Positioning method, program, positioning device, and electronic apparatus

摘要

A positioning method includes: determining a receiving environment of a satellite signal from a positioning satellite; predicting a state vector including a position of a positioning device and a velocity of the positioning device based on the satellite signal; predicting a first distance-equivalent value indicating a distance between the positioning satellite and the positioning device; measuring a second distance-equivalent value indicating a distance between the positioning satellite and the positioning device; calculating an observed value indicating a difference between the first distance-equivalent value and the second distance-equivalent value; setting a first measurement error for the positioning satellite based on a signal strength of the satellite signal; setting a suitability condition of the observed value based on the receiving environment; setting a second measurement error larger than the first measurement error when the observed value is not suitable by the suitability condition; and correcting the state vector using the observed value and the second measurement error.