CN101770017B - Electronic device for decoding navigation data by utilizing phase angle change and method thereof - Google Patents
Electronic device for decoding navigation data by utilizing phase angle change and method thereof Download PDFInfo
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Abstract
The present invention discloses an electronic device for decoding navigation data by utilizing phase angle change and a method thereof. The method comprises the following steps of: obtaining first navigation data and second navigation data in sequence from satellite signals; calculating the first phase angle of the first navigation data and the second phase angle of the second navigation data; calculating the phase angle difference between the first phase angle and the second phase angle; when the phase angle is larger than 90 degrees, judging the first navigation data and the second navigation data to be opposite signs, and when the phase angle difference is less than or equal to 90 degrees, judging the first navigation data and the second navigation data to be the same signs; and recording the second navigation data according to the first navigation data and judgement results. Hereof, each data is judged and read by directly comparing whether the phase angle difference between the previous data and the next data is larger than 90 degrees or not, and therefore, the decoding accuracy of the navigation data can be increased.
Description
Technical field
The present invention relates to a kind of method of decoding navigation data, particularly relate to a kind of electronic installation and method thereof of utilizing the phase angle variations decoding navigation data.
Background technology
(Global Positioning System GPS) is a round orbiter navigational system of middle distance to GPS.It can provide accurate in locating, test the speed and the high precision time standard for earth surface overwhelming majority area (98%).GPS is by U.S. Department of Defense development and safeguard, can satisfy to be positioned at the whole world Anywhere or the accurate continuously needs of determining three-dimensional position, three-dimensional motion and time of the military user of terrestrial space.System comprises 24 gps satellites in the space; Ground 1 master station, 3 data injection plants and 5 monitoring stations and as the GPS receiver of client.Minimum need are 4 satellites wherein, just can determine residing on earth position of client and sea level elevation rapidly; It is many more to receive the satellite number that is connected to, and the position that decoding is come out is just accurate more.
Because GPS has characteristics such as not being subjected to weather effect, global high coverage rate (98%) and removable location, therefore except military use, the navigation (for example: aircraft navigation, marine navigation and traffic navigation etc.) that is used for the people's livelihood in a large number with (for example: the location of vehicle anti-theft, mobile communication device etc.) etc. locate.
Satellite turns round round the earth, therefore GPS is when receiving the satellite-signal that satellite sent, can make the received satellite-signal power of GPS differ along with the position at satellite place, for example: satellite is directly over GPS the time, signal is stronger, when satellite during on plane closely, signal can be a little less than.Simultaneously, satellite-signal also can be subjected to interference such as other electromagnetic radiation and make that the reception of GPS is not good.Simultaneously, according to Doppler's law, the signal that satellite sent can be influenced by the relative motion of GPS and satellite or other disturbing factor, and makes the frequency of the satellite-signal that GPS can receive and the frequency of the signal that satellite is sent have a little frequency difference.
The phase angle difference of a navigation data gained was revised track frequency before and after tradition GPS utilized, and to obtain the track frequency of next record, promptly iterated with the phase differential of single data and approached track frequency.And GPS utilizes the phase place of positive sequence code (Prompt) in the revised track frequency locking satellite signal, decodes each navigation data by the sign of judging positive sequential time-code (Prompt real) then.
But under the faint or situation that noise is crossed, can produce wrong phase angle difference at satellite-signal, and can't obtain track frequency accurately, make the navigation data decoding error.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of electronic installation and method thereof of utilizing the phase angle variations decoding navigation data, can avoid because the faint or The noise of satellite-signal, produce wrong phase angle difference and can't obtain track frequency accurately, make the navigation data decoding error.
To achieve these goals, the invention provides a kind of method of utilizing the phase angle variations decoding navigation data, it is characterized in that, include:
Receive a satellite-signal;
From this satellite-signal, obtain one first navigation data;
Calculate one first phasing degree of this first navigation data;
This first navigation data that continues from this satellite-signal is obtained one second navigation data;
Calculate one second phasing degree of this second navigation data;
Calculate the phase angle difference between this first phasing degree and this second phasing degree;
Judge that whether this phase angle difference is greater than 90 degree;
When this phase angle difference is spent greater than 90, judge that this first navigation data and this second navigation data are contrary sign, and write down this second navigation data according to this first navigation data and result of determination; And
When this phase angle difference is spent smaller or equal to 90, judge that this first navigation data and this second navigation data are jack per line, and write down this second navigation data according to this first navigation data and result of determination.
The described method of utilizing the phase angle variations decoding navigation data, wherein, the step that this calculates one first phasing degree of this first navigation data comprises:
(Phase Lock Loop PLL) obtains a positive sequence code (Prompt) to utilize a phase-locked loop;
With a digital baseband signal (I/Q) with should be positive the sequential yardage calculate draw the real sign indicating number of a positive sequential (PromptReal, IP) with a positive sequential void yard (Prompt Image, QP); And
Empty yardage calculation obtains this first phasing degree according to the real sign indicating number of this positive sequential and this positive sequential.
The described method of utilizing the phase angle variations decoding navigation data, wherein, the step that this calculates one second phasing degree of this second navigation data comprises:
Utilize a phase-locked loop to obtain a positive sequence code;
Draw a real sign indicating number of a positive sequential and empty yard of a positive sequential with the positive sequential yardage calculation of a digital baseband signal and this; And
Empty yardage calculation obtains this second phasing degree according to the real sign indicating number of this positive sequential and this positive sequential.
The described method of utilizing the phase angle variations decoding navigation data wherein, also comprises:
Writing down this first navigation data is logical zero;
Wherein, deserve this phase angle difference when spending greater than 90, judge that this first navigation data and this second navigation data are contrary sign, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are contrary sign according to this first navigation data and result of determination; And to write down this second navigation data be logical one.
The described method of utilizing the phase angle variations decoding navigation data wherein, also comprises:
Writing down this first navigation data is logical one;
Wherein, deserve this phase angle difference when spending greater than 90, judge that this first navigation data and this second navigation data are contrary sign, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are contrary sign according to this first navigation data and result of determination; And to write down this second navigation data be logical zero.
The described method of utilizing the phase angle variations decoding navigation data wherein, also comprises:
Writing down this first navigation data is logical zero;
Wherein, deserve this phase angle difference when spending smaller or equal to 90, judge that this first navigation data and this second navigation data are jack per line, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are jack per line according to this first navigation data and result of determination; And to write down this second navigation data be logical zero.
The described method of utilizing the phase angle variations decoding navigation data wherein, also comprises:
Writing down this first navigation data is logical one;
Wherein, deserve this phase angle difference when spending smaller or equal to 90, judge that this first navigation data and this second navigation data are jack per line, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are jack per line according to this first navigation data and result of determination; And to write down this second navigation data be logical one.
To achieve these goals, the present invention also provides a kind of electronic installation that utilizes the phase angle variations decoding navigation data, it is characterized in that, includes:
One Anneta module is in order to receive a satellite-signal;
One analog-digital converter electrically connects this Anneta module, in order to convert this satellite-signal to many navigation datas in regular turn; And
One processing module, electrically connect this analog-digital converter, in order to by a phase angle difference that calculates per two adjacent these many navigation datas of front and back in these many navigation datas, when this phase angle difference is spent greater than 90, judge that per two adjacent these many navigation datas of front and back are contrary sign, when this phase angle difference is spent smaller or equal to 90, judge that per two adjacent these many navigation datas of front and back are jack per line.
According to electronic installation and the method thereof of utilizing the phase angle variations decoding navigation data provided by the present invention, many data that one of in advance continuously receive in a plurality of satellites, to obtain the phasing degree of each data, the phasing degree of a data is to obtain phase angle difference before and after calculating.When phase angle difference was spent greater than 90, a data was a contrary sign before and after judging, when phase angle difference was spent smaller or equal to 90, a data was a jack per line before and after judging; And write down back data according to last data and result of determination.In this, the method of phase angle variations decoding navigation data of utilizing provided by the present invention has nothing to do in the correction of track frequency, and whether come each data of interpretation greater than 90 degree by the phase angle difference between the data before and after the direct comparison, thereby can improve navigation data decoding accuracy, improve GPS (Global Positioning System, susceptibility GPS).
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Description of drawings
Fig. 1 is according to the method flow diagram that utilizes the phase angle variations decoding navigation data of the present invention;
Fig. 2 is by the method flow diagram that calculates first phasing degree in first navigation data according to of the present invention;
Fig. 3 is by the method flow diagram that calculates second phasing degree in second navigation data according to of the present invention;
Fig. 4 is according to satellite-signal synoptic diagram of the present invention;
Fig. 5 is according to the electronic installation synoptic diagram that utilizes the phase angle variations decoding navigation data of the present invention.
Wherein, Reference numeral:
31 Anneta modules
32 analog-digital converters
33 processing modules
Embodiment
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is made further more detailed description.
Fig. 1 is according to the method flow diagram that utilizes the phase angle variations decoding navigation data of the present invention.
Please refer to Fig. 1, the method for utilizing the phase angle variations decoding navigation data of one embodiment of the invention includes: receive a satellite-signal (step 21); From satellite-signal, obtain one first navigation data (step 22); Calculate first phasing degree (step 23) of first navigation data; First navigation data that continues from satellite-signal is obtained one second navigation data (step 24); Calculate one second phasing degree (step 25) of second navigation data; Calculate the phase angle difference (step 26) between first phasing degree and second phasing degree; Judge that whether phase angle difference is greater than 90 degree (step 27); When phase angle difference is spent greater than 90, judge that first navigation data and second navigation data are contrary sign, and write down second navigation data (step 28) according to first navigation data and result of determination; And when phase angle difference is spent smaller or equal to 90, judge that first navigation data and second navigation data are jack per line, and write down second navigation data (step 29) according to first navigation data and result of determination.
Because satellite turns round round the earth, so GPS (Global Positioning System, GPS) when receiving the satellite-signal that satellite sent, can make the received satellite-signal power of GPS differ along with the position at satellite place, for example: satellite is directly over GPS the time, the required atmospheric envelope thinner thickness that passes, therefore signal can be stronger, when satellite during on plane closely, the required atmospheric envelope thickness that passes is thicker, thus signal can be a little less than.Simultaneously, satellite-signal also can be subjected to interference such as other electromagnetic radiation and make that the reception of GPS is not good.According to Doppler's law, the signal that satellite sent can be influenced by the relative motion of GPS and satellite or other disturbing factor, and makes the frequency of the satellite-signal that GPS can receive and the frequency of the signal that satellite is sent have a little frequency difference.
Therefore GPS detects satellite in order to receive the data in the satellite-signal accurately with a plurality of track frequencies in the set frequency range, to receive the satellite-signal that satellite was sent.And a plurality of track frequencies in set frequency range all can detect satellite, are only the most approaching frequency that is subjected to the satellite-signal after the influence such as Doppler effect but have the strongest track frequency of satellite-signal that can receive only.
Therefore according to the method for utilizing the phase angle variations decoding navigation data of the present invention: step 21 in advance with a set frequency range searching satellite (for example: search three satellites, can learn the longitude and latitude of GPS position; Search four satellites, can learn the longitude and latitude of GPS and sea level elevation etc.).After searching satellite, the satellite-signal that can receive satellite continuously with the track frequency of the satellite-signal that can receive maximum intensity and sent.
Then, step 22 is to obtain first navigation data the satellite-signal that can receive maximum intensity.And then, step 23 and by calculating first phasing degree in first navigation data.Then, step 24 obtains second navigation data from the satellite-signal that can receive maximum intensity after obtaining first navigation data.Then, step 25 is again by calculating second phasing degree in second navigation data.
Please refer to Fig. 2, and merge with reference to the foregoing description.Performing step 23 is described by the method that calculates first phasing degree in first navigation data, can include: (Phase Lock Loop PLL) obtains positive sequence code (Prompt) (step 1) to utilize the phase-locked loop; (Prompt Real is IP) with positive sequential void sign indicating number (Prompt Image, QP) (step 2) to draw the real sign indicating number of positive sequential with digital baseband signal (I/Q) and positive sequential yardage calculation; And calculate with the empty yardage of positive sequential according to the real sign indicating number of positive sequential and to obtain first phasing degree (step 3).
Please refer to Fig. 3, and merge with reference to the foregoing description.Performing step 25 is described by the method that calculates second phasing degree in second navigation data, can include: (Phase Lock Loop PLL) obtains positive sequence code (Prompt) (steps A) to utilize the phase-locked loop; (Prompt Real is IP) with positive sequential void sign indicating number (Prompt Image, QP) (step B) to draw the real sign indicating number of positive sequential with digital baseband signal and positive sequential yardage calculation; And calculate with the empty yardage of positive sequential according to the real sign indicating number of positive sequential and to obtain second phasing degree (step C).
Obtain many data (comprising: first navigation data, second navigation data etc.) in the satellite-signal of GPS with the resulting maximum signal of track frequency satellite tracking, and the phasing degree that draws each data by each data computation, for example by obtaining obtaining second phasing degree etc. in first phasing degree, second navigation data in first navigation data.
GPS inside have a phase-locked loop (Phase Lock Loop, PLL).Behind the GPS receiving satellite signal, after the processing of received satellite-signal via the phase-locked loop, can obtain three sequence codes.Three sequence codes are respectively early stage sequence code (Early), positive sequence code (Prompt) and sequence code in late period (Late).
Can draw after calculating according to resulting positive sequence code (Prompt) and digital baseband signal (I/Q) the real sign indicating number of positive sequential (Prompt Real, IP) with the empty sign indicating number of positive sequential (Prompt Image, QP).Calculate phasing degree (first phasing degree) as the step 3 described empty sign indicating number of positive sequential (QP) is divided by with the positive real sign indicating number of sequential (IP).Calculate phasing degree (second phasing degree) as the step C described empty sign indicating number of positive sequential (QP) is divided by with the positive real sign indicating number of sequential (IP).The mode that wherein calculates phasing degree (θ) is to utilize the arc-tangent value of trigonometric function (atan) to calculate, and is calculated as follows:
atan(QP/IP)＝θ
For instance, first navigation data can obtain the first positive sequence code (Prompt 1) after handling via the phase-locked loop.Can draw after the first positive sequence code (Prompt 1) and digital baseband signal (I/Q) calculate the real sign indicating number of the first positive sequential (Prompt Real 1, IP1) with the first positive sequential void yard (Prompt Image 1, QP1).With the real sign indicating number of the first positive sequential (Prompt Real 1, IP1) with empty yard of the first positive sequential (PromptImage 1, and QP1) arc-tangent value (atan) with trigonometric function calculates first phasing degree (θ 1), and it is calculated as follows:
atan(QP1/IP1)＝θ1
Same, second navigation data can obtain the second positive sequence code (Prompt 2) after handling via the phase-locked loop.Can draw after the second positive sequence code (Prompt 2) and digital baseband signal (I/Q) calculate the real sign indicating number of the second positive sequential (Prompt Real 2, IP2) with the second positive sequential void yard (Prompt Image 2, QP2).With the real sign indicating number of the second positive sequential (Prompt Real 2, IP2) with empty yard of the second positive sequential (PromptImage 2, and QP2) arc-tangent value (atan) with trigonometric function calculates second phasing degree (θ 2), and it is calculated as follows:
atan(QP2/IP2)＝θ2
Then, does step 27 judge that the phase angle difference that calculates resulting first navigation data and second navigation data is greater than 90 degree?
Because satellite can be broadcasted a navigation data for per 1 millisecond, and the per 20 milliseconds of navigation datas that can broadcast 1bit, that is the navigation data of satellite per second broadcasting 50bit.That is to say that in the satellite-signal, be 1 millisecond the interval time of every data.
GPS can be converted into digital signal by simulating signal with the navigation data in the satellite-signal behind receiving satellite signal.Wherein, the phase change in the navigation data can change into the binary digit signal that logical zero and logical one are combined into.By finding out the navigation data that has a plurality of representative digital signal logical ones and digital signal logical zero in the satellite-signal among Fig. 4.On behalf of a received front and back navigation data, adjacent digital signal logical one lay respectively at different quadrants respectively with the digital signal logical zero.
Therefore, when phase angle difference was spent greater than 90, step 28 judged that the digital signal of first navigation data and second navigation data is a contrary sign, and according to the digital signal of first navigation data and the digital signal that result of determination writes down second navigation data.When phase angle difference was spent smaller or equal to 90, step 29 judged that the digital signal of first navigation data and second navigation data is a jack per line, and according to the digital signal of first navigation data and the digital signal that result of determination writes down second navigation data.
For instance, when GPS writes down first navigation data is that the phase angle difference of logical zero and first navigation data and second navigation data is when spending greater than 90, judge that then first navigation data and second navigation data are contrary sign, and write down the step of second navigation data, that is judge that first navigation data and second navigation data are contrary sign and to write down second navigation data be logical one according to first navigation data and result of determination.
When GPS writes down first navigation data is that the phase angle difference of logical zero and first navigation data and second navigation data is when spending smaller or equal to 90, judge that then first navigation data and second navigation data are jack per line, and write down the step of second navigation data, that is judge that first navigation data and second navigation data are jack per line and to write down second navigation data be logical zero according to first navigation data and result of determination.
When GPS writes down first navigation data is that the phase angle difference of logical one and first navigation data and second navigation data is when spending greater than 90, judge that then first navigation data and second navigation data are contrary sign, and write down the step of second navigation data, that is judge that first navigation data and second navigation data are contrary sign and to write down second navigation data be logical zero according to first navigation data and result of determination.
When GPS writes down first navigation data is that the phase angle difference of logical one and first navigation data and second navigation data is when spending smaller or equal to 90, judge that then first navigation data and second navigation data are jack per line, and write down the step of second navigation data, that is judge that first navigation data and second navigation data are jack per line and to write down second navigation data be logical one according to first navigation data and result of determination.
In this, according to the method for utilizing the phase angle variations decoding navigation data of the present invention, whether come each data of interpretation by the phase angle difference between the phasing degree of a data before and after the direct comparison greater than 90 degree, can improve navigation data decoding accuracy, and raising GPS (Global Positioning System, susceptibility GPS).
Fig. 5 is according to the electronic installation synoptic diagram that utilizes the phase angle variations decoding navigation data of the present invention.
Please refer to Fig. 5, and merge with reference to the foregoing description.The electronic installation of phase angle variations decoding navigation data that utilizes of the present invention includes: Anneta module 31, analog-digital converter 32 and processing module 33.
Behind Anneta module 31 receiving satellite signals, convert satellite-signal to many navigation datas (for example: the first above-mentioned navigation data, second navigation data etc.) in regular turn via analog-digital converter 32.At last by processing module 33 by the phase angle difference that calculates per two adjacent front and back navigation data in many navigation datas (for example: the first above-mentioned navigation data, second navigation data etc.).When phase angle difference is spent greater than 90, judge that per two an adjacent front and back navigation data are contrary sign (for example: first navigation data and second navigation data are contrary sign), when phase angle difference is spent smaller or equal to 90, judge that per two an adjacent front and back navigation data are jack per line (for example: first navigation data and second navigation data are jack per line).
In this, according to the electronic installation that utilizes the phase angle variations decoding navigation data of the present invention, whether come each data of interpretation by the phase angle difference between the phasing degree of a data before and after the direct comparison greater than 90 degree, can improve navigation data decoding accuracy, and raising GPS (Global PositioningSystem, susceptibility GPS).
In sum, according to electronic installation and the method thereof of utilizing the phase angle variations decoding navigation data of the present invention, have nothing to do in the correction of track frequency, and whether come each data of interpretation greater than 90 degree by the phase angle difference between the phasing degree of a data before and after the direct comparison, thereby can improve navigation data decoding accuracy, improve GPS (Global Positioning System, susceptibility GPS).
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (8)
1. a method of utilizing the phase angle variations decoding navigation data is characterized in that, includes:
Receive a satellite-signal;
From this satellite-signal, obtain one first navigation data;
Calculate one first phasing degree of this first navigation data;
This first navigation data that continues from this satellite-signal is obtained one second navigation data;
Calculate one second phasing degree of this second navigation data;
Calculate the phase angle difference between this first phasing degree and this second phasing degree;
Judge that whether this phase angle difference is greater than 90 degree;
When this phase angle difference is spent greater than 90, judge that this first navigation data and this second navigation data are contrary sign, and write down this second navigation data according to this first navigation data and result of determination; And
When this phase angle difference is spent smaller or equal to 90, judge that this first navigation data and this second navigation data are jack per line, and write down this second navigation data according to this first navigation data and result of determination.
2. the method for utilizing the phase angle variations decoding navigation data according to claim 1 is characterized in that, the step that this calculates one first phasing degree of this first navigation data comprises:
Utilize a phase-locked loop to obtain a positive sequence code;
Draw a real sign indicating number of a positive sequential and empty yard of a positive sequential with the positive sequential yardage calculation of a digital baseband signal and this; And
Empty yardage calculation obtains this first phasing degree according to the real sign indicating number of this positive sequential and this positive sequential.
3. the method for utilizing the phase angle variations decoding navigation data according to claim 1 is characterized in that, the step that this calculates one second phasing degree of this second navigation data comprises:
Utilize a phase-locked loop to obtain a positive sequence code;
Draw a real sign indicating number of a positive sequential and empty yard of a positive sequential with the positive sequential yardage calculation of a digital baseband signal and this; And
Empty yardage calculation obtains this second phasing degree according to the real sign indicating number of this positive sequential and this positive sequential.
4. the method for utilizing the phase angle variations decoding navigation data according to claim 1 is characterized in that, also comprises:
Writing down this first navigation data is logical zero;
Wherein, deserve this phase angle difference when spending greater than 90, judge that this first navigation data and this second navigation data are contrary sign, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are contrary sign according to this first navigation data and result of determination; And to write down this second navigation data be logical one.
5. the method for utilizing the phase angle variations decoding navigation data according to claim 1 is characterized in that, also comprises:
Writing down this first navigation data is logical one;
Wherein, deserve this phase angle difference when spending greater than 90, judge that this first navigation data and this second navigation data are contrary sign, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are contrary sign according to this first navigation data and result of determination; And to write down this second navigation data be logical zero.
6. the method for utilizing the phase angle variations decoding navigation data according to claim 1 is characterized in that, also comprises:
Writing down this first navigation data is logical zero;
Wherein, deserve this phase angle difference when spending smaller or equal to 90, judge that this first navigation data and this second navigation data are jack per line, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are jack per line according to this first navigation data and result of determination; And to write down this second navigation data be logical zero.
7. the method for utilizing the phase angle variations decoding navigation data according to claim 1 is characterized in that, also comprises:
Writing down this first navigation data is logical one;
Wherein, deserve this phase angle difference when spending smaller or equal to 90, judge that this first navigation data and this second navigation data are jack per line, and write down the step of this second navigation data, comprising: judge that this first navigation data and this second navigation data are jack per line according to this first navigation data and result of determination; And to write down this second navigation data be logical one.
8. an electronic installation that utilizes the phase angle variations decoding navigation data is characterized in that, includes:
One Anneta module is in order to receive a satellite-signal;
One analog-digital converter electrically connects this Anneta module, in order to convert this satellite-signal to many navigation datas in regular turn; And
One processing module, electrically connect this analog-digital converter, in order to by a phase angle difference that calculates per two adjacent these many navigation datas of front and back in these many navigation datas, when this phase angle difference is spent greater than 90, judge that per two adjacent these many navigation datas of front and back are contrary sign, when this phase angle difference is spent smaller or equal to 90, judge that per two adjacent these many navigation datas of front and back are jack per line.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1596215A2 (en) * | 2004-05-13 | 2005-11-16 | Seiko Epson Corporation | Positioning apparatus, positioning method, positioning program, and computer-readable recording medium for recording positioning program |
| CN1991403A (en) * | 1998-05-06 | 2007-07-04 | 施耐普特拉克股份有限公司 | Method and apparatus for signal processing in a satellite positioning system |
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| CN1991403A (en) * | 1998-05-06 | 2007-07-04 | 施耐普特拉克股份有限公司 | Method and apparatus for signal processing in a satellite positioning system |
| EP1596215A2 (en) * | 2004-05-13 | 2005-11-16 | Seiko Epson Corporation | Positioning apparatus, positioning method, positioning program, and computer-readable recording medium for recording positioning program |
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