth location, and the sixth location; calculating a current attitude of the second swinging body at the fourth position from an acquired third vector from the fourth position to the fifth position and a 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 in the attitude of the second swinging body at a predetermined time according to the calculated current attitude of the second swinging body at the fourth position; calculating a position of the second predetermined point in a current attitude of the second oscillator by adding the corrected second reference vector to the fourth position; Including, The positioning system according to claim 1 .

3. The first arithmetic unit is capable of communicating with a second arithmetic unit attached to the second oscillator, The second calculation device is obtaining the fourth location, the fifth location, and the sixth location; calculating a current attitude of the second swinging body at the fourth position from an acquired third vector from the fourth position to the fifth position and a 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 in the attitude of the second swinging body at a predetermined time according to the calculated current attitude of the second swinging body at the fourth position; calculating a position of the second predetermined point in a current attitude of the second oscillator by adding the corrected second reference vector to the fourth position; configured to run and acquiring the position of the second predetermined point includes receiving, by the first arithmetic device, the position of the second predetermined point calculated by the second arithmetic device from the second arithmetic device. The positioning system according to claim 1 .

4. A positioning program for causing a computing device connected to a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to a first oscillator to execute an information processing method, The information processing method includes: 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 attitude of the first oscillator at the first position from an acquired first vector from the first position to the second position and a 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 in the attitude of the first swinging body at a predetermined time according to the calculated current attitude of the first swinging body at the first position; calculating a position of the first predetermined point in a current attitude of the first oscillator by adding the corrected first reference vector to the first position; acquiring a second predetermined point on a second oscillating body to which a fourth positioning antenna, a fifth positioning antenna, and a sixth positioning antenna are attached, the second predetermined point being 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 in a current attitude of the second oscillating body; calculating a current positional relationship between the first predetermined point and the second predetermined point by referring to a position of the first predetermined point and a position of the second predetermined point; Including, Positioning program.

5. Obtaining the position of the second predetermined point includes: obtaining the fourth location, the fifth location, and the sixth location; calculating a current attitude of the second swinging body at the fourth position from an acquired third vector from the fourth position to the fifth position and a 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 in the attitude of the second swinging body at a predetermined time according to the calculated current attitude of the second swinging body at the fourth position; calculating a position of the second predetermined point in a current attitude of the second oscillator by adding the corrected second reference vector to the fourth position; Including, 5. The positioning program according to claim 4.

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