Positioning apparatus and signal processing method thereof

A signal processing method of a positioning apparatus includes the following steps. A satellite signal is received to provide at least a distance information. A correction value of a phase measurement time is generated according to the distance information and phase data of the satellite signal are corrected in sequence accordingly. The phase data are received and when a quantity of the phase data is equal to a preset quantity, a first low order polynomial fitting and a first Chi-square test are performed to generate an estimated parameter. A next phase data of the satellite signal is estimated to generate an estimated phase data according to the estimation parameter. An actual phase data is obtained. A detection and a compensation of a cycle slip are performed according the estimated phase data and the actual phase data to output a corrected phase observation value.