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A pseudorange is estimately calculated in high accuracy without being influenced by multipath. Multipath is determined based on a C/No and a difference value DV(iv) that is a difference value between a time change of an observed pseudorange and a delta range (S101-S103). If multipath does not exist (S104: NO), an error variance of the pseudorange and an error variance of the delta range are set to fixed values, and a weight coefficient is determined (S105). If multipath exists (S104: YES), a variance of the difference value and the variance of the delta range are calculated (S106), a variance of the pseudorange is calculated (S107), and the weight coefficient is determined based on the calculated variances of the pseudorange and the delta range (S108). Further, the pseudorange is estimately calculated by a weighted hatch filter through using the determined weight coefficient (S109).