Positioning device and storage medium

An equation derivation section derives an observation equation that employs M epochs worth of GPS data and INS data as observation values to derive for each of the GPS satellites a float solution for number of waves of GPS data carrier wave between each of plural GPS satellites and a vehicle, wherein the range of float solutions of the number of waves is constrained by the vehicle travel path estimated based on M epochs worth of INS data. The observation equation is solved by a float solution computation section and float solutions computed for the number of waves N and the position of the vehicle for each of the GPS satellites. Fixed solutions with highest consistency are computed by a fixed solution computation section based on the float solutions for the number of waves N for each of the GPS satellites and the position of the vehicle.