Positioning apparatus, positioning method, and storage medium

A positioning method of obtaining position data based on measured position data from a position measuring section which measures a present position and moving data from a movement measuring section to which measures a moving direction and a moving distance as the moving data, the method comprising:

• calculating the present position to obtain calculated position data by accumulating, with respect to a reference position, the moving data corresponding to the moving direction and the moving distance;
• comparing an error value of the measured position data with an error value of the calculated position data, and selecting one of the measured position data and the calculated position data that has a smaller error value than the other;
• and
• setting the measured position data as the reference position when the measured position data is selected by the comparing;
• wherein the calculating index of the calculated position data is set such that the error value increases in correspondence with increasing distance from the reference position.

A non-transitory computer-readable storage medium having a program stored thereon for a computer to be used for a positioning apparatus, the positioning apparatus including a position measuring section which measures a present position of the positioning apparatus to obtain measured position data and a movement measuring section which measures a moving direction and a moving distance, and the program being executable to control the computer to function as sections comprising:

• a position calculating section which calculates the present position of the positioning apparatus to obtain calculated position data by accumulating, with respect to a reference position, moving data corresponding to the moving direction and the moving distance;
• a position selecting section which compares an error value of the measured position data with an error value of the calculated position data, and which selects one of the measured position data and the calculated position data that has a smaller error value than the other;
• and
• a reference position setting section which sets the measured position data as the reference position when the measured position data is selected by the position selecting section;
• wherein the program controls the computer to set the error value of the calculated position data such that the error value increases in correspondence with increasing distance from the reference position.