To achieve high precision positioning while receiving no positioning signal continuously from a paired plurality of positioning satellites.SOLUTION: A positioning device 10 includes a receiver 30 and a positioning operation unit 40. The receiver 30 detects a pseudo distance and a carrier wave phase integrated value of a positioning signal received at a plurality of times. The positioning operation unit 40 calculates a time difference value of the pseudo distance and the time difference value of the carrier wave phase integrated value. The positioning operation unit 40 sets an observation equation and a state equation using the time difference value. The positioning operation unit 40 performs positioning by executing filter operation using the observation equation and the state equation.SELECTED DRAWING: Figure 1
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