A positioning apparatus and a point positioning method which estimated with high accuracy with only one linear regression equation is provided. The positioning apparatus (10) includes the two GPS receivers (1A), (1B) which connect to the GPS antennas (21), (22). The data of the satellites is detected and a navigation message is analyzed. And an item that the output data from the both GPS receivers (1A), (1B) respectively are related to the signals transmitted from the same satellites is verified and a matched data is given to a positioning operating device (4). The positioning operating device (4) estimates every position of the GPS receivers (antennas) and the positions of the satellites by utilizing only one linear regression equation which the given data is applied to. The positioning operating device (4) detects a position of the positioning apparatus by using the positions of the two GPS receivers.