Considering the characteristic orbit of Shenzhou Ⅳ spacecraft and the advantages and disadvantages of several types of domestic orbit measurements, a scheme of IPOD is determined, which uses GPS, SLR and USB observation data jointly plus precise ionosphere corrections to GPS observation data. IPOD system and mathematic models of OD are introduced. The results of different joint OD are analyzed using true observation data, and show that radial accuracy is better than 2 m.