A precise position estimation method of the present invention comprises: a first step of estimating an initial position of a mobile station and an integer ambiguity of a carrier measurement value by using a code measurement value; a second step of setting a search range of the integer ambiguity; a third step of calculating a position movement amount between epochs by the carrier measurement value, and then storing the same; a fourth step of estimating the integer ambiguity and calculating covariance; a fifth step of evaluating an integer ambiguity candidate within the integer ambiguity search range; a sixth step of determining the integer ambiguity; and a seventh step of performing precise positioning by using the determined integer ambiguity.