The invention discloses a measuring method of ground coordinates. The method includes the steps that a centering rod is inclined to enable an RTK host to reach a first inclination point, and the coordinates of the first inclination point and a horizontal included angle beta1 are acquired; with the rod bottom kept unchanged, the centering rod is inclined to enable the RTK host to shift to a second inclination point from the first inclination point, and the coordinates of the second inclination point and a horizontal included angle beta2 are acquired, wherein the included angle formed by the first inclination point, a point to be measured and the second inclination point is larger than 10 degrees; the ground coordinates of the point to be measured are calculated according to the coordinates of the first inclination point, the coordinates of the second inclination point, the horizontal included angle beta1, the horizontal included angle beta2 and the length of the centering rod. By the adoption of the method, RTK measurement is achieved under the non-vertical condition without depending on magnetic sensors, the complex magnetic calibration work is omitted, the measurement process is not influenced by the magnetic environment, measurement data are accurate, and actual working efficiency is improved.