Positioning apparatus, computer readable medium, and positioning method

A non-transitory computer-readable medium storing a positioning program that causes a computer to execute a method, the method comprising:

• detecting first pseudo ranges and first carrier phase integrated values from first ranging signals which are ranging signals of a first positioning satellite received at a plurality of times and are ranging signals for which augmentation information for correction is provided;
• detecting second pseudo ranges and second carrier phase integrated values from second ranging signals which are ranging signals of a second positioning satellite received at a plurality of times and are ranging signals for which augmentation information for correction is not provided;
• acquiring correction data for the first ranging signals generated from the augmentation information provided for the first ranging signals;
• acquiring the first pseudo ranges and the first carrier phase integrated values;
• correcting the first pseudo ranges and the first carrier phase integrated values using the correction data;
• and
• generating a first observation equation for the first positioning satellite using the corrected first pseudo ranges and the corrected first carrier phase integrated values;
• generating a second observation equation for the second positioning satellite using a time difference value between the second pseudo ranges detected from the second ranging signals that are the ranging signals for which augmentation information for correction is not provided and a time difference value between the second carrier phase integrated values detected from the second ranging signals that are the ranging signals for which augmentation information for correction is not provided;
• and
• performing positioning by executing a filter operation using the first observation equation and the second observation equation.

A positioning method comprising:

• detecting first pseudo ranges and first carrier phase integrated values from first ranging signals which are ranging signals of a first positioning satellite received at a plurality of times and are ranging signals for which augmentation information for correction is provided;
• detecting second pseudo ranges and second carrier phase integrated values from second ranging signals which are ranging signals of a second positioning satellite received at a plurality of times and are ranging signals for which augmentation information for correction is not provided;
• acquiring correction data for the first ranging signals generated from the augmentation information provided for the first ranging signals;
• acquiring the first pseudo ranges and the first carrier phase integrated values;
• correcting the first pseudo ranges and the first carrier phase integrated values using the correction data;
• generating a first observation equation for the first positioning satellite using the corrected first pseudo ranges and the corrected first carrier phase integrated values;
• generating a second observation equation for the second positioning satellite using a time difference value between the second pseudo ranges detected from the second ranging signals that are the ranging signals for which augmentation information for correction is not provided and a time difference value between the second carrier phase integrated values detected from the second ranging signals that are the ranging signals for which augmentation information for correction is not provided;
• and
• performing positioning by executing a filter operation using the first observation equation and the second observation equation.

A positioning apparatus comprising:

• processing circuitry configured to:
• decode augmentation information to generate correction data obtained by decoding the augmentation information;
• decode first ranging signals for which augmentation information is provided to generate pieces of observation data of the first ranging signals;
• decode second ranging signals for which augmentation information is not provided to generate pieces of observation data of the second ranging signals at a plurality of times;
• and
• correct errors in the pieces of observation data of the first ranging signals on the basis of the correction data;
• and
• a positioning filter to perform a positioning operation using:
• the error corrected pieces of observation data of the first ranging signals,
• time difference data between the pieces of observation data of the first ranging signals, and
• time difference data between the pieces of observation data of the second ranging signals for which augmentation information is not provided.