A positioning system including a satellite signal receiver 20 that receives satellite signals from a plurality of positioning satellites; a plurality of indoor pseudo satellite stations that transmit pseudo satellite signals; and a pseudo station control device that selects the positioning satellites to be allocated to the plurality of pseudo satellite stations based on the received satellite signals, allocates a PRN code corresponding to each of the selected positioning satellites to each of the plurality of pseudo satellite stations one by one, determines a delay time of the PRN code allocated to the plurality of pseudo satellite stations, and transmits a plurality of pseudo satellite signals generated using the PRN code corresponding to each of the plurality of pseudo satellite stations and the delay time to each of the plurality of pseudo satellite stations.