Patent ID: 8554504

Claim:
A positioning apparatus comprising: an autonomous navigation sensor which is configured to be held by a walking body and which performs detection regarding walking movement and direction; a step length data storage section which stores step length data representing a step length of the walking body; a movement distance calculating section which calculates a movement distance of the walking body based on output of the autonomous navigation sensor and the step length data; and a movement direction calculating section which calculates a movement direction based on the output of the autonomous navigation sensor; wherein the movement direction calculating section calculates the movement direction for each step based on the output of the autonomous navigation sensor; wherein the movement distance calculating section includes a displacement angle calculating section which calculates for each step a displacement angle of the movement direction caused by a difference in stepping direction between a left foot and a right foot based on the output of the autonomous navigation sensor; and wherein the movement distance calculating section corrects a value of the step length data so that the step length is larger as the displacement angle becomes larger to calculate a movement distance for each step.