POSITIONING SYSTEM

A positioning system is provided with a plurality of mobile bodies for measuring positions of the plurality of mobile bodies. 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.