# US 2025/0093520 A1 · Positioning system and non-transitory storage medium

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- Number: US 2025/0093520 A1
- Document ID: US20250093520A1
- Status: Published application
- Kind: A1
- Application number: 18/830,095
- Filed: 2024-09-10
- Published: 2025-03-20
- Earliest claimed: 2023-09-15
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Takayoshi YAMAZAKI; Go HAYASHI; Makoto ISHII
- Web page: https://patentgrep.com/patent/US20250093520A1

## CPC

- G01S 19/13: Receivers
- G01S 19/22: Multipath-related issues
- G01S 19/54: using carrier phase measurements; using long or short baseline interferometry
- H01Q 1/34: Adaptation for use in or on ships, submarines, buoys or torpedoes (for subaqueous use H01Q1/04)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- H01Q: ANTENNAS, i.e. RADIO AERIALS (radiators or antennas for microwave heating H05B6/72)

## Abstract

In the positioning system, a computing device obtains a first position measured by a first positioning antenna, a second position measured by a second positioning antenna, and a third position measured by a third positioning antenna. The computing device calculates the current attitude of the oscillating body at the first position from a first vector from the first position to the second position and the acquired second vector from the first position to the third position. The computing device modifies a reference vector from the first positioning antenna to the predetermined point in the attitude of the oscillating body at the predetermined time, according to the calculated current attitude of the oscillating body at the first position. The computing device then calculates the position of the predetermined point in the current attitude of the oscillating body by adding the modified reference vector to the first position.

## Claims

### Claim 1

A positioning system comprising a first positioning antenna, a second positioning antenna and a third positioning antenna attached to an oscillating body,
and a computing device, wherein
the computing device is configured to execute;
acquiring a first position measured by the first positioning antenna, a second position measured by the second positioning antenna, and a third position measured by the third positioning antenna,
calculating a current attitude of the oscillating body at the first position from a first vector from the first position to the second position and a second vector from the first position to the third position,
modifying a reference vector from the first positioning antenna to a predetermined point in the attitude of the oscillating body at a predetermined time in accordance with the calculated current attitude of the oscillating body at the first position, and
calculating a position of the predetermined point in the current attitude of the oscillating body by adding the modified reference vector to the first position.

### Claim 2 (depends on 1)

The positioning system of claim 1, wherein the predetermined point comprises a point on a surface of the oscillating body.

### Claim 3 (depends on 1)

The positioning system according to claim 1, wherein
the oscillating body is a moving body, and
calculating the position of the predetermined point includes calculating positions of a plurality of predetermined points of the oscillating body, and
the calculation device is configured to further execute; acquiring an amount of change in position for the plurality of predetermined points,
calculating an amount of change due to the oscillation of the oscillating body for the plurality of predetermined points by removing an amount of change due to the movement of the oscillating body from the amount of change in position for the plurality of predetermined points,
acquiring a transition in the amount of change due to the oscillation of the oscillating body for the plurality of predetermined points, and
identifying a point among the plurality of predetermined points with the smallest amount of change due to the oscillation of the oscillating body as the center of buoyancy or center of gravity of the oscillating body, referring to the transition in the amount of change due to the oscillation of the oscillating body.

### Claim 4 (depends on 1)

The positioning system according to claim 1, wherein
the oscillating body is not a moving body, and
calculating the position of the predetermined point includes calculating positions of a plurality of predetermined points of the oscillating body, and
the calculation device is further configured to execute; acquiring a transition of an amount of change due to the oscillation of the oscillating body for the plurality of predetermined points,
identifying a point among the plurality of predetermined points with the smallest amount of change due to the oscillation of the oscillating body as the center of buoyancy or center of gravity of the oscillating body, referring to the transition in the amount of change due to the oscillation of the oscillating body.

### Claim 5

A non-transitory storage medium storing a positioning program that causes a computing device connected to a first positioning antenna, a second positioning antenna, and a third positioning antenna attached to an oscillating body to execute an information processing method, wherein
the information processing method includes;
acquiring a first position measured by the first positioning antenna, a second position measured by the second positioning antenna, and a third position measured by the third positioning antenna,
calculating a current attitude of the oscillating body at the first position from a first vector from the first position to the second position and a second vector from the first position to the third position,
modifying a reference vector from the first positioning antenna to a predetermined point in the attitude of the oscillating body at a predetermined time in accordance with the calculated current attitude of the oscillating body at the first position, and
calculating a position of the predetermined point in the current attitude of the oscillating body by adding the modified reference vector to the first position.