| 摘要 |
A position calculating method includes: calculating the satellite position of a positioning satellite on the basis of satellite orbit information in an orthogonal coordinate system having the Earth center as the origin; detecting a Doppler frequency by receiving a positioning signal from the positioning satellite; and calculating the position of a position calculating device using the satellite positions of the plurality of positioning satellites and the Doppler frequency in a spherical coordinate system in which the Earth center is the origin and a distance from the Earth center to the Earth's surface is a radius vector.
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