Positioning system

A positioning system provided with a plurality of mobile bodies, for measuring positions of the plurality of mobile bodies, wherein

• each mobile body includes
• a positioner configured to perform positioning based on a positioning signal transmitted from a positioning satellite;
• a communicator configured to perform wireless communication;
• a distance measurer configured to measure a distance relative to another mobile body based on a propagation time or phase of a signal communicated with the communicator of the another mobile body;
• an angle measurer configured to calculate an angle of the mobile body of its own relative to the another mobile body based on the phase of the signal communicated with the communicator of the another mobile body;
• a plurality of antennas shared by the communicator, the distance measurer, and the angle measurer;
• and
• a controller configured to control the positioner, the communicator, the distance measurer, and the angle measurer, wherein
• the controller of the mobile body in which the positioner is unable to receive the positioning signal switches a mode to a first mode for transmitting a request signal,
• the controller of the mobile body in which the positioner has received the positioning signal switches the mode to a second mode to wait for reception of the request signal from the another mobile body which is unable to receive the positioning signal, and
• when the positioner is unable to receive the positioning signal,
• the distance measurer transmits the request signal by using the communicator,
• the distance measurer measures the distance and the angle measurer calculates the angle, upon receiving a response signal from the another mobile body in which the communicator has received the positioning signal, and
• positional information is obtained by adding the distance and the angle to the positional information indicated by the positioning signal received via the communicator from the mobile body which has received the positioning signal.