The laying pipe manipulator is used to lay concrete pipe, and it solves the question of safety, quality, and efficiency in the pipe laying construction site, and the critical question of locating system is studied. The work principle and mathematical model of locating system were established, and the experiment of locating system was done. According to the test result, the work principle and mathematical model of locating system had turned out to be well adapted for requirement. The locating system of laying pipe manipulator can be applied to product development. The mathematical model of locating system supplies the basic control theory for the manipulator to lay and joint concrete pipe automatically.