LOCATION METHOD, LOCATION PROGRAM, GNSS RECEIVER APPARATUS, AND MOBILE TERMINAL

摘要

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