A positioning signal receiving method includes receiving a positioning signal by which unit data that includes sequence information of navigation message data and one or more error detection information is sequentially transmitted, performing a first determination that determines whether or not an error occurs in first received unit data, based on the error detection information that is included in the first received unit data performing a second determination that determines whether or not an error occurs in second received unit data, based on the error detection information that is included in the second received unit data, if it is determined that an error occurs according to the first determination, and determining that the sequence information of the second received unit data or the sequence information of the first received unit data is correct, if it is determined that an error does not occur according to the second determination.