Pseudo-range-based positioning method and device, terminal, storage medium and program product

The invention provides a pseudo-range-based positioning method and device, a terminal, a storage medium and a program product. The embodiment of the invention can be applied to positioning scenes such as maps, automatic driving, smart traffic, Internet of Vehicles and the like; the method comprises the following steps: determining a time difference between receiving time and sending time of satellite signals sent by a plurality of satellites in a current epoch, and calculating at least one pseudo-range observation value for each satellite by using the time difference and a light velocity; acquiring a positioning position and a movement speed of a previous epoch of the current epoch, and calculating to obtain a prior position of the current epoch according to the positioning position and the movement speed of the previous epoch and the time interval between the current epoch and the previous epoch; and determining the positioning position of the current epoch based on the prior position of the current epoch an