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Permanent magnet synchronous motors (PMSM) are widely used in industrial control, household electrical, transportation, aerospace and other fields. The acquisition of rotor position and speed is the key to achieving high-performance control. In view of the disadvantages of the large volume and high cost of photoelectric encoders and magnetic encoders, and the limitations of sensorless control technology, the technology of driving PMSM with low-resolution position sensor can not only control the cost but also ensure the performance of the motor. Therefore, the method of estimating rotor position and speed that can improve its control accuracy and system stability has attracted wide attention from scholars at home and abroad. The working principle of the switch-type Hall position sensor is introduced, and the source of its error is systematically summarized. Taking the method of interpolation, filter and observer as the core, this paper introduces several methods of estimating high-resolution rotor position and speed. Then this paper analyzes their principles, advantages and disadvantages, and applicable conditions. Finally, it summarizes the existing achievements and looks forward to the future development trend.