To provide a positioning method for detecting an abnormal positioning orientation, and improving the accuracy of a final positioning result by invalidating the positioning orientation.

The positioning method for implementing positioning using GPS (Global Positioning System) signals transmitted from a plurality of satellites includes: a speed positioning step for positioning a speed and the orientation of a receiver from the received GPS signals; and an invalidating step for invalidating the positioning orientation if the positioning orientation by the speed positioning step is orthogonal to the orientation of the satellite which is not used for the positioning.

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