POSITIONING SYSTEM

A positioning system includes a first storage unit that stores global map data in which image data outside a vehicle is associated with global position information and local map data in which image data inside the vehicle is associated with local position information, a division unit that divides image data into an image area outside the vehicle and an image area inside the vehicle, a global position estimation unit that performs matching of the global map data with the image area outside the vehicle, and estimates global position information, and a local position estimation unit that performs matching of the local map data with the image area inside the vehicle and estimates local position information.