The invention discloses a pseudolite receiver and a pseudolite signal receiving method, which are characterized in that: code Doppler estimation is subjected to iterative updating by means of a code loop after capture processing, carrier Doppler estimation is updated based on a relationship between code Doppler and carrier Doppler, and the precision of initial carrier Doppler estimation of tracking processing is increased. Thus, a carrier loop can be converged in the subsequent tracking process, so as to realize the tracking of a pseudolite signal.