The invention relates to a navigational satellite signal receiving module, comprising a radio frequency input unit, a base band processing unit, a sensor unit and a information output unit; wherein the radio frequency input unit is used for receiving a navigational satellite signal and outputting a digital intermediate frequency signal, the base band processing unit is used for acquiring satellite navigation information and positioning and resolving the current position of the receiving module, the sensor unit is used for acquiring the speed, acceleration or directional information of the current receiving module and outputting the speed, acceleration or directional information to the base band processing unit, and the information output unit is used for outputting the current position of the receiving module in NMEA format. By adopting the technical scheme of the invention, processing on sensor information of a user MCU can be eliminated, only a UART interface reported by a navigation message is processed, and navigation positioning information of NMEA-0183 and sensor information can be simultaneously acquired and reported. Thus, user demand can be met flexibly, not only accuracy of positioning is improved, but also port occupancy rate and processing overhead of the user MCU are reduced. The invention can be applicable to navigational satellite positioning systems such as GPS, Beidou navigation satellite system, GLONASS and Galileo navigation satellite system.