JP2021181957A - Positioning signal capturing and tracking device, positioning signal capturing and tracking method, and positioning signal capturing and tracking program - Google Patents

Abstract

To shorten a time of capturing and tracking a code of a positioning signal.SOLUTION: A positioning signal capturing and tracking device comprises a search instruction unit and a plurality of capturing and tracking units. The search instruction unit divides a code of a positioning signal of a positioning satellite to be captured, and sets a plurality of different divided replica codes. The plurality of capturing and tracking units are individually given the plurality of divided replica codes. The plurality of capturing and tracking units performs the capturing process of the code of the positioning signal in parallel using the given divided replica code.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for capturing and tracking a positioning signal transmitted from a positioning satellite.

Patent Document 1 describes a method for capturing GPS signals. The GPS receiver described in Patent Document 1 includes a plurality of capture and tracking channels.

The GPS receiver sets different carrier frequencies for acquisition and tracking in the plurality of acquisition and tracking channels. The plurality of capture tracking channels capture one positioning signal in parallel processing using different carrier frequencies.

Japanese Unexamined Patent Publication No. 7-191127

However, it has been difficult to shorten the time for capturing and tracking the code by the conventional capture and tracking method as shown in Patent Document 1. In particular, it was even more difficult to shorten the capture and tracking time of the L2 signal code and the L5 signal code, which have a longer code length than the L1 signal code.

Therefore, an object of the present invention is to shorten the acquisition and tracking time of the code of the positioning signal.

The positioning signal acquisition / tracking device of the present invention includes a search instruction unit and a plurality of acquisition / tracking units. The search instruction unit sets a plurality of different divided replica codes for each using the code of the positioning signal of the positioning satellite to be captured. The plurality of capture tracking units perform the acquisition process of the positioning signal code in parallel by using each of the plurality of divided replica codes.

In this configuration, the code of the positioning signal of the positioning satellite to be captured is divided into short pieces and captured in parallel.

According to the present invention, the acquisition and tracking time of the code of the positioning signal can be shortened.

FIG. 1 is a block diagram showing a configuration of a positioning device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of a capture tracking channel. FIG. 3 is a diagram showing an example of the concept of dividing the replica code. FIG. 4 is a flowchart showing a schematic process from code acquisition to positioning. FIG. 5 is a table showing an example of code acquisition (search) and tracking state transition in a plurality of acquisition and tracking channels. FIG. 6 is a flowchart showing a positioning signal acquisition and tracking method according to an embodiment of the present invention. FIG. 7 is a table showing another example of code acquisition (search) and tracking state transition in a plurality of acquisition and tracking channels.

The positioning signal acquisition and tracking technique according to the embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a positioning device according to an embodiment of the present invention.

As shown in FIG. 1, the positioning device 10 includes an antenna 100, a down converter 20, an encoder 30, a capture tracking unit 40, and a positioning calculation unit 50. The capture tracking unit 40 corresponds to the "positioning signal capture tracking device" of the present invention.

The antenna 100 receives the GNSS positioning signal and outputs it to the down converter 20. The GNSS positioning signal is a signal obtained by modulating a carrier signal (carrier signal) having a predetermined carrier frequency with a code. The code is composed of so-called pseudo-random codes (PRNs) and is different for each of the plurality of positioning satellites. In addition, a navigation message is superimposed on the GNSS positioning signal. The navigation message includes precision orbit information of the positioning satellite (for example, ephemeris), time correction information of the positioning satellite, and the like. Further, the GNSS positioning signal includes a plurality of positioning signals having different carrier frequencies. For example, GPS signals include a 1575.42 MHz L1 signal and a 1227.60 MHz L2 signal. The GPS signal may include an L5 signal of 1176.45 MHz. Further, in the case of QZSS or Glileo, an L6 signal of 1278.75 MHz may be included. The L1 signal is modulated by the L1 code and the L2 signal is modulated by the L2 code. The L5 signal is modulated by the L5 code. The L2 and L5 codes are longer than the L1 code. In other words, the L2 and L5 codes are composed of more sequences of codes than the L1 code. Specifically, the L2 cord and the L5 cord have 20 times the length of the L1 cord.

The down converter 20 is realized by, for example, an analog circuit. The down converter 20 down-converts the GNSS positioning signal to an intermediate frequency and outputs it to the encoder 30.

A part of the encoder 30 and the capture tracking unit 40 is realized by a digital circuit. Further, another part of the capture tracking unit 40 and the positioning calculation unit 50 are realized by a calculation device such as a CPU, a program executed by the calculation device, and a storage unit for storing the program.

The encoder 30 digitizes an intermediate frequency GNSS positioning signal by sampling it with a predetermined number of bits. The encoder 30 outputs the digitized GNSS positioning signal to the capture tracking unit 40.

The capture tracking unit 40 includes a plurality of capture tracking channels. For example, in the case of FIG. 1, the capture tracking unit 40 has six capture tracking channels, specifically, capture tracking channel 41, capture tracking channel 42, capture tracking channel 43, capture tracking channel 44, and capture tracking channel 45. It also includes a capture and tracking channel 46. The number of capture and tracking channels is not limited to this example.

The GNSS positioning signal output from the encoder 30 is input to each of the six capture tracking channels (capture tracking channels 41-46). It is preferable that the input timings of the GNSS positioning signals to the six capture and tracking channels are completely the same.

The basic circuit configuration and basic processing of the six capture and tracking channels (capture and tracking channels 41-46) are the same, and the divided replica code and the replica code to be set are different as described later. Therefore, in the following, the configuration will be described using the capture tracking channel 41.

FIG. 2 is a block diagram showing a configuration of a capture tracking channel. As shown in FIG. 2, the capture tracking channel 41 includes a digital unit 401 and a software unit 402. The digital unit 401 is a part realized by the above-mentioned digital circuit, and the software unit 402 is a part realized by the above-mentioned arithmetic unit, program, and storage unit.

The digital unit 401 includes a carrier component removing unit 411, a code generator 412, and a correlator 413. The software unit 402 includes a search instruction unit 421, a tracking control unit 422, and a message collection unit 423. The portion including the carrier component removing section 411, the code generator 412, the correlator 413, and the tracking control section 422 corresponds to the "individual processing section" of the present invention.

The carrier component removing unit 411 extracts the baseband component of the code of the GNSS positioning signal by using the GNSS positioning signal output from the encoder 30 and the output signal of the carrier NCO whose phase is controlled by the tracking control unit 422. The carrier component removing unit 411 outputs the baseband component of the code of the GNSS positioning signal to the correlator 413.

Further, the carrier component removing unit 411 outputs the phase difference between the GNSS positioning signal and the output signal of the carrier NCO to the tracking control unit 422.

The code generator 412 generates a replica code by using the output signal of the code NCO whose timing is controlled by the tracking control unit 422. The replica code has the same configuration as the code of the GNSS signal to be captured. The code generator 412 outputs the replica code to the correlator 413.

The correlator 413 correlates the baseband component of the code of the GNSS positioning signal with the replica code. The correlator 413 outputs the correlation processing result, that is, the code correlation result, to the tracking control unit 422.

The search instruction unit 421 sets the capture tracking process to be executed for each capture tracking channel and gives it to the tracking control unit 422.

The tracking control unit 422 controls the code generator 412, the code NCO, and the carrier NCO based on the setting from the search instruction unit 421, the feedback from the carrier component removing unit 411, and the output from the correlator 413.

More specifically, the tracking control unit 422 gives the code generator 412 to generate the replica code or the divided replica code set from the search instruction unit 421. At this time, the tracking control unit 422 controls the code NCO based on the code phase difference obtained from the output of the correlator 413.

Further, the tracking control unit 422 controls the carrier NCO so as to generate a carrier wave signal having a frequency corresponding to the signal type set from the search instruction unit 421. At this time, the tracking control unit 422 controls the carrier NCO based on the carrier phase difference obtained from the feedback from the carrier component removing unit 411.

Further, the tracking control unit 422 outputs the code phase difference to the positioning calculation unit 50. The tracking control unit 422 may output the carrier phase difference as well as the code phase difference to the positioning calculation unit 50.

The message collecting unit 423 demodulates the navigation message from the captured and tracked code. The message collecting unit 423 outputs the demodulated navigation message to the positioning calculation unit 50.

The positioning calculation unit 50 performs a positioning calculation by a known method using the code phase difference and the navigation message.

(Specific method of code capture and tracking)
More specifically, the capture / tracking unit 40 performs capture / tracking of the code as shown below. In the following, the capture and tracking of the code of the L2 signal will be described, but the method shown below can also be applied to the capture and tracking of other positioning signals.

FIG. 3 is a diagram showing an example of the concept of dividing the replica code. In the case shown in FIG. 3, the capture tracking unit 40 divides the replica code into six equal parts and sets six divided replica codes. For example, as shown in FIG. 3, for the replica code of the L2PRN code, the split replica code SEC1, the split replica code SEC2, and the split replica code have the same code length in order from the beginning CL of the code to the end CE of the code. The SEC3, the split replica code SEC4, the split replica code SEC5, and the split replica code SEC6 are set. The split replica code SEC1, the split replica code SEC2, the split replica code SEC3, the split replica code SEC4, the split replica code SEC5, and the split replica code SEC6 are set so as not to overlap each other, for example, as shown in FIG. ..

The split replica codes SEC1-SEC6 are set for each of the plurality of capture and tracking channels 41-46. For example, the split replica code SEC1 is set to the capture tracking channel 41, the split replica code SEC2 is set to the capture tracking channel 42, and the split replica code SEC3 is set to the capture tracking channel 43. The split replica code SEC4 is set to the capture tracking channel 44, the split replica code SEC5 is set to the capture tracking channel 45, and the split replica code SEC6 is set to the capture tracking channel 46.

This setting can be performed based on the individual identification information associated with the plurality of capture and tracking channels 41-46. Further, the capture tracking unit 40 may separately provide an allocation setting unit, and the allocation setting unit may set the split replica code SEC1-SEC6 to be assigned to the plurality of capture tracking channels 41-46. Further, the search instruction units of the plurality of capture and tracking channels 41-46 may perform data communication with each other to set the respective divided replica codes SEC1-SEC6.

The search indicator of the plurality of capture and tracking channels 41-46 controls the code generator so as to generate the set split replica code. The plurality of capture / tracking channels 41-46 execute the capture / tracking process of the code by using the divided replica code generated in each code generator.

FIG. 4 is a flowchart showing a schematic process from code acquisition to positioning. FIG. 5 is a table showing an example of code acquisition (search) and tracking state transition in a plurality of acquisition and tracking channels.

Any search instruction unit or allocation setting unit in the plurality of capture and tracking channels 41-46 determines the positioning satellite (for example, the positioning satellite SATA in the example of FIG. 5) to be the target of the divisional search of the L2PRN code (for example, the positioning satellite SATA in the example of FIG. 5). S11). More specifically, the search instruction unit or the allocation setting unit determines the positioning satellite to be the target of the divided search by using the approximate positions of the plurality of positioning satellites acquired from Almanac or the like and the approximate positions of the positioning device 10. For example, the search instruction unit or the allocation setting unit determines the positioning satellite at the position closest to the zenith in the approximate position of the positioning device 10 as the positioning satellite to be the target of the division search. The Armanac can be acquired by input from the outside, for example, or can be acquired and stored from a positioning signal in the past. The approximate position of the positioning device 10 can be obtained from, for example, an input from the outside, an operation input from the user, and a past positioning result. The approximate position of the positioning device 10 may be specified by an approximate latitude / longitude, as long as the approximate zenith direction is known.

The plurality of acquisition and tracking channels 41-46 execute the acquisition process for the L2PRN code of the L2 signal of the positioning satellite to be the target of the division search by using the division replica code set for each (S12).

For example, in the example of FIG. 5, the capture tracking channel 41 executes the capture process for the split replica code L2 (SATa) -SEC1, and the capture tracking channel 42 is set to the split replica code L2 (SATa) -SEC2. On the other hand, the capture process is executed. The capture tracking channel 43 executes the capture process for the split replica code L2 (SATa) -SEC3, and the capture tracking channel 44 executes the capture process for the split replica code L2 (SATa) -SEC4. The capture tracking channel 45 executes a capture process for the split replica code L2 (SATa) -SEC5, and the capture tracking channel 46 executes a capture process for the split replica code L2 (SATa) -SEC6.

As described above, by setting the split replica code, the peak is detected at high speed in any of the plurality of capture and tracking channels 41-46. For example, in the above case, since the L2PRN code is divided into six, the code length of the divided replica code is 1/6 of the code length of the L2PRN code. Therefore, the capture tracking unit 40 can detect the peak at a speed six times faster, assuming the case where the time is the longest.

The capture tracking channel that has detected a peak (successfully searched by the split replica code) in the plurality of capture tracking channels 41-46 continuously executes code tracking (S13).

For example, in the example of FIG. 5, when the capture tracking channel 44 detects a peak by the division code (replica code L2 (SATa) -SEC4), the capture tracking channel 44 continuously performs the tracking process using the replica code L2 (SATa). Run. Hereinafter, an example of FIG. 5, that is, a case where the capture tracking channel 44 detects a peak by the split replica code will be described as an example.

The capture tracking channel 44 acquires a navigation message when the tracking of the L2PRN code is successful (S14).

By acquiring the navigation message, the capture tracking channel 44 determines the timing of the start time of the navigation message (S15). The capture tracking channel 44 gives the other capture tracking channels 41-43, 45-46 the timing of the start time of the navigation message. The capture tracking channel 44 continues tracking.

The search control unit or the allocation setting unit of the plurality of acquisition and tracking channels 41-43 and 45-46 sets the positioning satellite different from the positioning satellite that the acquisition and tracking channel 44 is capturing and tracking as the target of acquisition and tracking. .. At this time, the search control unit or the allocation setting unit sets the positioning satellite to be captured and tracked in consideration of DOP and the like.

The plurality of capture and tracking channels 41-43 and 45-46 use the timing of the start time of the navigation message from the capture and tracking channel 44 and the L2PRN code of the positioning signal of the setting target positioning satellite to be captured and tracked. The process is executed (S15). For example, in the example of FIG. 5, the capture tracking channel 41 captures and tracks the L2 signal L2 (SATb) of the positioning satellite SATb, and the capture tracking channel 42 captures and tracks the L2 signal L2 (SATc) of the positioning satellite SATc. do. The capture tracking channel 43 captures and tracks the L2 signal L2 (SATd) of the positioning satellite SATd, the capture tracking channel 45 captures and tracks the L2 signal L2 (SATe) of the positioning satellite SATe, and the capture tracking channel 46 captures and tracks the positioning satellite. The L2 signal L2 (SATf) of SATf is captured and tracked.

By receiving the timing of the start time of the navigation message from the capture tracking channel 44, the plurality of capture tracking channels 41-43 and 45-46 can accurately estimate the start timing of the L2PRN code of the target positioning signal, and the target The L2PRN code of the positioning signal can be captured and tracked at high speed.

The positioning calculation unit 50 calculates a pseudo distance using the code phase difference of the L2 signal in the plurality of capture and tracking channels 41-46, and performs positioning (S16). Positioning is, for example, calculation of the position of the positioning device 10, or more accurately, the antenna 100.

As described above, by using the configuration of the present embodiment, the positioning device 10 can capture and track the L2 signal at high speed. That is, the positioning device 10 can execute the initial processing of positioning at high speed, and can shorten the time from the start or restart to the start of positioning. Further, for example, the positioning device 10 can start positioning at high speed by using the L2 signal even in a situation where the L1 signal cannot be captured and tracked.

In particular, in the above configuration, it is better to have 20 or 10 capture and tracking channels. The L2 signal has a cord length 20 times that of the L1 signal. The L5 signal has a cord length ten times that of the L1 signal. Therefore, if the capture tracking channel is 20 channels, the replica code of the L2 signal is divided into 20 divided replica codes that do not overlap each other as a specification for capturing and tracking the full code of the L1 signal in each capture tracking channel. And can be assigned to multiple capture and tracking channels. Further, if the capture tracking channel is 10 channels, the replica code of the L5 signal is divided into 10 divided replica codes that do not overlap each other as a specification for capturing and tracking the full code of the L1 signal in each capture tracking channel. And can be assigned to multiple capture and tracking channels.

As a result, the capture / tracking unit 40 can simultaneously capture the full code of one L2 signal with 20 capture / tracking channels. Therefore, the capture tracking unit 40 can increase the capture speed of the L2 signal and the L5 signal to the same speed as the capture speed of the L1 signal.

In the above description, the positioning calculation unit 50 has shown an aspect of calculating the position. However, the positioning calculation unit 50 can calculate the position and other states of the positioning device 10 (antenna 100) such as speed, acceleration, and attitude angle. The positioning calculation unit 50 can calculate the velocity, acceleration, and attitude angle with higher accuracy by using the carrier phase of the L2 signal.

The processing of the capture tracking unit 40 and the positioning calculation unit 50 in the positioning device 10 shown in the above description can also be realized by executing, for example, a program of the positioning method as shown in FIG. FIG. 6 is a flowchart showing a positioning signal acquisition and tracking method according to an embodiment of the present invention. The contents described above in the specific contents of each process will be omitted.

The positioning device 10 is in a state of waiting for acceptance of an L2 code search trigger, that is, an instruction to start capturing the L2 signal code (S101). The positioning device 10 continues positioning using the L1 code (S191) until it receives the search trigger of the L2 code (S102: NO). Positioning using the L1 code uses a known method, and the description thereof will be omitted.

When the positioning device 10 receives the search trigger of the L2 code (S102: YES), the positioning device 10 switches to the positioning mode using the L2 signal without using the L1 signal.

The L2 search trigger is, for example, an operation input from a user or a detection that the L1 code cannot be captured.

The positioning device 10 acquires schematic information (rough position, etc.) of its own device and the positioning satellite (S103). The positioning device 10 determines the positioning satellite to be searched from the schematic information (S104).

The positioning device 10 divides the L2 code of the positioning satellite to be searched to generate a divided replica code. The positioning device 10 performs a parallel L2 code search on a plurality of capture and tracking channels using different divided replica codes (S105).

The positioning device 10 continues the search using the divided replica code until the peak can be detected in any of the capture and tracking channels, that is, until the search by the divided replica code is successful (S106: NO) (S105).

When the positioning device 10 detects a peak in any of the capture and tracking channels (S106: YES), the positioning device 10 continues tracking the code in the capture and tracking channel in which the peak is detected (S107).

The positioning device 10 acquires a navigation message (S108) from the tracking result on the capture tracking channel, and determines the message start time.

The positioning device 10 continues to track the L2 signal of the positioning satellite being tracked on the capture tracking channel that has acquired the navigation message. Further, the positioning device 10 assigns an individual positioning satellite to each of the other acquisition and tracking channels, and gives a message head time.

The positioning device 10 executes the acquisition / tracking process for the L2 signals of the positioning satellites individually set in the plurality of acquisition / tracking channels (S109).

The positioning device 10 performs positioning using the tracking results of the L2 code by the plurality of capture tracking channels (S110).

(Parallel search between L1 signal and L2 signal)
In the above configuration and processing, all the capture tracking channels provided in the capture tracking unit 40 (in the above configuration, a plurality of capture tracking channels 41-46) are used for parallel search using the split replica code of the L2 signal code. Was going. However, some of the capture and tracking channels provided in the capture and tracking unit 40 may be assigned to the capture and tracking of the L1 signal.

FIG. 7 is a table showing another example of code acquisition (search) and tracking state transition in a plurality of acquisition and tracking channels.

In the example of FIG. 7, the capture tracking unit 40 includes a capture tracking channel 51 together with a plurality of capture tracking channels 41-46.

As shown in FIG. 7, the capture tracking channel 41-46 executes the above-mentioned division search by using a plurality of division replica codes set by dividing the code of the L2 signal. The capture tracking channel 51 searches for the code of the L1 signal using the replica code of the full code. At this time, for example, the positioning satellite to be searched using the divided replica code of the L2 signal and the positioning satellite to be searched for the L1 signal may be the same or different. By making the positioning satellite to be searched for the L2 signal and the positioning satellite to be searched for the L1 signal the same, the L1 signal from the positioning satellite selected as having a relatively good reception environment is searched, so that the L1 signal can be searched. You can increase the possibility of increasing the search success rate. Further, the positioning satellite to be searched for the L1 signal may be switched at a predetermined cycle. As a result, it is possible to increase the possibility that the search success rate of the L1 signal can be increased according to the change in the reception environment.

In the above description, a mode is shown in which a capture tracking channel for capturing and tracking a new L1 signal is newly added to the capture tracking unit 40. However, the capture / tracking unit 40 may set the originally plurality of capture / tracking channels 41-46 separately for the parallel search using the divided replica code of the L2 signal and for the search of the L1 signal. In this case, the number of divided replica codes to be set, that is, the number of divisions of the L2 code may be set according to the number of captured tracking channels for parallel search of the L2 signal. For example, if there are five capture and tracking channels for parallel search, five split replica codes may be set from the L2 code. Further, in the above description, the number of the capture and tracking channels for capturing and tracking the L1 signal is one, but may be a plurality.

Further, in the above description, an embodiment in which Almanac is used as schematic information is shown. However, this method can be omitted by searching for a geostationary satellite of a quasi-zenith satellite near the zenith.

Further, in the above description, the split replica codes are set so that the codes do not overlap with each other. However, the split replica code may partially overlap. Further, in the above description, the plurality of split replica codes are set to represent the entire full code by the plurality of replica codes, but even if they are set to represent a part of the full code, a plurality of replica codes are set. If you know where the split replica code is from the beginning of the code, you can use it.

10: Positioning device 20: Down converter 30: Encoder 40: Capture tracking unit 41: Capture tracking channel 42: Capture tracking channel 43: Capture tracking channel 44: Capture tracking channel 45: Capture tracking channel 46: Capture tracking channel 50: Positioning calculation Unit 51: Capture tracking channel 100: Antenna 401: Digital unit 402: Software unit 411: Carrier component removal unit 412: Code generator 413: Correlator 421: Search instruction unit 422: Tracking control unit 423: Message collection unit

Claims (13)

A search indicator that sets multiple different split replica codes for each using the positioning signal code of the positioning satellite to be captured, and
A plurality of individual processing units that perform parallel acquisition of the positioning signal code using each of the plurality of divided replica codes, and a plurality of individual processing units.
A positioning signal acquisition and tracking device. The positioning signal acquisition and tracking device according to claim 1.
The first individual processing unit that first captures the code of the positioning signal in the plurality of individual processing units continuously captures and tracks the code of the positioning signal.
Positioning signal capture and tracking device. The positioning signal acquisition and tracking device according to claim 2.
The first individual processing unit is
Determine the timing of the start time of the navigation message acquired from the tracking result of the positioning signal.
The timing of the start time is given to another second individual processing unit, and the timing is given to the other second individual processing unit.
The second individual processing unit is
Using the timing of the start time, the code of the positioning signal of the positioning satellite assigned individually to each is captured and tracked.
Positioning signal capture and tracking device. The positioning signal acquisition and tracking device according to any one of claims 1 to 3.
The search instruction unit is
Of the plurality of positioning satellites, the positioning satellite to be captured is determined by using the approximate position information of the plurality of positioning satellites.
Positioning signal capture and tracking device. The positioning signal acquisition and tracking device according to claim 4.
The search instruction unit is
A geostationary satellite near the zenith is set as the positioning satellite to be captured.
Positioning signal capture and tracking device. The positioning signal acquisition and tracking device according to any one of claims 1 to 5.
The search instruction unit is
Set multiple split replica codes so that they do not overlap each other,
Positioning signal capture and tracking device. The positioning signal acquisition and tracking device according to any one of claims 1 to 6.
The code of the positioning signal is a code of an L2 signal, an L5 signal, or an L6 signal.
Positioning signal capture and tracking device. Using the positioning signal code of the positioning satellite to be captured, set multiple different split replica codes for each, and set them.
Using each of the plurality of divided replica codes, the acquisition process of the code of the positioning signal is performed in parallel.
Positioning signal capture and tracking method. The positioning signal acquisition tracking method according to claim 8.
When the code of the positioning signal is captured by the divided replica code, the code of the positioning signal is continuously captured and tracked.
Positioning signal capture and tracking method. The positioning signal acquisition and tracking method according to claim 9.
Determine the timing of the start time of the navigation message acquired from the tracking result of the positioning signal.
Using the timing of the start time, the codes of the positioning signals of a plurality of positioning satellites are captured and tracked in parallel.
Positioning signal capture and tracking method. Using the positioning signal code of the positioning satellite to be captured, set multiple different split replica codes for each, and set them.
Using each of the plurality of divided replica codes, the acquisition process of the code of the positioning signal is performed in parallel.
A positioning signal capture and tracking program that causes an arithmetic unit to execute processing. The positioning signal acquisition and tracking program according to claim 11.
When the code of the positioning signal is captured by the divided replica code, the code of the positioning signal is continuously captured and tracked.
A positioning signal capture and tracking program that causes an arithmetic unit to execute processing. The positioning signal acquisition and tracking program according to claim 12.
Determine the timing of the start time of the navigation message acquired from the tracking result of the positioning signal.
Using the timing of the start time, the codes of the positioning signals of a plurality of positioning satellites are captured and tracked in parallel.
A positioning signal capture and tracking program that causes an arithmetic unit to execute processing.

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