Positioning system and positioning program

Abstract

To grasp the state of a predetermined point of an oscillating body.SOLUTION: A positioning system includes a first positioning antenna, a second positioning antenna, and a third positioning antenna, which are attached to an oscillating body, and a computing device. In the positioning system, the computing device acquires 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. The computing device calculates the current posture of an oscillating body at the first position from 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 computing device modifies a reference vector from the first positioning antenna to a predetermined point in the posture of the oscillating body at the predetermined time, according to the calculated current posture of the oscillating body at the first position. Then, the computing device calculates a position of the predetermined point in the current posture of the oscillating body by adding the modified reference vector to the first position.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 grasp the state of a specific point on an oscillator. [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 oscillating body, and computing device, A positioning system comprising: The computing device includes: a first position measured by the first positioning antenna, and a second position measured by the second positioning antenna; obtaining a second position measured by the third positioning antenna and a third position measured by the third positioning antenna; calculating a current attitude of the 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 reference vector from the first positioning antenna to a predetermined point in the attitude of the oscillating body at a predetermined time according to the calculated current attitude of the oscillating body at the first position; Calculating the position of the predetermined point in the current attitude of the oscillator by adding the corrected reference vector to the first position; 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 moving body 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 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 reference vector from the first positioning antenna to a predetermined point in the attitude of the oscillating body at a predetermined time according to the calculated current attitude of the oscillating body at the first position; Calculating the position of the predetermined point in the current attitude of the oscillator by adding the corrected reference vector to the first position; Includes. Effect of the Invention

[0009] According to the present disclosure, it is possible to grasp the state of a specific point on an oscillator. [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 each antenna and a specific point when the ship is rolling. [Diagram 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the arithmetic device. [Figure 4] FIG. 4 is a diagram showing an example of a table configuration of location information held in the location information database. [Diagram 5] FIG. 5 is a flowchart of a first process executed by a control unit in the arithmetic device. [Figure 6] FIG. 6 is a flowchart of a second process executed by the control unit in the arithmetic device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Assume that the position of a specific point on a rocking body is calculated. At this time, even if the rocking body is not moving, it is assumed that the position of the specific point changes due to the rocking body's rocking. In other words, it is assumed that the position of the specific point on the rocking body changes depending on the attitude of the rocking body. Therefore, it is difficult to accurately grasp the position of the specific point on the rocking body. 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 embodiment of the present disclosure is a system including a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to a rocking body, and a computing device. The computing device in the positioning system according to the first embodiment of the present disclosure 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 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 calculation device corrects a reference vector from the first positioning antenna to the predetermined point in the attitude of the oscillating body at a given time according to the calculated current attitude. Here, a given vector from the first positioning antenna to the predetermined point in the attitude of the oscillating body is defined as the reference vector.

[0014] The corrected reference vector is 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 attitude of the oscillator by adding the first position to the corrected reference vector.

[0015] As described above, the information processing device can calculate the position of a specific point affected by the oscillation of the oscillator using the positions of three points on the oscillator measured by the three positioning antennas. In this way, it becomes possible to grasp the state of the specific point on the oscillator.

[0016] 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.

[0017] 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 calculation 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 calculation device 100.

[0018] (antenna) The first antenna 210, the second antenna 220, and the third antenna 230 are positioning antennas attached to the ship 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.

[0019] In this embodiment, the first antenna 210, the second antenna 220, and the third antenna 230 are attached to the upper surface of the ship 10. This makes it possible to prevent the first antenna 210, the second antenna 220, and the third antenna 230 from being unable to receive radio waves from GNSS satellites. Note that the first antenna 210, the second antenna 220, and the third antenna 230 do not necessarily have to be attached horizontally on the ship 10.

[0020] (computing device) The calculation device 100 is a device that calculates the position (latitude, longitude, and altitude) of a specific point on the ship 10. Here, the specific point is an arbitrary point on the ship 10. The specific point is, for example, a point on the surface of the ship 10. Furthermore, the specific point may be, for example, a point inside the ship 10.

[0021] The arithmetic device 100 is connected to a first antenna 210, a second antenna 220, and a third antenna 230. The arithmetic device 100 acquires the current position of the first antenna 210 measured by the first antenna 210 (hereinafter, may be referred to as the "first position") from the first antenna 210. The arithmetic device 100 also acquires the current position of the second antenna 220 measured by the second antenna 220 (hereinafter, may be referred to as the "second position") from the second antenna 220. The arithmetic device 100 also acquires the current position of the third antenna 230 measured by the third antenna 230 (hereinafter, may be referred to as the "third position") from the third antenna 230.

[0022] FIG. 2 is a diagram showing an example of changes in the positions of each antenna and a predetermined point when the ship 10 is rocking. FIG. 2 shows how the positions (first position, second position, and third position) of the first antenna 210, the second antenna 220, and the third antenna 230 change due to the rocking of the ship 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 reference vector (described later) when the ship 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 reference vector when the ship 10 is rocking are drawn with dashed lines. As shown in FIG. 2, the first position, the second position, the third position, and the predetermined point change due to the rocking of the ship 10.

[0023] The arithmetic device 100 calculates a first vector and a second vector. Here, the first vector is a vector from the first position to the second position. Furthermore, the second vector is a vector from the first position to a third position. Then, the arithmetic device 100 calculates the current attitude of the ship 10 at the first position using the first vector and the second vector. Specifically, the arithmetic device 100 calculates the roll, pitch, and yaw of the first position.

[0024] Here, a reference vector is predefined for a specific point on the ship 10. The reference vector is a vector from the first antenna 210 to the specific point in the attitude of the ship 10 at a specific time. Here, the attitude at the specific time is, for example, the attitude at a point in time when the ship 10 is not rocking. In other words, the attitude at the specific time is the attitude when the roll, pitch, and yaw at the first position are 0. The calculation device 100 corrects the reference vector according to the current attitude of the ship 10 at the first position (the current attitude including the roll, pitch, and yaw at the first position). Then, the calculation device 100 calculates the position of the specific point using the corrected reference vector and the first position. Details of the method by which the calculation device 100 corrects the reference vector and the method by which the calculation device 100 calculates the position of the specific point will be described later.

[0025] The arithmetic device 100 includes a computer having a processor 110, a main memory unit 120, and an auxiliary memory unit 130. The processor 110 is, for example, a CPU (Central Processing Unit) or a DSP (Digital Signal 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). The auxiliary storage unit 130 is, for example, a HDD (Hard Disk Drive), a CD-ROM, a DVD disk, or a Blu-ray. The auxiliary storage unit 130 may be a disk recording medium such as a portable disk. The auxiliary storage unit 130 may also be a removable medium. Examples of the removable medium include a USB memory and an SD card.

[0026] In the arithmetic device 100, the auxiliary storage unit 130 stores an operating system (OS), various programs, various information tables, and the like. In addition, in the arithmetic device 100, the processor 110 can realize various functions as described below by loading the programs stored in the auxiliary storage unit 130 into the main storage unit 120 and executing them. However, some or all of the functions of the arithmetic device 100 may be realized by a hardware circuit such as an ASIC or an FPGA. Note that the arithmetic device 100 does not necessarily have to be realized by a single physical configuration, and may be configured by multiple computers that cooperate with each other.

[0027] (Functional configuration) Next, the functional configuration of the arithmetic device 100 constituting the positioning system 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the functional configuration of the arithmetic device 100.

[0028] The calculation 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 calculation processing for controlling the calculation device 100. The control unit 101 can be realized by a processor 110 in the calculation 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 also has a function of acquiring the amount of movement of the ship 10 from the drive control device of the ship 10. The acquisition unit 102 can be realized by an interface for connecting the calculation device 100 and an external device (each antenna and drive control device).

[0029] 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.

[0030] The control unit 101 calculates the current attitude of the 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 reference vector according to the calculated current attitude of the ship 10 at the first position.

[0031] Here, it is assumed that the current attitude of the ship 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 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 reference vector before correction (x, y, z): Here, the reference vector is defined in a coordinate system determined by latitude, longitude, and altitude.

number

[0032] The corrected reference vector (x', y', z') is a vector from the first position to the current specified point in a coordinate system of latitude, longitude, and altitude. Therefore, the control unit 101 calculates the current position of the specified point by adding each component of the coordinates of the first position to each component of the corrected reference vector (x', y', z').

[0033] 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 calculation 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. FIG. 4 is a diagram showing an example of a table configuration of the position information stored in the position information DB 103.

[0034] 4, the position information has a point ID field, a date and time field, a position field, a position change amount field, a movement amount field, and a swing change amount field. The point ID field stores an identifier (point ID) for identifying a specific point on the ship 10. In the position information, point IDs for multiple specific points are stored.

[0035] The date and time field stores information indicating the date and time when the control unit 101 calculated the position of the predetermined point. The date and time field stores information indicating the oldest date and time from the top. 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.

[0036] In the position change amount field, the amount of change in the position of a specific point during the time between the date and time indicated by the information stored in the corresponding date and time field and the date and time indicated by the information stored in the date and time field one level above the corresponding date and time field (hereinafter, sometimes referred to as a "specific time") is calculated. Here, the amount of change in the position of a specific point is calculated by subtracting the position of the specific point stored in the corresponding position field from the position of the specific point stored in the position field one level above the corresponding position field. Here, the amount of change in the position of a specific point is the amount of change in each of the latitude, longitude, and altitude components.

[0037] The movement amount field stores the movement amount of the ship 10 at a specific time. The control unit 101 acquires the speed of the ship 10 from the drive control device of the ship 10. Here, the speed of the ship 10 acquired by the control unit 101 is the speed in each of the latitude direction, longitude direction, and altitude direction. The control unit 101 then 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 acquired speed by the specific time. If the speed of the ship 10 is changing at the specific time, the integral value of the speed at the specific time may be calculated as the movement amount of the ship 10.

[0038] The amount of change in position of the specified point stored in the amount of position change field includes the amount of change in position due to the swaying of the ship 10 and the amount of change in position due to the movement of the ship 10. Therefore, the amount of change in position of the specified point due to the swaying of the ship 10 can be calculated by removing the amount of change in position due to the movement of the ship 10 from the amount of change in position of the specified point. Therefore, the control unit 101 calculates the amount of change in position of the ship 10 due to the swaying of the ship 10 in the movement amount field from the amount of change in position of the ship 10 stored in the amount of position change field. The control unit 101 calculates the amount of change in position due to the rolling of the ship 10 by subtracting the stored amount of movement of the ship 10. Then, the control unit 101 stores information indicating the calculated amount of change in position due to the rolling of the ship 10 in the rolling change amount field.

[0039] Here, it is assumed that the center of buoyancy of the ship 10 changes depending on the arrangement or amount of luggage loaded on the ship 10 or people on board the ship 10. It is also assumed that the center of buoyancy is the position where the change in position due to the rolling of the ship 10 is the smallest. Therefore, the control unit 101 refers to the transition of the amount of change due to the rolling of the ship 10, and identifies a predetermined point where the amount of change in position due to the rolling of the ship 10 is the smallest as the center of buoyancy of the ship 10.

[0040] Specifically, the control unit 101 acquires the position information held in the position information DB 103. The control unit 101 counts the amount of change in position due to the rolling of the ship 10, which is stored in the rolling change amount field in the position information, for each point ID, and calculates an aggregated value. The control unit 101, for example, identifies the point ID for which the amount of change in position due to the rolling of the ship 10 is the smallest. The control unit 101, for example, acquires the amount of change in each direction and calculates an absolute value. That is, the control unit 101 calculates the change distance of a specified point due to rolling. Then, the control unit 101 identifies the specified point for which the amount of change in position due to the rolling of the ship 10 is the smallest as the center of buoyancy of the ship 10.

[0041] (First process) Next, a first process executed by the control unit 101 in the arithmetic device 100 in the positioning system 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart of the first process executed by the control unit 101 in the arithmetic device 100. The first process is a process for calculating the position of a predetermined point on the ship 10. The first process is repeatedly executed at predetermined intervals.

[0042] In the first process, 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, respectively. Next, in S102, a first vector and a second vector are calculated using the first position, the second position, and the third position. Next, in S103, the attitude of the ship 10 at the first position is calculated using the first vector and the second vector. Next, in S104, a reference vector is corrected using the attitude of the ship 10 at the first position. Next, in S105, a position of a predetermined point is calculated using the corrected reference vector and the first position. Next, in S106, the position information held in the position information DB 103 is updated. Then, the first process is temporarily terminated.

[0043] (Second Processing) The second process executed by the control unit 101 in the arithmetic device 100 in the positioning system 1 will be described with reference to FIG. 6. FIG. 6 is a flowchart of the second process executed by the control unit 101 in the arithmetic device 100. The second process is a process for calculating the center of buoyancy of the ship 10. Execution of the second process is started at a predetermined timing. The predetermined timing is, for example, when the manager of the ship 10 instructs the arithmetic device 100 to execute the second process. The predetermined timing may also be a timing when a predetermined time has elapsed since the ship 10 has set sail. The predetermined timing may also occur repeatedly.

[0044] In the second process, first, in S201, the position information stored in the position information DB 103 is acquired. Next, in S202, the position information is referred to, and a predetermined point where the amount of change in position due to the pitching of the ship 10 is the smallest is identified as the center of buoyancy of the ship 10. Then, the second process is terminated.

[0045] As described above, in the positioning system 1, the first antenna 210, the second antenna 220, and the third antenna 230. This makes it possible to grasp the position of the specific point that is affected by the rolling of the ship 10. Furthermore, if the specific point is a point on the surface of the ship 10, it becomes possible to calculate the distance between the surface of the ship 10 and another object (e.g., a quay, etc.). As a result, it becomes possible to prevent the ship 10 from coming into contact with another object due to the rolling of the ship 10. Furthermore, it becomes possible to identify the center of buoyancy of the ship 10 based on the amount of change in the position of the specific point due to the rolling of the ship 10. In other words, it is possible to grasp that the specific point is a point that has the characteristic of being the center of buoyancy. In this way, the positioning system 1 makes it possible to grasp the state of the specific point of the ship 10.

[0046] (Variation 1) In this 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 traveling direction of the ship 10, the lateral direction of the ship 10, and the vertical direction of the ship 10. In addition, the coordinate system used for the attitude, etc. of the ship 10 may also be a coordinate system different from the coordinate system determined by latitude, longitude, and altitude. In this case, the calculation device 100 calculates the position of the specified point by appropriately performing coordinate conversion.

[0047] (Variation 2) In this embodiment, the position of a predetermined point on a ship is calculated. That is, in this embodiment, the position of a predetermined point of a moving body among 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. In this case, the amount of change in the position of the floating body due to rocking coincides with the amount of change in the position of the floating body. Therefore, the center of buoyancy of the floating body can be identified without considering the amount of movement. Furthermore, the floating body (moving body) may be an object floating in the air, such as an airplane or a drone.

[0048] Furthermore, a vehicle sways due to vibrations while traveling or acceleration (front-rear or lateral acceleration) that occurs while traveling. Buildings also sway due to the effects of earthquakes or wind. Therefore, this embodiment can be applied to objects other than floating bodies such as vehicles or buildings. In this case, it is assumed that the point where the amount of change due to the swaying of the object is the smallest is the center of gravity. Therefore, the arithmetic device 100 identifies the center of gravity of the object based on the amount of change in the position of the object due to the swaying.

[0049] (Variation 3) In this embodiment, the arithmetic 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 antennas is not limited to this example. In another example, the arithmetic device 100 may 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.

[0050] (Variation 4) Furthermore, the arithmetic device 100 may acquire the attitude of the 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 ship 10. Then, the arithmetic device 100 acquires the current position of the antenna of the first antenna 210, the second antenna 220, or the third antenna 230 whose current position has been acquired, and corrects a reference vector from the antenna to a specified point according to the current attitude of the ship 10 at the current position of the antenna. Note that the 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 specified point. In this manner, This makes it possible to determine the exact location of a given point even if all three antennas are unable to acquire the current position.

[0051] <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.

[0052] 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.

[0053] 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]

[0054] 1. Positioning system 10...Ship 100...Arithmetic unit 101 Control section 102...Acquisition part 103...Location information DB 210··First antenna 220··Second antenna 230··Third Antenna

Claims

1. a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to the rocking body; computing device, A positioning system comprising: The computing device 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 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 reference vector from the first positioning antenna to a predetermined point in the attitude of the oscillating body at a predetermined time according to the calculated current attitude of the oscillating body at the first position; Calculating the position of the predetermined point in the current attitude of the oscillator by adding the corrected reference vector to the first position; configured to execute Positioning system.

2. The predetermined point includes a point on the surface of the oscillator. The positioning system according to claim 1 .

3. The oscillator is a moving body, calculating the position of the predetermined point includes calculating positions of a plurality of predetermined points on the oscillator; The computing device includes: Obtaining a change in position for the plurality of predetermined points; calculating the amount of change in the position of the plurality of predetermined points due to the oscillation of the oscillator by removing the amount of change in the position of the plurality of predetermined points due to the movement of the oscillator; Obtaining a transition of an amount of change due to the oscillation of the oscillator for the plurality of predetermined points; Referring to the transition of the amount of change due to the swing of the swinging body, among the plurality of predetermined points, a point at which the amount of change due to the swing of the swinging body is the smallest is specified as the center of buoyancy or center of gravity of the swinging body; and further configured to perform 3. A positioning system according to claim 1 or 2.

4. The rocking body is not a moving body, calculating the position of the predetermined point includes calculating positions of a plurality of predetermined points on the oscillator; The computing device includes: Obtaining a transition of an amount of change due to the oscillation of the oscillator for the plurality of predetermined points; Referring to the transition of the amount of change due to the swing of the swinging body, among the plurality of predetermined points, a point at which the amount of change due to the swing of the swinging body is the smallest is specified as the center of buoyancy or center of gravity of the swinging body; and further configured to perform 3. A positioning system according to claim 1 or 2.

5. 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 rocking body 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 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 reference vector from the first positioning antenna to a predetermined point in the attitude of the oscillating body at a predetermined time according to the calculated current attitude of the oscillating body at the first position; Calculating the position of the predetermined point in the current attitude of the oscillator by adding the corrected reference vector to the first position; Including, Positioning program.

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