Patent ID: 7733269

Claim:
A positioning apparatus comprising: a satellite signal receiver which receives satellites' signals transmitted from the satellites, a base-station data receiver whose position is known, the base-station data receiver receiving a base-station positioning data from a base-station, and a position estimating device which: observes code pseudoranges and carrier phase integration values at the satellite signal receiver and the satellites by utilizing satellite data got by the satellite signal receiver; sets up unknown values which includes integer ambiguity at the satellite signal receiver and the base-station, clock errors at the satellite signal receiver and the base-station, delays of an ionosphere at the satellite signal receiver and the base-station, delays of an troposphere at the satellite signal receiver and the base-station, a position of the satellite signal receiver, and except a position of the base-station data receiver; linear-approximates a position of the satellite signal receiver with a Linear Taylor series expansion about estimated positions of the satellite signal receiver; sets up explanatory variables that include the integer ambiguities, the clock errors, the delays of the ionosphere, the delays of the troposphere, and the position of the satellite signal receiver; sets up objective variables that include the carrier phase integration values, and the code pseudoranges observed by the satellite signal receiver and the base-station; derives only one linear regression equation which includes the objective variables and the explanatory variables; and estimates the position of the satellite signal receiver.