Precision orbit measurement and determination of geosynchronous satellite is the foundation for satellite navigation, positioning, and so on. Both methods based on optical measurement and based on Time Difference of Arrival (TDOA) with satellite’s communication signal have advantages and disadvantages. A new orbit measurement method is proposed joint the optical measurement and TDOA measurement, which can solve satellites position with only one time measurement of angles from one optical station and one TDOA from two radio stations, and improve the orbit precision. The analytic expression of range from satellite to optical station is derived, thus the position can be solved, too. By GDOP analysis method, the position precision is analyzed with different stations’ layout, and a layout suggestion is proposed. The orbit precision’ improvement from joint measurement is improved by Monte-Carlo statistical orbit determination, which has been compared with purely optical measurement. The simulation result shows that, if there is system error, after orbit determination with 24h’s measurement data, the position error is about 25 m from orbit determination and 200 mfrom 7days prediction, which is only 2/3 to purely optical measurement. If there is system error, the self-calibration method is used for orbit determination, and the position error is 6 m from orbit determination and 140 m from 7days prediction, the estimated system error is 0.1 after normalization, while purely optical method has failed with self-calibration method.