本文针对目前GNSS各个单星座系统定位中存在的定位精度不足、 可见星不多、 定位可靠性不强等问题 ， 研究利用北斗、 GPS、 GLONASS和 GALILEO多星座信息在统一坐标中采用最小二乘法进行组合导航定位的方法。采用北斗／ GPS ／ GLONASS ／ GALILEO 多星座组导航定位能够有效提高用户的定位精度和可靠性 ，对多星座接收机的实现具有参考意义。-In this paper, the positioning accuracy of the positioning of each single GNSS constellation system inadequate, small visible star, positioning reliability problems, the Beidou GPS, GLONASS and GALILEO constellation information in the unified coordinates using least squares method combination of navigation and positioning. Compass/GPS/GLONASS/of GALILEO constellation group navigation and positioning can effectively improve the positioning accuracy and reliability of the user, the implementation of the multi-constellation receiver reference value....