In outdoor fields such as construction, mining and agriculture, there is an increasing demand for autonomous vehicles to reduce labor costs. Also, a positioning system is one key technology required for autonomous vehicle systems. For the purpose of expanding the potential of millimeter-wave applications, we have developed a positioning system in the 77-79 GHz frequency band, using the hyperbolic radio navigation method. This system operates in a restricted area with a radius of about a few hundred meters. A spread spectrum with a PN code is used as the ranging signals. We realized about 0.1 m in positioning accuracy.