Patent ID: 7961142

Claim:
A positioning method comprising: generating a plurality of satellite sets by combining four or more satellites that may include an identical satellite; calculating position candidates of a located position based on each of the plurality of satellite sets; and selecting a position candidate from the position candidates based on a given criterion, and determining the located position, the calculating of the position candidates including calculating a satellite position of a satellite, for which the satellite position is not stored in a first storage section, based on a satellite signal of the satellite, and storing the calculated satellite position in the first storage section, reading a satellite position of a satellite, for which the satellite position is stored in the first storage section, from the first storage section, calculating the estimated pseudo-range of a satellite, for which the estimated pseudo-range is not stored in a second storage section, using the satellite position of the satellite, and storing the calculated estimated pseudo-range in the second storage section, reading the estimated pseudo-range of a satellite, for which the estimated pseudo-range is stored in the second storage section, from the second storage section, and calculating the position candidates based on each of the plurality of satellite sets by performing given estimation calculations using the estimated pseudo-range of each satellite included in each of the plurality of satellite sets.