Since the slowly growing psendo-range errors existing in the pseudo-range measurements of satellite navigation system may further lead to the decreasing of position accuracy, a robust extended Kalman filter (EKF) method based on sliding and accumulated residuals was proposed. The method based on the robust EKF algorithm cumulated the residual vectors for multi epochs in the sliding window and increased the pseudo-range error of standardized residual vector, which improved the robustness of slowly growing pseudo-range error. Results show that the method can effectively eliminate or weaken the position error caused by slight pseudo-range error and slowly growing pseudo-range error. Compared with the traditional robust EKF algorithm, the positioning accuracy of this method is improved obviously.