Device and method for calculating movement information

A movement information calculating device, comprising:

• a plurality of antennas, each configured to receive a GNSS signal;
• a clock generator configured to generate a clock signal;
• a plurality of GNSS receivers connected to the respective antennas, and configured to share the clock signal from the clock generator and calculate GNSS observed values by using the shared clock signal and the GNSS signals, respectively;
• and
• an arithmetic logical unit configured to calculate movement information including a speed of a movable body based on the GNSS observed values from the plurality of GNSS receivers, wherein
• the arithmetic logical unit estimates an error including a clock drift of the clock signal,
• the arithmetic logical unit calculates the speed of the movable body based on the estimated error, and
• when the combination of the plurality of GNSS signals received by each of the plurality of antennas is different, the arithmetic logic unit is configured to calculate the speed of the movable body by using all of the GNSS signals transmitted from positioning satellites and received by the plurality of GNSS receivers.