The rotating high-frequency injection method can estimate the rotor position of the permanent magnet synchronous motor at zero speed and low speed. However, the use of filters in demodulation introduces estimation errors. A virtual current injection method was proposed to compensate the rotor position error on-line. Based on the estimated speed, the method structured a virtual current same frequency as the negative sequence response current. After the same demodulation as the negative sequence current, the method obtained the phase of virtual current. The error between the obtained phase and structured phase was used to compensate the estimated rotor position. Further analysis compared the actual speed fluctuation with that of the estimated speed fluctuation, caused by the rotating voltage and the positive sequence response current respectively. A low-pass filter was advocated to improve the compensation effect. Simulations and experiments verified the effect of the proposed method on rotor position error compensation when the motor was in different states.