MOVING BODY POSITIONING DEVICE AND MOVING BODY POSITIONING METHOD

摘要

A moving body positioning device according to the present invention includes: previous value PSR estimating means for computing an estimated previous value in a previous cycle based on a magnitude of a difference vector between a positioning result of the moving body in the previous cycle and a computed result of the satellite position in the previous cycle; PSR estimating means for computing an estimated pseudorange in the current cycle by adding the estimated previous value to a difference between ADRs that are computed in the previous and current cycles; and PSR error determination means for determining whether an error in the pseudorange exceeds a given allowable range, in which the positioning means determines the position of the moving body in the current cycle based on the estimated pseudorange when it is determined that the error in the pseudorange in the current cycle exceeds the given allowable range.