Positioning device, positioning method, and positioning program

Abstract

A positioning device (100) is installed in a green of a golf course and measures the position of the installation point. An antenna (110) receives a satellite signal. A position acquisition unit (121) uses the satellite signal to calculate the position of the antenna (110). An impact determination unit (123) determines whether a device acceleration (51) measured by an acceleration sensor (122) meets an impact determination standard (61). When the device acceleration (51) meets the impact determination standard (61), a position calculation unit (124) calculates an installation position (35), which is the position of the installation point, using the position of the antenna (110).

Description

Positioning device, positioning method, and positioning program

[0001] The present disclosure relates to a positioning device, a positioning method, and a positioning program, and more particularly to a positioning device, a positioning method, and a positioning program for measuring a position on a golf course green.

[0002] At golf courses, the pin position on the green, i.e. the hole position, is basically changed every day. The reasons for this are as follows: ・The grass around the hole wears down over time. ・Playing becomes boring if the hole position is always the same. ・The difficulty level changes depending on the hole position.

[0003] Accurate management of hole position information is important from the perspective of maintaining the turf of a golf course, golfers' satisfaction with the golf course, and golfers' play strategies.

[0004] Patent Document 1 describes transmitting positioning information determined by a high-precision positioning terminal detachably provided on the cup to an external device.

[0005] JP 2019-080660 A

[0006] The golf pin position detection device of Patent Document 1 requires the operation of a physical button during measurement. The presence of a physical button poses the problem of a higher failure rate due to external factors such as dirt or grass. Another problem is that the design and maintenance costs of the physical button are high. Furthermore, when used by someone unfamiliar with operating the device, there is the problem that the operator may forget to press the physical button or may operate it incorrectly.

[0007] The present disclosure aims to accurately measure the hole position, which is the installation position, without requiring a physical button that triggers the start of measurement.

[0008] The positioning device according to the present disclosure is a positioning device that is installed on a golf course green and measures an installation point, and includes: an installation body that is placed at the installation point; an antenna that receives satellite signals; a position acquisition unit that calculates the position of the antenna using the satellite signals; an acceleration sensor that measures acceleration as device acceleration; an impact determination unit that determines whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact to the positioning device; and a position calculation unit that uses the position of the antenna to calculate an installation position, which is the position of the installation point, if the device acceleration satisfies the impact determination criterion.

[0009] In the positioning device according to the present disclosure, the impact determination unit determines whether the device acceleration satisfies the impact determination criterion. If the device acceleration satisfies the impact determination criterion, the position calculation unit calculates the installation position from the antenna position. Therefore, the positioning device according to the present disclosure has the advantage of being able to accurately measure the hole position, which is the installation position, without requiring a physical button to trigger the start of measurement.

[0010] A diagram showing an example of the overall configuration of a positioning device according to embodiment 1. A diagram showing an example of the functional configuration of a positioning device according to embodiment 1. A flow diagram showing an example of the operation of the positioning device according to embodiment 1. A diagram showing an example of a display on a worker terminal according to embodiment 1. A diagram showing an example of the hardware configuration of a receiver according to embodiment 1. A diagram showing another example of the hardware configuration of a receiver according to embodiment 1. A diagram showing an example of the functional configuration of a positioning device according to embodiment 2. A diagram showing an example of the functional configuration of a positioning device according to embodiment 3.

[0011] The present embodiment will be described below with reference to the drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals. In the description of the embodiment, the description of identical or corresponding parts will be omitted or simplified as appropriate. Arrows in the drawings mainly indicate the flow of data or the flow of processing. Furthermore, the sized relationships between components in the following drawings may differ from the actual relationships. Furthermore, in the description of the embodiment, directions or positions such as up, down, left, right, front, rear, front and back may be indicated. These notations are used for convenience of explanation and do not limit the placement, direction or orientation of devices, instruments, parts, etc.

[0012] Embodiment 1. *** Description of Configuration *** Fig. 1 is a diagram showing an example of the overall configuration of a positioning device 100 according to this embodiment. The positioning device 100 is installed on a green 20 of a golf course, and measures an installation position 35, which is the location of an installation point 30. The positioning device 100 has a main body 150 equipped with an antenna 110, a receiver 120, a battery 130, and an installation body 140. For example, the positioning device 100 measures the hole position, which is the location of the installation point 30, by taking a hole 31 installed on the green 20 of a golf course as the installation point 30. The positioning device 100 is also referred to as a hole position measuring device. The positioning device 100 is operated by a worker 40 such as a groundskeeper or greenkeeper.

[0013] The positioning device 100 according to this embodiment includes an antenna at the upper end of an elongated main body 150. A receiver 120 and a battery 130 are provided below the antenna 110. An installation body 140 is provided at the lower end of the elongated main body 150, and is installed at an installation point 30 whose position is to be measured. The shape of the positioning device 100 is not limited to the shape shown in FIG. 1 . For example, the main body 150 may be box-shaped, with the antenna 110 located at the top and the installation body 140 located at the bottom, with the receiver 120 and battery 130 located inside the box. Alternatively, other shapes may be used.

[0014] When the measurement of the installation position 35 is completed, the positioning device 100 transmits the installation position 35 to the worker terminal 200 carried by the worker 40 .

[0015] 2 is a diagram showing an example of the functional configuration of the positioning device 100 according to this embodiment. The antenna 110 receives satellite signals. The battery 130 supplies power to the antenna 110 and the receiver 120.

[0016] The installation body 140 is installed at the installation site 30. In this embodiment, the installation body 140 is formed in a shape similar to the tip of a pin so that it fits into a pin attachment portion in the hole. Therefore, the positioning device 100 is installed in the hole by inserting a pin into the hole. The shape of the installation body 140 is not limited to a pin shape. The shape of the installation body 140 may be a cylinder, a cone, or a prism so that it fits into the hole 31. Alternatively, the installation body 140 may be a tripod installed around the hole 31. In the case of a tripod, the installation body 140 can be stably installed at three points and is in contact with only three points around the hole 31, so there is little risk of damaging the turf. Alternatively, the installation body 140 may be a pylon type installed around the hole 31. If the installation body 140 is a pylon type with a hollow interior, it will be in contact with the periphery of the hole 31 in a line, so there is little risk of damaging the turf.

[0017] The receiver 120 includes a position acquisition unit 121 , an acceleration sensor 122 , an impact determination unit 123 , a position calculation unit 124 , a notification unit 125 , a storage unit 126 , and a communication unit 127 .

[0018] The position acquisition unit 121 calculates the position of the antenna using satellite signals received from the antenna 110. Specifically, the position acquisition unit 121 generates satellite data such as navigation messages and observation data from the satellite signals, and calculates the position of the antenna using the satellite data. The processing of the position acquisition unit 121 is executed continuously, for example, once per second. The position acquisition unit 121 is also referred to as a satellite data generation unit. Note that the position calculation unit 124 may perform positioning using augmentation information. The augmentation information may be acquired from a satellite or from the Internet.

[0019] The acceleration sensor 122 measures acceleration as device acceleration 51. The device acceleration 51 is the acceleration of the positioning device 100. The acceleration sensor 122 calculates acceleration from the force applied to the sensor, so an acceleration of 1 g is measured in the vertical direction even when the device is stationary.

[0020] The impact determination unit 123 determines whether the device acceleration 51 satisfies an impact determination criterion 61, which is a reference value for an impact on the positioning device 100. The impact determination criterion 61 is a reference value that indicates whether an impact, i.e., acceleration, exceeding a predetermined value has been applied to the positioning device 100, or whether impacts exceeding the predetermined value have been detected a predetermined number of times in succession.

[0021] When device acceleration 51 satisfies impact determination criterion 61, position calculation unit 124 uses the position of the antenna to calculate installation position 35, which is the position of installation point 30. In this embodiment, when it is determined that impact determination criterion 61 is satisfied, position calculation unit 124 uses the position of the antenna to calculate the hall position, which is installation position 35.

[0022] The notification unit 125 indicates that the position calculation unit 124 is currently calculating the installation position 35. For example, the notification unit 125 is realized by an LED. LED is an abbreviation for Light Emitting Diode. The notification unit 125 blinks the LED when the measurement process of the installation position 35 starts, and turns off or lights up continuously when the measurement is completed. Alternatively, the LED may be color-coded to indicate whether measurement is in progress or measurement is completed.

[0023] The storage unit 126 stores installation position information including the installation position 35 calculated by the position calculation unit 124. The communication unit 127 transmits the installation position information to an external device via a wired or wireless connection.

[0024] ***Explanation of Operation*** Fig. 3 is a flow diagram showing an example of operation of the positioning device 100 according to this embodiment. The operation of the positioning device 100 according to this embodiment will be described using Fig. 3. The operation procedure of the positioning device 100 corresponds to a positioning method. Furthermore, a program that realizes the operation of the positioning device 100 corresponds to a positioning program.

[0025] In this embodiment, a worker 40 carries the positioning device 100 when constructing a new hole. After drilling holes on the green 20, the worker 40 installs an installation body 140 of the positioning device 100 on the hole 31. At this time, the hole is the installation point 30, and the hole position is the installation position 35. In this state, the following processing is executed.

[0026] In step S100, the positioning device is powered on. Simply turning on the positioning device does not start measuring the installation position (hall position). The positioning device may be configured to be able to be turned on and off using a physical button or the like. In step S101, the antenna 110 receives satellite signals. In step S102, the position acquisition unit 121 calculates the position of the antenna 110 using the satellite signals. Specifically, the position acquisition unit 121 acquires observation data and navigation messages from the satellite signals. Then, the position acquisition unit 121 calculates the position of the antenna using the observation data and navigation messages. The processing of step S102 is performed continuously, such as once per second.

[0027] In step S103, the position acquisition unit 121 determines whether to start measuring the installation position (hole position). In this embodiment, it is determined to start measuring the installation position when a predetermined impact has been applied to the positioning device 100. Whether or not the predetermined impact has been applied to the positioning device 100 is determined as follows.

[0028] The impact determination unit 123 determines whether or not a predetermined impact has occurred. Specifically, the impact determination unit 123 determines whether or not the device acceleration 51 detected by the acceleration sensor 122 satisfies an impact determination criterion 61, which is a reference value for an impact on the positioning device 100. If the device acceleration 51 satisfies the impact determination criterion 61, the impact determination unit 123 determines that a predetermined impact has occurred. More specifically, this is as follows.

[0029] As described above, the predetermined impact indicates the timing at which the positioning device 100 starts measuring the installation position. The timing at which the position calculation unit 124 starts the position calculation process. The positioning device 100 determines that the application of the predetermined impact is a trigger to start measuring the installation position. The impact determination criterion 61 is a reference value for determining whether the positioning device 100 has been subjected to an impact, i.e., acceleration, exceeding a predetermined value, and whether impacts exceeding the predetermined value have been detected a predetermined number of times in succession.

[0030] To avoid false detection, for example, multiple (two or more) impacts in a short period of time are detected as the predetermined impact to trigger the start of measurement. In this embodiment, multiple (two or more) impacts in a short period of time are detected as the predetermined impact. Multiple (two or more) impacts in a short period of time are hereinafter referred to as double clicks. Note that the predetermined impact is not limited to double clicks. Any type of impact can be used as the predetermined impact as long as it can suppress false detection.

[0031] If it is determined that the device acceleration 51 satisfies the impact determination criterion 61, that is, that a predetermined impact has occurred, the process proceeds to step S104.

[0032] In step S104, the notification unit 125 notifies that the location calculation unit 124 is currently calculating the installation location. For example, the notification unit 125 notifies that the installation location is being measured by blinking an LED. The calculation process of the installation location by the location calculation unit 124 may also be referred to as measuring the installation location.

[0033] In step S105, the position calculation unit 124 calculates the installation position, which is the position of the installation point, using the position of the antenna. Specifically, the position calculation unit 124 calculates the installation position 35 from information on the position of the antenna, the length of the positioning device 100, and the tilt of the positioning device 100. When the positioning device 100 is standing upright, the position calculation unit 124 calculates the position obtained by subtracting the length of the positioning device 100 from the position of the antenna as the installation position 35.

[0034] In step S106, the position calculation unit 124 determines whether or not the measurement of the installation position has been completed. For example, the position calculation unit 124 automatically ends the measurement by a method such as ending the measurement after 10 measurements have been made in Fix mode. This allows the measurement to be automatically ended without the need to perform an action such as pressing a physical button. If it is determined that the measurement of the installation position has been completed, the process proceeds to step S107. The process of step S106 is repeated until it is determined that the measurement of the installation position has been completed.

[0035] In step S107, the notification unit 125 notifies the completion of installation position measurement. Specifically, the notification unit 125 notifies the completion of installation position measurement by turning off or continuously lighting the LED. The worker 40 can know that installation position measurement is complete by turning off or continuously lighting the LED. Note that if the measurement does not end automatically, the worker 40 may be configured to forcibly terminate it. For example, the positioning device 100 may have a function to terminate measurement when it detects that the positioning device 100 has been laid on its side. As a result, if the measurement does not end automatically (if the LED does not turn off or continuously light up), the worker 40 can lay the positioning device 100 on its side to terminate the measurement.

[0036] In step S108, the storage unit 126 stores installation position information including the installation position 35 calculated by the position calculation unit 124. In this embodiment, the installation position 35 is a hole position, and the installation position information is hole position information.

[0037] In step S109, the communication unit 127 transmits the installation location information to an external device. For example, the communication unit 127 transmits the installation location information to the worker terminal 200. The worker terminal 200 is, for example, a smartphone, a tablet terminal, or a smartwatch.

[0038] FIG. 4 is a diagram showing an example of the display of the worker terminal 200 according to this embodiment. As shown in FIG. 4, an installation position 35, which is the measurement position of the hole, is displayed on a map. The display is color-coded according to the positioning quality. For example, the positioning quality is displayed as follows: orange indicates standalone positioning, light blue indicates FLOAT, and dark blue indicates FIX. Although not shown, GGA is displayed in NMEA format. NMEA is an abbreviation for National Marine Electronics Association. Note that if the worker terminal 200, which is a groundskeeper terminal, is not used, it may be connected to a PC via a wired connection or may be transmitted directly to a server. PC is an abbreviation for Personal Computer.

[0039] ***Description of Hardware Configuration*** The receiver 120 is a computer. The functions of the receiver 120 may be realized by software using a processor 910, or may be realized by hardware using an electronic circuit 909. First, an example in which the functions of each part of the receiver 120 are realized by software will be described.

[0040] <Implemented in Software> Fig. 5 is a diagram showing an example of the hardware configuration of receiver 120 according to this embodiment. Receiver 120 is a computer. Receiver 120 includes a processor 910 as well as other hardware such as a memory 921, an auxiliary storage device 922, an input / output interface 930, and a communication interface 950. Processor 910 is connected to the other hardware via signal line 80 and controls the other hardware.

[0041] As described above, the receiver 120 includes, as functional elements, the position acquisition unit 121, the impact determination unit 123, the position calculation unit 124, the notification unit 125, the storage unit 126, and the communication unit 127. The functions of the position acquisition unit 121, the impact determination unit 123, the position calculation unit 124, and the notification unit 125 are realized by software. The functions of the position acquisition unit 121, the impact determination unit 123, the position calculation unit 124, and the notification unit 125 may also be referred to as functions of the receiver 120. Furthermore, the functions of the position acquisition unit 121, the impact determination unit 123, the position calculation unit 124, and the notification unit 125 may also be referred to as each unit of the receiver 120.

[0042] The processor 910 is a device that executes a positioning program. The positioning program is a program that realizes the functions of the receiver 120. The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0043] The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 are SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory. The auxiliary storage device 922 is a storage device that saves data. A specific example of the auxiliary storage device 922 is an HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, flexible disk, optical disk, compact disk, Blu-ray (registered trademark) disk, or DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

[0044] The input / output interface 930 is an interface for connecting input / output devices. Specific examples of the input / output interface 930 include USB and HDMI (registered trademark) ports. USB stands for Universal Serial Bus. HDMI (registered trademark) stands for High-Definition Multimedia Interface.

[0045] The communication interface 950 is an interface for communicating with an external device, and is specifically an Ethernet (registered trademark) port or a device for wireless communication.

[0046] The positioning program is executed in the receiver 120. The positioning program is loaded into the processor 910 and executed by the processor 910. The memory 921 stores not only the positioning program but also an OS. OS is an abbreviation for Operating System. The processor 910 executes the positioning program while executing the OS. The positioning program and the OS may be stored in an auxiliary storage device 922. The positioning program and the OS stored in the auxiliary storage device 922 are loaded into the memory 921 and executed by the processor 910. Note that part or all of the positioning program may be incorporated into the OS.

[0047] The receiver 120 may include multiple processors that replace the processor 910. These multiple processors share the task of executing the positioning program. Each processor is a device that executes the positioning program, just like the processor 910.

[0048] Data, information, signal values ​​and variable values ​​used, processed or output by the positioning program are stored in memory 921 , secondary storage device 922 , or registers or cache memory within processor 910 .

[0049] The "unit" of each unit of the receiver 120 may be read as a "circuit," "step," "procedure," "process," or "circuitry." The positioning program causes a computer to execute each process, where the "unit" of each unit of the receiver 120 is read as a "process." The "process" of each process of the receiver 120 may be read as a "program," "program product," "computer-readable storage medium storing a program," or "computer-readable recording medium recording a program." Furthermore, the positioning method is a method performed by the receiver 120 executing the positioning program. The positioning program may be provided by being stored in a computer-readable recording medium. Furthermore, the positioning program may be provided as a program product.

[0050] <Implemented in Hardware> Next, an example in which the functions of the units of the receiver 120 are implemented in hardware will be described. Specifically, the receiver 120 includes an electronic circuit 909 instead of the processor 910.

[0051] 6 is a diagram showing another example of the hardware configuration of the receiver 120 according to a modification of this embodiment. The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of each unit of the receiver 120. Specifically, the electronic circuit 909 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

[0052] The functions of each section of the receiver 120 may be realized by a single electronic circuit, or may be distributed across multiple electronic circuits.

[0053] As another modification, some of the functions of each unit of receiver 120 may be implemented by electronic circuits and the remaining functions may be implemented by software, or some or all of the functions of each unit of receiver 120 may be implemented by firmware.

[0054] Each of the processor and electronic circuits is also called a processing circuitry, and the functions of each part of the receiver 120 are realized by the processing circuitry.

[0055] ***Other Configurations*** <Variation 1> In this embodiment, the positioning device 100 has been described as measuring the hole position or a specific position on the green. In Variation 1, the positioning device 100 may measure multiple installation positions and calculate the shape of the green based on the multiple installation positions. Specifically, the positioning device 100 measures multiple installation positions and stores the multiple installation positions on the green in the memory unit 126. The positioning device 100 also includes a green calculation unit that calculates the shape of the green, i.e., the slope of the green, based on the multiple installation positions.

[0056] For example, the positioning device 100 is installed perpendicular to the green surface using a tripod-mounted installation body 140. In this state, the positions of multiple points on the green are measured, and the slope of the green surface is measured from the position information. This type of green surface measurement method is less expensive than measuring the green surface using LiDAR.

[0057] Furthermore, measuring one installation point using the positioning device 100 takes several seconds to several tens of seconds per point. Therefore, the positioning device 100 may use the onboard acceleration sensor 122 to measure the acceleration at multiple installation points on the green and store the accelerations at the multiple installation points in the memory unit 126. The green calculation unit then calculates the position information of the installation points by integrating the acceleration at each installation point twice, and uses this position information to calculate the shape of the green, i.e., the slope of the green. This allows the shape of the green, i.e., the slope of the green, to be calculated quickly and inexpensively.

[0058] <Modification 2> In this embodiment, the position acquisition unit calculates the antenna position from the observation data and navigation message, and the position calculation unit calculates the installation position. However, the position acquisition unit may acquire the observation data and navigation message from the satellite signal, and the position calculation unit may calculate the antenna position from the observation data and navigation message, thereby calculating the installation position.

[0059] <Variation 3> In this embodiment, the positioning device has been described in which the shape of the installation body of the positioning device is the same as the shape of the tip of a pin used on a golf course, for example, so that the positioning device itself is installed in a cup. On the other hand, the positioning device may also be configured to be attachable to a pin used on a golf course. If the positioning device can be attached to a pin, it is sufficient that an antenna, receiver, and battery are installed, and an installation body is not required. For example, a positioning device equipped with an antenna, receiver, and battery may be miniaturized, and the small positioning device may be attached near the tip of the pin for use.

[0060] ***Description of Effects of the Present Embodiment*** As described above, the positioning device 100 according to the present embodiment is equipped with an acceleration sensor, and starts positioning when it detects that a predetermined impact (acceleration) has been applied. Therefore, the positioning device 100 according to the present embodiment can measure the installation position quickly, easily, inexpensively, and accurately. Furthermore, the positioning device 100 according to the present embodiment does not require a physical device such as a physical button that triggers the start of measurement, and therefore can realize a device that is less likely to break down.

[0061] Embodiment 2 In this embodiment, differences from and additions to embodiment 1 will be mainly described. In this embodiment, components having the same functions as those in embodiment 1 will be assigned the same reference numerals, and descriptions thereof will be omitted.

[0062] ***Description of Configuration*** FIG. 7 is a diagram showing an example configuration of a positioning device 100 according to this embodiment. In this embodiment, in addition to the configuration described in the first embodiment, a vertical determination unit 128 is provided. The vertical determination unit 128 determines whether the device acceleration 51 satisfies a vertical determination criterion 62, which is a reference value indicating that the orientation of the installation body 140 is vertical. Note that when the vertical determination criterion 62 is satisfied, the orientation of the installation body 140 does not have to be completely vertical, as long as the orientation of the installation body 140 is approximately vertical. The position calculation unit 124 calculates the installation position 35 when the device acceleration 51 satisfies both the impact determination criterion 61 and the vertical determination criterion 62.

[0063] ***Explanation of Operation*** An example of operation of the positioning device 100 according to this embodiment will be described. The operation of the positioning device 100 according to this embodiment is basically the same as the operation of the positioning device 100 described in the first embodiment with reference to Fig. 3, but the criteria for determining whether to start measuring the installation position in step S103 are different. Specifically, it is as follows.

[0064] In this embodiment, when a predetermined impact is applied to the positioning device 100 and the positioning device 100 is vertical, the position calculation unit 124 determines to start measuring the installation position. Whether the positioning device 100 is vertical is determined as follows.

[0065] The vertical determination unit 128 determines whether the device acceleration 51 satisfies the vertical determination criterion 62. The vertical determination criterion 62 is a reference value that determines whether the direction of the detected acceleration is the same as the direction of gravitational acceleration. Specifically, the vertical determination criterion 62 is a reference value that determines whether the direction of the detected acceleration is approximately the same as the direction of gravitational acceleration. The position calculation unit 124 determines to start measuring the installation position when the device acceleration 51 satisfies both the impact determination criterion 61 and the vertical determination criterion 62 (YES in step S103).

[0066] ***Description of Effects of This Embodiment*** As described above, in addition to the effects of the first embodiment, the positioning device 100 according to this embodiment can measure the installation position with higher accuracy.

[0067] Embodiment 3 In this embodiment, differences from and additions to embodiments 1 and 2 will be mainly described. In this embodiment, components having the same functions as those in embodiments 1 and 2 will be assigned the same reference numerals, and descriptions thereof will be omitted.

[0068] 8 is a diagram showing an example of the configuration of a positioning device 100 according to this embodiment. In this embodiment, in addition to the configuration described in the second embodiment, an angular velocity sensor 122a and a motion determination unit 129 are provided.

[0069] The angular velocity sensor 122a measures the angular velocity as the device angular velocity 52. ​​The acceleration sensor 122 and the angular velocity sensor 122a may be the same device. The vibration determination unit 129 determines whether the device angular velocity 52 satisfies a vibration determination criterion 63, which is a reference value indicating that the positioning device 100 is not vibrating. The position calculation unit 124 calculates the installation position when the device acceleration 51 satisfies both the impact determination criterion 61 and the vertical determination criterion 62, and the device angular velocity 52 satisfies the vibration determination criterion 63. Note that the position calculation unit 124 may also calculate the installation position when the device acceleration 51 satisfies the impact determination criterion 61, and the device angular velocity 52 satisfies the vibration determination criterion 63.

[0070] ***Explanation of Operation*** An example of operation of the positioning device 100 according to this embodiment will be described. The operation of the positioning device 100 according to this embodiment is basically the same as the operation of the positioning device 100 described in the first embodiment with reference to Fig. 3, but the criteria for determining whether to start measuring the installation position in step S103 are different. Specifically, it is as follows.

[0071] In this embodiment, if the positioning device 100 receives a predetermined impact, the positioning device 100 is vertical, and the positioning device 100 is not shaking, the position calculation unit 124 determines to start measuring the installation position. Whether the positioning device 100 is shaking is determined as follows.

[0072] Vibration determination unit 129 determines whether device angular velocity 52 satisfies vibration determination criterion 63, which is a reference value indicating that positioning device 100 is not vibrating. Vibration determination criterion 63 is a reference value indicating whether device angular velocity 52 is in a state without rotation (vibration). Position calculation unit 124 determines to start measuring the installation position when device acceleration 51 satisfies both impact determination criterion 61 and vertical determination criterion 62 and device angular velocity 52 satisfies vibration determination criterion 63 (YES in step S103).

[0073] ***Description of Effects of This Embodiment*** As described above, in addition to the effects of the first and second embodiments, the positioning device 100 according to this embodiment can measure the installation position with higher accuracy.

[0074] In the above first to third embodiments, each unit of the positioning device has been described as an independent functional block. However, the configuration of the positioning device does not have to be the same as that of the above-described embodiments. The functional blocks of the positioning device may have any configuration as long as they can realize the functions described in the above-described embodiments. Furthermore, the positioning device may not be a single device, but may be a system composed of multiple devices. Furthermore, multiple parts of the first to third embodiments may be combined and implemented. Alternatively, only one part of these embodiments may be implemented. In addition, these embodiments may be combined in any way, either as a whole or in part. In other words, in the first to third embodiments, each embodiment may be freely combined, or any component of each embodiment may be modified, or any component of each embodiment may be omitted.

[0075] The above-described embodiments are essentially preferred examples and are not intended to limit the scope of the present disclosure, the scope of application of the present disclosure, or the scope of use of the present disclosure. The above-described embodiments can be modified in various ways as needed. For example, the procedures described using flow charts or sequence diagrams may be modified as appropriate.

[0076] 20 Green, 30 Installation point, 31 Hole, 35 Installation position, 40 Worker, 51 Device acceleration, 52 Device angular velocity, 61 Impact determination criterion, 62 Vertical determination criterion, 63 Vibration determination criterion, 80 Signal line, 100 Positioning device, 110 Antenna, 120 Receiver, 121 Position acquisition unit, 122 Acceleration sensor, 122a Angular velocity sensor, 123 Impact determination unit, 124 Position calculation unit, 125 Notification unit, 126 Memory unit, 127 Communication unit, 128 Vertical determination unit, 129 Vibration determination unit, 130 Battery, 140 Installation body, 150 Main body, 200 Worker terminal, 909 Electronic circuit, 910 Processor, 921 Memory, 922 Auxiliary storage device, 930 Input / output interface, 950 Communication interface.

Claims

1. A positioning device that is installed on a golf course green and measures the position of an installation point, comprising: an installation body arranged at the installation point; an antenna that receives satellite signals; a position acquisition unit that calculates the position of the antenna using the satellite signals; an acceleration sensor that measures acceleration as device acceleration; an impact determination unit that determines whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact to the positioning device; and a position calculation unit that uses the position of the antenna to calculate an installation position, which is the position of the installation point, if the device acceleration satisfies the impact determination criterion.

2. The positioning device of claim 1, further comprising a vertical determination unit that determines whether the device acceleration satisfies a vertical determination criterion, which is a reference value indicating that the attitude of the installation body is vertical, and the position calculation unit calculates the installation position when the device acceleration satisfies both the impact determination criterion and the vertical determination criterion.

3. The positioning device of claim 1, further comprising: an angular velocity sensor that measures angular velocity as device angular velocity; and a motion determination unit that determines whether the device angular velocity satisfies a motion determination criterion that is a reference value indicating that the positioning device is not vibrating; and the position calculation unit calculates the installation position when the device acceleration satisfies the impact determination criterion and the device angular velocity satisfies the motion determination criterion.

4. The positioning device of claim 2, further comprising: an angular velocity sensor that measures angular velocity as device angular velocity; and a motion determination unit that determines whether the device angular velocity satisfies a motion determination criterion that is a reference value indicating that the positioning device is not vibrating; and the position calculation unit calculates the installation position when the device acceleration satisfies both the impact determination criterion and the vertical determination criterion and the device angular velocity satisfies the motion determination criterion.

5. The positioning device according to any one of claims 1 to 4, further comprising a notification unit for indicating that the calculation process of the installation position is in progress.

6. A positioning device as claimed in any one of claims 1 to 5, wherein the installation body is installed at a hole formed on the green as the installation point.

7. The positioning device according to any one of claims 1 to 5, comprising: a memory unit which stores the positions of a plurality of installation points on the green as a plurality of installation positions; and a green calculation unit which calculates the shape of the green based on the plurality of installation positions.

8. A positioning method used in a positioning device that is installed on a golf course green and measures the position of an installation point, the positioning device comprising a computer, an installation body that is placed at the installation point, an antenna that receives satellite signals, and an acceleration sensor that measures acceleration as device acceleration, the computer calculates the position of the antenna using the satellite signals, the computer determines whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact to the positioning device, and if the device acceleration satisfies the impact determination criterion, the computer uses the position of the antenna to calculate an installation position, which is the position of the installation point.

9. A positioning program used in a positioning device that is installed on a golf course green and measures the position of an installation point, the positioning device comprising a computer, an installation body that is placed at the installation point, an antenna that receives satellite signals, and an acceleration sensor that measures acceleration as device acceleration, the positioning program causing the computer to execute a position acquisition process that calculates the position of the antenna using the satellite signals, an impact determination process that determines whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact to the positioning device, and a position calculation process that calculates an installation position, which is the position of the installation point, using the position of the antenna if the device acceleration satisfies the impact determination criterion.

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