Positioning device

Abstract

To provide a positioning device with which, while suppressing costs, it is possible to measure highly accurately the position of an underwater vehicle.SOLUTION: The positioning device in one embodiment comprises: a distance acquisition unit that acquires a distance from a main vehicle to a first, second and third underwater vehicles, respectively; and a measurement unit that acquires position information of the first and second underwater vehicles. The distance acquisition unit acquires a distance between the first and second underwater vehicles and a distance between the second and third underwater vehicles, on the basis of a propagation time of sound waves between the first and third underwater vehicles and a propagation time of sound waves between the second and third underwater vehicles. The measurement unit acquires position information of the third underwater vehicle on the basis of the position information of the main vehicle and the first and second underwater vehicles, the distance between the main vehicle and the third underwater vehicle, the distance between the first and third underwater vehicles, and the distance between the second and third underwater vehicles.SELECTED DRAWING: Figure 2

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