Patent ID: 8423289

Claim:
An inter-movable object interferometric positioning device, mounted in a movable object, for carrying out positioning in coordination with three or more other movable objects in the vicinity of the movable object, comprising: a monitoring data acquisition portion that acquires monitoring data consisting of a phase integrated value and a pseudo distance by monitoring navigation satellite signals in the movable object; a reference movable object decision portion that decides on a single reference movable object from among a host movable object and the other movable objects; a communication portion that carries out communication between the host movable object and the other movable objects; and a positioning portion that interferometrically determines a relative position of the host movable object relative to the reference movable object and outputting a positioning result by using monitoring data of the host movable object acquired with the monitoring data acquisition portion and monitoring data acquired by the other movable objects, wherein in a case the host movable object has been decided to be the reference movable object by the reference movable object decision portion, the communication portion transmits the monitoring data which are acquired by the monitoring data acquisition portion to the other movable objects, and transmits to all the movable objects including the other movable objects, positioning results which are obtained by interferometric positioning in the other movable object and which show the relative positions of the other movable objects relative to the host movable object, wherein in a case one of the other movable objects is decided to be the reference movable object by the reference movable object decision portion, the communication portion receives navigation satellite signal monitoring data transmitted from the reference movable object, and the positioning portion carries out interferometric positioning using the monitoring data acquired with the monitoring data acquisition portion and the monitoring data monitored in the reference movable object, and transmits the positioning result outputted by the positioning portion to all the movable objects including the reference movable object.