US Patent 10145088 Control system of work machine and work machine

A control system comprising a position information generation unit configured to operate three modes to output position information:a first mode in which information about the position detected by a position detection apparatus is output as position information related to the position of a work machine, when the position determination is normal,a second mode in which information about a position obtained by using both of a particular point as a reference of the work machine obtained before a position determination becomes abnormal and operation information detected by a status detection apparatus is output as the position information, when the position determination is abnormal and the work machine is a static status, anda third mode in which the position information is not output, when the position determination is abnormal and the work machine is in a non-static status.