The invention discloses a satellite positioning method in urban canyons based on 3D urban model assistance. The satellite positioning method belongs to the technical field of satellite positioning andnavigation. According to the satellite positioning method, data is acquired in different scenarios to generate a historical training data set and threshold signals are eliminated, a reliable satellite signal reception type judging rule is generated by means of a decision-making tree, candidate positions are screened through comparing an inversion result of a candidate position received signal type and a judging rule prediction result, a final positioning result is determined through correcting errors caused by multi-path and non-line-of-sight received signals by adopting a method based on pseudo-range similarity, and the precision of satellite positioning in the urban canyons is improved.