The invention provides an interference-suppressing adaptive robust beam-forming joint positioning method. First, the estimated directions of an interference source and an expected target source are received through a satellite antenna array in an interference environment. Then, based on the estimated directions and through a robust adaptive beam-forming algorithm, the signal of the interference source is suppressed, and the signal of the passive radiation target source is enhanced. In order to solve the problem that the accuracy of positioning based on time difference of arrival (TDOA) or frequency difference of arrival (FDOA) is not high and there is dead zone for positioning, the idea of coherent combination in wireless communication is introduced to combine and integrate TDOA, FDOA, direction and a variety of other measurement and estimation information in order to improve the accuracy of joint positioning. Compared with the traditional TDOA or FDOA positioning system, a variety of measurement information can be fully utilized, the accuracy of positioning can be improved, and there is no dead zone for positioning.