Abstract: A positioning apparatus is provided that may include a pseudo distance measurement unit that measures the pseudo distance between the positioning satellite and the antenna, an ionosphere delay amount calculating unit that calculates an ionosphere delay amount included in the pseudo distance, and a pseudo distance corrector that executes a positioning calculation by correcting the pseudo distance based on the ionosphere delay amount. The ionosphere delay amount calculating unit sets the upper limit of the partition number between the positioning satellite and the antenna, determines the total number of electrons sTEC by integrating in the range of less than the upper limit of the partition number, and calculates the ionosphere delay amount based on the determined total number of electrons sTEC.

Abstract: A highly accurate positioning operation is achieved regardless of an existence of multipath. An observed pseudorange ?m(k) is acquired based on reception signals of positional signals (S101). A current determination estimated pseudorange ?mp(k) is calculated based on a previous estimation result (S102). A determination difference value Delta?m(k) is calculated based on the observed pseudorange ?m(k) and the estimated pseudorange ?mp(k) (S103). A determination threshold ?Delta? is calculated based on a C/No of the reception signal and PDOP (S104). If the determination difference value Delta?m(k) is below the threshold ?Delta?, an error variance ??m(k) is calculated using an approximate equation of the C/No (S105(NO)?S106), and if the determination difference value Delta?m(k) is above the threshold ?Delta?, the error variance ??m(k) is calculated based on the threshold ?Delta? (S105(YES)?S107).

Abstract: A positioning apparatus is provided that may include a pseudo distance measurement unit that measures the pseudo distance between the positioning satellite and the antenna, an ionosphere delay amount calculating unit that calculates an ionosphere delay amount included in the pseudo distance, and a pseudo distance corrector that executes a positioning calculation by correcting the pseudo distance based on the ionosphere delay amount. The ionosphere delay amount calculating unit sets the upper limit of the partition number between the positioning satellite and the antenna, determines the total number of electrons sTEC by integrating in the range of less than the upper limit of the partition number, and calculates the ionosphere delay amount based on the determined total number of electrons sTEC.

Abstract: A highly accurate positioning operation is achieved regardless of an existence of multipath. An observed pseudorange ?m(k) is acquired based on reception signals of positional signals (S101). A current determination estimated pseudorange ?mp(k) is calculated based on a previous estimation result (S102). A determination difference value Delta?m(k) is calculated based on the observed pseudorange ?m(k) and the estimated pseudorange ?mp(k) (S103). A determination threshold ?Delta? is calculated based on a C/No of the reception signal and PDOP (S104). If the determination difference value Delta?m(k) is below the threshold ?Delta?, an error variance ??m(k) is calculated using an approximate equation of the C/No (S105(NO)?S106), and if the determination difference value Delta?m(k) is above the threshold ?Delta?, the error variance ??m(k) is calculated based on the threshold ?Delta? (S105(YES)?S107).

Abstract: An existence of multipath is detected accurately based on not only a C/No. A C/No (iv) of a reception signal, a pseudorange PR(iv), and a delta range DR(iv) are acquired (S101). First, as determination processing based on individual measurement values, thresholds are set thereto respectively, and the existence of multipath is detected (S102-S104). Next, as determination processing based on continuous values, an average value C/No(Av) and a standard deviation ?C/No of the C/No, and an average value DV(Av) and a standard deviation ?DV of the difference values are calculated, thresholds are similarly set thereto respectively, and the existence of multipath is determined (S105-S109). Then, if multipath is determined that it does not exist based on the individual measurement values and the continuous values, it is determined ultimately that multipath does not exist (S110).

Abstract: A pseudorange is estimately calculated in high accuracy without being influenced by multipath. Multipath is determined based on a C/No and a difference value DV(iv) that is a difference value between a time change of an observed pseudorange and a delta range (S101-S103). If multipath does not exist (S104: NO), an error variance of the pseudorange and an error variance of the delta range are set to fixed values, and a weight coefficient is determined (S105). If multipath exists (S104: YES), a variance of the difference value and the variance of the delta range are calculated (S106), a variance of the pseudorange is calculated (S107), and the weight coefficient is determined based on the calculated variances of the pseudorange and the delta range (S108). Further, the pseudorange is estimately calculated by a weighted hatch filter through using the determined weight coefficient (S109).