Positioning apparatus and global satellite navigation system, method for detecting satellite signals

摘要

Disclosed is a position determining apparatus of a vehicle (2) comprising a triaxial orientation sensor configured with a vehicle (2) and having axial displacements measured in a Cartesian reference system during a time interval included between a previous time and a current time ( 22) provided with a triaxial motion sensor (21) configured to provide at least one angle change signal proportional to the axial angular velocity of the vehicle (2) during the time interval; a processing unit (30) configured to receive a distance signal proportional to the distance traveled by the vehicle (2) in the time interval and to receive the at least one angle change signal configured to provide at least one reference acceleration of the vehicle (2); an estimator-calibrator block (40) configured to recursively estimate at least one calibrated acceleration as a function of the measured angular acceleration and the at least one reference acceleration; wherein the estimator-calibrator block (40) comprises a computation unit (44) configured to compute a height change as a function of the distance signal and a recursively calculated recalculated angle of inclination as a function of at least one calibrated acceleration. Also disclosed is a global satellite navigation system comprising a constellation of satellites configured to provide a plurality of satellite signals to at least one navigation device including a satellite receiver configured to extract corresponding output signals from the satellite signals, the navigation device including a satellite receiver Position determining device (1).