Positioning system, positioning method, and positioning program

Abstract

To provide a position positioning system, a position positioning method, and a position positioning program capable of accurately positioning the tip of a vehicle such as a heavy machine.SOLUTION: A positioning system or the like includes a first antenna, a second antenna, a receiver, and a control unit, a line segment connecting the first antenna and the second antenna is parallel to a longitudinal direction of a vehicle, the first antenna is disposed closer to a distal end portion than the second antenna, and the receiver acquires signals of the satellite positioning system as a first antenna signal and a second antenna signal, respectively. The first antenna position information is derived, the vehicle orientation information of the vehicle is derived, the first antenna position information and the vehicle orientation information are transmitted to the control unit, the control unit acquires the first antenna position information and the vehicle orientation information, receives offset width information, receives input of a correction coefficient, and calculates the position of the distal end portion as distal end portion position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a positioning system, a positioning method, and a positioning program, and more particularly to a positioning system, a positioning method, and a positioning program that are capable of accurately determining the position of the tip of a vehicle such as heavy machinery on which a positioning antenna cannot be directly installed due to being subject to external disturbances such as strong impacts. [Background technology]

[0002] In order to record and manage the operation of vehicles such as heavy machinery (e.g., wheel loaders) used in mining, quarrying, gravel extraction, civil engineering, and construction industries, it is sometimes necessary to measure the position of the bucket, which is the tip of the vehicle, with high accuracy (e.g., centimeter-level accuracy).

[0003] However, when such vehicles are in operation, the bucket at the front of the vehicle is subjected to strong impacts and other disturbances as it digs, scrapes, or scoops up soil and gravel, making it difficult to directly install an antenna that receives signals from a satellite positioning system such as a GPS (Global Positioning System).Even if such an antenna could be directly installed, there was a risk that the accuracy of the positioning would deteriorate.

[0004] Therefore, a construction machinery cutting edge position measurement device has been proposed in which multiple markers are attached to the bucket instead of an antenna, and the bucket cutting edge position is determined by photographing the multiple markers with two imaging means attached to the construction machinery body (see, for example, Patent Document 1). The construction machine cutting edge position measuring device disclosed in Patent Document 1 is said to be able to accurately measure the cutting edge position of the construction machine.

[0005] However, the multiple markers attached to the bucket are still exposed to external disturbances such as strong impacts on the bucket during operation, which could lead to a deterioration in the accuracy of the cutting edge position of the construction machine measured by the cutting edge position measuring device for construction machinery disclosed in Patent Document 1. For this reason, there was a desire for the development of technology that would enable accurate positioning of the front ends of vehicles such as heavy machinery. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-287298 Summary of the Invention [Problem to be solved by the invention]

[0007] Therefore, the present invention has been made in consideration of the above points, and provides a positioning system, a positioning method, and a positioning program that can accurately locate the tip of a vehicle such as heavy machinery even when the tip is subjected to external disturbances such as strong impacts. [Means for solving the problem]

[0008] That is, the positioning system according to the first aspect is a positioning system for locating the position of the front end of a vehicle, and includes a first antenna and a second antenna installed on the vehicle to receive signals from a satellite positioning system, a receiver connected to the first antenna and the second antenna, and a control unit connected to the receiver, wherein a line connecting the first antenna and the second antenna is parallel to the overall length of the vehicle, and the first antenna is installed closer to the front end than the second antenna, and the receiver includes an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively, a first antenna position derivation unit that locates the position of the first antenna based on the first antenna signal and derives it as first antenna position information, and and a transmitting unit that transmits the first antenna position information and the vehicle orientation information to a control unit. The control unit comprises: a position and orientation acquiring unit that acquires the first antenna position information and the vehicle orientation information; an offset width receiving unit that receives an input of an offset width that indicates the horizontal distance between the first antenna and the tip as offset width information; a correction coefficient receiving unit that receives an input of a correction coefficient that is related to position information of a location where the positioning system is used and is used to correct the position of the tip; and a position information calculating unit that calculates the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient.

[0009] In a second aspect, in the positioning system according to the first aspect, the control unit may include an output destination receiving unit that receives input of an output destination of the tip position information as output destination information, and an output unit that outputs the tip position information to the output destination.

[0010] In a third aspect, in the positioning system according to the first aspect, the first antenna position information and the tip position information may be expressed using latitude and longitude, and the vehicle orientation information may be expressed using an angle from true north.

[0011] In a fourth aspect, in the positioning system according to the third aspect, the correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information and a longitude correction coefficient used to correct the longitude of the tip position information, and the latitude correction coefficient is expressed as a change in latitude per unit length in the latitude direction, and the longitude correction coefficient is expressed as a change in longitude per unit length in the longitude direction, and may be expressed as a function of the latitude of the location of use.

[0012] A fifth aspect may be such that, in the positioning system according to the first aspect, the first antenna position information and the tip position information are expressed using latitude, longitude, and altitude, and the vehicle orientation is expressed using an angle from true north.

[0013] In a sixth aspect, in the positioning system according to the fifth aspect, the correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information and a longitude correction coefficient used to correct the longitude of the tip position information, the latitude correction coefficient being expressed as the latitude that changes per unit length in the latitude direction, and the longitude correction coefficient being expressed as the longitude that changes per unit length in the longitude direction, and being expressed as a function of the latitude of the location of use, the control unit further includes an offset height receiving unit that receives input of an offset height that indicates the vertical distance between the first antenna and the tip as offset height information, and the position information calculation unit may calculate the position of the tip as tip position information based on the first antenna position information, vehicle orientation information, offset width information, offset height information, and the correction coefficients.

[0014] A positioning method according to a seventh aspect is a positioning method used in a positioning system that positions the position of a front end of a vehicle, the positioning system including: a first antenna and a second antenna that are installed in the vehicle and receive signals of a satellite positioning system; a receiver connected to the first antenna and the second antenna; and a control unit connected to the receiver, wherein a line segment connecting the first antenna and the second antenna is parallel to the overall length of the vehicle, and the first antenna is installed closer to the front end than the second antenna. The receiver includes an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively; a first antenna position derivation unit that determines the position of the first antenna based on the first antenna signal and derives the position information as first antenna position information; and a transmitting unit that transmits the first antenna position information and the vehicle orientation information to a control unit, wherein the control unit executes a position and orientation acquisition step of acquiring the first antenna position information and the vehicle orientation information, an offset width receiving step of receiving an input of an offset width indicating the horizontal distance between the first antenna and the tip as offset width information, a correction coefficient receiving step of receiving an input of a correction coefficient that is related to position information of a location where the positioning system is used and is used to correct the position of the tip, and a position information calculation step of calculating the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient.

[0015] A positioning program according to an eighth aspect is a positioning program used in a positioning system that positions the position of the front end of a vehicle, the positioning system comprising: a first antenna and a second antenna installed in the vehicle to receive signals from a satellite positioning system; a receiver connected to the first antenna and the second antenna; and a control unit connected to the receiver, wherein a line connecting the first antenna and the second antenna is parallel to the overall length of the vehicle, and the first antenna is installed closer to the front end than the second antenna, and the receiver comprises an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively, and a first antenna position derivation unit that locates the position of the first antenna based on the first antenna signal and derives it as first antenna position information. The positioning system is characterized by comprising a vehicle orientation derivation unit that determines the orientation of the first antenna as seen from the second antenna based on the first antenna signal and the second antenna signal and derives it as vehicle orientation information for the vehicle, and a transmission unit that transmits the first antenna position information and vehicle orientation information to a control unit, wherein the control unit is provided with a position orientation acquisition function that acquires the first antenna position information and vehicle orientation information, an offset width reception function that receives input of an offset width that indicates the horizontal distance between the first antenna and the tip as offset width information, a correction coefficient reception function that receives input of a correction coefficient that is related to position information of the location where the positioning system is used and is used to correct the position of the tip, and a position information calculation function that calculates the position of the tip as tip position information based on the first antenna position information, vehicle orientation information, offset width information, and the correction coefficient. [Effects of the Invention]

[0016] The positioning system according to the present invention is a positioning system for locating the position of the front end of a vehicle, and includes a first antenna and a second antenna installed on the vehicle to receive signals from a satellite positioning system, a receiver connected to the first antenna and the second antenna, and a control unit connected to the receiver, wherein a line connecting the first antenna and the second antenna is parallel to the overall length of the vehicle and the first antenna is installed closer to the front end than the second antenna, and the receiver includes an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively, a first antenna position derivation unit that locates the position of the first antenna based on the first antenna signal and derives it as first antenna position information, and a positioning unit that calculates the position of the first antenna as seen from the second antenna based on the first antenna signal and the second antenna signal. and a transmitting unit that transmits the first antenna position information and the vehicle orientation information to a control unit. The control unit comprises: a position and orientation acquisition unit that acquires the first antenna position information and the vehicle orientation information; an offset width receiving unit that receives an input of an offset width that indicates the horizontal distance between the first antenna and the tip as offset width information; a correction coefficient receiving unit that receives an input of a correction coefficient that is related to the position information of the location where the positioning system is used and is used to correct the position of the tip; and a position information calculation unit that calculates the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient. Therefore, the tip of a vehicle such as heavy machinery can be accurately positioned even if it is subjected to a disturbance such as a strong impact.

[0017] Furthermore, the positioning method and positioning program of the present invention, like the positioning system of the present invention, can accurately locate the tip of a vehicle such as heavy machinery even when the tip is subjected to external disturbances such as strong impacts. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of a configuration of a positioning system according to an embodiment. [Figure 2] FIG. 2 is a front view showing an example of the appearance of a first antenna and a second antenna of the positioning system. [Figure 3] FIG. 2 is a block diagram showing an example of the functional configuration of a receiver of the positioning system. [Figure 4] FIG. 2 is a block diagram showing an example of the functional configuration of a control unit of the positioning system. [Figure 5] 10 is a flowchart showing an example of the contents of a process for accepting setting values ​​of offset width, offset height, etc. of the position measurement system. [Figure 6] 10 is an example of a screen display that prompts a user to input a value of an offset width of a positioning system. [Figure 7] 10 is an example of a screen display on a user's mobile terminal when setting values ​​such as an offset width and an offset height of a position measurement system. [Figure 8] FIG. 1 illustrates a method for determining the tip (bucket) position of a position positioning system. [Figure 9] 10 is a flowchart showing an example of the content of processing by a control unit of the positioning system. [Figure 10] FIG. 2 is a diagram for explaining the NMEA data format of the positioning system. [Figure 11] FIG. 10 is a diagram showing a comparison between data correction and non-correction of GPGGA sentences in the NMEA data format of the positioning system. [Figure 12] 1 is an example of a flowchart of a positioning method according to an embodiment. [Figure 13] 10 is an example of a flowchart of a positioning method according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] The positioning system 1, positioning method, and positioning program of the embodiment enable accurate positioning of the tip 6 of a vehicle 5 to which a bucket is attached, even when the vehicle 5 is affected by external disturbances such as strong impacts received during operation, in order to manage the operation of the vehicle 5, such as heavy machinery (construction machinery) used for mining limestone, iron ore, coal, various ores, etc.

[0020] Heavy machinery is a general term for large machinery used at civil engineering sites, construction sites, mining sites, etc., and is used at sites where it is difficult to carry out work by human power, specifically for excavation, leveling, lifting, loading, and transporting. Examples of heavy machinery include wheel loaders and hydraulic excavators. A bucket is one of the attachments that is attached to the tip 6 of the arm of a wheel loader or a hydraulic excavator, and is mainly used at sites where earth, sand, soil, snow, etc. are excavated.

[0021] Because the bucket is subjected to strong impacts during work, it is difficult to directly install an antenna for receiving signals from the satellite positioning system, and even if it were possible to install one, there was a risk that the positioning accuracy would deteriorate. Therefore, the positioning system (system, method, program) of the embodiment is positioned as a technology that enables accurate positioning of the front end 6 of the vehicle 5 even under the influence of external disturbances such as strong impacts.

[0022] An example of the configuration of a positioning system 1 according to an embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a schematic diagram showing an example of the configuration of the positioning system 1, and Fig. 2 is a front view showing an example of the appearance of a first antenna 7 and a second antenna 8 of the positioning system 1. The positioning system 1 includes a first antenna 7 and a second antenna 8 installed in a vehicle 5 to receive signals from a satellite positioning system, a receiver 2 connected to the first antenna 7 and the second antenna 8, and a control unit 3 connected to the receiver 2.

[0023] The line segment connecting the first antenna 7 and the second antenna 8 is parallel to the overall length of the vehicle 5, and the first antenna 7 is installed closer to the tip end 6 than the second antenna 8. The first antenna 7 and the second antenna 8 are installed around the driver's seat and behind the vehicle 5, respectively, since there is a risk of them being damaged due to the large impact if they are installed directly on the front end 6 of the vehicle 5.

[0024] The receiver 2 is housed in, for example, a metal or plastic case, and is connected to a first antenna 7 and a second antenna 8 by a cable or the like. Receiver 2 is a GNSS (Global Navigation Satellite System) receiver that enables positioning with sub-decimeter (1 / 100th of a meter) accuracy using the integrated PPP-RTK (Precise Point Positioning) correction service provided by the Centimeter-Level Augmentation Service (CLAS) of Japan's Quasi-Zenith Satellite System (QZSS: Michibiki).

[0025] Receiver 2 is connected to two antennas, namely, first antenna 7 and second antenna 8, and is used in so-called dual antenna mode to obtain information on the orientation of first antenna 7 as seen from second antenna 8. Receiver 2 incorporates built-in protection against intentional and unintentional jamming and spoofing using an advanced sampling system and avoidance mechanism. By minimizing SWaP (size, weight, and power), Receiver 2 can operate for long periods on a single battery charge, increasing its value in the field. Receiver 2 does not lose positioning due to mechanical vibration or shock that affects satellite tracking. Receiver 2 comes with an interface, commands, data messages, and more. Receiver 2 is equipped with an intuitive web user interface that simplifies operation and monitoring, allowing it to be operated from a mobile device or computer. The receiver 2 measures, for example, 47.5 mm (W) x 70 mm (D) x 9.32 mm (H) and weighs, for example, 27 g. Its CLAS accuracy is, for example, 5.6 cm (H) x 9.9 cm (V).

[0026] The control unit 3 is housed in, for example, a metal or plastic case and is arranged inside the vehicle 5. The control unit 3 is connected to the receiver 2 by a cable, and is a device that acquires NMEA formatted (serial) data from the receiver 2 and performs calculations, etc. The information such as the positioning results of the positioning system 1 is acquired and displayed. The control unit 3 is a SoC (System-on-a-chip) microcontroller that has built-in Bluetooth (registered trademark) and Wi-Fi (registered trademark) wireless communication modules, and can be programmed in computer languages ​​such as Arduino (registered trademark) IDE.

[0027] The control unit 3 is available in dual-core and single-core variations. The control unit 3 is equipped with a CPU, memory, etc., and peripheral interfaces such as a touch sensor, a temperature sensor, a hall sensor, and an ultra-low power consumption analog preamplifier. The size of the control unit 3 is, for example, 6 x 6 mm. 2 or 5 x 5 mm 2 Specifically, it has connection pads around the periphery and a large pad (ground) on the bottom for heat dissipation.

[0028] The mobile terminal 4 is, for example, a personal computer (hereinafter referred to as PC), notebook PC, tablet PC, or smartphone used by a user of the positioning system 1, and communicates with the control unit 3 via Bluetooth (registered trademark) or Wi-Fi (registered trademark), etc., and receives and displays positioning data from the positioning system 1. The mobile terminal 4 may be able to access the application of the positioning system 1 via an internet line, or may be able to access the application of the positioning system 1 without going through an internet line.

[0029] 2, the first antenna 7 and the second antenna 8 have the same shape and size, but the first antenna 7 is installed at or near the driver's seat of the vehicle 5, and the second antenna 8 is installed at the rear of the vehicle 5. The lower portions of the first antenna 7 and the second antenna 8 are attached to the driver's seat or near the driver's seat and the rear of the vehicle 5, respectively.

[0030] The functional configuration of the receiver 2 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the functional configuration of the receiver 2 of the positioning system 1. By executing firmware implemented in the receiver 2, the receiver 2 has functional units such as an antenna signal acquisition unit 10, a first antenna position derivation unit 11, a vehicle direction derivation unit 12, and a transmission unit 13.

[0031] The antenna signal acquisition unit 10 acquires the signals of the satellite positioning system received by the first antenna 7 and the second antenna 8 as a first antenna signal and a second antenna signal, respectively. A satellite positioning system is a system for locating positions (measuring current positions) all over the Earth using artificial satellites, with multiple satellites deployed in space and transmitting signals at synchronized times. Specifically, in positioning using a satellite positioning system, radio waves (signals) are sent from four or more positioning satellites, and current position information is obtained using the time difference until the signals are received by terrestrial antennas (first antenna 7 and second antenna 8 in this embodiment). There are satellite positioning systems such as Michibiki (Japan), GPS (USA), GLONASS (Russia), and Galileo (EU).The collective term for these satellite positioning systems is the Global Navigation Satellite System, sometimes abbreviated as GNSS. The first antenna 7 and the second antenna 8 receive signals carried on radio waves transmitted from four or more positioning satellites of the satellite positioning system, and the antenna signal acquisition unit 10 acquires the signals received by the first antenna 7 and the second antenna 8 as a first antenna signal and a second antenna signal, respectively.

[0032] The first antenna position derivation unit 11 measures the position of the first antenna based on the first antenna signal and derives it as first antenna position information. The first antenna position derivation unit 11 derives the current position of the first antenna 7 as first antenna position information based on signals (first antenna signals) received by the first antenna 7 from four or more positioning satellites of the satellite positioning system.

[0033] The vehicle direction deriving unit 12 measures the direction of the first antenna 7 as seen from the second antenna 8 based on the first antenna signal and the second antenna signal, and derives it as vehicle direction information of the vehicle 5. The vehicle orientation derivation unit 12 derives the current position of the second antenna 8 as second antenna position information based on signals (second antenna signals) from four or more positioning satellites of the satellite positioning system received by the second antenna 8, and measures the current orientation of the first antenna 7 as seen from the second antenna 8 based on the already derived first antenna position information and second antenna position information, and derives it as vehicle orientation information of the vehicle 5. The vehicle direction information is information relating to the direction in which the vehicle 5 is facing (that is, the overall length of the vehicle 5), and is expressed as an angle with true north as the reference (0 degrees). The vehicle direction information is equivalent to the direction of the first antenna 7 as seen from the second antenna 8. This is because the line connecting the first antenna 7 and the second antenna 8 is parallel to the overall length of the vehicle 5, and the first antenna 7 is installed closer to the tip 6 than the second antenna 8.

[0034] The transmitter 13 transmits the first antenna position information and the vehicle direction information to the controller 3. The transmitter 13 transmits the first antenna position information and the vehicle direction information to the controller 3 using the NMEA format. The NMEA format is NMEA0183, an ASCII serial communication protocol that defines how data is transmitted in the form of sentences from one talker to multiple listeners simultaneously. ASCII (American Standard Code for Information Interchange) is a character code used in information communication in the United States. NMEA 0183 is a specification used for transmitting information data between marine electronic devices used at sea, and is used in devices such as current meters, gyrocompasses, and GPS receivers (GNSS receivers). The same specification is used for GPS receivers (GNSS receivers) on land. NMEA 0183 is defined and managed by the National Marine Electronics Association (NMEA). NMEA0183 is a collection of sentences, each of which begins with a "$" and ends with a "newline." A sentence is a collection of words separated by a ", (comma)."

[0035] NMEA0183 includes multiple types of sentences, such as the G*RMC format, the G*GGA format, and the G*HDT format. G* indicates which positioning satellite the data comes from, such as GP = GPS / SBAS (USA), GL = GLONASS (Russia), GA = Galileo (EU), GB = BeiDou (China), GQ = QZSS (Japan: Michibiki), etc. The G*RMC sentence includes information such as time, position, and date, and GPRMC indicates that the data is from a U.S. positioning satellite. In this embodiment, the G*RMC sentence indicates the position of the first antenna 7 that received the signal from the positioning satellite at the time and date. The G*GGA sentence includes time, position, and other GPS information, and GPGGA indicates that the data is from a U.S. positioning satellite. In this embodiment, the G*GGA sentence indicates the position information at the time and other GPS information regarding the first antenna 7 that received the signal from the positioning satellite. The G*HDT sentence includes information such as heading (the direction the nose is pointing), and GPHDT indicates that the data is from a U.S. positioning satellite. Note that heading is expressed using the angle from true north, with true north as the reference (0 degrees). In this embodiment, the G*HDT sentence indicates the direction of the first antenna 7 as seen from the second antenna 8 when the receiver 2 is connected to two antennas (first antenna 7 and second antenna 8) and used in dual antenna mode. The transmitter 13 uses the NMEA format to transmit the first antenna position information as GPGGA sentence data and the vehicle direction information as GPHDT sentence data to the controller 3 using a serial communication protocol.

[0036] The functional configuration of the control unit 3 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing an example of the functional configuration of the control unit 3 of the positioning system 1. The control unit 3 has functional units such as a position and orientation acquisition unit 20, an offset width reception unit 21, an offset height reception unit 22, a correction coefficient reception unit 23, an output destination reception unit 24, a position information calculation unit 25, and an output unit 26, by executing the firmware and OS (Operating System) implemented in the control unit 3.

[0037] The position and direction acquisition unit 20 acquires first antenna position information and vehicle direction information. The position and orientation acquisition unit 20 acquires the data of the GPGGA sentence and the GPHDT sentence transmitted from the receiver 2, and regards the position information at the time contained in the GPGGA sentence as the first antenna position information of the first antenna 7 at that time, and acquires the heading information contained in the GPHDT sentence as vehicle orientation information.

[0038] An offset width receiving unit 21, an offset height receiving unit 22, a correction coefficient receiving unit 23, and an output destination receiving unit 24, which will be described below, receive input of setting values ​​required for calculating the position of the tip portion 6 by the user. The process of the control unit 3 for accepting user input of these setting values ​​will be described with reference to Fig. 5. Fig. 5 is a flowchart showing an example of the process for accepting setting values ​​such as the offset width and offset height of the position measurement system 1. The control unit 3 executes the following processing steps to accept user input of setting values ​​required for calculating the position of the tip portion 6 (see FIG. 5).

[0039] Step S20: Display the value setting screen The control unit 3 displays a value setting screen on the monitor of the mobile terminal 4 of the user. The control unit 3 displays a screen that allows the user to select the item to set the value. The value setting screen displays the following items: A: Offset width, B: Offset height, C: Latitude correction coefficient, D: Longitude correction coefficient, E: Height correction coefficient, F: Bluetooth output destination, G: End, and allows the user to select one of the seven items A to G.

[0040] Step S21: Select an item An item selected by the user from the seven items displayed in step S20 is accepted. If the user selects item A (offset width), the control unit 3 proceeds to step S22; if the user selects item B (offset height), the control unit 3 proceeds to step S23; if the user selects item C (latitude correction coefficient), the control unit 3 proceeds to step S24; if the user selects item D (longitude correction coefficient), the control unit 3 proceeds to step S25; if the user selects item E (height correction coefficient), the control unit 3 proceeds to step S26; if the user selects item F (Bluetooth output destination), the control unit 3 proceeds to step S27; and if the user selects item G (end), the control unit 3 proceeds to step S28.

[0041] Step S22: Set offset width The control unit 3 accepts the input of the offset width value from the user and sets the input value from the user as the offset width. The offset width refers to the distance between the first antenna 7 and the tip portion 6 in the horizontal direction. As shown in FIG. 6, the control unit 3 displays "Please input Offset (Width):" on the monitor of the user's mobile terminal 4 to prompt the user to input the offset width.

[0042] Step S23: Set offset height The control unit 3 accepts the user's input of the offset height value and sets the user's input value as the offset height. The offset height refers to the distance between the first antenna 7 and the tip portion 6 in the vertical direction. The control unit 3 displays "Please input Offset (Height):" on the monitor of the user's mobile terminal 4 to prompt the user to input the offset width. The offset height is a setting value that is required when the first antenna position information and tip position information are expressed in three dimensions of latitude, longitude, and height, and may be omitted when the first antenna position information and tip position information are expressed in two dimensions of latitude and longitude.

[0043] Step S24: Set longitude change per 1 km The change in longitude per 1 km is a longitude correction coefficient used when calculating the longitude of the position of the tip 6, and is expressed as the change in longitude per unit length (1 km) in the longitude direction, with units of [minutes / km].

[0044] The change in longitude per kilometer varies in relation to the latitude of the point and is expressed as a function of latitude. Specifically, the length of one degree of latitude is roughly the same anywhere on Earth, but the length of one degree of longitude varies depending on the latitude of that point. For example, the length of one degree of longitude is longest at the equator, and as the point moves north or south from the equator, the length of one degree of longitude becomes shorter. Therefore, when moving in the longitude direction, the value of longitude changes depending on the latitude of the point. To take this into account, the change in longitude per kilometer [minutes / km] at any latitude is calculated in advance using the following formula (1). Note that the control unit 3 can only handle single-precision real numbers due to its functional limitations, so the change in longitude per kilometer is used instead of the change in longitude per meter.

[0045]

number

[0046] Here, the length Δl [m] of 1 second of longitude is derived using the following equation (2).

[0047]

number

[0048] φ is latitude, a is the equatorial radius of the Earth's ellipsoid, e is the eccentricity, and Δλ is the difference in one second of longitude, so a=6378137, e=0.081819191042815791, and Δλ=π / 648000. Δl is a function of longitude (φ), and the change in longitude per km is also a function of longitude (φ). The change in longitude per 1 km is calculated by solving equations (1) and (2) using φ in equation (2) as the latitude, which is the location information of the location where the positioning system 1 is used. The user calculates the change in longitude per kilometer using the latitude of the location where the positioning system 1 is used and equations (1) and (2). In step S24, the control unit 3 displays "Please input Longitude Per Kilometer:" on the monitor of the user's mobile terminal 4 to prompt the user to input the change in longitude per kilometer calculated by the user, and the value input by the user is set in the control unit 3.

[0049] Step S25: Setting latitude change per 1 km The latitude change per 1 km is the latitude correction coefficient used when calculating the latitude of the position of the tip 6, and is expressed as the latitude change per unit length (1 km) in the latitudinal direction, with units of [minutes / km]. The change in longitude per kilometer is expressed as a constant at any location on Earth. The distance of 1 minute of latitude is approximately 1.85438 km. Therefore, the change in longitude per kilometer is approximately 1 / 1.85438 [minutes / km] = approximately 0.53926 [minutes / km]. In step S25, the control unit 3 displays "Please input Latitude Per Kilometer:" on the monitor of the user's mobile terminal 4 to prompt the user to input the latitude change per kilometer, and the value "0.53926" input by the user is set in the control unit 3. Step S25 may be omitted, and the latitude change per kilometer may be set in advance in the program code of the control unit 3 to "0.53926". Furthermore, if the latitude of the tip position information calculated by the position information calculation unit 25 differs from the actually measured latitude, the input value of the change in latitude per kilometer may be adjusted by the user.

[0050] Step S26: Bluetooth output destination setting In step S26, the output destination of wireless communication via Bluetooth is set, and the user's mobile terminal 4 that will be wirelessly connected to the positioning system 1 is registered. In step S26, the control unit 3 displays "Please input Bluetooth output to:" on the monitor of the user's mobile terminal 4 to prompt the user to input the Bluetooth output destination, and the name of the device to be the output destination input by the user is set in the control unit 3. The positioning system 1 may perform wireless communication with the user's mobile terminal 4 using Wi-Fi wireless communication, or may perform wireless communication with the user's mobile terminal 4 using wired communication.

[0051] Step S27: Value setting completed To complete the value setting, the user selects item G, and the process of the control unit 3 for accepting the user's input ends. FIG. 7 is an example of a screen display on the user's mobile terminal 4 showing information about setting values ​​such as the offset width and offset height of the positioning system 1 being sent to the control unit 3 by serial communication software. The offset width, offset height, and longitude change per 1 km [minutes / km], as well as the Bluetooth output destination, can be set arbitrarily via serial communication in the positioning system 1. The offset width indicates the distance (horizontal direction) from the position to be corrected to the antenna, and the offset height indicates the distance (vertical direction) from the position to be corrected to the antenna.

[0052] The offset width receiving unit 21 receives an input of an offset width indicating the distance in the horizontal direction between the first antenna 7 and the tip end 6 as offset width information. The offset width receiving unit 21 receives the input of the offset width value from the user through the process of step S22 by the control unit 3 described above.

[0053] The offset height receiving unit 22 receives an input of an offset height indicating the distance in the vertical direction between the first antenna 7 and the tip end portion 6 as offset height information. The offset height receiving unit 22 receives the input of the offset height value from the user through the process of step S23 by the control unit 3 described above.

[0054] The correction coefficient receiving unit 23 receives an input of a correction coefficient used to correct the position of the tip portion 6, which is related to the position information of the location where the position measurement system 1 is used. The correction coefficient receiving unit 23 receives input of the user's longitude change per kilometer and latitude change per kilometer correction coefficient values ​​through the processing of steps S24 and S25 by the control unit 3 described above.

[0055] The output destination receiving unit 24 receives an input of an output destination of the tip position information as output destination information. The output destination receiving unit 24 receives the name of the device to be the Bluetooth output destination input by the user through the process of step S26 by the control unit 3 described above.

[0056] When the first antenna position information and the tip portion position information are expressed using latitude and longitude, the position information calculation unit 25 calculates the position of the tip portion 6 as tip portion position information based on the first antenna position information, vehicle orientation information, offset width information, and a correction coefficient. Note that the vehicle orientation information is expressed using an angle from true north. The correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information, and a longitude correction coefficient used to correct the longitude of the tip position information. The latitude correction factor is expressed as a change in latitude per unit length in the latitude direction, and the longitude correction factor is expressed as a change in longitude per unit length in the longitude direction, and is expressed as a function of the latitude of the location where the positioning system 1 is used.

[0057] When the first antenna position information and the tip position information are expressed using latitude, longitude, and altitude, the position information calculation unit 25 calculates the position of the tip 6 as tip position information based on the first antenna position information, vehicle orientation information, offset width information, offset height information, and a correction coefficient. Note that the vehicle orientation is expressed using an angle from true north. The correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information, and a longitude correction coefficient used to correct the longitude of the tip position information. The latitude correction factor is expressed in terms of latitude change per unit length in the latitudinal direction, and the longitude correction factor is expressed in terms of longitude change per unit length in the longitudinal direction, and is expressed as a function of the latitude of the location of use.

[0058] Fig. 8 is a diagram showing a method for measuring the position of the tip (bucket) 6 of the positioning system 1. As shown in Fig. 8, in a coordinate system in which the direction toward the North Pole is represented as latitude and the direction parallel to the equator is represented as longitude, the distance between the first antenna position and the tip (bucket) position is represented as the offset width, and the angle θ formed by the axis of latitude and the line segment of the offset width is represented as the vehicle heading of the vehicle 5. The vehicle heading is represented as an angle between 0° and 360°. The vehicle heading is calculated as the angle by which the tip (bucket) position is away from true north (the angle from true north).

[0059] The latitude and longitude of the tip (bucket) position when the first antenna position is used as a reference can be calculated, for example, by the following equation (3).

[0060]

number

[0061] The output unit 26 outputs the tip position information to an output destination. The output unit 26 outputs the tip position information to the Bluetooth output destination accepted by the output destination acceptance unit 24.

[0062] FIG. 9 is a flowchart showing the calculations performed by the control unit 3 of the positioning system 1 according to the embodiment. First, the functions of the receiver 2 and control unit 3 will be briefly described. First, the distance between the first antenna 7 and the tip (bucket) 6 is measured in advance as the bucket width, and output in NMEA format (multiple sentences). This NMEA format includes a GPGGA sentence and a GPHDT sentence. The GPGGA sentence includes information on the latitude and longitude of the first antenna 7. The GPHDT sentence includes information on the direction of the first antenna 7 as seen from the second antenna 8 (0 to 360 degrees, with true north being 0 degrees). The control unit 3 receives the GPGGA sentence and the GPHDT sentence, and calculates and corrects the position (latitude and longitude) of the tip (bucket) 6. For example, position (latitude and longitude) information calculated in a place other than Hiroshima is corrected to match Hiroshima. Then, the process shown in FIG. 7 is executed. First, in step S1, initial settings are performed. Next, in step S2, NMEA (one sentence) is received. NMEA is information containing the results of positioning performed by a GNSS (GPS) receiver. Next, in step S3, it is checked whether a GPGGA sentence exists. A GPGGA sentence is information containing latitude and longitude information. If the answer is YES in step S3, the process proceeds to step S4, where the GPGGA information is stored. If the answer is NO in step S3, the process proceeds to step S5, where it is checked whether a GPHDT sentence exists. A GPHDT sentence is information containing direction information. If the answer is YES in step S5, the process proceeds to step S6, where the direction information is stored. If the answer is NO in step S5, the process proceeds to step S11, where the received sentence is transmitted. Next, in step S7, it is checked whether direction information exists. If the answer is YES in step S7, the process proceeds to step S8, where the latitude and longitude are corrected. If the answer is NO in step S7, the process proceeds to step S9, where the altitude is corrected. Next, in step S10, the corrected GPGGA is transmitted, and in step S11, the received sentence is transmitted.

[0063] 10 is a display example showing the NMEA data format of the positioning system 1. These are examples of three sentences: GPRMC, GPGGA, and GPHDT. [1] represents latitude (GPGGA sentence), [2] represents longitude (GPGGA sentence), [3] represents the antenna's height above sea level (GPGGA sentence), [4] represents geoid height (GPGGA sentence), and [5] represents direction (GPHDT sentence).

[0064] FIG. 11 shows an example of a display with highlighting in a comparison of GPGGA sentence corrections made by the positioning system 1. The left side shows the NMEA format without correction, and the right side shows the NMEA format with correction. The corrected parts are surrounded by a square.

[0065] The positioning program according to the embodiment will be described together with the positioning method with reference to Fig. 12. Fig. 12 is an example of a flowchart of the positioning method according to the embodiment. The positioning method is executed by the control unit 3 of the positioning system 1 based on a positioning program. The positioning program includes a position and orientation obtaining step S50, an offset width receiving step S51, a correction coefficient receiving step S53, and a position information calculating step S55. The positioning program causes the control unit 3 of the positioning system 1 to realize a position and orientation acquisition function, an offset width reception function, a correction coefficient reception function, a position information calculation function, and the like. These functions are executed in the order shown in the flowchart of Fig. 12, but the order can be changed as appropriate. Note that each function overlaps with the description of the various functional units of the positioning system 1 described above, and therefore detailed description thereof will be omitted.

[0066] The position and direction acquisition function acquires first antenna position information and vehicle direction information (step S50: position and direction acquisition step).

[0067] The offset width receiving function receives an input of an offset width indicating the horizontal distance between the first antenna 7 and the tip end portion 6 as offset width information (step S51: offset width receiving step).

[0068] The correction coefficient receiving function receives input of a correction coefficient that is related to the position information of the location where the position measurement system 1 is used and that is used to correct the position of the tip portion 6 (step S53: correction coefficient receiving step).

[0069] The position information calculation function calculates the position of the tip 6 as tip position information based on the first antenna position information, vehicle direction information, offset width information, and correction coefficient (step S55: position information calculation step).

[0070] Next, a position measurement program according to another embodiment will be described together with a position measurement method according to another embodiment with reference to Fig. 13. Fig. 13 is an example of a flowchart of the position measurement method according to another embodiment. The flowchart of the positioning program according to another embodiment shown in FIG. 13 differs from the flowchart of the positioning program shown in FIG. 12 in that an offset height receiving step S52, an output destination receiving step S54, and an output step S56 are added. The positioning method according to the other embodiment is executed by the control unit 3 of the positioning system 1 based on the positioning program according to the other embodiment shown in FIG. The positioning program according to another embodiment shown in FIG. 13 includes a position and orientation acquisition step S50, an offset width reception step S51, an offset height reception step S52, a correction coefficient reception step S53, an output destination reception step S54, a position information calculation step S55, and an output step S56.

[0071] 13 causes the control unit 3 of the positioning system 1 to realize a position and orientation acquisition function, an offset width reception function, an offset height reception function, a correction coefficient reception function, an output destination reception function, a position information calculation function, an output function, etc. These functions are executed in the order shown in the flowchart of FIG. 13, but the order can also be changed as appropriate. Hereinafter, the position measurement method and the position measurement program according to another embodiment shown in FIG. 13 will be described, focusing only on the differences from the position measurement method and the position measurement program shown in FIG. Furthermore, each function overlaps with the description of the various functional units of the positioning system 1 described above, and therefore detailed description thereof will be omitted.

[0072] The offset height receiving function receives an input of an offset height indicating the distance in the vertical direction between the first antenna 7 and the tip end portion 6 as offset height information (step S52: offset height receiving step).

[0073] The output destination receiving function receives an input of the output destination of the tip position information as output destination information (step S54: output destination receiving step).

[0074] The output function outputs the tip position information to an output destination (step S56: output step).

[0075] According to each aspect of the present disclosure described above, the position of the tip of a vehicle such as heavy machinery can be accurately determined even when the tip is subjected to external disturbances such as strong impacts.

[0076] The positioning program of the embodiment can be implemented in the control unit 3 using a computer language such as Arduino (registered trademark) IDE.

[0077] [Functions and circuits] Next, the functions and circuits of the positioning system 1 described above will be described. Each functional unit of the control unit 3 may be realized as a function of a computer's arithmetic processing unit, etc. That is, the control unit 3 may be realized as a position and orientation acquisition function, an offset width reception function, an offset height reception function, a correction coefficient reception function, an output destination reception function, a position information calculation function, and an output function, respectively, by a computer's arithmetic processing unit, etc. The positioning program can cause a computer to realize each of the above-described functions. The positioning program may be recorded on a computer-readable non-transitory storage medium, such as a memory, a solid-state drive, a hard disk drive, or an optical disk. The storage medium may also be referred to as a non-transitory computer-readable medium that stores the positioning program. The positioning program may also be transmitted online. Furthermore, the above-mentioned arithmetic processing unit of the computer may be configured, for example, by an integrated circuit, etc. That is, the control unit 3 of the positioning system 1 may be realized as a position and orientation acquisition circuit, an offset width reception circuit, an offset height reception circuit, a correction coefficient reception circuit, an output destination reception circuit, a position information calculation circuit, and an output circuit, which constitute the arithmetic processing unit of the computer, etc.

[0078] The present invention is not limited to the positioning system 1, the positioning method, and the positioning program according to the above-described embodiments, and can be embodied in various other modified examples or application examples without departing from the spirit of the present invention as set forth in the claims. Also, although the term "information" is used in the above-described embodiments, the term "information" can be replaced with "data," and the term "data" can be replaced with "information."

[0079] [Aspects and Effects of the Present Embodiment] Next, one aspect of this embodiment and the effects of each aspect will be described. Note that each aspect described below is an example at the time of filing, and this embodiment is not limited to the aspects described below. In other words, this embodiment is not limited to the aspects described below, and may be realized by appropriately combining the above-mentioned parts. Furthermore, a lower-level aspect may be able to cite any of the higher-level aspects. The effects of the present embodiment described below are merely examples, and the effects of each aspect are not limited to those described below. Each aspect may, for example, achieve at least one of the effects described below.

[0080] (Aspect 1) A positioning system according to one aspect is a positioning system for locating the position of the front end of a vehicle, and includes a first antenna and a second antenna installed on the vehicle to receive signals from a satellite positioning system, a receiver connected to the first antenna and the second antenna, and a control unit connected to the receiver, wherein a line connecting the first antenna and the second antenna is parallel to the overall length of the vehicle, and the first antenna is installed closer to the front end than the second antenna, and the receiver includes an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively, a first antenna position derivation unit that locates the position of the first antenna based on the first antenna signal and derives the position information as first antenna position information, and and a transmitting unit that transmits the first antenna position information and the vehicle orientation information to a control unit. The control unit includes a position and orientation acquisition unit that acquires the first antenna position information and the vehicle orientation information, an offset width receiving unit that receives input of an offset width that indicates the horizontal distance between the first antenna and the tip as offset width information, a correction coefficient receiving unit that receives input of a correction coefficient that is related to position information of a location where the positioning system is used and is used to correct the position of the tip, and a position information calculation unit that calculates the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient. This allows the positioning system to accurately locate the tip of a vehicle such as heavy machinery, even if it is subjected to external disturbances such as strong impacts. The cost is also less than half the price of an RTK surveying instrument.

[0081] (Aspect 2) In one aspect of the positioning system, the control unit may include an output destination receiving unit that receives input of an output destination of the tip position information as output destination information, and an output unit that outputs the tip position information to the output destination. This makes it possible to accurately measure the position of the tip of a vehicle such as heavy machinery even when the tip is subjected to external disturbances such as strong impacts.

[0082] (Aspect 3) In one aspect of the positioning system, the first antenna position information and the tip portion position information may be expressed using latitude and longitude, and the vehicle orientation information may be expressed using an angle from true north. This makes it possible to accurately measure the position of the tip of a vehicle such as heavy machinery even when the tip is subjected to external disturbances such as strong impacts.

[0083] (Aspect 4) In one embodiment of the positioning system, the correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information and a longitude correction coefficient used to correct the longitude of the tip position information, and the latitude correction coefficient is expressed as a change in latitude per unit length in the latitude direction, and the longitude correction coefficient is expressed as a change in longitude per unit length in the longitude direction, and may be expressed as a function of the latitude of the location of use. This makes it possible to accurately measure the position of the tip of a vehicle such as heavy machinery even when the tip is subjected to external disturbances such as strong impacts.

[0084] (Aspect 5) In one aspect of the positioning system, the first antenna position information and the tip portion position information may be expressed using latitude, longitude, and altitude, and the vehicle heading may be expressed using an angle from true north. This makes it possible to accurately measure the position of the tip of a vehicle such as heavy machinery even when the tip is subjected to external disturbances such as strong impacts.

[0085] (Aspect 6) In one embodiment of the positioning system, the correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information and a longitude correction coefficient used to correct the longitude of the tip position information, the latitude correction coefficient being expressed as the latitude that changes per unit length in the latitude direction, and the longitude correction coefficient being expressed as the longitude that changes per unit length in the longitude direction, and being expressed as a function of the latitude of the location of use, the control unit further includes an offset height receiving unit that receives input of an offset height that indicates the vertical distance between the first antenna and the tip as offset height information, and the position information calculation unit may calculate the position of the tip as tip position information based on the first antenna position information, vehicle orientation information, offset width information, offset height information, and the correction coefficients. This makes it possible to accurately measure the position of the tip of a vehicle such as heavy machinery even when the tip is subjected to external disturbances such as strong impacts.

[0086] (Aspect 7) The positioning method is used for a positioning system that positions the position of the front end of a vehicle, and the positioning system includes a first antenna and a second antenna that are installed in the vehicle and receive signals from a satellite positioning system, a receiver connected to the first antenna and the second antenna, and a control unit connected to the receiver, where a line segment connecting the first antenna and the second antenna is parallel to the overall length of the vehicle and the first antenna is installed closer to the front end than the second antenna, and the receiver includes an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively, a first antenna position derivation unit that determines the position of the first antenna based on the first antenna signal and derives the position information as first antenna position information, and and a transmitting unit that transmits the first antenna position information and the vehicle orientation information to a control unit. The control unit executes a position and orientation acquisition step of acquiring the first antenna position information and the vehicle orientation information, an offset width receiving step of receiving an input of an offset width indicating the horizontal distance between the first antenna and the tip as offset width information, a correction coefficient receiving step of receiving an input of a correction coefficient that is related to position information of a location where the positioning system is used and is used to correct the position of the tip, and a position information calculation step of calculating the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient. This allows the positioning system to accurately locate the tip of a vehicle such as heavy machinery, even if it is subjected to external disturbances such as strong impacts. The cost is also less than half the price of an RTK surveying instrument.

[0087] (Aspect 8) The positioning program is a positioning program used in a positioning system that locates the position of the front end of a vehicle, the positioning system comprising: a first antenna and a second antenna that are installed in the vehicle and receive signals from a satellite positioning system; a receiver connected to the first antenna and the second antenna; and a control unit connected to the receiver, wherein a line connecting the first antenna and the second antenna is parallel to the overall length of the vehicle, and the first antenna is installed closer to the front end than the second antenna, and the receiver comprises an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively, and a first antenna position derivation unit that locates the position of the first antenna based on the first antenna signal and derives it as first antenna position information. The positioning system includes a vehicle orientation derivation unit that determines the orientation of the first antenna as seen from the second antenna based on the first antenna signal and the second antenna signal and derives it as vehicle orientation information for the vehicle, and a transmission unit that transmits the first antenna position information and vehicle orientation information to a control unit, and the control unit is provided with a position orientation acquisition function that acquires the first antenna position information and vehicle orientation information, an offset width reception function that receives input of an offset width that indicates the horizontal distance between the first antenna and the tip as offset width information, a correction coefficient reception function that receives input of a correction coefficient that is related to position information of the location where the positioning system is used and is used to correct the position of the tip, and a position information calculation function that calculates the position of the tip as tip position information based on the first antenna position information, vehicle orientation information, offset width information, and the correction coefficient. This allows the positioning system to accurately locate the tip of a vehicle such as heavy machinery, even if it is subjected to external disturbances such as strong impacts. The cost is also less than half the price of an RTK surveying instrument. [Explanation of symbols]

[0088] 1. Positioning System 2 Receivers 3. Control Unit 4. Mobile devices 5 vehicles 6 Tip 7 First Antenna 8 Second Antenna 10 Antenna signal acquisition unit 11 First antenna position derivation unit 12 Vehicle direction derivation unit 13 Transmitter 20 Position / azimuth acquisition part 21 Offset width reception section 22 Offset height reception section 23 Correction coefficient reception unit 24 Output destination reception section 25 Location information calculation section 26 Output section

Claims

1. A positioning system for measuring the position of a front end of a vehicle, a first antenna and a second antenna that are installed in the vehicle and receive signals from a satellite positioning system; a receiver connected to the first antenna and the second antenna; and a control unit connected to the receiver; a line segment connecting the first antenna and the second antenna is parallel to the overall length direction of the vehicle, and the first antenna is installed closer to the tip end than the second antenna, The receiver includes: an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively; a first antenna position derivation unit that determines the position of the first antenna based on the first antenna signal and derives the position as first antenna position information; a vehicle orientation derivation unit that determines an orientation of the first antenna as seen from the second antenna based on the first antenna signal and the second antenna signal, and derives the orientation as vehicle orientation information of the vehicle; a transmitter that transmits the first antenna position information and the vehicle orientation information to the controller, The control unit a position and orientation acquisition unit that acquires the first antenna position information and the vehicle orientation information; an offset width receiving unit that receives, as offset width information, an input of an offset width that indicates a horizontal distance between the first antenna and the tip end; a correction coefficient receiving unit that receives an input of a correction coefficient used to correct the position of the tip portion, the correction coefficient being related to position information of a place where the positioning system is used; a position information calculation unit that calculates the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient; A positioning system comprising:

2. The control unit an output destination receiving unit that receives an input of an output destination of the tip portion position information as output destination information; an output unit that outputs the tip position information to the output destination; The positioning system according to claim 1, further comprising:

3. the first antenna position information and the tip portion position information are expressed using latitude and longitude, 2. The positioning system according to claim 1, wherein the vehicle direction information is expressed using an angle from true north.

4. the correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information, and a longitude correction coefficient used to correct the longitude of the tip position information, the latitude correction factor is expressed as a change in latitude per unit length in the latitudinal direction, 4. The positioning system according to claim 3, wherein the longitude correction coefficient is expressed as a change in longitude per unit length in the longitudinal direction and is expressed as a function of the latitude of the location of use.

5. the first antenna position information and the tip portion position information are expressed using latitude, longitude, and altitude, 2. The positioning system according to claim 1, wherein the vehicle direction is expressed using an angle from true north.

6. the correction coefficients include a latitude correction coefficient used to correct the latitude of the tip position information, and a longitude correction coefficient used to correct the longitude of the tip position information, the latitude correction factor is expressed as a change in latitude per unit length in the latitudinal direction, the longitude correction factor is expressed in terms of change in longitude per unit length in the longitudinal direction and is expressed as a function of latitude of the location of use; The control unit an offset height receiving unit that receives, as offset height information, an input of an offset height that indicates a distance in a vertical direction between the first antenna and the tip end portion; 6. The positioning system according to claim 5, wherein the position information calculation unit calculates the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, the offset height information, and the correction coefficient.

7. A positioning method used in a positioning system that measures the position of a front end of a vehicle, comprising: the positioning system includes a first antenna and a second antenna installed in the vehicle to receive signals from a satellite positioning system, a receiver connected to the first antenna and the second antenna, and a control unit connected to the receiver; a line segment connecting the first antenna and the second antenna is parallel to the overall length direction of the vehicle, and the first antenna is installed closer to the tip end than the second antenna, The receiver includes: an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively; a first antenna position derivation unit that determines the position of the first antenna based on the first antenna signal and derives the position as first antenna position information; a vehicle orientation derivation unit that determines an orientation of the first antenna as seen from the second antenna based on the first antenna signal and the second antenna signal, and derives the orientation as vehicle orientation information of the vehicle; a transmitter that transmits the first antenna position information and the vehicle orientation information to the controller, The control unit a position and orientation acquiring step of acquiring the first antenna position information and the vehicle orientation information; an offset width receiving step of receiving, as offset width information, an input of an offset width indicating a horizontal distance between the first antenna and the tip end; a correction coefficient receiving step of receiving an input of a correction coefficient used to correct the position of the tip portion, the correction coefficient being related to position information of a place where the positioning system is used; a position information calculation step of calculating a position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient; A positioning method characterized by executing the above.

8. A positioning program used in a positioning system that measures the position of a front end of a vehicle, the positioning system includes a first antenna and a second antenna installed in the vehicle to receive signals from a satellite positioning system, a receiver connected to the first antenna and the second antenna, and a control unit connected to the receiver; a line segment connecting the first antenna and the second antenna is parallel to the overall length direction of the vehicle, and the first antenna is installed closer to the tip end than the second antenna, The receiver includes: an antenna signal acquisition unit that acquires the signals of the satellite positioning system received by the first antenna and the second antenna as a first antenna signal and a second antenna signal, respectively; a first antenna position derivation unit that determines the position of the first antenna based on the first antenna signal and derives the position as first antenna position information; a vehicle orientation derivation unit that determines an orientation of the first antenna as seen from the second antenna based on the first antenna signal and the second antenna signal, and derives the orientation as vehicle orientation information of the vehicle; a transmitter that transmits the first antenna position information and the vehicle orientation information to the controller, The control unit a position and orientation acquisition function for acquiring the first antenna position information and the vehicle orientation information; an offset width receiving function that receives, as offset width information, an input of an offset width indicating a horizontal distance between the first antenna and the tip end; a correction coefficient receiving function that receives an input of a correction coefficient used to correct the position of the tip portion, in relation to position information of a place where the positioning system is used; a position information calculation function that calculates the position of the tip as tip position information based on the first antenna position information, the vehicle orientation information, the offset width information, and the correction coefficient; A positioning program characterized by realizing the above.

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