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To improve the satellite navigation in complex electromagnetic environment and the application of high latitude area, Leo satellite for satellite navigation is adopted in signal power and the lack of coverage. Put forward a kind of using pseudo range and Doppler measurements of joint positioning technology, are analyzed based on pseudo range and the positioning principle of Doppler parameters, and according to least square convergence domain narrow problem is given a positioning algorithm combined with the grid search method, in view of the receiver clock error unknown is given based on forward and two-way parameter acquisition method of the measuring system, and analyzes the distribution characteristics of single star positioning error, points out that the error distribution of different types have different sensitive degree of error. Positioning under a particular satellite orbit is given as a result, the effectiveness of the proposed algorithm, the positioning accuracy can be hundreds of meters．