Patent ID: 7688259

Claim:
A positioning device that locates a position based on satellite signals from positioning satellites, the positioning device comprising: a position holding section which holds a plurality of reference positions; a stationary condition determination section that determines the reference positions that satisfy stationary conditions, the stationary conditions including a first condition where elapsed times between times when calculating each of a specific number of the reference positions and a present time are within an allowable time range, a second condition where moving velocities of the positioning device when calculating each of a specific number of the reference positions and a present moving velocity of the positioning device are within a predetermined allowable velocity range, and a third condition where distances between each of a specific number of the reference positions and the present located position are within an allowable distance range; an average position calculation section that averages the reference positions satisfying the stationary conditions and a present located position to calculate an average position; a position output section that outputs the average position; and a position storage section that stores the average position in the position holding section as a reference position.