Apparatus, method and computer readable media for calculating status, and movable body

A method of calculating a status, comprising:

• receiving three or more positioning signals at different positions on a movable body;
• calculating carrier wave phase differences for every different position based on correlation of the three or more positioning signals with a replica signal of the positioning signal, and calculating carrier wave phase measurement values, each carrier wave phase measurement value being an integrated value of the carrier wave phase differences;
• calculating a plurality of baseline vectors based on the carrier wave phase measurement values;
• and
• calculating a yaw angle for every baseline vector and calculating a representative yaw angle based on the plurality of calculated yaw angles, as an attitude angle.

Computer readable media configured to store a computer executable program in a non-transitory manner, which upon execution by a processor of a computer causes the computer to calculate a traveling status of a movable body, comprising:

• causing a computer to receive three or more positioning signals at different positions on the movable body;
• causing a computer to calculate, based on correlation of three or more positioning signals with a replica signal of the positioning signal, carrier wave phase differences for every different position, and calculate carrier wave phase measurement values, each carrier wave phase measurement value being an integrated value of the carrier wave phase differences;
• causing a computer to calculate a plurality of baseline vectors based on the carrier wave phase measurement values of the respective different positions;
• and
• causing a computer to calculate a yaw angle for every baseline vector and calculate a representative yaw angle based on the plurality of calculated yaw angles, as an attitude angle.