The invention discloses a pseudo-range smooth processing method comprising the following steps that step one, smooth processing parameters are defined; step two, a smooth pseudo-range equation is constructed based on the smooth processing parameters according to a Kalman filtering model; and step three, smooth processing is performed on pseudo-range of a target to be measured based on the smooth pseudo-range equation so that a final smooth processing result is obtained. Compared with methods in the prior art, a situation of single-frequency pseudo-range smooth value divergence in the prior art is effectively solved by the pseudo-range smooth processing method, and different movement states of the target are comprehensively considered so that the acquired smooth processing result is enabled to be more accurate and meet the practical situation further.