Signal processing apparatus, signal processing method and program

A signal processing apparatus configured to communicate with a positioning server via a communication network, the positioning server configured to calculate a positioning solution from observation data, the observation data being obtained from a global navigation satellite systems (GNSS) signal via the communication network, the signal processing apparatus comprising:

• a receiver configured to receive the GNSS signal and create the observation data;
• a first communication circuit configured to transmit the observation data to the positioning server;
• a second communication circuit configured to receive the positioning solution from the positioning server;
• and
• circuitry configured to:
• measure a relative displacement amount of the signal processing apparatus, for each measurement period;
• measure a first delay time corresponding to a time period required for the signal processing apparatus to output the positioning solution;
• and
• estimate a position of the signal processing apparatus at a time after a current time by the first delay time, based on the positioning solution, the relative displacement amount for each measurement period, the first delay time, and a second delay time, the second delay time corresponding to a time period from transmission of the observation data to the positioning server to reception of the positioning solution.