Location information is meaningful information for future ITS (Intelligent Transport Systems) world. Especially, the accuracy of the information is required because the accuracy decides the quality of ITS services. For realization of high precision positioning, Kinematic positioning technique has been attracting attention. The Kinematic positioning requires the configuration of many positioning parameters. However, the configuration is difficult because optimal parameter differs according to user's environment. In this paper, we will propose an estimation method of optimal parameter according to the environment. Further, we will propose an elimination method of unreliable positioning results. Hereby, we can acquire extensively only the reliable positioning results. By using the actual vehicle traveling data, the ability and the applicable range of the proposed method will be shown. The result will show that our proposed method improves the acquision rate of reliable positioning results and mitigates the acquision rate of the unreliable positioning results.