| 摘要 |
A GPS apparatus measures each pseudo-range ri from respective one of received radio waves from n GPS satellites (200i) captured by a GPS receiver (18) and approximately calculates a clock error t and coordinates (x, y, z) of the GPS receiver as a solution of n simultaneous equations by performing a convergence calculation with respect to n functions having such variables as the clock error t and the coordinates (x, y, z) of the GPS receiver. If a generation of a multi-path is detected, it approximately calculates the clock error t and the coordinates as a solution of n+1 simultaneous equations by performing a convergence calculation with respect to total n+1 functions obtained by adding one alpha fn+1 to the n functions, where alphafn+1 is obtained by applying a weighting alpha to one function fn+1 having such variables as the clock error and the coordinates.
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