PROBLEM TO BE SOLVED: To achieve highly accurate and highly speedy calculation of a turning round angular speed as well as maintenance free.;SOLUTION: A double phase difference calculating part 301 of a calculating unit 30 calculates a double phase difference nabla ΔADR from carrier wave phases ADR1m and ADR2m with respect to GPS satellites Sat1,Sat2,Sat3,and Sat4, calculated by carrier wave phase measurement parts 11 and 12. A base line vector change amount calculating part 302 sets an equation stating that a double phase difference nabla ΔADR acquired at different times is equal to the inner product of the double difference between the direction cosine matrices that do not change at these times and the displacement vector ΔX of the base line vector X. The base line vector change amount calculating part 302 solves this equation to calculate the displacement vector ΔX. A turning round angular speed calculating part 303 calculates a turning round angle θ by using the displacement vector ΔX to calculate a turning angle angular speed Δθ.;COPYRIGHT: (C)2014,JPO&INPIT
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