Patent ID: 7498980

Claim:
A carrier phase GPS positioning device, comprising: a first integer ambiguity estimation unit that combines a plurality of first carrier phase accumulation data in a first duration extracted from data received from a satellite by a reference station at a fixed position, with one or more second carrier phase accumulation data received from the satellite by a mobile station in a second duration shorter than the first duration, and estimates an integer ambiguity included in the second carrier phase accumulation data; and a positioning unit that determines the position of the mobile station using the integer ambiguity estimated by the first integer ambiguity estimation unit; a movement quantity detection unit that detects a movement of the mobile station and a movement quantity of the mobile station when the mobile station is moving; wherein the mobile station is a vehicle having wheels; wherein the movement quantity detection unit detects a movement of the vehicle based on a wheel speed sensor that detects a rotational speed of the wheels; and wherein when a slip ratio greater than a predetermined value is detected by at least the wheel speed sensor, the integer ambiguity estimation processing by a second integer ambiguity estimation unit is initialized, and the positioning unit determines the position of the mobile station using an integer ambiguity estimated by the first integer ambiguity estimation unit until the second integer ambiguity estimation unit estimates or re-estimates the integer ambiguity.