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GNSS integrated navigation has been widely used in many fields, such as military, industry and civil. Computer simulation is an important technique for investigating the performance of GNSS integrated navigation. The measure principle of navigation satellite is bought forward. The method of navigation satellite positioning is produced. The track models of car, plane and steamship are established. Position and velocity error of carrier is simulated and analyzed. In order to explore the variation law of displacement error and verify the validity of the simulation model of positioning error, the changes of satellite shielding angle, ionospheric error and troposphere error multipath effect are simulated. The results indicate that the observational satellite numbers, ionosphere, tropospheric delay and multipath effect affect obviously navigation satellite precision, movement of carrier affect weakly navigation satellite precision.