The invention discloses a TDOA-based CSS (
chirp spread spectrum) precise positioning method. According to the method, a
base station model with different
mobile station-co-
base station virtual receivers is adopted; all the virtual receivers, namely,
base station antennas, adopt the same
clock, and therefore, requirements for
clock synchronization can be eliminated from the source; when
distance measurement is performed on a node to be positioned, namely, a mobile terminal, obtained distance measuring values between the node to be positioned and reference nodes are processed through adopting a voting and average combined filtering
algorithm, and errors caused by environment are removed, and dynamic correction is performed on left distance measuring values through using a dynamic error
correction algorithm, and therefore, distance measuring errors can be decreased to the greatest extent; the corrected distance measuring values are averaged, so that an average value can be obtained; the obtained average value is processed through using a TDOA three-dimensional localization
algorithm, so that the position coordinates of the node to be positioned can be obtained, and therefore, final precise positioning can be realized.