| 摘要 |
To make it possible to determine and output an accurate current position reliably, in a short period of time, and at a low cost, even in an environment in which the satellite signal from a positioning satellite is subject to complex influence from buildings, terrain, and the like, the present invention is provided with a reception unit that receives a satellite signal from a positioning satellite and calculates, on the basis of the satellite signal, a pseudorange to the positioning satellite and a positioning unit that calculates an initial position on the basis of the pseudorange calculated by the reception unit, calculates pseudoranges from a plurality of positions around the initial position to the positioning satellite using three-dimensional map information and ray tracing, selects candidate positions from the plurality of positions on the basis of the pseudoranges, and determines the current position on the basis of the candidate positions having ranges from the initial position small enough to satisfy a prescribed condition. |
