Patent ID: 8805642

Claim:
A positioning apparatus, comprising: a position measuring section which measures a present position of the positioning apparatus to obtain measured position data; a movement measuring section which measures a moving direction and a moving distance; a position calculating section which calculates the present position of the positioning apparatus to obtain calculated position data by accumulating, with respect to a reference position, moving data corresponding to the moving direction and the moving distance measured by the movement measuring section; a position selecting section which compares an error value of the measured position data with an error value of the calculated position data, and which selects one of the measured position data and the calculated position data that has a smaller error value than the other; and a reference position setting section which sets the measured position data obtained by the position measuring section as the reference position when the measured position data is selected by the position selecting section; wherein the error value of the calculated position data is set such that the error value increases in correspondence with increasing distance from the reference position.