A solution consisting of a GPS receiver and a differential positioning system with a full-view antenna assembly was proposed, to solve the problem of diminished or even non-functional positioning performance during attitude maneuvering tasks conducted by micro-nano satellites formations. In the context of spaceborne high-dynamic environments, improvements were made to the pseudorange gross error detection method based on geometry free (GF) differential combination and attenuation window. With the help of robust adaptive extended Kalman filtering algorithm, the open-window estimation method of the observed noise covariance matrix based on the innovation vector was applied to the real-time difference algorithm. Comparative validation in different scenarios was carried out upon a semi-physical simulation platform, and the results demonstrate that the proposed filtering and estimation algorithm based on the full-view scheme has a substantial increase in the number of satellite-used and positioning accuracy compared with the extended Kalmen filter (EKF) algorithm of the conventional scheme in full-arc side-swing and interval "side-swing-return" maneuvers. In short and long baseline cases, centimeter and decimeter level relative positioning accuracy can be achieved.