A method for synchronously estimating ammonia injection rate and state of a diesel engine Urea-SCR system is disclosed. The present disclosure first proposes a high-gain observer design method for general nonlinear systems, which can simultaneously obtain system state and unknown parameter estimation. The outputs are derived, assuming only that these input dynamics are bounded, and no assumptions are made about how these unknown inputs vary. According to the above method, a high-gain observer is designed for the Urea-SCR system, which can obtain the ammonia injection rate, NOx concentration, NH 3 Simultaneous estimation of states such as concentration, ammonia coverage, etc. The ETC test cycle simulation and error analysis results show that the high-gain observer designed in the present invention has high estimation accuracy, and these estimation information can be used for fault diagnosis of Urea‑SCR system, and can also be used for full-state feedback control strategy or adaptive control strategy , can save the cost of installing the sensor.