Abstract: In a calibration device, a calibration matrix calculation processing part estimates a calibration matrix by using an orthogonal vector stored in an orthogonal vector storage part and an array mode vector stored in an array mode vector storage part. A calibration matrix output part transmits the calibration matrix computed by the calibration matrix calculation processing part to an unknown parameter estimation device.

Abstract: In a calibration device, a calibration matrix calculation processing part (104) estimates a calibration matrix (M) by using an orthogonal vector stored in an orthogonal vector storage part (103b) and an array mode vector (a(?)) stored in an array mode vector storage part (103a). A calibration matrix output part (105) transmits the calibration matrix (M) computed by the calibration matrix calculation processing part (104) to an unknown parameter estimation device.

Abstract: A high-precision positioning system including: a radio source (1) that transmits radio waves each having a plurality of different frequencies; receivers (2-4) for receiving radio waves from the radio source, calculators (5) for calculating phase differences of the received radio waves of the respective frequencies between the receivers, calculators (6,7) for calculating an arrival time difference between the rceivers from the phase difference of the respective frequencies calculated by the (5), and calculators (8) for calculating the positioning of the (1) from the combination of the arrival time differences calculated by the (6,7), wherein the transmit frequencies from the (1) include frequencies arranged such that a frequency difference of two frequency waves arbitrarily selected is an integral multiple of a smallest frequency difference, the frequency difference does not overlap with the frequency difference of two frequency waves of other combinations, and a largest frequency difference of the frequency d