The pseudo-range differential positioning of the Global Navigation Satellite System (GNSS) does not have to solve the integer ambiguities. Thus, though the carrier phase differential positioning technology is widely used in high-precision differential positioning, the pseudo-range differential positioning still has research significance, which can be also used for constraining the performance of carrier phase differential positioning and other aspects. This paper introduces a pseudo-range differential positioning technology based on the single-difference orthogonal transformation model. It can eliminate the influence of the clock term and avoid the strong correlation of measurement and unnecessary reliance on the reference satellite caused by the double-difference pseudo-range at the same time. The experimental results show that the pseudo-range differential positioning can achieve the decimeter-level positioning accuracy in dynamic positioning, and then can be used to assist the rapid resolution of carrier phase differential positioning.