Beidou satellite navigation system pseudorange positioning method of matlab simulation, including the beidou satellite signal capturing and tracking (capture results figure, and tracking results figure), and then the calculation results of satellite position and observed values (multiple times), and finally by the least square method and kalman filter algorithm for solving (including multiple time LS positioning as a result, the positioning error results in xyz three directions and image, kalman filter positioning of multiple time as a result, the xyz three directions and the respective position error on the results, the LS and kalman filter algorithm photo), the results of positioning error of the calculation results and best positioning error mean and mean square error (mse), the results just don't figure