Methods and systems for compensating for gyroscopic errors. The current-controlled semiconductor device is provided on the same semiconductor chip with a MOSFET, two constant current sources, and a current detection circuit which detects a current of the MOSFET and currents of the constant current sources. The support member connected by the connection part are attached to a pivot shaft that is disposed on the rear surface side of the main body part, such that the support member can pivot from a position at which the connection part protrudes outward beyond an outer edge of the main body part in a plan view from the front surface side of the main body part. The control unit is also configured to estimate the position P of the positioning device by comparing the model for each receiving element with the measured received signal for each receiving element.