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.