| 摘要 |
In the present invention, a conditional probability distribution function of received signal which is conditioned with a received signal amplitude (a), a pseudo range (p) and a navigation bit (b m ) which are unknown parameters is acquired from a GPS signal sample S2 on the basis of a condition defined by a working hypothesis set in a working hypothesis setting part WH(i) and then the conditional probability distribution function (P(R m a, p, b m )) is marginalized with respect to the pseudo range (p) to acquire a marginal posterior probability distribution function (P(p | R m , a)) in a step ST11. Finally acquired is a pseudo range dependent function in proportion to the marginal posterior probability distribution function (P(p | R m , a)). Then, in a step ST12, a value of pseudo range (p) which gives the maximum value of pseudo range dependent function is determined as an estimated pseudo range.
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