Positioning system, positioning method, and computer readable medium

A positioning method of a positioning system to perform positioning of a communication device that wirelessly communicates with each base station of a plurality of base stations, the positioning method comprising:

• acquiring a relative angle between each base station of the plurality of base stations and the communication device from each base station of the plurality of base stations;
• calculating a first position of the communication device as a provisional position, using the relative angle between each base station of the plurality of base stations and the communication device and a position of each base station of the plurality of base stations;
• calculating a distance between each base station of the plurality of base stations and the communication device, using the position of each base station of the plurality of base stations and the provisional position, and calculating a weighting coefficient for correcting the provisional position for each base station of the plurality of base stations, based on the distance between each base station of the plurality of base stations and the communication device, wherein the weighting coefficient is a function that monotonically decreases with the distance between each base station of the plurality of base stations and the communication device;
• calculating a second position of the communication device as a device position, using the relative angle between each base station of the plurality of base stations and the communication device, the position of each base station of the plurality of base stations, and the weighting coefficient for each base station of the plurality of base stations;
• and
• outputting the calculated device position of the communication device for use as an accurate position of the communication device based only on information associated with the relative angle between each base station of the plurality of base stations and the communication device.

A non-transitory computer readable medium storing a positioning program of a positioning system to perform positioning of a communication device that wirelessly communicates with each base station of a plurality of base stations, the positioning program causing a computer to execute:

• a relative angle acquisition process of acquiring a relative angle between each base station of the plurality of base stations and the communication device from each base station of the plurality of base stations;
• a provisional position calculation process of calculating a first position of the communication device as a provisional position, using the relative angle between each base station of the plurality of base stations and the communication device and a position of each base station of the plurality of base stations;
• a weight calculation process of calculating a distance between each base station of the plurality of base stations and the communication device, using the position of each base station of the plurality of base stations and the provisional position, and calculating a weighting coefficient for correcting the provisional position for each base station of the plurality of base stations, based on the distance between each base station of the plurality of base stations and the communication device, wherein the weighting coefficient is a function that monotonically decreases with the distance between each base station of the plurality of base stations and the communication device;
• a device position calculation process of calculating a second position of the communication device as a device position, using the relative angle between each base station of the plurality of base stations and the communication device, the position of each base station of the plurality of base stations, and the weighting coefficient for each base station of the plurality of base stations;
• and
• a device position output process of outputting the calculated device position of the communication device for use as an accurate position of the communication device based only on information associated with the relative angle between each base station of the plurality of base stations and the communication device.