Abstract: High-precision global navigation satellite system(GNSS)positioning technology, as a hot spot in the field of satellite navigation, has expanded the in-depth development of the location-based service area, and has been widely used in smart cities, intelligent transportation, autonomous driving and other fields. First, this paper presents the current status and development of GNSS positioning technologies.Then, it explains the common basic theories such as integer ambiguity fixation, functional model and stochastic model fusion involved in multi-frequency multi-GNSS high-precision positioning, as well as the key techniques for improving GNSS positioning performance such as the non-model error processing, the cycle slip detection and data interruption repair. Based on the innovations of basic theories and key techniques, this paper introduces four new technologies for multi-frequency multi-GNSS high-precision positioning applications developed by Tongji University GNSS team in recent years. Finally, we remark the future development trend and challenges of GNSS-based high-precision positioning.