Satellite positioning method, satellite pseudorange calculation apparatus and satellite pseudorange calculation method

A satellite pseudorange calculation method for calculating a pseudorange between a satellite and a satellite positioning receiving device, the pseudorange comprising an integer code value and a fractional code value, the satellite pseudorange calculation method comprising the following steps of:

• (a) enabling a receiver of the satellite positioning receiving device to receive a code phase from a satellite signal acquisition unit of the satellite positioning receiving device;
• (b) enabling a processor, which is electrically connected to the receiver, of the satellite positioning receiving device to calculate the fractional code value according to the code phase;
• (c) enabling the processor to define an approximation position;
• and
• (d) enabling the processor to calculate the integer code value according to the approximation position and the fractional code value to get the pseudorange for positioning the satellite positioning receiving device;
• wherein the step (d) further comprises the following steps of:
• (d1) enabling the processor to perform a linearization processing on the approximation position;
• (d3) enabling the processor to calculate a unit vector matrix from the approximation position to the satellite on the basis of the linearization processing;
• (d5) enabling the processor to calculate an estimated fractional code value of the pseudorange according to the unit vector matrix and the fractional code value;
• and
• (d7) enabling the processor to calculate the integer code value by approximating the estimated fractional code value to the fractional code value through an iteration algorithm.

A satellite positioning method for positioning a satellite positioning receiving device, the satellite positioning receiving device having a pseudorange from each of a plurality of satellites respectively, and each of the pseudoranges comprising an integer code value and a fractional code value, the satellite positioning method comprising the following steps of:

• (a) enabling a receiver of the satellite positioning receiving device to receive a code phase of one of the satellites from a satellite signal acquisition unit of the satellite positioning receiving device;
• (b) enabling a processor, which is electrically connected to the receiver, of the satellite positioning receiving device to calculate the fractional code value according to the code phase;
• (c) enabling the processor to define an approximation position;
• (d) enabling the processor to calculate the integer code value according to the approximation position and the fractional code value;
• (e) repeating the step (a) to step (d) to obtain the pseudoranges between the satellites and the satellite positioning receiving device respectively;
• and
• (f) enabling a position calculation unit, which is electrically connected to the processor, of the satellite positioning receiving device to position the satellite positioning receiving device according to the pseudoranges;
• wherein the step (d) further comprises the following steps of:
• (d1) enabling the processor to perform a linearization processing on the approximation position;
• (d3) enabling the processor to calculate a unit vector matrix from the approximation position to the satellite on the basis of the linearization processing;
• (d5) enabling the processor to calculate an estimated fractional code value of the pseudorange according to the unit vector matrix and the fractional code value;
• and
• (d7) enabling the processor to calculate the integer code value by approximating the estimated fractional code value to the fractional code value through an iteration algorithm.