Patent ID: 7928902

Claim:
A positioning method that performs current position calculations and outputs a positioning result position, the positioning method comprising: searching for satellite signals transmitted from positioning satellites to acquire satellites; combining satellites among the acquired satellites to extract satellite sets used for positioning; performing first positioning calculations on each calculation-target satellite set among the extracted satellite sets using the satellite signals transmitted from the acquired satellites included in the calculation-target satellite set, performing second positioning calculations on each calculation-target satellite set among the extracted satellite sets using the satellite signals transmitted from the acquired satellites that are included in the calculation-target satellite set, but do not include a low-elevation-angle satellite, and determining whether or not a positioning result obtained using the calculation-target satellite set is appropriate based on the difference between a position calculated by the first positioning calculations and a position calculated by the second positioning calculations, the elevation angle of the low-elevation-angle satellite satisfying a given low elevation angle condition; and determining the positioning result position from the positions calculated by the first positioning calculations on the satellite sets for which the positioning result has been determined to be appropriate.