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Navigation and positioning is a critic technique of satellite rendezvous and docking mission. To meet the requirements of the mission,the positioning precision must up to the centimeter level,which is difficult in engineering. According to satellite rendezvous and docking mission requirement,the paper adopts an differential carrier phase algorithm of GPS static relative positioning to solve the problem. The algorithm utilizes the relation of positioning measurement to obtain high precision through eliminating the error. The paper designs an outfield experiment combined with satellite-borne GPS antenna. Numerical test results show that precision of the algorithm can be up to the centimeter level and the algorithm can be applied to the satellite rendezvous and docking mission.