POSITIONING APPARATUS AND POSITIONING METHOD

A positioning apparatus according to the present invention includes: a triaxial acceleration sensor zero point calculating unit which determines whether or not the moving body is performing horizontal plane uniform linear traveling, and calculates a zero point of the triaxial accelerations when a determination is made that the moving body is performing the horizontal plane uniform linear traveling, based on at least triaxial speeds, a longitudinal acceleration, and triaxial accelerations while the moving body is traveling; an apparatus housing attachment angle calculating unit which calculates a pitch direction attachment angle and a roll direction attachment angle based on the zero point of the triaxial accelerations; a triaxial angular velocity coordinate transforming unit which coordinate-transforms the triaxial angular velocities; and a position estimating unit which estimates a current position of the moving body based on at least a yaw rate obtained from the triaxial angular velocities.