Patent ID: 8416294

Claim:
A positioning device comprising: a movement measuring unit that measures relative position variation; a positioning unit that is capable of measuring positional information; a control unit that performs control to: cause the movement measuring unit to initiate continuous measurement of position variation and cause the positioning unit to initiate measurement of positional information at each predetermined timing for at least a specified position; and in a case in which a difference between an amount of position variation calculated based on positional information of at least two positions obtained by the positioning unit and an amount of relative position variation of at least two spots each obtained by the movement measuring unit concurrently with the positional information obtained by the positioning unit is within a predetermined range, determine a position determination spot based on positional information of any of the at least two positions, and obtain positional information of the specified position based on positional information of the position determination spot and information of position variation that has been continuously measured by the movement measuring unit; and a position calculating unit that calculates positional information of each position on a travel route by cumulating information of position variation measured by the movement measuring unit with the positional information of the specified position, wherein the control unit provides preliminary reference positional information as positional information of the specified position to the position calculating unit, calculates positional information of each position on a travel route by the position calculating unit, and when the position determination spot is determined, obtains the positional information of the specified position by adding a difference between positional information of the position determination spot calculated based on the preliminary reference positional information calculated by the position calculating unit and positional information of the position determination spot measured by the positioning unit to the preliminary reference positional information.