In order to improve the positioning accuracy of pseudo-satellite, this paper presents a pseudo-satellite positioning algorithm based on research satellite ephemeris errors pseudo pass laws and pseudorange observation equation linearization error. First, the algorithm estimates the position coordinates of pseudolite to reduce the impact of ephemeris errors on the accuracy of the navigation. Then, the user is positioned by using Unscented-Kalman filter. The simulation results show that the algorithm is better than Extended-Kalman filter, and the positioning accuracy of the pseudolite independent networking system has been improved.%为了提高伪卫星的定位精度，在研究伪卫星星历误差传递规律和伪距观测方程线性化误差的基础上，提出一种最小二乘Unscented卡尔曼滤波算法。该算法首先利用最小二乘法估计出伪卫星的位置误差，并对伪卫星的位置进行修正，以减小伪卫星位置误差对导航解算精度的影响；然后利用无迹卡尔曼滤波算法对用户位置进行解算。仿真结果表明，与传统的扩展卡尔曼滤波算法相比，提出的算法能够有效减小伪卫星位置误差对用户定位精度的影响，提高独立组网伪卫星系统的定位精度。
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